diff --git a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py
index 5dd2245ca3..a925f5b119 100644
--- a/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py
+++ b/exporter/SynthesisFusionAddin/src/Parser/SynthesisParser/Parser.py
@@ -27,7 +27,7 @@ def __init__(self, options: ExporterOptions):
     def export(self) -> bool:
         try:
             app = adsk.core.Application.get()
-            design = app.activeDocument.design
+            design: adsk.fusion.Design = app.activeDocument.design
 
             assembly_out = assembly_pb2.Assembly()
             fill_info(
diff --git a/exporter/SynthesisFusionAddin/src/general_imports.py b/exporter/SynthesisFusionAddin/src/general_imports.py
index 7921a5e367..042e4618ea 100644
--- a/exporter/SynthesisFusionAddin/src/general_imports.py
+++ b/exporter/SynthesisFusionAddin/src/general_imports.py
@@ -48,7 +48,7 @@
     A_EP = None
 
     # Setup the global state
-    gm = GlobalManager()
+    gm: GlobalManager = GlobalManager()
     my_addin_path = os.path.dirname(os.path.realpath(__file__))
 except:
     # should also log this
diff --git a/fission/src/Synthesis.tsx b/fission/src/Synthesis.tsx
index c6d0fb9a39..daefd9f9be 100644
--- a/fission/src/Synthesis.tsx
+++ b/fission/src/Synthesis.tsx
@@ -49,10 +49,11 @@ import ScoringZonesPanel from "@/panels/configuring/scoring/ScoringZonesPanel"
 import ZoneConfigPanel from "@/panels/configuring/scoring/ZoneConfigPanel"
 import ScoreboardPanel from "@/panels/information/ScoreboardPanel"
 import DriverStationPanel from "@/panels/simulation/DriverStationPanel"
-import ManageAssembliesModal from "@/modals/spawning/ManageAssembliesModal.tsx"
-import World from "@/systems/World.ts"
-import { AddRobotsModal, AddFieldsModal, SpawningModal } from "@/modals/spawning/SpawningModals.tsx"
-import ImportMirabufModal from "@/modals/mirabuf/ImportMirabufModal.tsx"
+import ManageAssembliesModal from '@/modals/spawning/ManageAssembliesModal.tsx';
+import World from '@/systems/World.ts';
+import { AddRobotsModal, AddFieldsModal, SpawningModal } from '@/modals/spawning/SpawningModals.tsx';
+import ImportMirabufModal from '@/modals/mirabuf/ImportMirabufModal.tsx';
+import ImportLocalMirabufModal from '@/modals/mirabuf/ImportLocalMirabufModal.tsx';
 
 const DEFAULT_MIRA_PATH = "/api/mira/Robots/Team 2471 (2018)_v7.mira"
 
@@ -192,6 +193,7 @@ const initialModals = [
     <ConfigMotorModal modalId="config-motor" />,
     <ManageAssembliesModal modalId="manage-assembles" />,
     <ImportMirabufModal modalId="import-mirabuf" />,
+    <ImportLocalMirabufModal modalId="import-local-mirabuf" />,
 ]
 
 const initialPanels: ReactElement[] = [
diff --git a/fission/src/systems/input/InputSystem.ts b/fission/src/systems/input/InputSystem.ts
index 21aca82ee7..8535301569 100644
--- a/fission/src/systems/input/InputSystem.ts
+++ b/fission/src/systems/input/InputSystem.ts
@@ -121,7 +121,10 @@ class InputSystem extends WorldSystem {
     }
 
     // Returns true if two modifier states are identical
-    private static CompareModifiers(state1: ModifierState, state2: ModifierState): boolean {
+    private static CompareModifiers(state1: ModifierState, state2: ModifierState) : boolean {
+        if (!state1 || !state2)
+            return false;
+        
         return (
             state1.alt == state2.alt &&
             state1.ctrl == state2.ctrl &&
diff --git a/fission/src/systems/simulation/behavior/GenericArmBehavior.ts b/fission/src/systems/simulation/behavior/GenericArmBehavior.ts
index b2d50d8064..5f38eb14c6 100644
--- a/fission/src/systems/simulation/behavior/GenericArmBehavior.ts
+++ b/fission/src/systems/simulation/behavior/GenericArmBehavior.ts
@@ -6,10 +6,10 @@ import InputSystem, { emptyModifierState } from "@/systems/input/InputSystem"
 class GenericArmBehavior extends Behavior {
     private _hingeDriver: HingeDriver
 
