diff --git a/CMakeLists.txt b/CMakeLists.txt
old mode 100644
new mode 100755
diff --git a/Doxygen/Doxyfile b/Doxygen/Doxyfile
old mode 100644
new mode 100755
diff --git a/Doxygen/footer.html b/Doxygen/footer.html
old mode 100644
new mode 100755
diff --git a/Doxygen/specialFiles/doxygengroups.h b/Doxygen/specialFiles/doxygengroups.h
old mode 100644
new mode 100755
diff --git a/Doxygen/specialFiles/message documentiation b/Doxygen/specialFiles/message documentiation
old mode 100644
new mode 100755
diff --git a/LICENSE b/LICENSE
old mode 100644
new mode 100755
diff --git a/Makefile b/Makefile
old mode 100644
new mode 100755
diff --git a/Packet_Generator.py b/Packet_Generator.py
old mode 100644
new mode 100755
index 072edd456a90ff4995096eb615189122fee496b9..d16dc9357e7ca17e318982b56c07b11a25439118
--- a/Packet_Generator.py
+++ b/Packet_Generator.py
@@ -6,7 +6,7 @@ from collections import namedtuple
 
 UDP_IP = "127.0.0.1"
 UDP_PORT1 = 32000
-UDP_PORT2 = 36000
+UDP_PORT2 = 36001
 format_ = "<IIIiiiiiiddddddddddddddddddddddddddddddiiiiii"
 
 print "UDP target IP:", UDP_IP
@@ -15,9 +15,9 @@ print "UDP target port2:", UDP_PORT2
 
 u_struct = namedtuple("u_struct", "sequence pactyp version delx0 delx1 dely0 dely1 delz0 delz1 R_l00 R_l01 R_l02 R_l10 R_l11 R_l12 R_l20 R_l21 R_l22 R_r00 R_r01 R_r02 R_r10 R_r11 R_r12 R_r20 R_r21 R_r22 ltheta1 ltheta2 ld3 ltheta4 ltheta5 ltheta6 rtheta1, rtheta2, rd3, rtheta4, rtheta5, rtheta6 buttonstate0 buttonstate1 grasp0 grasp1 surgeon_mode checksum");
 
