diff --git a/camera.py b/camera.py
new file mode 100644
index 0000000..e69de29
diff --git a/example.py b/example.py
index a0dd399..3e79a71 100644
--- a/example.py
+++ b/example.py
@@ -5,6 +5,7 @@ import math
 from model import *
 from renderer import *
 from dataset import *
+from utils import get_smpl_joint
 
 ascii_logo = """\
   /$$$$$$  /$$      /$$ /$$$$$$$  /$$   /$$     /$$
@@ -28,6 +29,91 @@ def load_config():
     return config
 
 
+def align_torso():
+    print("TODO: align torso here, use below code as inpsiration")
+
+    # # rotate to match body initial position orientation
+    # keypoints = keypoints * [1, -1, 0]
+
+    # left_hip_2d = get_smpl_joint(keypoints, "hip-left")
+    # right_hip_2d = get_smpl_joint(keypoints, "hip-right")
+
+    # betas = torch.randn([1, 10], dtype=torch.float32)
+
+    # # body_pose = torch.randn((1, 69), dtype=torch.float32) * 0.7
+    # body_pose = torch.zeros((1, 69))
+
+    # m.reset_params(
+    #     betas=betas,
+    #     body_pose=body_pose,
+    # )
+
+    # dtype = m.global_orient.dtype
+
+    # global_orientation = m.global_orient.detach().cpu().numpy().squeeze()
+    # joints_transl = m.transl.detach().cpu().numpy().squeeze()
+    # print(global_orientation)
+
+    # r.display_model(m, betas=betas,
+    #                 keypoints=keypoints, body_pose=body_pose)
+
+    # model_out = m()
+    # joints = model_out.joints.detach().cpu().numpy().squeeze()
+    # left_knee = get_smpl_joint(joints, "chest")
+    # left_hip_joint = get_smpl_joint(
+    #     joints, "hip-left")
+    # right_hip_joint = get_smpl_joint(joints, "hip-right")
+
+    # print("Error:", np.linalg.norm(right_hip_2d - right_hip_joint)
+    #       ** 2 + np.linalg.norm(left_hip_2d - left_hip_joint) ** 2)
+
+    # transl = torch.tensor(
+    #     [left_hip_joint - left_knee], dtype=m.transl.dtype)
+
+    # # print("left-hip", left_hip_joint)
+    # # print("model trans:", m.transl)
+    # # print("trans:", [left_hip_2d - left_hip_joint])
+
+    # m.reset_params(
+    #     transl=-transl
+    # )
+    # model_out = m()
+    # # print(get_smpl_joint(joints, "hip-left"))
+
+    # joints = model_out.joints.detach().cpu().numpy().squeeze()
+    # global_orientation = m.global_orient.detach().cpu().numpy().squeeze()
+    # left_hip_joint = get_smpl_joint(joints, "hip-left")
+    # right_hip_joint = get_smpl_joint(joints, "hip-right")
+
+    # print("left-hip", left_hip_joint)
+    # print("model trans:", m.transl)
+
+    # print("Error Left:", np.linalg.norm(left_hip_2d - left_hip_joint) ** 2)
+
+    # print("Error:", np.linalg.norm(right_hip_2d - right_hip_joint)
+    #       ** 2 + np.linalg.norm(left_hip_2d - left_hip_joint) ** 2)
+
+    # # try moving left elbow
+    # # body_pose.reshape(23, 3)[17][0] = math.pi / 4
+    # # body_pose.reshape(23, 3)[17][1] = - math.pi / 2
+    # # body_pose.reshape(23, 3)[17][2] = math.pi / 4
+
+    # # # right knee
+    # # body_pose.reshape(23, 3)[3][0] = math.pi / 4
+    # # body_pose.reshape(23, 3)[3][1] = - math.pi / 2
+    # # body_pose.reshape(23, 3)[3][2] = math.pi / 4
+
+    # # # left knee
+    # # body_pose.reshape(23, 3)[3][0] = math.pi / 4
+    # # body_pose.reshape(23, 3)[3][1] = - math.pi / 2
+    # # body_pose.reshape(23, 3)[3][2] = math.pi / 4
+
+    # # body_pose = torch.from_numpy(keypoints.reshape((1, 69)))
+    # # print(body_pose)
+    # r.display_model(m, betas=betas,
+    #                 keypoints=keypoints, body_pose=body_pose)
+
+
 def main():
     print(ascii_logo)
     conf = load_config()
@@ -37,33 +123,12 @@ def main():
 