-    private _positiveInput: string
-    private _negativeInput: string
-
-    private _rotationalSpeed = 30
+    private _positiveInput: string;
+    private _negativeInput: string;
+    
+    private _rotationalSpeed = 6;
 
     constructor(hingeDriver: HingeDriver, hingeStimulus: HingeStimulus, jointIndex: number) {
         super([hingeDriver], [hingeStimulus])
diff --git a/fission/src/systems/simulation/behavior/GenericElevatorBehavior.ts b/fission/src/systems/simulation/behavior/GenericElevatorBehavior.ts
index 0d9ce8de79..2b9f41936b 100644
--- a/fission/src/systems/simulation/behavior/GenericElevatorBehavior.ts
+++ b/fission/src/systems/simulation/behavior/GenericElevatorBehavior.ts
@@ -9,7 +9,7 @@ class GenericElevatorBehavior extends Behavior {
     private _positiveInput: string
     private _negativeInput: string
 
-    private _linearSpeed = 1
+    private _linearSpeed = 2.5;
 
     constructor(sliderDriver: SliderDriver, sliderStimulus: SliderStimulus, jointIndex: number) {
         super([sliderDriver], [sliderStimulus])
@@ -34,12 +34,12 @@ class GenericElevatorBehavior extends Behavior {
     }
 
     // Changes the elevators target position
-    moveElevator(positionDelta: number) {
-        this._sliderDriver.targetPosition += positionDelta
+    moveElevator(linearVelocity: number) {
+        this._sliderDriver.targetVelocity = linearVelocity; 
     }
 
-    public Update(deltaT: number): void {
-        this.moveElevator(InputSystem.GetAxis(this._positiveInput, this._negativeInput) * this._linearSpeed * deltaT)
+    public Update(_: number): void {
+        this.moveElevator(InputSystem.GetAxis(this._positiveInput, this._negativeInput)*this._linearSpeed); 
     }
 }
 
diff --git a/fission/src/systems/simulation/driver/Driver.ts b/fission/src/systems/simulation/driver/Driver.ts
index 39c3aefa0e..400b7bde30 100644
--- a/fission/src/systems/simulation/driver/Driver.ts
+++ b/fission/src/systems/simulation/driver/Driver.ts
@@ -2,4 +2,9 @@ abstract class Driver {
     public abstract Update(deltaT: number): void
 }
 
-export default Driver
+export enum DriverControlMode {
+    Velocity = 0,
+    Position = 1
+}
+
+export default Driver;
\ No newline at end of file
diff --git a/fission/src/systems/simulation/driver/HingeDriver.ts b/fission/src/systems/simulation/driver/HingeDriver.ts
index 172a7cc095..4500508490 100644
--- a/fission/src/systems/simulation/driver/HingeDriver.ts
+++ b/fission/src/systems/simulation/driver/HingeDriver.ts
@@ -1,5 +1,5 @@
 import Jolt from "@barclah/jolt-physics"
-import Driver from "./Driver"
+import Driver, { DriverControlMode } from "./Driver"
 import { SIMULATION_PERIOD } from "@/systems/physics/PhysicsSystem"
 import JOLT from "@/util/loading/JoltSyncLoader"
 
@@ -21,7 +21,7 @@ class HingeDriver extends Driver {
         return this._targetAngle
     }
     public set targetAngle(rads: number) {
-        this._targetAngle = rads
+        this._targetAngle = Math.max(this._constraint.GetLimitsMin(), Math.min(this._constraint.GetLimitsMax(), rads));
     }
 
     public set minTorqueLimit(nm: number) {
@@ -36,6 +36,7 @@ class HingeDriver extends Driver {
     public get controlMode(): DriverControlMode {
         return this._controlMode
     }
+
     public set controlMode(mode: DriverControlMode) {
         this._controlMode = mode
         switch (mode) {
@@ -64,8 +65,8 @@ class HingeDriver extends Driver {
         springSettings.mDamping = 0.995
 
         motorSettings.mSpringSettings = springSettings
-        motorSettings.mMinTorqueLimit = -50.0
-        motorSettings.mMaxTorqueLimit = 50.0
+        motorSettings.mMinTorqueLimit = -200.0
+        motorSettings.mMaxTorqueLimit = 200.0
 
         this._targetAngle = this._constraint.GetCurrentAngle()
 