-csvfile1 = open('/home/homa/Documents/raven_2/left.txt'); 
+csvfile1 = open('/home/junjie/homa_wksp/raven_2/left.txt'); 
 f_left = csv.reader(csvfile1)
-csvfile2 = open('/home/homa/Documents/raven_2/right.txt') 
+csvfile2 = open('/home/junjie/homa_wksp/raven_2/right.txt') 
 f_right  = csv.reader(csvfile2)
 seq = 0;
 #l_line = f_left.next();
diff --git a/README.md b/README.md
old mode 100644
new mode 100755
diff --git a/ReadMe b/ReadMe
old mode 100644
new mode 100755
diff --git a/Real_Packet_Generator.py b/Real_Packet_Generator.py
new file mode 100755
index 0000000000000000000000000000000000000000..ef18a46470f03ea640aa732e1b4f147b7019c8c2
--- /dev/null
+++ b/Real_Packet_Generator.py
@@ -0,0 +1,90 @@
+import socket
+import struct
+import csv
+import time
+from collections import namedtuple
+
+UDP_IP = "127.0.0.1"
+UDP_PORT1 = 32000
+UDP_PORT2 = 36001
+format_ = "<IIIiiiiiiddddddddddddddddddiiiiii"
+
+print "UDP target IP:", UDP_IP
+print "UDP target port1:", UDP_PORT1
+print "UDP target port2:", UDP_PORT2
+
+u_struct = namedtuple("u_struct", "sequence pactyp version delx0 delx1 dely0 dely1 delz0 delz1 R_l00 R_l01 R_l02 R_l10 R_l11 R_l12 R_l20 R_l21 R_l22 R_r00 R_r01 R_r02 R_r10 R_r11 R_r12 R_r20 R_r21 R_r22 buttonstate0 buttonstate1 grasp0 grasp1 surgeon_mode checksum");
+
+csvfile1 = open('/home/junjie/homa_wksp/teleop_data/data1.csv'); 
+reader = csv.reader(csvfile1)
+seq = 0;
+
+sock = socket.socket(socket.AF_INET, # Internet
+                      socket.SOCK_DGRAM) # UDP
+sock.bind((UDP_IP,UDP_PORT1))
+#Wait for a response from the robot
+data = ''
+while not data:
+    print("Waiting for Raven to become ready...")
+    data = sock.recvfrom(100)
+    if data[0].find('Ready') < 0:
+        data = ''
+    else:
+        print("Raven is ready...")   
+
+line_no = 0
+# Skip the first packets
+for i in range(0,200):
+   reader.next()
+while (seq < 300): 
+    line = reader.next();
+    if ((line_no % 10) == 0):
+        seq = seq + 1;   
+        # Later should look at the runlevel and sublevel to set the surgeon_mode
+        tuple_to_send = u_struct(sequence = seq, 
+            pactyp = 0, 
+            version = 0, 
+            delx0 = int(float(line[9])),
+            delx1 = int(float(line[12])),
+            dely0 = int(float(line[10])),
+            dely1 = int(float(line[13])),
+            delz0 = int(float(line[11])),
+            delz1 = int(float(line[14])),
+            R_l00 = float(line[15]),
+            R_l01 = float(line[16]),
+            R_l02 = float(line[17]),
+            R_l10 = float(line[18]),
+            R_l11 = float(line[19]), 
+            R_l12 = float(line[20]),
+            R_l20 = float(line[21]),
+            R_l21 = float(line[22]),
+            R_l22 = float(line[23]),
+            R_r00 = float(line[24]),
+            R_r01 = float(line[25]), 
+            R_r02 = float(line[26]),
+            R_r10 = float(line[27]),
+            R_r11 = float(line[28]), 
+            R_r12 = float(line[29]),
+            R_r20 = float(line[30]),
+            R_r21 = float(line[31]),
+            R_r22 = float(line[32]),
+            buttonstate0 = 0,
+            buttonstate1 = 0, 
+            grasp0 = float((float(line[112])-float(line[113]))/2),
+            grasp1 = float((float(line[120])-float(line[121]))/2), 
+            surgeon_mode = 1, 
+            checksum=0);
+
+        MESSAGE = struct.pack(format_,*tuple_to_send._asdict().values());
+
+        print "Packet No. ", seq
+        print struct.unpack(format_,MESSAGE);
+        print "\n"
+
+        # Send the command to the robot
+        sock.sendto(MESSAGE, (UDP_IP, UDP_PORT2))
+        time.sleep(0.1)
+        
+    line_no = line_no + 1;
+
+
diff --git a/Real_Packet_Generator_2.py b/Real_Packet_Generator_2.py
new file mode 100755
index 0000000000000000000000000000000000000000..053ff9bfebae42b2c0ae4205c4dc39a13f46863f
--- /dev/null
+++ b/Real_Packet_Generator_2.py
@@ -0,0 +1,100 @@
+# Goes back and forth, repeating the same trajectory
+import socket
+import struct
+import csv
+import time
+from collections import namedtuple
+
+UDP_IP = "127.0.0.1"
+UDP_PORT1 = 32000
+UDP_PORT2 = 36001
+format_ = "<IIIiiiiiiddddddddddddddddddiiiiii"
+
+print "UDP target IP:", UDP_IP
+print "UDP target port1:", UDP_PORT1
+print "UDP target port2:", UDP_PORT2
+
+u_struct = namedtuple("u_struct", "sequence pactyp version delx0 delx1 dely0 dely1 delz0 delz1 R_l00 R_l01 R_l02 R_l10 R_l11 R_l12 R_l20 R_l21 R_l22 R_r00 R_r01 R_r02 R_r10 R_r11 R_r12 R_r20 R_r21 R_r22 buttonstate0 buttonstate1 grasp0 grasp1 surgeon_mode checksum");
+
+csvfile1 = open('/home/junjie/homa_wksp/teleop_data/data1.csv');
+reader = csv.reader(csvfile1); 
+seq = 0;
+fwd_bkw = 0;
+while(1):
+    sock = socket.socket(socket.AF_INET, # Internet
+		              socket.SOCK_DGRAM) # UDP
+    sock.bind((UDP_IP,UDP_PORT1))
+    #Wait for a response from the robot
+    data = ''
+    while not data:
+        print("Waiting for Raven to become ready...")
+        data = sock.recvfrom(100)
+        if data[0].find('Ready') < 0:
+            data = ''
+        else:
+            print("Raven is ready...")
+
+    line_no = 0;
+    packet_count = 0;
+    if (fwd_bkw == 0):
+        csvfile1.seek(0);     
+        reader.next()
+        reader_list = [];
+    while (packet_count < 200): 
+        if (fwd_bkw == 0):
+            line = reader.next();
+            reader_list.append(line);
+        else:
+            line = reader_list[len(reader_list)-line_no-1];
+        if ((line_no % 10) == 0):
+            packet_count = packet_count + 1; 
+            seq = seq + 1;   
+            # Later should look at the runlevel and sublevel to set the surgeon_mode
+            tuple_to_send = u_struct(sequence = packet_count, 
+	    pactyp = 0, 
+	    version = 0, 
+	    delx0 = int(float(line[9])),
+	    delx1 = int(float(line[12])),
+	    dely0 = int(float(line[10])),
+	    dely1 = int(float(line[13])),
+	    delz0 = int(float(line[11])),
+	    delz1 = int(float(line[14])),
+	    R_l00 = float(line[15]),
+	    R_l01 = float(line[16]),
+	    R_l02 = float(line[17]),
+	    R_l10 = float(line[18]),
+	    R_l11 = float(line[19]), 
+	    R_l12 = float(line[20]),
+	    R_l20 = float(line[21]),
+	    R_l21 = float(line[22]),
+	    R_l22 = float(line[23]),
+	    R_r00 = float(line[24]),
+	    R_r01 = float(line[25]), 
+	    R_r02 = float(line[26]),
+	    R_r10 = float(line[27]),
+	    R_r11 = float(line[28]), 
+	    R_r12 = float(line[29]),
+	    R_r20 = float(line[30]),
+	    R_r21 = float(line[31]),
+	    R_r22 = float(line[32]),
+	    buttonstate0 = 0,
+	    buttonstate1 = 0, 
+	    grasp0 = float((float(line[112])-float(line[113]))/2),
+	    grasp1 = float((float(line[120])-float(line[121]))/2), 
+	    surgeon_mode = 1, 
+	    checksum=0);
+
+            MESSAGE = struct.pack(format_,*tuple_to_send._asdict().values());
+
+            print "Packet No. ", packet_count
+            print struct.unpack(format_,MESSAGE);
+            print "\n"
+
+            # Send the command to the robot
+            sock.sendto(MESSAGE, (UDP_IP, UDP_PORT2))
+            time.sleep(0.1)
+
+        line_no = line_no + 1;
+    fwd_bkw = 1 - fwd_bkw;
+
+
diff --git a/Real_Packet_Generator_Surgeon.py b/Real_Packet_Generator_Surgeon.py
new file mode 100755
index 0000000000000000000000000000000000000000..a33ae24ab4ef4c876a635fc15a51fa3b217b0c68
--- /dev/null
+++ b/Real_Packet_Generator_Surgeon.py
@@ -0,0 +1,151 @@
+import socket
+import struct
+import csv
+import time
+from collections import namedtuple
+import threading
+import sys
+import signal
+import time
+
+UDP_IP = "127.0.0.1"
+UDP_PORT1 = 32000
+UDP_PORT2 = 36001
+format_ = "<IIIiiiiiiddddddddddddddddddiiiiii"
+
+fast_surgeon = 1;
+if fast_surgeon:
+   MAX_LINES = 30000
+   FREQ = 0.001
+else: 
+   MAX_LINES = 3000
+   FREQ = 0.01
+
+#print "UDP target IP:", UDP_IP
+#print "UDP target port1:", UDP_PORT1
+#print "UDP target port2:", UDP_PORT2
+
+u_struct = namedtuple("u_struct", "sequence pactyp version delx0 delx1 dely0 dely1 delz0 delz1 R_l00 R_l01 R_l02 R_l10 R_l11 R_l12 R_l20 R_l21 R_l22 R_r00 R_r01 R_r02 R_r10 R_r11 R_r12 R_r20 R_r21 R_r22 buttonstate0 buttonstate1 grasp0 grasp1 surgeon_mode checksum");
+
+# Not_Ready: state = 0, Operating: state = 1, Stopped: state = 2  
+robot_state = 0;
+sock1 = socket.socket(socket.AF_INET, # Internet
+                      socket.SOCK_DGRAM) # UDP
+sock1.bind((UDP_IP,UDP_PORT1))
+sock2 = socket.socket(socket.AF_INET, # Internet
+                      socket.SOCK_DGRAM) # UDP
+def readSignals():
+    global robot_state
+    while(1):
+        data = sock1.recvfrom(100)       
+        if (robot_state == 0):
+            if (data[0].find('Ready') > -1):
+                robot_state = 1;
+            else:
+                robot_state = 0;
+
+        elif (robot_state == 1):
+            print "\rRaven is ready...",
+            if (data[0].find('Stopped') > -1):
+                robot_state = 2;
+            else:
+                robot_state = 1;
+
+        elif (robot_state == 2): 
+            print "\rRaven is stopped...", 
+            if (data[0].find('Ready') > -1):
+                robot_state = 1;
+            else:
+                robot_state = 2;         
+
+def sendPackets():
+    seq = 0;
+    line_no = 0;
+    line = [];
+    csvfile1 = open('/home/junjie/homa_wksp/teleop_data/data1.csv'); 
+    reader = csv.reader(csvfile1)
+    
+    # Skip the first packets
+    for i in range(0,200):
+       line = reader.next()
+    
+    global robot_state
+
+    while (robot_state == 0):
+        print "\rWaiting for Raven...",  
+  
+    # Send trajectory packets until the operation is done (e.g. 300 steps) 
+    # Skip every 10 packets in the trajectory  
+    while (line_no < MAX_LINES):    
+        # If robot is ready, update the packet to be sent
+        if (robot_state == 1):
+            for i in range(0,1):
+                line = reader.next();
+                line_no = line_no + 1;           
+            print "Sending New Packet" 
+            seq = seq + 1;
+            # Construct the packet to send
+            # Later should look at the runlevel and sublevel to set the surgeon_mode
+            tuple_to_send = u_struct(sequence = seq, 
+                    pactyp = 0, 
+                    version = 0, 
+                    delx0 = int(float(line[9])),
+                    delx1 = int(float(line[12])),
+                    dely0 = int(float(line[10])),
+                    dely1 = int(float(line[13])),
+                    delz0 = int(float(line[11])),
+                    delz1 = int(float(line[14])),
+                    R_l00 = float(line[15]),
+                    R_l01 = float(line[16]),
+                    R_l02 = float(line[17]),
+                    R_l10 = float(line[18]),
+                    R_l11 = float(line[19]), 
+                    R_l12 = float(line[20]),
+                    R_l20 = float(line[21]),
+                    R_l21 = float(line[22]),
+                    R_l22 = float(line[23]),
+                    R_r00 = float(line[24]),
+                    R_r01 = float(line[25]), 
+                    R_r02 = float(line[26]),
+                    R_r10 = float(line[27]),
+                    R_r11 = float(line[28]), 
+                    R_r12 = float(line[29]),
+                    R_r20 = float(line[30]),
+                    R_r21 = float(line[31]),
+                    R_r22 = float(line[32]),
+                    buttonstate0 = 0,
+                    buttonstate1 = 0, 
+                    grasp0 = float((float(line[112])-float(line[113]))/2),
+                    grasp1 = float((float(line[120])-float(line[121]))/2), 
+                    surgeon_mode = 1, 
+                    checksum=0);
+            MESSAGE = struct.pack(format_,*tuple_to_send._asdict().values());
+            if (robot_state == 1):
+                print struct.unpack(format_,MESSAGE);
+                print "\n"
+            # Send the command to the robot
+            sock2.sendto(MESSAGE, (UDP_IP, UDP_PORT2))
+            time.sleep(FREQ)
+        # If in robot_s stay with the same packet but with new seq number
+        elif (robot_state == 2):
+            print "\rWaiting for the robot to be restarted",
+            sys.stdout.flush();
+    sys.exit()
+   
+t1 = threading.Thread(target=readSignals);
+t2 = threading.Thread(target=sendPackets);
+t1.daemon = True;
+t2.daemon = True;
+t1.start();
+t2.start();
+
+while(1):
+   time.sleep(1)
+
+
+
+
+ 
+
+
+
diff --git a/Relay_Start_Signal/Relay_Start_Signal.ino b/Relay_Start_Signal/Relay_Start_Signal.ino
new file mode 100755
index 0000000000000000000000000000000000000000..5543839b3939e107893a5f29fc085698dfb6a256
--- /dev/null
+++ b/Relay_Start_Signal/Relay_Start_Signal.ino
@@ -0,0 +1,57 @@
+//  RelayShieldDemoCode.pde  to control seeed relay shield by arduino.
+//  Copyright (c) 2010 seeed technology inc.
+//  Author: Steve Chang
+//  Version: september 2, 2010
+//
+//  This library is free software; you can redistribute it and/or
+//  modify it under the terms of the GNU Lesser General Public
+//  License as published by the Free Software Foundation; either
+//  version 2.1 of the License, or (at your option) any later version.
+//
+//  This library is distributed in the hope that it will be useful,
+//  but WITHOUT ANY WARRANTY; without even the implied warranty of
+//  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+//  Lesser General Public License for more details.
+//
+//  You should have received a copy of the GNU Lesser General Public
+//  License along with this library; if not, write to the Free Software
+//  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+
+unsigned char relayPin[4] = {4,5,6,7};
+int relayNum = 3;
+String inputString = "";         // a string to hold incoming data
+boolean stringComplete = false;  // whether the string is complete
+
+void(*resetFunc)(void)=0;
+
+void setup()
+{
+  // initialize serial communication at 9600 bits per second:
+  Serial.begin(9600);
+  // Relay Pin for resetting PLC
+  pinMode(relayPin[relayNum],OUTPUT);  
+}
+
+void loop() {
+  // print the string when a newline arrives:
+  if (inputString == "1")
+  {    
+    //Serial.println("Send Start Signal..");
+    digitalWrite(relayPin[relayNum],HIGH);
+    delay(1000);
+    digitalWrite(relayPin[relayNum],LOW);
+    delay(1000);     
+  }  
+  // clear the string:
+  inputString = "";
+}
+
+// Wait for the start signal sent by the code, then send it
+void serialEvent() {
+  while (Serial.available()) {
+    // get the new byte:
+    inputString += (char)Serial.read();
+    //Serial.println(inputString);   
+  }
+}
+
diff --git a/bin/err_network.log b/bin/err_network.log
old mode 100644
new mode 100755
diff --git a/bin/r2_control b/bin/r2_control
index ed38bf765dd4aa2d4dd9d9a425fd2b366621cbfa..78c28fffccd4604f58d40a56527b5031d20ac600 100755
Binary files a/bin/r2_control and b/bin/r2_control differ
diff --git a/cfg/MyStuff.cfg b/cfg/MyStuff.cfg
new file mode 100755
index 0000000000000000000000000000000000000000..d1e06e0c0bbb32db62b09ed2a9d3f540afb17cbf
--- /dev/null
+++ b/cfg/MyStuff.cfg
@@ -0,0 +1,31 @@
+#! /usr/bin/env python
+# Raven Visualization offset configuration
+
+PACKAGE='raven_2'
+import roslib; roslib.load_manifest(PACKAGE)
+
+
+
+from dynamic_reconfigure.parameter_generator import *
+
+gen = ParameterGenerator()
+#       Name                    Type      Reconfiguration level             Description                                                                                      Default    Min   Max
+gen.add("shoulder_l",          double_t, 0, "An offet to add to the shoulder_l",                                 0,     -50, 50)
+gen.add("elbow_l",          double_t, 0, "An offet to add to the elbow_l",                                 0,     -50, 50)
+gen.add("insertion_l",          double_t, 0, "An offet to add to the insertion_l",                                 0,     -50, 50)
+gen.add("roll_l",          double_t, 0, "An offet to add to the roll_l",                                 0,     -50, 50)
+gen.add("wrist_l",          double_t, 0, "An offet to add to the wrist_l",                                 0,     -50, 50)
+gen.add("grasp1_l",          double_t, 0, "An offet to add to the grasp1_l",                                 0,     -50, 50)
+gen.add("grasp2_l",          double_t, 0, "An offet to add to the grasp2_l",                                 0,     -50, 50)
+
+gen.add("shoulder_r",          double_t, 0, "An offet to add to the shoulder_r",                                 0,     -50, 50)
+gen.add("elbow_r",          double_t, 0, "An offet to add to the elbow_r",                                 0,     -50, 50)
+gen.add("insertion_r",          double_t, 0, "An offet to add to the shoulder_r",                                 0,     -50, 50)
+gen.add("roll_r",          double_t, 0, "An offet to add to the roll_r",                                 0,     -50, 50)
+gen.add("wrist_r",          double_t, 0, "An offet to add to the wrist_r",                                 0,     -50, 50)
+gen.add("grasp1_r",          double_t, 0, "An offet to add to the grasp1_r",                                 0,     -50, 50)
+gen.add("grasp2_r",          double_t, 0, "An offet to add to the grasp2_r",                                 0,     -50, 50)
+
+
+exit(gen.generate(PACKAGE, "dynamic_reconfigure_node", "MyStuff"))
+
diff --git a/cfg/MyStuff.cfgc b/cfg/MyStuff.cfgc
new file mode 100755
index 0000000000000000000000000000000000000000..5983de8604c35b8e19e2cc731bdfa703f7304f93
Binary files /dev/null and b/cfg/MyStuff.cfgc differ
diff --git a/cfg/cpp/raven_2/MyStuffConfig.h b/cfg/cpp/raven_2/MyStuffConfig.h
new file mode 100755
index 0000000000000000000000000000000000000000..03e26ca6cd04434186e388f80a17192bbfec675c
--- /dev/null
+++ b/cfg/cpp/raven_2/MyStuffConfig.h
@@ -0,0 +1,691 @@
+//#line 2 "/opt/ros/indigo/share/dynamic_reconfigure/templates/ConfigType.h.template"
+// *********************************************************
+// 
+// File autogenerated for the raven_2 package 
+// by the dynamic_reconfigure package.
+// Please do not edit.
+// 
+// ********************************************************/
+
+/***********************************************************
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2008, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of the Willow Garage nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ ***********************************************************/
+
+// Author: Blaise Gassend
+
+
+#ifndef __raven_2__MYSTUFFCONFIG_H__
+#define __raven_2__MYSTUFFCONFIG_H__
+
+#include <dynamic_reconfigure/config_tools.h>
+#include <limits>
+#include <ros/node_handle.h>
+#include <dynamic_reconfigure/ConfigDescription.h>
+#include <dynamic_reconfigure/ParamDescription.h>
+#include <dynamic_reconfigure/Group.h>
+#include <dynamic_reconfigure/config_init_mutex.h>
+#include <boost/any.hpp>
+
+namespace raven_2
+{
+  class MyStuffConfigStatics;
+  
+  class MyStuffConfig
+  {
+  public:
+    class AbstractParamDescription : public dynamic_reconfigure::ParamDescription
+    {
+    public:
+      AbstractParamDescription(std::string n, std::string t, uint32_t l, 
+          std::string d, std::string e)
+      {
+        name = n;
+        type = t;
+        level = l;
+        description = d;
+        edit_method = e;
+      }
+      
+      virtual void clamp(MyStuffConfig &config, const MyStuffConfig &max, const MyStuffConfig &min) const = 0;
+      virtual void calcLevel(uint32_t &level, const MyStuffConfig &config1, const MyStuffConfig &config2) const = 0;
+      virtual void fromServer(const ros::NodeHandle &nh, MyStuffConfig &config) const = 0;
+      virtual void toServer(const ros::NodeHandle &nh, const MyStuffConfig &config) const = 0;
+      virtual bool fromMessage(const dynamic_reconfigure::Config &msg, MyStuffConfig &config) const = 0;
+      virtual void toMessage(dynamic_reconfigure::Config &msg, const MyStuffConfig &config) const = 0;
+      virtual void getValue(const MyStuffConfig &config, boost::any &val) const = 0;
+    };
+
+    typedef boost::shared_ptr<AbstractParamDescription> AbstractParamDescriptionPtr;
+    typedef boost::shared_ptr<const AbstractParamDescription> AbstractParamDescriptionConstPtr;
+    
+    template <class T>
+    class ParamDescription : public AbstractParamDescription
+    {
+    public:
+      ParamDescription(std::string name, std::string type, uint32_t level, 
+          std::string description, std::string edit_method, T MyStuffConfig::* f) :
+        AbstractParamDescription(name, type, level, description, edit_method),
+        field(f)
+      {}
+
+      T (MyStuffConfig::* field);
+
+      virtual void clamp(MyStuffConfig &config, const MyStuffConfig &max, const MyStuffConfig &min) const
+      {
+        if (config.*field > max.*field)
+          config.*field = max.*field;
+        
+        if (config.*field < min.*field)
+          config.*field = min.*field;
+      }
+
+      virtual void calcLevel(uint32_t &comb_level, const MyStuffConfig &config1, const MyStuffConfig &config2) const
+      {
+        if (config1.*field != config2.*field)
+          comb_level |= level;
+      }
+
+      virtual void fromServer(const ros::NodeHandle &nh, MyStuffConfig &config) const
+      {
+        nh.getParam(name, config.*field);
+      }
+
+      virtual void toServer(const ros::NodeHandle &nh, const MyStuffConfig &config) const
+      {
+        nh.setParam(name, config.*field);
+      }
+
+      virtual bool fromMessage(const dynamic_reconfigure::Config &msg, MyStuffConfig &config) const
+      {
+        return dynamic_reconfigure::ConfigTools::getParameter(msg, name, config.*field);
+      }
+
+      virtual void toMessage(dynamic_reconfigure::Config &msg, const MyStuffConfig &config) const
+      {
+        dynamic_reconfigure::ConfigTools::appendParameter(msg, name, config.*field);
+      }
+
+      virtual void getValue(const MyStuffConfig &config, boost::any &val) const
+      {
+        val = config.*field;
+      }
+    };
+
+    class AbstractGroupDescription : public dynamic_reconfigure::Group
+    {
+      public:
+      AbstractGroupDescription(std::string n, std::string t, int p, int i, bool s)
+      {
+        name = n;
+        type = t;
+        parent = p;
+        state = s;
+        id = i;
+      }
+
+      std::vector<AbstractParamDescriptionConstPtr> abstract_parameters;
+      bool state;
+
+      virtual void toMessage(dynamic_reconfigure::Config &msg, const boost::any &config) const = 0;
+      virtual bool fromMessage(const dynamic_reconfigure::Config &msg, boost::any &config) const =0;
+      virtual void updateParams(boost::any &cfg, MyStuffConfig &top) const= 0;
+      virtual void setInitialState(boost::any &cfg) const = 0;
+
+
+      void convertParams()
+      {
+        for(std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = abstract_parameters.begin(); i != abstract_parameters.end(); ++i)
+        {
+          parameters.push_back(dynamic_reconfigure::ParamDescription(**i));
+        }
+      }
+    };
+
+    typedef boost::shared_ptr<AbstractGroupDescription> AbstractGroupDescriptionPtr;
+    typedef boost::shared_ptr<const AbstractGroupDescription> AbstractGroupDescriptionConstPtr;
+
+    template<class T, class PT>
+    class GroupDescription : public AbstractGroupDescription
+    {
+    public:
+      GroupDescription(std::string name, std::string type, int parent, int id, bool s, T PT::* f) : AbstractGroupDescription(name, type, parent, id, s), field(f)
+      {
+      }
+
+      GroupDescription(const GroupDescription<T, PT>& g): AbstractGroupDescription(g.name, g.type, g.parent, g.id, g.state), field(g.field), groups(g.groups)
+      {
+        parameters = g.parameters;
+        abstract_parameters = g.abstract_parameters;
+      }
+
+      virtual bool fromMessage(const dynamic_reconfigure::Config &msg, boost::any &cfg) const
+      {
+        PT* config = boost::any_cast<PT*>(cfg);
+        if(!dynamic_reconfigure::ConfigTools::getGroupState(msg, name, (*config).*field))
+          return false;
+
+        for(std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = groups.begin(); i != groups.end(); ++i)
+        {
+          boost::any n = &((*config).*field);
+          if(!(*i)->fromMessage(msg, n))
+            return false;
+        }
+
+        return true;
+      }
+
+      virtual void setInitialState(boost::any &cfg) const
+      {
+        PT* config = boost::any_cast<PT*>(cfg);
+        T* group = &((*config).*field);
+        group->state = state;
+
+        for(std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = groups.begin(); i != groups.end(); ++i)
+        {
+          boost::any n = boost::any(&((*config).*field));