     l = SMPLyModel(conf['modelPath'])
     r = SMPLyRenderer()
-    m = l.create_model()
-
+    model = l.create_model()
     keypoints, conf = dataset[0]
-    print(keypoints, conf)
-    betas = torch.randn([1, 10], dtype=torch.float32)
 
-    # body_pose = torch.randn((1, 69), dtype=torch.float32) * 0.7
-    body_pose = torch.zeros((1, 69))
+    model_out = model()
 
-    # try moving left elbow
-    # body_pose.reshape(23, 3)[17][0] = math.pi / 4
-    # body_pose.reshape(23, 3)[17][1] = - math.pi / 2
-    # body_pose.reshape(23, 3)[17][2] = math.pi / 4
-
-    # # right knee
-    # body_pose.reshape(23, 3)[3][0] = math.pi / 4
-    # body_pose.reshape(23, 3)[3][1] = - math.pi / 2
-    # body_pose.reshape(23, 3)[3][2] = math.pi / 4
-
-    # # left knee
-    # body_pose.reshape(23, 3)[3][0] = math.pi / 4
-    # body_pose.reshape(23, 3)[3][1] = - math.pi / 2
-    # body_pose.reshape(23, 3)[3][2] = math.pi / 4
-
-    # body_pose = torch.from_numpy(keypoints.reshape((1, 69)))
-    print(body_pose)
-    r.display_model(m, betas=betas, keypoints=keypoints, body_pose=body_pose)
+    # print(keypoints, conf)
 
