diff --git a/app/src/lib/components/Visualization.svelte b/app/src/lib/components/Visualization.svelte
index a1e838c..bdf66be 100644
--- a/app/src/lib/components/Visualization.svelte
+++ b/app/src/lib/components/Visualization.svelte
@@ -7,7 +7,7 @@
 	import { lerp, degToRad } from 'three/src/math/MathUtils';
     import { GUI } from 'three/addons/libs/lil-gui.module.min.js';
 	import Kinematic, { type body_state_t } from '$lib/kinematic';
-    import {EightPhaseWalkState, FourPhaseWalkState, IdleState, RestState, StandState} from '$lib/gait'
+    import {CalibrationState, EightPhaseWalkState, FourPhaseWalkState, IdleState, RestState, StandState} from '$lib/gait'
 	import { radToDeg } from 'three/src/math/MathUtils.js';
 	import type { URDFRobot } from 'urdf-loader';
 	import { get } from 'svelte/store';
@@ -35,7 +35,9 @@
     let kinematic = new Kinematic()
 
     let planners = {
+        [ModesEnum.Deactivated]: new IdleState(),
         [ModesEnum.Idle]: new IdleState(),
+        [ModesEnum.Calibration]: new CalibrationState(),
         [ModesEnum.Rest]: new RestState(),
         [ModesEnum.Stand]: new StandState(),
         [ModesEnum.Crawl]: new EightPhaseWalkState(),
diff --git a/app/src/lib/gait.ts b/app/src/lib/gait.ts
index 7c7ab18..b408c3d 100644
--- a/app/src/lib/gait.ts
+++ b/app/src/lib/gait.ts
@@ -66,6 +66,21 @@ export class IdleState extends GaitState {
 	protected name = 'Idle';
 }
 
+export class CalibrationState extends GaitState {
+	protected name = 'Calibration';
+
+	step(body_state: body_state_t, command: ControllerCommand, dt: number = 0.02) {
+		body_state.omega = 0;
+		body_state.phi = 0;
+		body_state.psi = 0;
+		body_state.xm = 0;
+		body_state.ym = this.default_height * 10;
+		body_state.zm = 0;
+		body_state.feet = this.default_feet_pos;
+		return body_state;
+	}
+}
+
 export class RestState extends GaitState {
 	protected name = 'Rest';