+          (*i)->setInitialState(n);
+        }
+
+      }
+
+      virtual void updateParams(boost::any &cfg, MyStuffConfig &top) const
+      {
+        PT* config = boost::any_cast<PT*>(cfg);
+
+        T* f = &((*config).*field);
+        f->setParams(top, abstract_parameters);
+
+        for(std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = groups.begin(); i != groups.end(); ++i)
+        {
+          boost::any n = &((*config).*field);
+          (*i)->updateParams(n, top);
+        }
+      }
+
+      virtual void toMessage(dynamic_reconfigure::Config &msg, const boost::any &cfg) const
+      {
+        const PT config = boost::any_cast<PT>(cfg);
+        dynamic_reconfigure::ConfigTools::appendGroup<T>(msg, name, id, parent, config.*field);
+
+        for(std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = groups.begin(); i != groups.end(); ++i)
+        {
+          (*i)->toMessage(msg, config.*field);
+        }
+      }
+
+      T (PT::* field);
+      std::vector<MyStuffConfig::AbstractGroupDescriptionConstPtr> groups;
+    };
+    
+class DEFAULT
+{
+  public:
+    DEFAULT()
+    {
+      state = true;
+      name = "Default";
+    }
+
+    void setParams(MyStuffConfig &config, const std::vector<AbstractParamDescriptionConstPtr> params)
+    {
+      for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator _i = params.begin(); _i != params.end(); ++_i)
+      {
+        boost::any val;
+        (*_i)->getValue(config, val);
+
+        if("shoulder_l"==(*_i)->name){shoulder_l = boost::any_cast<double>(val);}
+        if("elbow_l"==(*_i)->name){elbow_l = boost::any_cast<double>(val);}
+        if("insertion_l"==(*_i)->name){insertion_l = boost::any_cast<double>(val);}
+        if("roll_l"==(*_i)->name){roll_l = boost::any_cast<double>(val);}
+        if("wrist_l"==(*_i)->name){wrist_l = boost::any_cast<double>(val);}
+        if("grasp1_l"==(*_i)->name){grasp1_l = boost::any_cast<double>(val);}
+        if("grasp2_l"==(*_i)->name){grasp2_l = boost::any_cast<double>(val);}
+        if("shoulder_r"==(*_i)->name){shoulder_r = boost::any_cast<double>(val);}
+        if("elbow_r"==(*_i)->name){elbow_r = boost::any_cast<double>(val);}
+        if("insertion_r"==(*_i)->name){insertion_r = boost::any_cast<double>(val);}
+        if("roll_r"==(*_i)->name){roll_r = boost::any_cast<double>(val);}
+        if("wrist_r"==(*_i)->name){wrist_r = boost::any_cast<double>(val);}
+        if("grasp1_r"==(*_i)->name){grasp1_r = boost::any_cast<double>(val);}
+        if("grasp2_r"==(*_i)->name){grasp2_r = boost::any_cast<double>(val);}
+      }
+    }
+
+    double shoulder_l;
+double elbow_l;
+double insertion_l;
+double roll_l;
+double wrist_l;
+double grasp1_l;
+double grasp2_l;
+double shoulder_r;
+double elbow_r;
+double insertion_r;
+double roll_r;
+double wrist_r;
+double grasp1_r;
+double grasp2_r;
+
+    bool state;
+    std::string name;
+
+    
+}groups;
+
+
+
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      double shoulder_l;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      double elbow_l;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      double insertion_l;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      double roll_l;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      double wrist_l;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      double grasp1_l;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      double grasp2_l;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      double shoulder_r;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      double elbow_r;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      double insertion_r;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      double roll_r;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      double wrist_r;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      double grasp1_r;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      double grasp2_r;
+//#line 255 "/opt/ros/indigo/share/dynamic_reconfigure/templates/ConfigType.h.template"
+
+    bool __fromMessage__(dynamic_reconfigure::Config &msg)
+    {
+      const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
+      const std::vector<AbstractGroupDescriptionConstPtr> &__group_descriptions__ = __getGroupDescriptions__();
+
+      int count = 0;
+      for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
+        if ((*i)->fromMessage(msg, *this))
+          count++;
+
+      for (std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = __group_descriptions__.begin(); i != __group_descriptions__.end(); i ++)
+      {
+        if ((*i)->id == 0)
+        {
+          boost::any n = boost::any(this);
+          (*i)->updateParams(n, *this);
+          (*i)->fromMessage(msg, n);
+        }
+      }
+
+      if (count != dynamic_reconfigure::ConfigTools::size(msg))
+      {
+        ROS_ERROR("MyStuffConfig::__fromMessage__ called with an unexpected parameter.");
+        ROS_ERROR("Booleans:");
+        for (unsigned int i = 0; i < msg.bools.size(); i++)
+          ROS_ERROR("  %s", msg.bools[i].name.c_str());
+        ROS_ERROR("Integers:");
+        for (unsigned int i = 0; i < msg.ints.size(); i++)
+          ROS_ERROR("  %s", msg.ints[i].name.c_str());
+        ROS_ERROR("Doubles:");
+        for (unsigned int i = 0; i < msg.doubles.size(); i++)
+          ROS_ERROR("  %s", msg.doubles[i].name.c_str());
+        ROS_ERROR("Strings:");
+        for (unsigned int i = 0; i < msg.strs.size(); i++)
+          ROS_ERROR("  %s", msg.strs[i].name.c_str());
+        // @todo Check that there are no duplicates. Make this error more
+        // explicit.
+        return false;
+      }
+      return true;
+    }
+
+    // This version of __toMessage__ is used during initialization of
+    // statics when __getParamDescriptions__ can't be called yet.
+    void __toMessage__(dynamic_reconfigure::Config &msg, const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__, const std::vector<AbstractGroupDescriptionConstPtr> &__group_descriptions__) const
+    {
+      dynamic_reconfigure::ConfigTools::clear(msg);
+      for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
+        (*i)->toMessage(msg, *this);
+
+      for (std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = __group_descriptions__.begin(); i != __group_descriptions__.end(); ++i)
+      {
+        if((*i)->id == 0)
+        {
+          (*i)->toMessage(msg, *this);
+        }
+      }
+    }
+    
+    void __toMessage__(dynamic_reconfigure::Config &msg) const
+    {
+      const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
+      const std::vector<AbstractGroupDescriptionConstPtr> &__group_descriptions__ = __getGroupDescriptions__();
+      __toMessage__(msg, __param_descriptions__, __group_descriptions__);
+    }
+    
+    void __toServer__(const ros::NodeHandle &nh) const
+    {
+      const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
+      for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
+        (*i)->toServer(nh, *this);
+    }
+
+    void __fromServer__(const ros::NodeHandle &nh)
+    {
+      static bool setup=false;
+
+      const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
+      for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
+        (*i)->fromServer(nh, *this);
+
+      const std::vector<AbstractGroupDescriptionConstPtr> &__group_descriptions__ = __getGroupDescriptions__();
+      for (std::vector<AbstractGroupDescriptionConstPtr>::const_iterator i = __group_descriptions__.begin(); i != __group_descriptions__.end(); i++){
+        if (!setup && (*i)->id == 0) {
+          setup = true;
+          boost::any n = boost::any(this);
+          (*i)->setInitialState(n);
+        }
+      }
+    }
+
+    void __clamp__()
+    {
+      const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
+      const MyStuffConfig &__max__ = __getMax__();
+      const MyStuffConfig &__min__ = __getMin__();
+      for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
+        (*i)->clamp(*this, __max__, __min__);
+    }
+
+    uint32_t __level__(const MyStuffConfig &config) const
+    {
+      const std::vector<AbstractParamDescriptionConstPtr> &__param_descriptions__ = __getParamDescriptions__();
+      uint32_t level = 0;
+      for (std::vector<AbstractParamDescriptionConstPtr>::const_iterator i = __param_descriptions__.begin(); i != __param_descriptions__.end(); ++i)
+        (*i)->calcLevel(level, config, *this);
+      return level;
+    }
+    
+    static const dynamic_reconfigure::ConfigDescription &__getDescriptionMessage__();
+    static const MyStuffConfig &__getDefault__();
+    static const MyStuffConfig &__getMax__();
+    static const MyStuffConfig &__getMin__();
+    static const std::vector<AbstractParamDescriptionConstPtr> &__getParamDescriptions__();
+    static const std::vector<AbstractGroupDescriptionConstPtr> &__getGroupDescriptions__();
+    
+  private:
+    static const MyStuffConfigStatics *__get_statics__();
+  };
+  
+  template <> // Max and min are ignored for strings.
+  inline void MyStuffConfig::ParamDescription<std::string>::clamp(MyStuffConfig &config, const MyStuffConfig &max, const MyStuffConfig &min) const
+  {
+    return;
+  }
+
+  class MyStuffConfigStatics
+  {
+    friend class MyStuffConfig;
+    
+    MyStuffConfigStatics()
+    {
+MyStuffConfig::GroupDescription<MyStuffConfig::DEFAULT, MyStuffConfig> Default("Default", "", 0, 0, true, &MyStuffConfig::groups);
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __min__.shoulder_l = -50.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __max__.shoulder_l = 50.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __default__.shoulder_l = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.abstract_parameters.push_back(MyStuffConfig::AbstractParamDescriptionConstPtr(new MyStuffConfig::ParamDescription<double>("shoulder_l", "double", 0, "An offet to add to the shoulder_l", "", &MyStuffConfig::shoulder_l)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __param_descriptions__.push_back(MyStuffConfig::AbstractParamDescriptionConstPtr(new MyStuffConfig::ParamDescription<double>("shoulder_l", "double", 0, "An offet to add to the shoulder_l", "", &MyStuffConfig::shoulder_l)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __min__.elbow_l = -50.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __max__.elbow_l = 50.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __default__.elbow_l = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.abstract_parameters.push_back(MyStuffConfig::AbstractParamDescriptionConstPtr(new MyStuffConfig::ParamDescription<double>("elbow_l", "double", 0, "An offet to add to the elbow_l", "", &MyStuffConfig::elbow_l)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __param_descriptions__.push_back(MyStuffConfig::AbstractParamDescriptionConstPtr(new MyStuffConfig::ParamDescription<double>("elbow_l", "double", 0, "An offet to add to the elbow_l", "", &MyStuffConfig::elbow_l)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __min__.insertion_l = -50.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __max__.insertion_l = 50.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __default__.insertion_l = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.abstract_parameters.push_back(MyStuffConfig::AbstractParamDescriptionConstPtr(new MyStuffConfig::ParamDescription<double>("insertion_l", "double", 0, "An offet to add to the insertion_l", "", &MyStuffConfig::insertion_l)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __param_descriptions__.push_back(MyStuffConfig::AbstractParamDescriptionConstPtr(new MyStuffConfig::ParamDescription<double>("insertion_l", "double", 0, "An offet to add to the insertion_l", "", &MyStuffConfig::insertion_l)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __min__.roll_l = -50.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __max__.roll_l = 50.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __default__.roll_l = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.abstract_parameters.push_back(MyStuffConfig::AbstractParamDescriptionConstPtr(new MyStuffConfig::ParamDescription<double>("roll_l", "double", 0, "An offet to add to the roll_l", "", &MyStuffConfig::roll_l)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __param_descriptions__.push_back(MyStuffConfig::AbstractParamDescriptionConstPtr(new MyStuffConfig::ParamDescription<double>("roll_l", "double", 0, "An offet to add to the roll_l", "", &MyStuffConfig::roll_l)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __min__.wrist_l = -50.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __max__.wrist_l = 50.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __default__.wrist_l = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.abstract_parameters.push_back(MyStuffConfig::AbstractParamDescriptionConstPtr(new MyStuffConfig::ParamDescription<double>("wrist_l", "double", 0, "An offet to add to the wrist_l", "", &MyStuffConfig::wrist_l)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __param_descriptions__.push_back(MyStuffConfig::AbstractParamDescriptionConstPtr(new MyStuffConfig::ParamDescription<double>("wrist_l", "double", 0, "An offet to add to the wrist_l", "", &MyStuffConfig::wrist_l)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __min__.grasp1_l = -50.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __max__.grasp1_l = 50.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __default__.grasp1_l = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.abstract_parameters.push_back(MyStuffConfig::AbstractParamDescriptionConstPtr(new MyStuffConfig::ParamDescription<double>("grasp1_l", "double", 0, "An offet to add to the grasp1_l", "", &MyStuffConfig::grasp1_l)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __param_descriptions__.push_back(MyStuffConfig::AbstractParamDescriptionConstPtr(new MyStuffConfig::ParamDescription<double>("grasp1_l", "double", 0, "An offet to add to the grasp1_l", "", &MyStuffConfig::grasp1_l)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __min__.grasp2_l = -50.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __max__.grasp2_l = 50.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __default__.grasp2_l = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.abstract_parameters.push_back(MyStuffConfig::AbstractParamDescriptionConstPtr(new MyStuffConfig::ParamDescription<double>("grasp2_l", "double", 0, "An offet to add to the grasp2_l", "", &MyStuffConfig::grasp2_l)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __param_descriptions__.push_back(MyStuffConfig::AbstractParamDescriptionConstPtr(new MyStuffConfig::ParamDescription<double>("grasp2_l", "double", 0, "An offet to add to the grasp2_l", "", &MyStuffConfig::grasp2_l)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __min__.shoulder_r = -50.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __max__.shoulder_r = 50.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __default__.shoulder_r = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.abstract_parameters.push_back(MyStuffConfig::AbstractParamDescriptionConstPtr(new MyStuffConfig::ParamDescription<double>("shoulder_r", "double", 0, "An offet to add to the shoulder_r", "", &MyStuffConfig::shoulder_r)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __param_descriptions__.push_back(MyStuffConfig::AbstractParamDescriptionConstPtr(new MyStuffConfig::ParamDescription<double>("shoulder_r", "double", 0, "An offet to add to the shoulder_r", "", &MyStuffConfig::shoulder_r)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __min__.elbow_r = -50.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __max__.elbow_r = 50.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __default__.elbow_r = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.abstract_parameters.push_back(MyStuffConfig::AbstractParamDescriptionConstPtr(new MyStuffConfig::ParamDescription<double>("elbow_r", "double", 0, "An offet to add to the elbow_r", "", &MyStuffConfig::elbow_r)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __param_descriptions__.push_back(MyStuffConfig::AbstractParamDescriptionConstPtr(new MyStuffConfig::ParamDescription<double>("elbow_r", "double", 0, "An offet to add to the elbow_r", "", &MyStuffConfig::elbow_r)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __min__.insertion_r = -50.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __max__.insertion_r = 50.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __default__.insertion_r = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.abstract_parameters.push_back(MyStuffConfig::AbstractParamDescriptionConstPtr(new MyStuffConfig::ParamDescription<double>("insertion_r", "double", 0, "An offet to add to the shoulder_r", "", &MyStuffConfig::insertion_r)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __param_descriptions__.push_back(MyStuffConfig::AbstractParamDescriptionConstPtr(new MyStuffConfig::ParamDescription<double>("insertion_r", "double", 0, "An offet to add to the shoulder_r", "", &MyStuffConfig::insertion_r)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __min__.roll_r = -50.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __max__.roll_r = 50.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __default__.roll_r = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.abstract_parameters.push_back(MyStuffConfig::AbstractParamDescriptionConstPtr(new MyStuffConfig::ParamDescription<double>("roll_r", "double", 0, "An offet to add to the roll_r", "", &MyStuffConfig::roll_r)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __param_descriptions__.push_back(MyStuffConfig::AbstractParamDescriptionConstPtr(new MyStuffConfig::ParamDescription<double>("roll_r", "double", 0, "An offet to add to the roll_r", "", &MyStuffConfig::roll_r)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __min__.wrist_r = -50.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __max__.wrist_r = 50.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __default__.wrist_r = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.abstract_parameters.push_back(MyStuffConfig::AbstractParamDescriptionConstPtr(new MyStuffConfig::ParamDescription<double>("wrist_r", "double", 0, "An offet to add to the wrist_r", "", &MyStuffConfig::wrist_r)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __param_descriptions__.push_back(MyStuffConfig::AbstractParamDescriptionConstPtr(new MyStuffConfig::ParamDescription<double>("wrist_r", "double", 0, "An offet to add to the wrist_r", "", &MyStuffConfig::wrist_r)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __min__.grasp1_r = -50.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __max__.grasp1_r = 50.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __default__.grasp1_r = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.abstract_parameters.push_back(MyStuffConfig::AbstractParamDescriptionConstPtr(new MyStuffConfig::ParamDescription<double>("grasp1_r", "double", 0, "An offet to add to the grasp1_r", "", &MyStuffConfig::grasp1_r)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __param_descriptions__.push_back(MyStuffConfig::AbstractParamDescriptionConstPtr(new MyStuffConfig::ParamDescription<double>("grasp1_r", "double", 0, "An offet to add to the grasp1_r", "", &MyStuffConfig::grasp1_r)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __min__.grasp2_r = -50.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __max__.grasp2_r = 50.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __default__.grasp2_r = 0.0;
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.abstract_parameters.push_back(MyStuffConfig::AbstractParamDescriptionConstPtr(new MyStuffConfig::ParamDescription<double>("grasp2_r", "double", 0, "An offet to add to the grasp2_r", "", &MyStuffConfig::grasp2_r)));
+//#line 259 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __param_descriptions__.push_back(MyStuffConfig::AbstractParamDescriptionConstPtr(new MyStuffConfig::ParamDescription<double>("grasp2_r", "double", 0, "An offet to add to the grasp2_r", "", &MyStuffConfig::grasp2_r)));
+//#line 233 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      Default.convertParams();
+//#line 233 "/opt/ros/indigo/lib/python2.7/dist-packages/dynamic_reconfigure/parameter_generator.py"
+      __group_descriptions__.push_back(MyStuffConfig::AbstractGroupDescriptionConstPtr(new MyStuffConfig::GroupDescription<MyStuffConfig::DEFAULT, MyStuffConfig>(Default)));
+//#line 390 "/opt/ros/indigo/share/dynamic_reconfigure/templates/ConfigType.h.template"
+
+      for (std::vector<MyStuffConfig::AbstractGroupDescriptionConstPtr>::const_iterator i = __group_descriptions__.begin(); i != __group_descriptions__.end(); ++i)
+      {
+        __description_message__.groups.push_back(**i);
+      }
+      __max__.__toMessage__(__description_message__.max, __param_descriptions__, __group_descriptions__); 
+      __min__.__toMessage__(__description_message__.min, __param_descriptions__, __group_descriptions__); 
+      __default__.__toMessage__(__description_message__.dflt, __param_descriptions__, __group_descriptions__); 
+    }
+    std::vector<MyStuffConfig::AbstractParamDescriptionConstPtr> __param_descriptions__;
+    std::vector<MyStuffConfig::AbstractGroupDescriptionConstPtr> __group_descriptions__;
+    MyStuffConfig __max__;
+    MyStuffConfig __min__;
+    MyStuffConfig __default__;
+    dynamic_reconfigure::ConfigDescription __description_message__;
+
+    static const MyStuffConfigStatics *get_instance()
+    {
+      // Split this off in a separate function because I know that
+      // instance will get initialized the first time get_instance is
+      // called, and I am guaranteeing that get_instance gets called at
+      // most once.
+      static MyStuffConfigStatics instance;
+      return &instance;
+    }
+  };
+
+  inline const dynamic_reconfigure::ConfigDescription &MyStuffConfig::__getDescriptionMessage__() 
+  {
+    return __get_statics__()->__description_message__;
+  }
+
+  inline const MyStuffConfig &MyStuffConfig::__getDefault__()
+  {
+    return __get_statics__()->__default__;
+  }
+  
+  inline const MyStuffConfig &MyStuffConfig::__getMax__()
+  {
+    return __get_statics__()->__max__;
+  }
+  
+  inline const MyStuffConfig &MyStuffConfig::__getMin__()
+  {
+    return __get_statics__()->__min__;
+  }
+  
+  inline const std::vector<MyStuffConfig::AbstractParamDescriptionConstPtr> &MyStuffConfig::__getParamDescriptions__()
+  {
+    return __get_statics__()->__param_descriptions__;
+  }
+
+  inline const std::vector<MyStuffConfig::AbstractGroupDescriptionConstPtr> &MyStuffConfig::__getGroupDescriptions__()
+  {
+    return __get_statics__()->__group_descriptions__;
+  }
+
+  inline const MyStuffConfigStatics *MyStuffConfig::__get_statics__()
+  {
+    const static MyStuffConfigStatics *statics;
+  
+    if (statics) // Common case
+      return statics;
+
+    boost::mutex::scoped_lock lock(dynamic_reconfigure::__init_mutex__);
+
+    if (statics) // In case we lost a race.
+      return statics;
+
+    statics = MyStuffConfigStatics::get_instance();
+    
+    return statics;
+  }
+
+
+}
+
+#endif // __MYSTUFFRECONFIGURATOR_H__
diff --git a/cmake_install.cmake b/cmake_install.cmake
old mode 100644
new mode 100755
diff --git a/data1_3_7_13.bag b/data1_3_7_13.bag
deleted file mode 100755
index 7a9e09345eec889b96564efa3c5b62664f933285..0000000000000000000000000000000000000000
Binary files a/data1_3_7_13.bag and /dev/null differ
diff --git a/docs/MyStuffConfig-usage.dox b/docs/MyStuffConfig-usage.dox
old mode 100644
new mode 100755
diff --git a/docs/MyStuffConfig.dox b/docs/MyStuffConfig.dox
old mode 100644
new mode 100755
diff --git a/docs/MyStuffConfig.wikidoc b/docs/MyStuffConfig.wikidoc
old mode 100644
new mode 100755
diff --git a/include/DOF_type.h b/include/DOF_type.h
old mode 100644
new mode 100755
diff --git a/include/DS0.h b/include/DS0.h
old mode 100644
new mode 100755
diff --git a/include/DS1.h b/include/DS1.h
old mode 100644
new mode 100755
diff --git a/include/IMG_0227whiteback_720.jpg b/include/IMG_0227whiteback_720.jpg
old mode 100644
new mode 100755
diff --git a/include/RavenMask.jpg b/include/RavenMask.jpg
old mode 100644
new mode 100755
diff --git a/include/USB_packets.h b/include/USB_packets.h
old mode 100644
new mode 100755
diff --git a/include/itp_teleoperation.h b/include/itp_teleoperation.h
old mode 100644
new mode 100755
index e95b2969f53026c2f6b844ab59b1d40c88bf65e5..25332ebd9c4299c057809e9218558d765cde269c
--- a/include/itp_teleoperation.h
+++ b/include/itp_teleoperation.h
@@ -37,8 +37,8 @@
 #define TELEOPERATION_H
 #define SURGEON_ENGAGED       1
 #define SURGEON_DISENGAGED    0
+#include "defines.h" 
 