@@ -81,9 +82,4 @@ class HingeDriver extends Driver {
     }
 }
 
-export enum DriverControlMode {
-    Velocity = 0,
-    Position = 1,
-}
-
-export default HingeDriver
+export default HingeDriver
\ No newline at end of file
diff --git a/fission/src/systems/simulation/driver/SliderDriver.ts b/fission/src/systems/simulation/driver/SliderDriver.ts
index 050a41c925..2ad547a831 100644
--- a/fission/src/systems/simulation/driver/SliderDriver.ts
+++ b/fission/src/systems/simulation/driver/SliderDriver.ts
@@ -1,12 +1,22 @@
-import Jolt from "@barclah/jolt-physics"
-import Driver from "./Driver"
-import { SIMULATION_PERIOD } from "@/systems/physics/PhysicsSystem"
-import JOLT from "@/util/loading/JoltSyncLoader"
-import InputSystem from "@/systems/input/InputSystem"
+import Jolt from "@barclah/jolt-physics";
+import Driver, { DriverControlMode } from "./Driver";
+import { SIMULATION_PERIOD } from "@/systems/physics/PhysicsSystem";
+import JOLT from "@/util/loading/JoltSyncLoader";
 
 class SliderDriver extends Driver {
-    private _constraint: Jolt.SliderConstraint
-    private _targetPosition: number = 0.0
+
+    private _constraint: Jolt.SliderConstraint;
+
+    private _controlMode: DriverControlMode = DriverControlMode.Velocity;
+    private _targetVelocity: number = 0.0;
+    private _targetPosition: number = 0.0;
+
+    public get targetVelocity(): number {
+        return this._targetVelocity;
+    }
+    public set targetVelocity(radsPerSec: number) {
+        this._targetVelocity = radsPerSec;
+    }
 
     public get targetPosition(): number {
         return this._targetPosition
@@ -27,6 +37,25 @@ class SliderDriver extends Driver {
         motorSettings.mMaxForceLimit = newtons
     }
 
+    public get controlMode(): DriverControlMode {
+        return this._controlMode;
+    }
+    
+    public set controlMode(mode: DriverControlMode) {
+        this._controlMode = mode;
+        switch (mode) {
+            case DriverControlMode.Velocity:
+                this._constraint.SetMotorState(JOLT.EMotorState_Velocity);
+                break;
+            case DriverControlMode.Position:
+                this._constraint.SetMotorState(JOLT.EMotorState_Position);
+                break;
+            default:
+                // idk
+                break;
+        }
+    }
+
     public constructor(constraint: Jolt.SliderConstraint) {
         super()
 
@@ -35,21 +64,21 @@ class SliderDriver extends Driver {
         const motorSettings = this._constraint.GetMotorSettings()
         const springSettings = motorSettings.mSpringSettings
         springSettings.mFrequency = 20 * (1.0 / SIMULATION_PERIOD)
-        springSettings.mDamping = 0.995
+        springSettings.mDamping = 0.999
 
         motorSettings.mSpringSettings = springSettings
-        motorSettings.mMinForceLimit = -125.0
-        motorSettings.mMaxForceLimit = 125.0
-
-        this._constraint.SetMotorState(JOLT.EMotorState_Position)
+        motorSettings.mMinForceLimit = -900.0
+        motorSettings.mMaxForceLimit = 900.0
 
-        this.targetPosition = this._constraint.GetCurrentPosition()
+        this._constraint.SetMotorState(JOLT.EMotorState_Velocity)
+        this.controlMode = DriverControlMode.Velocity;
     }
 