 
 if __name__ == '__main__':
diff --git a/example_fitter.py b/example_fitter.py
new file mode 100644
index 0000000..94fb992
--- /dev/null
+++ b/example_fitter.py
@@ -0,0 +1,120 @@
+
+
+import yaml
+import torch
+import math
+
+from model import *
+# from renderer import *
+from dataset import *
+from utils import get_named_joint
+
+ascii_logo = """\
+  /$$$$$$  /$$      /$$ /$$$$$$$  /$$   /$$     /$$
+ /$$__  $$| $$$    /$$$| $$__  $$| $$  |  $$   /$$/
+| $$  \__/| $$$$  /$$$$| $$  \ $$| $$   \  $$ /$$/
+|  $$$$$$ | $$ $$/$$ $$| $$$$$$$/| $$    \  $$$$/
+ \____  $$| $$  $$$| $$| $$____/ | $$     \  $$/
+ /$$  \ $$| $$\  $ | $$| $$      | $$      | $$
+|  $$$$$$/| $$ \/  | $$| $$      | $$$$$$$$| $$
+ \______/ |__/     |__/|__/      |________/|__/
+
+"""
+
+
+def renderPoints(scene, points, radius=0.005, colors=[0.0, 0.0, 1.0, 1.0], name=None):
+    sm = trimesh.creation.uv_sphere(radius=radius)
+    sm.visual.vertex_colors = colors
+    tfs = np.tile(np.eye(4), (len(points), 1, 1))
+    tfs[:, :3, 3] = points
+    pcl = pyrender.Mesh.from_trimesh(sm, poses=tfs)
+    # return the render scene node
+    return scene.add(pcl, name=name)
+
+
+def load_config():
+    with open('./config.yaml') as file:
+        # The FullLoader parameter handles the conversion from YAML
+        # scalar values to Python the dictionary format
+        config = yaml.load(file, Loader=yaml.FullLoader)
+
+    return config
+
+
+print(ascii_logo)
+conf = load_config()
+print("config loaded")
+dataset = SMPLyDataset()
+
+# FIND OPENPOSE TO SMPL MAPPINGS
+mapping = [24, 12, 17, 19, 21, 16, 18, 20, 0, 2, 5, 8, 1, 4,
+           7, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34]
+
+arr = np.ones(45) * -1
+
+for i, v in enumerate(mapping):
+    arr[v] = i
+    print(v, i)
+
+for v in arr:
+    print(
+        int(v), ","
+    )
+print(arr)
+
+# ------------------------------
+# Load data
+# ------------------------------
+l = SMPLyModel(conf['modelPath'])
+model = l.create_model()
+keypoints, conf = dataset[0]
+print("keypoints shape:", keypoints.shape)
+# ---------------------------------
+# Generate model and get joints
+# ---------------------------------
+model_out = model()
+joints = model_out.joints.detach().cpu().numpy().squeeze()
+
+# ---------------------------------
+# Draw in the joints of interest
+# ---------------------------------
+
+# SMPL joint positions (cl = chest left, cr = chest right)
+cl_joint = get_named_joint(joints, "elbow-left")
+cr_joint = get_named_joint(joints, "hip-left")
+
+# keypoint joint position
+cl_point = get_named_joint(keypoints, "shoulder-left", type="body_25")
+cr_point = get_named_joint(keypoints, "shoulder-right", type="body_25")
+
+# create joints copy without points of interest
+other_joints = np.array([joints[x]
+                         for x in range(len(joints)) if x < 13 or x > 14])
+print("removed other joints from list:", len(
+    other_joints), other_joints.shape, len(joints))
+scene = pyrender.Scene()
+
+renderPoints(scene, other_joints)
+
+renderPoints(scene, [cl_joint, cr_joint],
+             radius=0.01, colors=[1.0, 0.0, 1.0, 1.0])
+
+v = pyrender.Viewer(scene,
+                    use_raymond_lighting=True,
+                    # show_world_axis=True
+                    run_in_thread=False
+                    )
+
+
+# -------------------------------------
+# Optimize for translation and rotation
+# -------------------------------------
+
+# -----------------------------
+# Render the points
+# -----------------------------
+v = pyrender.Viewer(scene,
+                    use_raymond_lighting=True,
+                    # show_world_axis=True
+                    run_in_thread=True
+                    )
diff --git a/model.py b/model.py
index f354bdf..f1b0205 100644
--- a/model.py
+++ b/model.py
@@ -48,6 +48,8 @@ class SMPLyModel():
             use_face_contour=self.use_face_contour,
             create_body_pose=True,
             num_betas=self.num_betas,
+            return_verts=True,
+            # global_orient=torch.randn(3),
             num_expression_coeffs=self.num_expression_coeffs,
             ext=self.ext)
         print(self.model)
diff --git a/optimizer.py b/optimizer.py
new file mode 100644
index 0000000..b9e1769
--- /dev/null
+++ b/optimizer.py
@@ -0,0 +1,14 @@
+import torch
+import torch.nn as nn
+
+
+class CameraLoss(nn.Module):
+    def __init__(self):
+        print("CameraLoss init")
+
+    def forward(self, keypoints, joints, transform):
+
+        # simple stupid implementation
+        # compute 2d distance between model and openpose joints
+        # ignoring Z axis
+        joints * transform
diff --git a/preview.png b/preview.png
new file mode 100644
index 0000000..23ae55d
Binary files /dev/null and b/preview.png differ
diff --git a/renderer.py b/renderer.py
index f554164..5d20115 100644
--- a/renderer.py
+++ b/renderer.py
@@ -15,17 +15,11 @@ class SMPLyRenderer():
     # TODO: use __call__ for this
     def render_model(
         self,
-        model: smplx.SMPL,
+        model,
         betas: torch.TensorType,
         body_pose: torch.TensorType,
     ):
-        # compute model
-        model_out = model(
-            betas=betas,
-            body_pose=body_pose,
-            return_verts=True,
-        )
-
+        model_out = model()
         # TODO: check if this also works with CUDA
         vertices = model_out.vertices.detach().cpu().numpy().squeeze()
         joints = model_out.joints.detach().cpu().numpy().squeeze()
@@ -39,6 +33,38 @@ class SMPLyRenderer():
 
         return (tri_mesh, joints, vertices)
 