-#define simulator
 /*
 u_struct : structure passed from master to slave.
 This struct defines an incremental movment packet type.
@@ -59,7 +59,7 @@ surgeon_mode    SURGEON_ENGAGED or SURGEON_DISENGAGED  (formerly Pedal_Down or P
 checksum
 */
 
-#ifdef simulator
+#ifdef simulator_packet
 struct u_struct {
 	unsigned int sequence;
 	unsigned int pactyp;
@@ -70,8 +70,10 @@ struct u_struct {
 	int delz[2];
         double R_l[3][3];
         double R_r[3][3];
-	double ljoints[6];
+#ifdef simulator	
+        double ljoints[6];
 	double rjoints[6];
+#endif
 	int buttonstate[2];
 	int grasp[2];
 	int surgeon_mode;
diff --git a/include/mainpage.h b/include/mainpage.h
old mode 100644
new mode 100755
diff --git a/include/raven/USB_init.h b/include/raven/USB_init.h
old mode 100644
new mode 100755
index 36f451bb8b0ab88c8836e72b0c46c436da702b9e..71680d3e0829f12d7bc8c136573c311530f59375
--- a/include/raven/USB_init.h
+++ b/include/raven/USB_init.h
@@ -34,6 +34,17 @@
 #include <unistd.h>
 #include <sys/ioctl.h>
 #include <vector>
+#include <unistd.h>
+#include <fcntl.h>
+#include <sys/ioctl.h>
+#include <errno.h>
+#include <paths.h>
+#include <termios.h>
+#include <sysexits.h>
+#include <sys/param.h>
+#include <sys/select.h>
+#include <sys/time.h>
+#include <time.h>
 
 #include "defines.h"
 #include "struct.h"
@@ -57,6 +68,7 @@ typedef struct
 
 } USBStruct;
 
+static struct termios gOriginalTTYAttrs;
 
 //Defines
 
@@ -81,4 +93,8 @@ int usb_write(int id, void *buffer, size_t len);
 
 int usb_reset_encoders(int boardid);
 
+int openSerialPort(void);
+int writeSerialPort(int serialFileDescriptor, void *buffer);
+void closeSerialPort(int serialFileDescriptor);
+
 #endif
diff --git a/include/raven/console_process.h b/include/raven/console_process.h
old mode 100644
new mode 100755
diff --git a/include/raven/defines.h b/include/raven/defines.h
old mode 100644
new mode 100755
index 16f7340272a27272b1c39577706cb9e5827f5a67..b4ee0643a3470ea09461d0a0d1d7f5039e1ed4d5
--- a/include/raven/defines.h
+++ b/include/raven/defines.h
@@ -29,6 +29,14 @@
 
 #include <math.h>
 
+//#define simulator
+#define simulator_packet
+#define skip_init_button
+#define skip_restart_button
+#define surgeon_packet_gen
+//#define test_gdb
+//#define no_logging
+
 #define RAVEN_MODULE_VERSION RAVEN_II_RELEASE_02
 #define device robot_device
 
@@ -36,21 +44,21 @@
 #define RAVEN_II        	1
 //#define KIST
 
-#define RAVEN_TOOLS
-//#define DV_ADAPTER			1
+//#define RAVEN_TOOLS
+#define DV_ADAPTER			1
 //#define RAVEN_II_SQUARE    1 //for Santa Cruz style tool carriage
 //#define RICKS_TOOLS
 
-//#undef RAVEN_TOOLS
-#undef DV_ADAPTER
+#undef RAVEN_TOOLS
+//#undef DV_ADAPTER
 #undef RAVEN_II_SQUARE
 #undef RICKS_TOOLS
 
 
 // Two arm identification
 // Change this to match device ID in /dev/brl_usbXX
-#define GREEN_ARM_SERIAL 37
-#define GOLD_ARM_SERIAL  29
+#define GREEN_ARM_SERIAL 29
+#define GOLD_ARM_SERIAL  37
 
 #define GREEN_ARM        GREEN_ARM_SERIAL
 #define GOLD_ARM         GOLD_ARM_SERIAL
@@ -255,16 +263,16 @@
 #define GRASP2_MAX_DAC     4500  // up from 2000 on 10/10/2013 //up from 2500 on 2/28/14
 
 #else
-#define MAX_INST_DAC 20000 //32000
+#define MAX_INST_DAC 12000 //20000 //32000
 
 // Doubled position joints 4-Apr-2013 by HK
-#define SHOULDER_MAX_DAC   5000   // 2000 usually moves 1000 doesn't
-#define ELBOW_MAX_DAC      5000   //  ""
-#define Z_INS_MAX_DAC      4000   //  1000 moves but doesn't overcome friction in tool joints
-#define TOOL_ROT_MAX_DAC   3000  // 10000   These are set really low for safety sake
-#define WRIST_MAX_DAC      1900  // 20000
-#define GRASP1_MAX_DAC     2400  // 15000
-#define GRASP2_MAX_DAC     2400
+#define SHOULDER_MAX_DAC   10000//5000   // 2000 usually moves 1000 doesn't
+#define ELBOW_MAX_DAC      10000//5000   //  ""
+#define Z_INS_MAX_DAC      8000//4000   //  1000 moves but doesn't overcome friction in tool joints
+#define TOOL_ROT_MAX_DAC   6000//3000  // 10000   These are set really low for safety sake
+#define WRIST_MAX_DAC      2700//1900  // 20000
+#define GRASP1_MAX_DAC     4800//2400  // 15000
+#define GRASP2_MAX_DAC     4800//2400
 