-    public Update(_: number): void {
-        this._targetPosition +=
-            ((InputSystem.getInput("sliderUp") ? 1 : 0) - (InputSystem.getInput("sliderDown") ? 1 : 0)) * 3
-        this._constraint.SetTargetPosition(this._targetPosition)
+    public Update(_: number): void {if (this._controlMode == DriverControlMode.Velocity) {
+            this._constraint.SetTargetVelocity(this._targetVelocity);
+        } else if (this._controlMode == DriverControlMode.Position) {
+            this._constraint.SetTargetPosition(this._targetPosition);
+        }
     }
 }
 
diff --git a/fission/src/ui/components/MainHUD.tsx b/fission/src/ui/components/MainHUD.tsx
index aa0d681cec..64b9e88c0f 100644
--- a/fission/src/ui/components/MainHUD.tsx
+++ b/fission/src/ui/components/MainHUD.tsx
@@ -120,7 +120,16 @@ const MainHUD: React.FC = () => {
                         icon={<IoPeople />}
                         onClick={() => openModal("import-mirabuf")}
                     />
-                    <MainHUDButton value={"Test God Mode"} icon={<IoGameControllerOutline />} onClick={TestGodMode} />
+                    <MainHUDButton
+                        value={"Import Local Mira"}
+                        icon={<IoPeople />}
+                        onClick={() => openModal("import-local-mirabuf")}
+                    />
+                    <MainHUDButton
+                        value={"Test God Mode"}
+                        icon={<IoGameControllerOutline />}
+                        onClick={TestGodMode}
+                    />
                 </div>
                 <div className="flex flex-col gap-0 bg-background w-full rounded-3xl">
                     <MainHUDButton
diff --git a/fission/src/ui/modals/mirabuf/ImportLocalMirabufModal.tsx b/fission/src/ui/modals/mirabuf/ImportLocalMirabufModal.tsx
new file mode 100644
index 0000000000..a12fbadc64
--- /dev/null
+++ b/fission/src/ui/modals/mirabuf/ImportLocalMirabufModal.tsx
@@ -0,0 +1,68 @@
+import Button, { ButtonSize } from "@/components/Button"
+import Modal, { ModalPropsImpl } from "../../components/Modal"
+import { FaPlus } from "react-icons/fa6"
+import { ChangeEvent, useRef, useState } from "react"
+import Label, { LabelSize } from "@/components/Label"
+import { useTooltipControlContext } from "@/ui/TooltipContext"
+import { CreateMirabufFromUrl } from "@/mirabuf/MirabufSceneObject"
+import World from "@/systems/World"
+
+const ImportLocalMirabufModal: React.FC<ModalPropsImpl> = ({ modalId }) => {
+    // update tooltip based on type of drivetrain, receive message from Synthesis
+    const { showTooltip } = useTooltipControlContext()
+
+    const fileUploadRef = useRef<HTMLInputElement>(null)
+
+    const [selectedFile, setSelectedFile] = useState<File | undefined>(undefined)
+
+    const uploadClicked = () => {
+        if (fileUploadRef.current) {
+            fileUploadRef.current.click()
+        }
+    }
+
+    const onInputChanged = (e: ChangeEvent<HTMLInputElement>) => {
+        if (e.target.files) {
+            const file = e.target.files[0]
+            setSelectedFile(file)
+        }
+    }
+
+    return (
+        <Modal
+            name={"Import Local Assemblies"}
+            icon={<FaPlus />}
+            modalId={modalId}
+            acceptEnabled={selectedFile !== undefined}
+            onAccept={() => {
+                    if (selectedFile) {
+                        console.log(`Mira: '${selectedFile}'`)
+                        showTooltip("controls", [
+                            { control: "WASD", description: "Drive" },
+                            { control: "E", description: "Intake" },
+                            { control: "Q", description: "Dispense" },
+                        ])
+
+                        CreateMirabufFromUrl(URL.createObjectURL(selectedFile)).then(x => {
+                            if (x) {
+                                World.SceneRenderer.RegisterSceneObject(x)
+                            }
+                        })
+                    }
+                }
+            }
+        >
+            <div className="flex flex-col items-center gap-5">
+                <input ref={fileUploadRef} onChange={onInputChanged} type="file" hidden={true} />
+                <Button value="Upload" size={ButtonSize.Large} onClick={uploadClicked} />
+                {
+                    selectedFile
+                        ? (<Label className="text-center" size={LabelSize.Medium}>{`Selected File: ${selectedFile.name}`}</Label>)
+                        : (<></>)
+                }
+            </div>
+        </Modal>
+    )
+}
+
+export default ImportLocalMirabufModal
\ No newline at end of file