+    def set_keypoints(self, keypoints):
+        scene = self.scene
+        self.viewer.render_lock.acquire()
+
+        if self.keypoints_node is not None:
+            scene.remove(self.keypoints_node)
+
+        sm = trimesh.creation.uv_sphere(radius=0.01)
+        sm.visual.vertex_colors = [0.0, 0.0, 1.0, 1.0]
+        tfs = np.tile(np.eye(4), (len(keypoints), 1, 1))
+        tfs[:, :3, 3] = keypoints
+        keypoints_pcl = pyrender.Mesh.from_trimesh(sm, poses=tfs)
+        self.keypoints_node = scene.add(keypoints_pcl, name="keypoints")
+
+        self.viewer.render_lock.release()
+
+    def set_model(self, model):
+        scene = self.scene
+        self.viewer.render_lock.acquire()
+
+        if self.keypoints_node is not None:
+            scene.remove(self.keypoints_node)
+
+        sm = trimesh.creation.uv_sphere(radius=0.01)
+        sm.visual.vertex_colors = [0.0, 0.0, 1.0, 1.0]
+        tfs = np.tile(np.eye(4), (len(keypoints), 1, 1))
+        tfs[:, :3, 3] = keypoints
+        keypoints_pcl = pyrender.Mesh.from_trimesh(sm, poses=tfs)
+        self.keypoints_node = scene.add(keypoints_pcl, name="keypoints")
+
+        self.viewer.render_lock.release()
+
     def display_mesh(
         self,
         tri_mesh: trimesh.Trimesh,
@@ -46,40 +72,56 @@ class SMPLyRenderer():
         keypoints=None,
         render_openpose_wireframe=True,
     ):
-
         mesh = pyrender.Mesh.from_trimesh(tri_mesh)
 
         scene = pyrender.Scene()
-        scene.add(mesh)
-
+        self.body_node = scene.add(mesh, name="body_mesh")
         if joints is not None:
             sm = trimesh.creation.uv_sphere(radius=0.005)
             sm.visual.vertex_colors = [0.9, 0.1, 0.1, 1.0]
             tfs = np.tile(np.eye(4), (len(joints), 1, 1))
             tfs[:, :3, 3] = joints
             joints_pcl = pyrender.Mesh.from_trimesh(sm, poses=tfs)
-            scene.add(joints_pcl)
+            self.joints_node = scene.add(joints_pcl, name="joints")
 
         if keypoints is not None:
-            sm = trimesh.creation.uv_sphere(radius=0.01)
-            sm.visual.vertex_colors = [0.0, 0.0, 1.0, 1.0]
-            tfs = np.tile(np.eye(4), (len(keypoints), 1, 1))
-            tfs[:, :3, 3] = keypoints
-            keypoints_pcl = pyrender.Mesh.from_trimesh(sm, poses=tfs)
-            scene.add(keypoints_pcl)
 
-        pyrender.Viewer(scene,
-                        use_raymond_lighting=True,
-                        # show_world_axis=True
-                        )
+        self.start_render(scene)
+
+    def start_render(
+        self,
+        scene,
+    ):
+        self.scene = scene
+        self.viewer = pyrender.Viewer(scene,
+                                      use_raymond_lighting=True,
+                                      # show_world_axis=True
+                                      run_in_thread=True
+                                      )
+        # self.update()
+        while True:
+            pass
+
+    def update(self):
+        pose = self.body_node.get_pose()
+        print(pose)
+        self.viewer.render_lock.acquire()
+        self.scene.set_pose(self.body_node, pose)
+        self.viewer.render_lock.release()
+
+    def end_scene(self):
+        self.viewer.close_external()
+        while self.viewer.is_active:
+            pass
 
     def display_model(
         self,
-        model: smplx.SMPL,
+        model,
         betas: torch.TensorType,
         body_pose: torch.TensorType,
         keypoints=None,
     ):
-        (tri_mesh, joints, vertices) = self.render_model(model, betas, body_pose)
+        (tri_mesh, joints, vertices) = self.render_model(
+            model, betas, body_pose)
 
         self.display_mesh(tri_mesh, joints, keypoints)
diff --git a/utils.py b/utils.py
index f0f04a5..d5809fe 100644
--- a/utils.py
+++ b/utils.py
@@ -1,6 +1,54 @@
 from typing import List, Set, Dict, Tuple, Optional
 import numpy as np
 