 
 #endif
diff --git a/include/raven/dof.h b/include/raven/dof.h
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diff --git a/include/raven/fifo.h b/include/raven/fifo.h
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diff --git a/include/raven/fwd_cable_coupling.h b/include/raven/fwd_cable_coupling.h
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diff --git a/include/raven/fwd_kinematics.h b/include/raven/fwd_kinematics.h
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diff --git a/include/raven/get_USB_packet.h b/include/raven/get_USB_packet.h
old mode 100644
new mode 100755
diff --git a/include/raven/grav_comp.h b/include/raven/grav_comp.h
old mode 100644
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diff --git a/include/raven/hmatrix.h b/include/raven/hmatrix.h
old mode 100644
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diff --git a/include/raven/homing.h b/include/raven/homing.h
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diff --git a/include/raven/init.h b/include/raven/init.h
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diff --git a/include/raven/inv_cable_coupling.h b/include/raven/inv_cable_coupling.h
old mode 100644
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diff --git a/include/raven/inv_kinematics.h b/include/raven/inv_kinematics.h
old mode 100644
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diff --git a/include/raven/local_io.h b/include/raven/local_io.h
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diff --git a/include/raven/log.h b/include/raven/log.h
old mode 100644
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diff --git a/include/raven/mapping.h b/include/raven/mapping.h
old mode 100644
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diff --git a/include/raven/motor.h b/include/raven/motor.h
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diff --git a/include/raven/network_layer.h b/include/raven/network_layer.h
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diff --git a/include/raven/overdrive_detect.h b/include/raven/overdrive_detect.h
old mode 100644
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diff --git a/include/raven/parallel.h b/include/raven/parallel.h
old mode 100644
new mode 100755
diff --git a/include/raven/pid_control.h b/include/raven/pid_control.h
old mode 100644
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diff --git a/include/raven/put_USB_packet.h b/include/raven/put_USB_packet.h
old mode 100644
new mode 100755
diff --git a/include/raven/r2_kinematics.h b/include/raven/r2_kinematics.h
old mode 100644
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diff --git a/include/raven/reconfigure.h b/include/raven/reconfigure.h
old mode 100644
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diff --git a/include/raven/rt_process_preempt.h b/include/raven/rt_process_preempt.h
old mode 100644
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diff --git a/include/raven/rt_raven.h b/include/raven/rt_raven.h
old mode 100644
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diff --git a/include/raven/state_estimate.h b/include/raven/state_estimate.h
old mode 100644
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diff --git a/include/raven/state_machine.h b/include/raven/state_machine.h
old mode 100644
new mode 100755
diff --git a/include/raven/struct.h b/include/raven/struct.h
old mode 100644
new mode 100755
diff --git a/include/raven/t_to_DAC_val.h b/include/raven/t_to_DAC_val.h
old mode 100644
new mode 100755
diff --git a/include/raven/tool.h b/include/raven/tool.h
old mode 100644
new mode 100755
diff --git a/include/raven/trajectory.h b/include/raven/trajectory.h
old mode 100644
new mode 100755
diff --git a/include/raven/update_atmel_io.h b/include/raven/update_atmel_io.h
old mode 100644
new mode 100755
diff --git a/include/raven/update_device_state.h b/include/raven/update_device_state.h
old mode 100644
new mode 100755
diff --git a/include/raven/utils.h b/include/raven/utils.h
old mode 100644
new mode 100755
diff --git a/launch/raven_2.launch b/launch/raven_2.launch
old mode 100644
new mode 100755
diff --git a/launch/raven_2_gdb.launch b/launch/raven_2_gdb.launch
old mode 100644
new mode 100755
index 29593b2ac3b1ccd230bd9788da9110b056af7d92..bb68012efc0157868d95ab04f0c3e61a7a8166a0
--- a/launch/raven_2_gdb.launch
+++ b/launch/raven_2_gdb.launch
@@ -2,5 +2,5 @@
     <rosparam file="$(find raven_2)/params/r2params.yaml" command="load" output="screen" />
     <arg name="inject_mode"/> 
     <param name="inject" value="$(arg inject_mode)"/>
-    <node name ="r2_control" pkg="raven_2" type="r2_control" output="screen" launch-prefix="gdbserver localhost:1234"/>
+    <node name ="r2_control" pkg="raven_2" type="r2_control" output="screen" launch-prefix="nice --20 gdbserver localhost:1234"/>
 </launch>
diff --git a/left.txt b/left.txt
deleted file mode 100755
index 795dd474f5c5f7c151f2aa0b7682131d845d5cff..0000000000000000000000000000000000000000
--- a/left.txt
+++ /dev/null
@@ -1,387 +0,0 @@
--42.317,5.2262,6.8821,-0.78381,-0.60196,-0.1526,-0.0072781,0.25462,-0.96701,0.62096,-0.75684,-0.20395,-150,-90,430,-2.2463e-14,-90,-30,10
--42.317,5.2262,6.8821,-0.78381,-0.60196,-0.1526,-0.0072781,0.25462,-0.96701,0.62096,-0.75684,-0.20395,-150,-90,430,-2.2463e-14,-90,-30,10
--42.317,5.2262,6.8821,-0.78381,-0.60196,-0.1526,-0.0072781,0.25462,-0.96701,0.62096,-0.75684,-0.20395,-150,-90,430,-2.2463e-14,-90,-30,10
--42.317,5.2262,6.8821,-0.78381,-0.60196,-0.1526,-0.0072781,0.25462,-0.96701,0.62096,-0.75684,-0.20395,-150,-90,430,-2.2463e-14,-90,-30,10
--42.317,5.2262,6.8821,-0.78381,-0.60196,-0.1526,-0.0072781,0.25462,-0.96701,0.62096,-0.75684,-0.20395,-150,-90,430,-2.2463e-14,-90,-30,10
--42.317,5.2262,6.8821,-0.78381,-0.60196,-0.1526,-0.0072781,0.25462,-0.96701,0.62096,-0.75684,-0.20395,-150,-90,430,-2.2463e-14,-90,-30,10
--42.317,5.2262,6.8821,-0.78381,-0.60196,-0.1526,-0.0072781,0.25462,-0.96701,0.62096,-0.75684,-0.20395,-150,-90,430,-2.2463e-14,-90,-30,10
--42.317,5.2262,6.8821,-0.78381,-0.60196,-0.1526,-0.0072781,0.25462,-0.96701,0.62096,-0.75684,-0.20395,-150,-90,430,-2.2463e-14,-90,-30,10
--42.317,5.2262,6.8821,-0.78381,-0.60196,-0.1526,-0.0072781,0.25462,-0.96701,0.62096,-0.75684,-0.20395,-150,-90,430,-2.2463e-14,-90,-30,10
--42.317,5.2262,6.8821,-0.78381,-0.60196,-0.1526,-0.0072781,0.25462,-0.96701,0.62096,-0.75684,-0.20395,-150,-90,430,-2.2463e-14,-90,-30,10
--42.317,5.2262,6.8821,-0.78381,-0.60196,-0.1526,-0.0072781,0.25462,-0.96701,0.62096,-0.75684,-0.20395,-150,-90,430,-2.2463e-14,-90,-30,10
--42.317,5.2262,6.8821,-0.78381,-0.60196,-0.1526,-0.0072781,0.25462,-0.96701,0.62096,-0.75684,-0.20395,-150,-90,430,-2.2463e-14,-90,-30,10
--42.317,5.2262,6.8821,-0.78381,-0.60196,-0.1526,-0.0072781,0.25462,-0.96701,0.62096,-0.75684,-0.20395,-150,-90,430,-2.2463e-14,-90,-30,10
--42.317,5.2262,6.8821,-0.78381,-0.60196,-0.1526,-0.0072781,0.25462,-0.96701,0.62096,-0.75684,-0.20395,-150,-90,430,-2.2463e-14,-90,-30,10
--42.317,5.2262,6.8821,-0.78381,-0.60196,-0.1526,-0.0072781,0.25462,-0.96701,0.62096,-0.75684,-0.20395,-150,-90,430,-2.2463e-14,-90,-30,10
--42.317,5.2262,6.8821,-0.78381,-0.60196,-0.1526,-0.0072781,0.25462,-0.96701,0.62096,-0.75684,-0.20395,-150,-90,430,-2.2463e-14,-90,-30,10
--42.317,5.2262,6.8821,-0.78381,-0.60196,-0.1526,-0.0072781,0.25462,-0.96701,0.62096,-0.75684,-0.20395,-150,-90,430,-2.2463e-14,-90,-30,10
--42.317,5.2262,6.8821,-0.78381,-0.60196,-0.1526,-0.0072781,0.25462,-0.96701,0.62096,-0.75684,-0.20395,-150,-90,430,-2.2463e-14,-90,-30,10
--42.317,5.2262,6.8821,-0.78381,-0.60196,-0.1526,-0.0072781,0.25462,-0.96701,0.62096,-0.75684,-0.20395,-150,-90,430,-2.2463e-14,-90,-30,10
--42.317,5.2262,6.8821,-0.78381,-0.60196,-0.1526,-0.0072781,0.25462,-0.96701,0.62096,-0.75684,-0.20395,-150,-90,430,-2.2463e-14,-90,-30,10
--42.317,5.2262,6.8821,-0.78381,-0.60196,-0.1526,-0.0072781,0.25462,-0.96701,0.62096,-0.75684,-0.20395,-150,-90,430,-2.2463e-14,-90,-30,10
--42.317,5.2262,6.8821,-0.78381,-0.60196,-0.1526,-0.0072781,0.25462,-0.96701,0.62096,-0.75684,-0.20395,-150,-90,430,-2.2463e-14,-90,-30,10
--42.317,5.2262,6.8821,-0.78381,-0.60196,-0.1526,-0.0072781,0.25462,-0.96701,0.62096,-0.75684,-0.20395,-150,-90,430,-2.2463e-14,-90,-30,10
--42.317,5.2262,6.8821,-0.78381,-0.60196,-0.1526,-0.0072781,0.25462,-0.96701,0.62096,-0.75684,-0.20395,-150,-90,430,-2.2463e-14,-90,-30,10
--42.317,5.2262,6.8821,-0.78381,-0.60196,-0.1526,-0.0072781,0.25462,-0.96701,0.62096,-0.75684,-0.20395,-150,-90,430,-2.2463e-14,-90,-30,10
--42.317,5.2262,6.8821,-0.78381,-0.60196,-0.1526,-0.0072781,0.25462,-0.96701,0.62096,-0.75684,-0.20395,-150,-90,430,-2.2463e-14,-90,-30,10
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--42.317,5.2262,6.8821,-0.78381,-0.60196,-0.1526,-0.0072781,0.25462,-0.96701,0.62096,-0.75684,-0.20395,-150,-90,430,-2.2463e-14,-90,-30,10
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--42.317,5.2262,6.8821,-0.78381,-0.60196,-0.1526,-0.0072781,0.25462,-0.96701,0.62096,-0.75684,-0.20395,-150,-90,430,-2.2463e-14,-90,-30,10
--42.317,5.2262,6.8821,-0.78381,-0.60196,-0.1526,-0.0072781,0.25462,-0.96701,0.62096,-0.75684,-0.20395,-150,-90,430,-2.2463e-14,-90,-30,10
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--42.317,5.2262,6.8821,-0.78381,-0.60196,-0.1526,-0.0072781,0.25462,-0.96701,0.62096,-0.75684,-0.20395,-150,-90,430,-2.2463e-14,-90,-30,10
--42.317,5.2262,6.8821,-0.78381,-0.60196,-0.1526,-0.0072781,0.25462,-0.96701,0.62096,-0.75684,-0.20395,-150,-90,430,-2.2463e-14,-90,-30,10
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--42.317,3.7262,13.882,-0.78381,-0.60196,-0.1526,-0.0072781,0.25462,-0.96701,0.62096,-0.75684,-0.20395,-149.36,-78.54,428.5,7.2256,-89.957,-20.862,10
--42.317,3.7262,13.382,-0.78381,-0.60196,-0.1526,-0.0072781,0.25462,-0.96701,0.62096,-0.75684,-0.20395,-149.23,-79.337,428.65,6.7724,-89.762,-21.459,10
--42.317,3.7262,12.882,-0.78381,-0.60196,-0.1526,-0.0072781,0.25462,-0.96701,0.62096,-0.75684,-0.20395,-149.1,-80.14,428.8,6.3139,-89.565,-22.06,10
--42.317,3.7262,12.382,-0.78381,-0.60196,-0.1526,-0.0072781,0.25462,-0.96701,0.62096,-0.75684,-0.20395,-148.96,-80.949,428.94,5.8499,-89.367,-22.665,10
--42.317,3.7262,11.882,-0.78381,-0.60196,-0.1526,-0.0072781,0.25462,-0.96701,0.62096,-0.75684,-0.20395,-148.81,-81.764,429.08,5.3802,-89.166,-23.274,10
--42.317,3.7262,11.382,-0.78381,-0.60196,-0.1526,-0.0072781,0.25462,-0.96701,0.62096,-0.75684,-0.20395,-148.66,-82.585,429.21,4.9048,-88.965,-23.887,10
--42.317,3.7262,10.882,-0.78381,-0.60196,-0.1526,-0.0072781,0.25462,-0.96701,0.62096,-0.75684,-0.20395,-148.5,-83.413,429.34,4.4235,-88.761,-24.504,10
--42.317,3.7262,10.382,-0.78381,-0.60196,-0.1526,-0.0072781,0.25462,-0.96701,0.62096,-0.75684,-0.20395,-148.33,-84.245,429.46,3.9362,-88.556,-25.123,10
--42.317,3.7262,9.8821,-0.78381,-0.60196,-0.1526,-0.0072781,0.25462,-0.96701,0.62096,-0.75684,-0.20395,-148.16,-85.084,429.57,3.4428,-88.35,-25.747,10
--42.317,3.7262,9.3821,-0.78381,-0.60196,-0.1526,-0.0072781,0.25462,-0.96701,0.62096,-0.75684,-0.20395,-147.98,-85.928,429.68,2.9431,-88.142,-26.374,10
--42.317,3.7262,8.8821,-0.78381,-0.60196,-0.1526,-0.0072781,0.25462,-0.96701,0.62096,-0.75684,-0.20395,-147.79,-86.778,429.78,2.4371,-87.933,-27.003,10
--42.317,3.7262,8.3821,-0.78381,-0.60196,-0.1526,-0.0072781,0.25462,-0.96701,0.62096,-0.75684,-0.20395,-147.6,-87.633,429.88,1.9246,-87.723,-27.636,10
--42.317,3.7262,7.8821,-0.78381,-0.60196,-0.1526,-0.0072781,0.25462,-0.96701,0.62096,-0.75684,-0.20395,-147.4,-88.493,429.98,1.4055,-87.512,-28.272,10
--42.317,3.7262,7.3821,-0.78381,-0.60196,-0.1526,-0.0072781,0.25462,-0.96701,0.62096,-0.75684,-0.20395,-147.2,-89.358,430.06,0.87968,-87.3,-28.911,10
--42.317,3.7262,6.8821,-0.78381,-0.60196,-0.1526,-0.0072781,0.25462,-0.96701,0.62096,-0.75684,-0.20395,-146.98,-90.228,430.14,0.34706,-87.087,-29.552,10
--42.317,3.7262,6.3821,-0.78381,-0.60196,-0.1526,-0.0072781,0.25462,-0.96701,0.62096,-0.75684,-0.20395,-146.76,-91.103,430.22,-0.19247,-86.874,-30.196,10
--42.317,3.7262,5.8821,-0.78381,-0.60196,-0.1526,-0.0072781,0.25462,-0.96701,0.62096,-0.75684,-0.20395,-146.54,-91.983,430.29,-0.73901,-86.661,-30.842,10
--42.317,3.7262,5.3821,-0.78381,-0.60196,-0.1526,-0.0072781,0.25462,-0.96701,0.62096,-0.75684,-0.20395,-146.3,-92.867,430.35,-1.2926,-86.446,-31.49,10
diff --git a/mainpage.dox b/mainpage.dox
old mode 100644
new mode 100755
diff --git a/manifest.xml b/manifest.xml
old mode 100644
new mode 100755
diff --git a/msg/raven_automove.msg b/msg/raven_automove.msg
old mode 100644
new mode 100755
diff --git a/msg/raven_state.msg b/msg/raven_state.msg
old mode 100644
new mode 100755
diff --git a/params/r2params.yaml b/params/r2params.yaml
old mode 100644
new mode 100755
index 98d1ec991749b2df278a975dbaec1cf705f05ca2..99d3bc1d28e55e481fea5968edf2bcd5a1312d2d
--- a/params/r2params.yaml
+++ b/params/r2params.yaml
@@ -4,13 +4,15 @@
 #     Of particular note, the order is different for R_I vs R_II.221
 #     Position axes are 1-3.  4th is not used.  5-8 are tool axes.
 #
+# changed gold wrist kp from 0.05 to 0,03
+
 gains_gold_kp:
 - 0.300
 - 0.300
 - 0.150
 - 0.00
 - 0.09
-- 0.05
+- 0.03
 - 0.02
 - 0.02
 gains_gold_kd:
diff --git a/raven_2.depend b/raven_2.depend
old mode 100644
new mode 100755
diff --git a/raven_2.layout b/raven_2.layout
old mode 100644
new mode 100755
diff --git a/right.txt b/right.txt
deleted file mode 100755
index 9caf6f3c5d8c0bbd5afa12345d72d3cbaa995b66..0000000000000000000000000000000000000000
--- a/right.txt
+++ /dev/null
@@ -1,387 +0,0 @@
--37.205,-6.592,4.5173,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,30,90,435,50,-80,30,20
--37.205,-6.592,5.0173,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,30.036,91.175,434.92,49.165,-79.267,29.412,20
--37.205,-6.592,5.5173,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,30.083,92.338,434.83,48.327,-78.541,28.825,20
--37.205,-6.592,6.0173,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,30.141,93.49,434.73,47.486,-77.823,28.239,20
--37.205,-6.592,6.5173,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,30.209,94.629,434.62,46.644,-77.113,27.654,20
--37.205,-6.592,7.0173,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,30.287,95.756,434.51,45.799,-76.412,27.07,20
--37.205,-6.592,7.5173,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,30.374,96.87,434.38,44.951,-75.72,26.488,20
--37.205,-6.592,8.0173,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,30.471,97.97,434.25,44.102,-75.037,25.907,20
--37.205,-6.592,8.5173,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,30.577,99.057,434.12,43.251,-74.363,25.328,20
--37.205,-6.592,9.0173,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,30.692,100.13,433.98,42.398,-73.7,24.75,20
--37.205,-6.592,9.5173,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,30.814,101.19,433.83,41.544,-73.047,24.175,20
--37.205,-6.592,10.017,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,30.945,102.24,433.67,40.689,-72.405,23.601,20
--37.205,-6.592,10.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,31.084,103.27,433.51,39.833,-71.773,23.03,20
--37.205,-6.592,11.017,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,31.23,104.29,433.33,38.975,-71.153,22.46,20
--37.205,-6.592,11.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,31.382,105.29,433.16,38.117,-70.543,21.893,20
--37.205,-6.592,12.017,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,31.542,106.28,432.97,37.259,-69.945,21.328,20
--37.205,-7.092,12.017,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,30.498,106,432.94,37.681,-70.872,20.921,20
--37.205,-6.592,12.017,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,31.542,106.28,432.97,37.259,-69.945,21.328,20
--37.205,-6.092,12.017,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,32.59,106.55,433,36.843,-69.018,21.738,20
--37.205,-5.592,12.017,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,33.643,106.82,433.02,36.433,-68.091,22.152,20
--37.205,-5.092,12.017,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,34.699,107.08,433.03,36.03,-67.164,22.57,20
--37.205,-5.092,11.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,34.531,106.1,433.22,36.915,-67.75,23.145,20
--37.205,-5.092,11.017,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,34.369,105.11,433.4,37.799,-68.348,23.722,20
--37.205,-5.092,10.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,34.214,104.1,433.58,38.684,-68.957,24.301,20
--37.205,-5.092,10.017,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,34.066,103.08,433.74,39.568,-69.578,24.882,20
--37.205,-5.092,9.5173,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,33.926,102.05,433.91,40.451,-70.211,25.465,20
--37.205,-5.092,9.0173,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,33.793,101,434.06,41.333,-70.855,26.049,20
--37.205,-5.092,8.5173,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,33.668,99.934,434.21,42.214,-71.51,26.635,20
--37.205,-5.092,9.0173,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,33.793,101,434.06,41.333,-70.855,26.049,20
--37.205,-5.092,9.5173,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,33.926,102.05,433.91,40.451,-70.211,25.465,20
--37.205,-5.092,10.017,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,34.066,103.08,433.74,39.568,-69.578,24.882,20
--37.205,-5.092,10.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,34.214,104.1,433.58,38.684,-68.957,24.301,20
--37.205,-5.092,11.017,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,34.369,105.11,433.4,37.799,-68.348,23.722,20
--37.205,-5.092,11.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,34.531,106.1,433.22,36.915,-67.75,23.145,20
--37.205,-5.092,12.017,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,34.699,107.08,433.03,36.03,-67.164,22.57,20
--37.205,-5.092,12.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,34.873,108.04,432.84,35.145,-66.59,21.997,20
--37.205,-4.592,12.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,35.934,108.28,432.83,34.742,-65.67,22.415,20
--37.205,-4.092,12.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,36.996,108.52,432.83,34.347,-64.751,22.837,20
--37.205,-3.592,12.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,38.059,108.75,432.81,33.961,-63.835,23.262,20
--37.205,-3.092,12.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,39.121,108.98,432.78,33.585,-62.923,23.691,20
--37.205,-2.592,12.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,40.183,109.19,432.75,33.219,-62.016,24.123,20
--37.205,-2.092,12.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,41.243,109.4,432.71,32.864,-61.113,24.56,20
--37.205,-1.592,12.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,42.3,109.6,432.65,32.521,-60.215,24.999,20
--37.205,-1.592,13.017,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,42.492,110.51,432.44,31.584,-59.688,24.406,20
--37.205,-1.592,13.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,42.689,111.4,432.23,30.648,-59.173,23.815,20
--37.205,-1.592,14.017,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,42.89,112.28,432.01,29.714,-58.671,23.225,20
--37.205,-1.592,14.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,43.095,113.14,431.78,28.782,-58.181,22.638,20
--37.205,-1.592,15.017,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,43.303,113.99,431.55,27.852,-57.705,22.054,20
--37.205,-1.592,15.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,43.515,114.83,431.31,26.924,-57.24,21.471,20
--37.205,-1.592,16.017,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,43.73,115.65,431.07,25.999,-56.789,20.892,20
--37.205,-1.592,16.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,43.948,116.45,430.82,25.076,-56.349,20.315,20
--37.205,-1.592,17.017,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,44.169,117.25,430.57,24.156,-55.921,19.741,20
--37.205,-1.592,17.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,44.392,118.03,430.32,23.239,-55.506,19.169,20
--37.205,-1.592,18.017,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,44.617,118.8,430.05,22.326,-55.102,18.601,20
--37.205,-1.592,18.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,44.845,119.55,429.79,21.415,-54.71,18.036,20
--37.205,-1.592,19.017,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,45.074,120.29,429.52,20.508,-54.329,17.473,20
--37.205,-1.592,19.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,45.305,121.02,429.25,19.605,-53.959,16.914,20
--37.205,-1.592,20.017,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,45.537,121.74,428.97,18.705,-53.6,16.359,20
--37.205,-1.592,20.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,45.771,122.45,428.69,17.809,-53.252,15.806,20
--37.205,-1.592,21.017,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,46.007,123.14,428.4,16.917,-52.915,15.257,20
--37.205,-1.592,21.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,46.243,123.83,428.11,16.029,-52.588,14.712,20
--37.205,-1.592,22.017,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,46.481,124.5,427.82,15.145,-52.271,14.17,20
--37.205,-1.592,22.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,46.72,125.16,427.52,14.266,-51.963,13.632,20
--37.205,-1.592,23.017,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,46.959,125.81,427.22,13.391,-51.666,13.097,20
--37.205,-1.592,23.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,47.199,126.45,426.92,12.52,-51.378,12.566,20
--37.205,-1.592,24.017,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,47.44,127.08,426.61,11.653,-51.099,12.039,20
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--37.205,-12.092,18.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,22.619,114.99,429.47,32.233,-72.652,10.486,20
--37.205,-12.092,18.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,22.619,114.99,429.47,32.233,-72.652,10.486,20
--37.205,-12.092,18.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,22.619,114.99,429.47,32.233,-72.652,10.486,20
--37.205,-12.092,18.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,22.619,114.99,429.47,32.233,-72.652,10.486,20
--37.205,-12.092,18.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,22.619,114.99,429.47,32.233,-72.652,10.486,20
--37.205,-12.092,18.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,22.619,114.99,429.47,32.233,-72.652,10.486,20
--37.205,-12.092,18.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,22.619,114.99,429.47,32.233,-72.652,10.486,20
--37.205,-12.092,18.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,22.619,114.99,429.47,32.233,-72.652,10.486,20
--37.205,-12.092,18.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,22.619,114.99,429.47,32.233,-72.652,10.486,20
--37.205,-12.092,18.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,22.619,114.99,429.47,32.233,-72.652,10.486,20
--37.205,-12.092,18.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,22.619,114.99,429.47,32.233,-72.652,10.486,20
--37.205,-12.092,18.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,22.619,114.99,429.47,32.233,-72.652,10.486,20
--37.205,-12.092,18.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,22.619,114.99,429.47,32.233,-72.652,10.486,20
--37.205,-12.092,18.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,22.619,114.99,429.47,32.233,-72.652,10.486,20
--37.205,-12.092,18.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,22.619,114.99,429.47,32.233,-72.652,10.486,20
--37.205,-12.092,18.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,22.619,114.99,429.47,32.233,-72.652,10.486,20
--37.205,-12.092,18.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,22.619,114.99,429.47,32.233,-72.652,10.486,20
--37.205,-12.092,18.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,22.619,114.99,429.47,32.233,-72.652,10.486,20
--37.205,-12.092,18.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,22.619,114.99,429.47,32.233,-72.652,10.486,20
--37.205,-12.092,18.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,22.619,114.99,429.47,32.233,-72.652,10.486,20
--37.205,-12.092,18.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,22.619,114.99,429.47,32.233,-72.652,10.486,20
--37.205,-12.092,18.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,22.619,114.99,429.47,32.233,-72.652,10.486,20
--37.205,-12.092,18.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,22.619,114.99,429.47,32.233,-72.652,10.486,20
--37.205,-12.092,18.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,22.619,114.99,429.47,32.233,-72.652,10.486,20
--37.205,-12.092,18.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,22.619,114.99,429.47,32.233,-72.652,10.486,20
--37.205,-12.092,18.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,22.619,114.99,429.47,32.233,-72.652,10.486,20
--37.205,-12.092,18.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,22.619,114.99,429.47,32.233,-72.652,10.486,20
--37.205,-12.092,18.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,22.619,114.99,429.47,32.233,-72.652,10.486,20
--37.205,-12.092,18.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,22.619,114.99,429.47,32.233,-72.652,10.486,20
--37.205,-12.092,18.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,22.619,114.99,429.47,32.233,-72.652,10.486,20
--37.205,-12.092,18.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,22.619,114.99,429.47,32.233,-72.652,10.486,20
--37.205,-12.092,18.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,22.619,114.99,429.47,32.233,-72.652,10.486,20
--37.205,-12.092,18.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,22.619,114.99,429.47,32.233,-72.652,10.486,20
--37.205,-12.092,18.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,22.619,114.99,429.47,32.233,-72.652,10.486,20
--37.205,-12.092,18.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,22.619,114.99,429.47,32.233,-72.652,10.486,20
--37.205,-12.092,18.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,22.619,114.99,429.47,32.233,-72.652,10.486,20
--37.205,-12.092,18.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,22.619,114.99,429.47,32.233,-72.652,10.486,20
--37.205,-12.092,18.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,22.619,114.99,429.47,32.233,-72.652,10.486,20
--37.205,-12.092,18.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,22.619,114.99,429.47,32.233,-72.652,10.486,20
--37.205,-12.092,18.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,22.619,114.99,429.47,32.233,-72.652,10.486,20
--37.205,-12.092,18.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,22.619,114.99,429.47,32.233,-72.652,10.486,20
--37.205,-12.092,18.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,22.619,114.99,429.47,32.233,-72.652,10.486,20
--37.205,-12.092,18.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,22.619,114.99,429.47,32.233,-72.652,10.486,20
--37.205,-12.092,18.517,-0.73574,0.65581,-0.16911,-0.52085,-0.3883,0.76022,0.4329,0.64741,0.62726,22.619,114.99,429.47,32.233,-72.652,10.486,20
diff --git a/run.sh b/run.sh
old mode 100644
new mode 100755
index 2c22dc0204e34f42307e860132c7413d4cee3eee..646ae27390eeeb67542d6cf934573798bcc5ee53
--- a/run.sh
+++ b/run.sh
@@ -1,2 +1,5 @@
-export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:~/homa_wksp/raven_2
+export ROS_PACKAGE_PATH=/opt/ros/indigo/share:/opt/ros/indigo/stacks:~/homa_wksp/raven_2; 
+sudo -s;
+
+
 
diff --git a/src/raven/USB_init.cpp b/src/raven/USB_init.cpp
old mode 100644
new mode 100755
index 8c638d4e445c6ef2f9562656ae1e16a76ac67911..60acc0d6bca67ec1190ac743f4330de587c2cca1
--- a/src/raven/USB_init.cpp
+++ b/src/raven/USB_init.cpp
@@ -53,7 +53,89 @@ extern int NUM_MECH;
 
 using namespace std;
 
+int openSerialPort(void)
+{
+    int serialFileDescriptor = -1;
+    struct termios options;
+    // open the serial like POSIX C
+    serialFileDescriptor = open("/dev/ttyACM0", O_RDWR | O_NOCTTY | O_NONBLOCK );
+
+    if (serialFileDescriptor == -1)
+    {
+        cout << "Error opening serial port" << endl;
+    	return -1;
+    }
+
+    // block non-root users from using this port
+    if (ioctl(serialFileDescriptor, TIOCEXCL) == -1)
+    {    
+	cout << "Error setting TIOCEXCL" << endl;
+    	return -1;
+    }
+    
+    // clear the O_NONBLOCK flag, so that read() will
+    //   block and wait for data.
+    if (fcntl(serialFileDescriptor, F_SETFL, 0) == -1)
+    {
+        cout << "Error Clearing O_NONBLOCK" << endl;
+    	return -1;
+    }
+
+    //int iFlags = TIOCM_DTR;
+    //ioctl(serialFileDescriptor, TIOCMBIC, &iFlags);
+
+    // grab the options for the serial port
+    if (tcgetattr(serialFileDescriptor, &gOriginalTTYAttrs) == -1)
+    {
+        cout << "Error getting tty attributes" << endl;
+    	return -1;
+    }
+
+    // setting raw-mode allows the use of tcsetattr() and ioctl()
+    options = gOriginalTTYAttrs;
+    cfmakeraw(&options);
+    options.c_cc[VMIN] = 0;
+    options.c_cc[VTIME] = 10;
 