+openpose_to_smpl = np.array([
+    8,  # hip - middle
+    12,  # hip - right
+    9,  # hip - left
+    -1,  # body center (belly, not present in body_25)
+    13,  # left knee
+    10,  # right knee,
+        -1,
+    14,  # left ankle
+    11,  # right ankle
+        -1,
+        -1,
+        -1,
+    1,  # chest
+        -1,
+        -1,
+        -1,
+    5,  # left shoulder
+    2,  # right shoulder
+    6,  # left elbow
+    3,  # right elbow
+    7,  # left hand
+    4,  # right hand
+        -1,
+        -1,
+    0,  # head
+    15,
+    16,
+    17,
+    18,
+    19,  # left toe
+    20,
+    21,
+    22,  # right toe
+    23,
+    24,
+        -1,
+        -1,
+        -1,
+        -1,
+        -1,
+        -1,
+        -1,
+        -1,
+        -1,
+        -1,
+])
+
 
 def get_mapping_arr(
     input_format: str = "body_25",
@@ -9,32 +57,46 @@ def get_mapping_arr(
     # TODO: expand features as needed
     # based on mappings found here
     # https://github.com/ortegatron/playing_smplifyx/blob/master/smplifyx/utils.py
-    return np.array([
-        # 8,  # hip - middle
-        9,  # hip - left
-        12,  # hip - right
-        -1,  # body center (belly, not present in body_25)
-        13,  # left knee
-        10,  # right knee,
-        1,  # chest
-        14,  # left ankle
-        11,  # right ankle
-        1,  # chest again ? check this one out
-        19,  # left toe
-        22,  # right toe
-            -1,  # neck (not present in body_25)
-            -1,  # between torso and left shoulder
-            -1,  # between torso and right shoulder
-        0,  # head
-        5,  # left shoulder
-        2,  # right shoulder
-        6,  # left elbow
-        3,  # right elbow
-        7,  # left hand
-        4,  # right hand
-            -1,  # left fingers
-            -1  # right fingers
-    ])
+    return openpose_to_smpl
+
+
+joint_names_body_25 = {
+    "hip-left": 9,
+    "hip-right": 12,
+    "belly": 8,
+    "knee-left": 10,
+    "knee-right": 13,
+    "ankle-left": 11,
+    "ankle-right": 14,
+    "toes-left": 22,
+    "toes-right": 19,
+    "neck": 1,
+    "head": 0,
+    "shoulder-left": 2,
+    "shoulder-right": 5,
+    "elbow-left": 3,
+    "elbow-right": 6,
+    "hand-left": 4,
+    "hand-right": 7,
+}
+
+
+def get_named_joint(joints: List, name: str, type="smpl"):
+    """get SMPL joint by name
+
+    Args:
+        joints (List): list of SMPL joints
+        name (str): joint to be extracted
+
+    Returns:
+        Tuple[float, float, float]: Coordinates of the selected joint
+    """
+    if type == "smpl":
+        mapping = get_mapping_arr()
+        index = joint_names_body_25[name]
+        return joints[np.where(mapping == index)]
+    if type == "body_25":
+        return joints[joint_names_body_25[name]]
 
 
 def apply_mapping(
@@ -62,8 +124,8 @@ def openpose_to_opengl_coords(
 
     points = np.array([
         [
-            x / real_width * 2 - 1,
-            y / real_height * 2,
+            x / real_width,
+            y / real_height,
             0
         ] for (x, y, z) in input_data])