+    // specify any arbitrary baud rate
+    speed_t baudRate = 9600;
+    cfsetospeed(&options, B9600);
+    /*if (ioctl(serialFileDescriptor, IOSSIOSPEED, &baudRate) ==1)
+    {
+        cout << "Error calling ioctl" << endl;
+    	return -1;
+    }*/
+
+    //cout << "Opened connection to Arduino" << endl;
+    return serialFileDescriptor;
+}
+
+int writeSerialPort(int serialFileDescriptor, void *buffer)
+{
+    ssize_t numBytes;
+    numBytes = write(serialFileDescriptor, buffer, sizeof(buffer));
+    //cout << "Wrote " << numBytes << " bytes to Arduino" << endl;
+    //cout << "Sent the start signal through Arduino.."<< endl;
+    return numBytes;
+}
+
+void closeSerialPort(int serialFileDescriptor)
+{
+    if (tcdrain(serialFileDescriptor) == -1) {
+       cout<< "Error waiting for drain" << endl;
+    }
+  
+    // Traditionally it is good practice to reset a serial port back to
+    // the state in which you found it. This is why the original termios struct
+    // was saved.
+    gOriginalTTYAttrs.c_cflag &= ~HUPCL; // disable hang-up-on-close to avoid reset
+    if (tcsetattr(serialFileDescriptor, TCSANOW, &gOriginalTTYAttrs) == -1) {
+        cout << "Error resetting tty attributes"<< endl;
+    }
+
+    close(serialFileDescriptor);
+    //cout << "Closed connection to Arduino" << endl;
+}
 /**\fn int getdir(string dir, vector<string> &files)
  * \brief List directory contents matching BOARD_FILE_STR
  * \param dir - directory name of interest
diff --git a/src/raven/console_process.cpp b/src/raven/console_process.cpp
old mode 100644
new mode 100755
diff --git a/src/raven/dof.cpp b/src/raven/dof.cpp
old mode 100644
new mode 100755
diff --git a/src/raven/fwd_cable_coupling.cpp b/src/raven/fwd_cable_coupling.cpp
old mode 100644
new mode 100755
index 28a0487f9af3f08dd0b435a978cd748771c75a6b..891d9e1602127d512bcba09bca79b34ecc8d996f
--- a/src/raven/fwd_cable_coupling.cpp
+++ b/src/raven/fwd_cable_coupling.cpp
@@ -27,7 +27,6 @@
 #include "fwd_cable_coupling.h"
 #include "log.h"
 #include "tool.h"
-#define simulator 
 
 extern struct DOF_type DOF_types[];
 extern int NUM_MECH;
diff --git a/src/raven/fwd_kinematics.cpp b/src/raven/fwd_kinematics.cpp
old mode 100644
new mode 100755
diff --git a/src/raven/get_USB_packet.cpp b/src/raven/get_USB_packet.cpp
old mode 100644
new mode 100755
diff --git a/src/raven/globals.cpp b/src/raven/globals.cpp
old mode 100644
new mode 100755
diff --git a/src/raven/grav_comp.cpp b/src/raven/grav_comp.cpp
old mode 100644
new mode 100755
diff --git a/src/raven/hmatrix.c b/src/raven/hmatrix.c
old mode 100644
new mode 100755
diff --git a/src/raven/hmatrix.cpp b/src/raven/hmatrix.cpp
old mode 100644
new mode 100755
diff --git a/src/raven/homing.cpp b/src/raven/homing.cpp
old mode 100644
new mode 100755
index 35f8d4388680644e23b84afea909e871d41c02ae..271eae138cb46fd734285f3d9f59e27b95e853ef
--- a/src/raven/homing.cpp
+++ b/src/raven/homing.cpp
@@ -38,7 +38,7 @@
 #include "homing.h"
 #include "state_estimate.h"
 #include "log.h"
-
+#include "USB_init.h"
 #include <iostream>
 
 
@@ -49,6 +49,9 @@ extern unsigned long int gTime;
 extern struct DOF_type DOF_types[];
 extern unsigned int soft_estopped;
 
+#ifdef skip_init_button
+extern int serial_fd;
+#endif
 /**
 *  raven_homing()
 *
@@ -76,7 +79,6 @@ int raven_homing(struct device *device0, struct param_pass *currParams, int begi
     struct mechanism* _mech = NULL;
     int i=0,j=0;
 
-
 #ifdef RICKS_TOOLS      // Refers to Enders Game Prop manager!!
                         //  these were wooden dummy tools for the movie.
     _mech = NULL;  _joint = NULL;
@@ -90,9 +92,15 @@ int raven_homing(struct device *device0, struct param_pass *currParams, int begi
     }
 #endif
 
-
-
-
+#ifdef skip_init_button
+	static int counter = 0;
+        static char buff[2] = "1";
+	counter++;
+        if (counter == 600)
+        {          	    
+	    writeSerialPort(serial_fd, buff);
+        }
+#endif
 
     // Only run in init mode
     if ( ! (currParams->runlevel == RL_INIT && currParams->sublevel == SL_AUTO_INIT ))
@@ -103,7 +111,7 @@ int raven_homing(struct device *device0, struct param_pass *currParams, int begi
     }
 
     // Wait a short time for amps to turn on
-    if (gTime - delay < 1000)
+    if (gTime - delay < 500)
     {
         return 0;
     }
@@ -393,8 +401,8 @@ const int homing_max_dac[8] = {2500,  //shoulder
                             2500,  //elbow
                             2800,  //z-ins
                             0,
-                            1900,  //tool_rot // was 1400, lowered to reduce calibration error //I think this is labeled improperly - AL
-                            1900,  //wrist
+                            2600,  //tool_rot // was 1400, lowered to reduce calibration error //I think this is labeled improperly - AL
+                            2000,  //wrist
                             1700,  //grasp1
                             1700};  // grasp2
 #else
diff --git a/src/raven/init.cpp b/src/raven/init.cpp
old mode 100644
new mode 100755
diff --git a/src/raven/inv_cable_coupling.cpp b/src/raven/inv_cable_coupling.cpp
old mode 100644
new mode 100755
diff --git a/src/raven/local_io.cpp b/src/raven/local_io.cpp
old mode 100644
new mode 100755
index b257e306e3a76a5685e2313490ff77e5e6526193..7423301d6d249f15f0a5cc0f15b6fa271069f9fa
--- a/src/raven/local_io.cpp
+++ b/src/raven/local_io.cpp
@@ -53,9 +53,8 @@ ROS publishing is at the bottom half of this file.
 #include "r2_kinematics.h"
 #include "reconfigure.h"
 
-#define simulator 
 
-#ifdef simulator
+#ifdef simulator_packet
 extern int program_state;
 #endif
 
@@ -124,6 +123,9 @@ int initLocalioData(void)
 
 int receiveUserspace(void *u,int size)
 {
+#ifdef simulator_packet
+    //log_msg("I got a new packet of size %d, but size = %d", sizeof(struct u_struct), size);
+#endif
     if (size==sizeof(struct u_struct))
     {
         isUpdated = TRUE;        
@@ -155,13 +157,17 @@ void teleopIntoDS1(struct u_struct *us_t)
     // TODO:: APPLY TRANSFORM TO INCOMING DATA
 
 
-
     for (i=0;i<NUM_MECH;i++)
     {
 #ifndef simulator
         armserial = USBBoards.boards[i]==GREEN_ARM_SERIAL ? GREEN_ARM_SERIAL : GOLD_ARM_SERIAL;
         armidx    = USBBoards.boards[i]==GREEN_ARM_SERIAL ? 1 : 0;
+#else
+        armserial = (i == 1) ? GREEN_ARM_SERIAL : GOLD_ARM_SERIAL; 
+        armidx = (i == 1) ? 1 : 0; 
+#endif
 
+#ifndef simulator_packet
         // apply mapping to teleop data
         p.x = us_t->delx[armidx];
         p.y = us_t->dely[armidx];
@@ -194,25 +200,24 @@ void teleopIntoDS1(struct u_struct *us_t)
 	if (data1.rd[i].grasp>graspmax) data1.rd[i].grasp=graspmax;
 	else if(data1.rd[i].grasp<graspmin) data1.rd[i].grasp=graspmin;
 #else
-    armserial = (i == 1) ? GREEN_ARM_SERIAL : GOLD_ARM_SERIAL; 
-    armidx = (i == 1) ? 1 : 0; 
-
 	// Set Position command
-    data1.xd[i].x = us_t->delx[armidx];
+        data1.xd[i].x = us_t->delx[armidx];
 	data1.xd[i].y = us_t->dely[armidx];
 	data1.xd[i].z = us_t->delz[armidx];
 
+	
         // commented debug output
-        /*log_file("Arm %d : User desired end-effector positions: (%d,%d,%d)",
-               i, data1.xd[i].x, data1.xd[i].y, data1.xd[i].z);      
-*/
+        //log_file("Arm %d : User desired end-effector positions: (%d,%d,%d)",
+        //       i, data1.xd[i].x, data1.xd[i].y, data1.xd[i].z);      
+
         // Set rotation command
 	if (i == 0)
 	{	
 		for (int j=0;j<3;j++)
 		    for (int k=0;k<3;k++)
 		        data1.rd[0].R[j][k] = us_t->R_l[j][k];
-                // Just keep the golden results
+#ifdef simulator
+              // Just keep the golden results
 		double gangle = (us_t->grasp[armidx]*M_PI/180)/1000.0;		
                 data1.jpos_d[0] = (us_t->ljoints[0] - 205)*M_PI/180; 
  		data1.jpos_d[1] = (us_t->ljoints[1] - 180)*M_PI/180;
@@ -221,12 +226,14 @@ void teleopIntoDS1(struct u_struct *us_t)
  		data1.jpos_d[4] = (us_t->ljoints[4] + 90)*M_PI/180;
 		data1.jpos_d[5] = -us_t->ljoints[5]*M_PI/180 + gangle/2; 
  		data1.jpos_d[6] =  us_t->ljoints[5]*M_PI/180 + gangle/2;
+#endif
 	}        
 	else
 	{
 		for (int j=0;j<3;j++)
 		    for (int k=0;k<3;k++)
 		        data1.rd[1].R[j][k] = us_t->R_r[j][k];
+#ifdef simulator
 		// Just keep the golden results
 		double gangle = (us_t->grasp[armidx]*M_PI/180)/1000.0;	
                 data1.jpos_d[7] = (us_t->rjoints[0] - 25)*M_PI/180; 
@@ -236,6 +243,7 @@ void teleopIntoDS1(struct u_struct *us_t)
  		data1.jpos_d[11] = (us_t->rjoints[4] + 90)*M_PI/180;
 		data1.jpos_d[12] = -us_t->rjoints[5]*M_PI/180 + gangle/2;
 		data1.jpos_d[13] = us_t->rjoints[5]*M_PI/180 + gangle/2; 
+#endif
 	}        
 	//log_file("Arm %d: User desired end-effector rotations: \n(%f,%f,%f)\n(%f,%f,%f)\n(%f,%f,%f)\n",i, data1.rd[i].R[0][0],data1.rd[i].R[0][1],data1.rd[i].R[0][2],data1.rd[i].R[1][0],data1.rd[i].R[1][1],data1.rd[i].R[1][2],data1.rd[i].R[2][0],data1.rd[i].R[2][1],data1.rd[i].R[2][2]);
 
@@ -272,7 +280,7 @@ void teleopIntoDS1(struct u_struct *us_t)
  */
 int checkLocalUpdates()
 {
-#ifdef simulator
+#ifdef simulator_packet
     program_state = 3;
 #endif
     static unsigned long int lastUpdated;
@@ -308,7 +316,7 @@ int checkLocalUpdates()
 */
 struct param_pass * getRcvdParams(struct param_pass* d1)
 {
-#ifdef simulator
+#ifdef simulator_packet
     program_state = 4;
 #endif
     // \TODO Check performance of trylock / default priority inversion scheme
diff --git a/src/raven/log.cpp b/src/raven/log.cpp
old mode 100644
new mode 100755
index 5cb138e4583507a237bcd54659beb860972a6403..d7de2e89a2eb39a3ae02efa2ea297f7d5d42cf9f
--- a/src/raven/log.cpp
+++ b/src/raven/log.cpp
@@ -27,15 +27,14 @@
 #include <stdio.h>
 #include <stdarg.h>
 #include <ros/console.h>
+#include <defines.h>
 #include <queue>
 
 std::queue<char*> msgqueue;
 const static size_t MAX_MSG_LEN =1024;
 
-#define simulator
 //#define simulator_logging
-
-#ifdef simulator
+#ifdef simulator_packet
 #include <fstream>
 extern int inject_mode;
 extern int logging;
@@ -47,16 +46,19 @@ extern int logging;
 
 int log_file(const char* fmt,...)
 {
-	if (logging == 1)
+#ifdef no_logging
+        logging = 0; 
+#endif
+        if (logging == 1)
 	{
 		std::ofstream logfile;
-		
+	
 		if (inject_mode == 0)
-		    logfile.open("/home/homa/Documents/raven_2/sim_log.txt", std::ofstream::out | std::ofstream::app);
+		    logfile.open("/home/junjie/homa_wksp/raven_2/sim_log.txt", std::ofstream::out | std::ofstream::app);
 		else
 		{
 		    char buff[50];
-		    sprintf(buff,"/home/homa/Documents/raven_2/fault_log_%d.txt",inject_mode);
+		    sprintf(buff,"/home/junjie/homa_wksp/raven_2/fault_log_%d.txt",inject_mode);
 		    logfile.open(buff,std::ofstream::out | std::ofstream::app); 
 		}
 		static char buf[MAX_MSG_LEN];
@@ -85,6 +87,7 @@ int log_file(const char* fmt,...)
 
 int log_msg_later(const char* fmt,...)
 {
+#ifndef no_logging
   static char buf[MAX_MSG_LEN];
   char* msgbuf;
   va_list args;
@@ -99,6 +102,7 @@ int log_msg_later(const char* fmt,...)
   msgqueue.push(msgbuf);
   //  ROS_INFO("%s",buf);
   //std::cout << "qsiz:" << msgqueue.size() << std::endl;
+#endif
   return 0;
 }
 
@@ -110,6 +114,7 @@ int log_msg_later(const char* fmt,...)
 
 int log_msg(const char* fmt,...)
 {
+#ifndef no_logging
   static char buf[MAX_MSG_LEN];
     va_list args;
     va_start (args, fmt);
@@ -118,6 +123,7 @@ int log_msg(const char* fmt,...)
     va_end(args);
 //    printf("%s",buf);
     ROS_INFO("%s",buf);
+#endif
     return 0;
 }
 
@@ -129,6 +135,7 @@ int log_msg(const char* fmt,...)
 
 int err_msg(const char* fmt,...)
 {
+#ifndef no_logging
   static char buf[MAX_MSG_LEN];
     va_list args;
     va_start (args, fmt);
@@ -137,5 +144,6 @@ int err_msg(const char* fmt,...)
     va_end(args);
 //    printf("%s",buf);
     ROS_ERROR("%s",buf);
+#endif
     return 0;
 }
diff --git a/src/raven/mapping.cpp b/src/raven/mapping.cpp
old mode 100644
new mode 100755
diff --git a/src/raven/motor.cpp b/src/raven/motor.cpp
old mode 100644
new mode 100755
diff --git a/src/raven/network_layer.cpp b/src/raven/network_layer.cpp
old mode 100644
new mode 100755
index 6d39ef21495c22a37a1aa4b1acf5c9b6fd965d65..d7f7a486141d09576a47c93e282c698760730ae3
--- a/src/raven/network_layer.cpp
+++ b/src/raven/network_layer.cpp
@@ -58,20 +58,27 @@
 #include "DS0.h"
 #include "DS1.h"
 #include "log.h"
+#include "defines.h"
 
-#define SERVER_PORT  "36000"             // used if the robot needs to send data to the server
+
+
+#define SERVER_PORT  "36001"             // used if the robot needs to send data to the server
 //#define SERVER_ADDR  "192.168.0.102"
 #define SERVER_ADDR  "128.95.205.206"    // used only if the robot needs to send data to the server
 
-#define simulator 
-#ifdef simulator
+#ifdef simulator_packet
 extern int logging;
+extern int done_homing;
 int first = 0;
+extern struct device device0;
 #define PACK_GEN_PORT  "32000" 
 #define RUN_PY_PORT  "34000"  
 #define HOST_ADDR  "127.0.0.1"    // used only if the robot needs to send data to the server
 #endif
 
+//#ifdef test_gdb
+extern unsigned long int gTime;
+//#endif
 extern int receiveUserspace(void *u,int size);  // Defined in the local_io.cpp
 
 /**\fn int initSock (const char* port )
@@ -184,6 +191,16 @@ void* network_process(void* param1)
     unsigned int seq = 0;
     volatile int bytesread;
 
+#ifdef test_gdb
+      //struct timespec tnow, tnow2;
+      // Set next timer-shot (must be in future)
+      //clock_gettime(CLOCK_REALTIME,&tnow);
+      //logging = 1;
+      //clock_gettime(CLOCK_REALTIME,&tnow2);
+      //log_msg("Diff = %ld",tnow2.tv_nsec-tnow.tv_nsec);
+      //logging = 0;
+#endif
+
     // print some status messages
     log_msg("Starting network services..");
     log_msg("  u_struct size: %i",uSize);
@@ -222,10 +239,11 @@ void* network_process(void* param1)
     maxfd=sock;
 
     log_msg("Network layer ready.");
-
+    
     ///// Main read/write loop
     while ( ros::ok() )
     {
+        //printf("Network @= %lx\n", gTime);
         rmask = mask;
         timeout.tv_sec = 2;  // hack:reset timer after timeout event.
         timeout.tv_usec = 0; //        ""
@@ -246,38 +264,51 @@ void* network_process(void* param1)
             break;
         }
 
-        // Select timeout: nothing to do
+// Select timeout: nothing to do
         if (nfound == 0)
         {          
-#ifdef simulator
-			if (first == 0)
+#ifdef simulator_packet
+#ifdef surgeon_packet_gen
+                        // To enable recieving packets again, set first	
+			if (device0.runlevel == 0)
+				first = 0;
+#endif
+                        if ((first == 0) && (device0.runlevel == 2))
 			{
-				char v[6] = "Ready";
-		        clientName.sin_port = htons((u_short)atoi(PACK_GEN_PORT));
+				done_homing = 0;
+	                        char v[6] = "Ready";
+				clientName.sin_port = htons((u_short)atoi(PACK_GEN_PORT));
 				inet_aton(HOST_ADDR, &clientName.sin_addr);
-		        sendto ( sock, (void*)&v, sizeof(v), 0,
-		             (struct sockaddr *) &clientName, clientLength);          		
-		        printf("=================> Sent READY to Packet Generator at ADDR = %d, PORT = %d\n", clientName.sin_port, clientName.sin_addr);
-				first = 1;		        
+				sendto ( sock, (void*)&v, sizeof(v), 0,
+				(struct sockaddr *) &clientName, clientLength);          		
+#ifndef no_logging				
+                                printf("=================> Sent READY to Packet Generator at ADDR = %d, PORT = %d\n", clientName.sin_addr, clientName.sin_port);
+#endif
 			}
-			else if (first == 1)
+			if ((first == 1) && (device0.runlevel == 2))
 			{
 				char v[6] = "Done!";
-		        clientName.sin_port = htons((u_short)atoi(RUN_PY_PORT));
+				clientName.sin_port = htons((u_short)atoi(RUN_PY_PORT));
 				inet_aton(HOST_ADDR, &clientName.sin_addr);
-		        sendto ( sock, (void*)&v, sizeof(v), 0,
-		             (struct sockaddr *) &clientName, clientLength);          		
-		        printf("=================> Sent DONE to Run Injection at ADDR = %d, PORT = %d\n", clientName.sin_port, clientName.sin_addr);
-		        logging = 1;
-                log_file("______________________________________________\n");
-                logging = 0;
-				first = 2;		        
-			}			
+				sendto ( sock, (void*)&v, sizeof(v), 0,
+				     (struct sockaddr *) &clientName, clientLength);          		
+#ifndef no_logging
+				printf("=================> Sent DONE to Run Injection at ADDR = %d, PORT = %d\n", clientName.sin_addr, clientName.sin_port);
+#endif
+				logging = 0;
+			        //log_file("______________________________________________\n");
+			        //logging = 0;  
+                                first = 2;      
+			}	                         	
 #endif
             fflush(stdout);
             continue;
         }
-       
+#ifdef simulator_packet
+        else
+            first = 1;
+#endif   
+    
         // Select: data on socket
         if (FD_ISSET( sock, &rmask))   // check whether the diescriptor sock is added to the fdset mask
         {
@@ -288,7 +319,7 @@ void* network_process(void* param1)
                                  NULL,
                                  NULL);
 
-#ifdef simulator
+#ifdef simulator_packet
         //log_file("NETWORK) Receieved Data on Socket, Size = %d", uSize);         
 #endif
             if (bytesread != uSize){
@@ -341,7 +372,7 @@ void* network_process(void* param1)
 
             else if (u.sequence > seq)       // Valid packet
             {    
-#ifdef simulator
+#ifdef simulator_packet
                 log_msg("NETWORK) Receieved Valid Packet # %d\n", u.sequence); 
                 //log_file("NETWORK) Receieved Valid Packet # %d\n", u.sequence);         
 #endif
@@ -368,6 +399,17 @@ void* network_process(void* param1)
             }
         }
 
+#ifdef surgeon_packet_gen
+	if (device0.runlevel == 0)
+	{
+		char v[8] = "Stopped";
+		clientName.sin_port = htons((u_short)atoi(PACK_GEN_PORT));
+		inet_aton(HOST_ADDR, &clientName.sin_addr);
+		sendto ( sock, (void*)&v, sizeof(v), 0,
+		(struct sockaddr *) &clientName, clientLength);          		
+		printf("=================> Sent Stopped to Packet Generator at ADDR = %d, PORT = %d\n", clientName.sin_addr, clientName.sin_port);
+	} 
+#endif
 #ifdef NET_SEND
         sendto ( sock, (void*)&v, vSize, 0,
                  (struct sockaddr *) &clientName, clientLength);
diff --git a/src/raven/overdrive_detect.cpp b/src/raven/overdrive_detect.cpp
old mode 100644
new mode 100755
index f3f7f5e2200b1cf8be0ed75e422a3ac7aef94466..943cf35d026b5b7c5a7b2971f3cf548a99a58bd5
--- a/src/raven/overdrive_detect.cpp
+++ b/src/raven/overdrive_detect.cpp
@@ -64,8 +64,12 @@ int overdriveDetect(struct device *device0)
             if (abs(_joint->current_cmd) > MAX_INST_DAC)
             {
                 log_msg("Instant i command too high. Joint type: %d DAC:%d \t tau:%0.3f\n", _joint->type, _joint->current_cmd, _joint->tau_d);
+		log_file("Error: Instant i command too high. Joint type: %d DAC:%d \t tau:%0.3f\n", _joint->type, _joint->current_cmd, _joint->tau_d);
                 _joint->current_cmd = 0;
+                log_file("Error: E-STOP");
+//#ifndef skip_restart_button 
                 ret = TRUE;
+//#endif
             }
 
             else if ( _joint->current_cmd > _dac_max )
@@ -73,6 +77,8 @@ int overdriveDetect(struct device *device0)
                 //Clip current to max_torque
                 if (gTime %100 == 0) //don't saturate the console
                     err_msg("Joint type %d is current clipped high (%d) at DAC:%d\n", _joint->type, _dac_max, _joint->current_cmd);
+		log_file("Error: Joint type %d is current clipped high (%d) at DAC:%d\n", _joint->type, _dac_max, _joint->current_cmd);	
+
                 _joint->current_cmd = _dac_max;
             }
 
@@ -81,6 +87,7 @@ int overdriveDetect(struct device *device0)
                 //Clip current to -1*max_torque
                 if (gTime %100 == 0)
                     err_msg("Joint type %d is current clipped low (%d) at DAC:%d\n", _joint->type, _dac_max*-1,  _joint->current_cmd);
+                    log_file("Error: Joint type %d is current clipped low (%d) at DAC:%d\n", _joint->type, _dac_max*-1,  _joint->current_cmd);
                 _joint->current_cmd = _dac_max*-1;
             }
         }
diff --git a/src/raven/parallel.cpp b/src/raven/parallel.cpp
old mode 100644
new mode 100755
diff --git a/src/raven/pid_control.cpp b/src/raven/pid_control.cpp
old mode 100644
new mode 100755
index 5055e0d9b7fd12078851bbe15cca6e2d37c5245d..1cc064b7f1595c8fe5f375a8acce1e8a5f1d3aea
--- a/src/raven/pid_control.cpp
+++ b/src/raven/pid_control.cpp
@@ -101,15 +101,15 @@ void mpos_PD_control(struct DOF *joint, int reset_I)
     joint->tau_d = pTerm + vTerm +iTerm + friction_feedforward;
 
 
-    static int count = 0;
-    if (count <100){
-    	log_msg("kp --> %d", kp);
-    	log_msg("pterm --> %f", pTerm);
-   	log_msg("joint->type --> %i", joint->type);
-    	log_msg("");
-
-    	count++;
-    }
+//    static int count = 0;
+//    if (count <100){
+//    	log_msg("kp --> %d", kp);
+//    	log_msg("pterm --> %f", pTerm);
+//   	log_msg("joint->type --> %i", joint->type);
+//    	log_msg("");
+//
+//    	count++;
+//   }
 }
 
 /**
diff --git a/src/raven/put_USB_packet.cpp b/src/raven/put_USB_packet.cpp
old mode 100644
new mode 100755
diff --git a/src/raven/r2_kinematics.cpp b/src/raven/r2_kinematics.cpp
old mode 100644
new mode 100755
index bc4c318514a2616d498a8839f2d59abbfbfa7bf5..812945af117d18add718701a1f973286c396e7dd
--- a/src/raven/r2_kinematics.cpp
+++ b/src/raven/r2_kinematics.cpp
@@ -68,9 +68,7 @@ double ds[2][6]           = {{0,    0,    V,          d4,  0,      0},
 double robot_thetas[2][6] = {{V,    V,    M_PI/2,     V,   V,      V},
                              {V,    V,    -M_PI/2,    V,   V,      V}};
 
-#define simulator
-
-#ifdef simulator
+#ifdef simulator_packet
 int check_collision(ik_solution * iksols, double * gangels);
 /// Parameters to check for fwd_kin
 //int a_fwd = 0;
@@ -127,8 +125,9 @@ tf::Transform getFKTransform(int a, int b)
 
 int check_collision(ik_solution *iksols, double *gangels)
 {
-    //gangels[0] = 10*d2r;
-    //gangels[1] = 20*d2r;
+  
+    //gangels[0] = 30*d2r;
+    //gangels[1] = 30*d2r;
     //l_r arm;
 
     tf::Transform xf;
@@ -138,11 +137,12 @@ int check_collision(ik_solution *iksols, double *gangels)
     tf::Matrix3x3 T6;   
     tf::Matrix3x3 env_r; 
 
-	// Constant Matrices for Transformation to Base Frame
+    // Constant Matrices for Transformation to Base Frame
     R_T0.setValue(0, 0, -1, 0, 1, 0, 1, 0, 0);
     L_T0.setValue(0, 0, 1, 0, -1, 0, 1, 0, 0);
-    tf::Vector3 R_disp(-300710,61000,-7000);
-    tf::Vector3 L_disp(-379290,61000,-7000); 
+    // Needs to be tuned to be more accurate
+    tf::Vector3 R_disp(-250710,61000,-6000);
+    tf::Vector3 L_disp(-379290,61000,-6000); 
 
     double R[3][3];
     double posx, posy, posz;
@@ -179,7 +179,7 @@ int check_collision(ik_solution *iksols, double *gangels)
 		posx = xf.getOrigin()[0] * (1000.0*1000.0);
 		posy = xf.getOrigin()[1] * (1000.0*1000.0);
 		posz = xf.getOrigin()[2] * (1000.0*1000.0);
-        //cout << "Arm " << m << ":\n";
+                //cout << "Arm " << m << ":\n";
 		//cout << "Position = ("<< posx << "," << posy << ","<< posz << ")\n";
 		
         for (int i=0;i<3;i++)
@@ -193,7 +193,6 @@ int check_collision(ik_solution *iksols, double *gangels)
 		}
 		T6_b.setValue(R[0][0], R[0][1], R[0][2], R[1][0], R[1][1], R[1][2], R[2][0], R[2][1], R[2][2]);
 
-
 		radius[m] = 10.5/cos(gangels[m])*1000; 
 	    //cout << "Radius = " << radius[m] << "\n";
 
@@ -208,9 +207,9 @@ int check_collision(ik_solution *iksols, double *gangels)
 			T6 = R_T0 * T6_b;	
             tmp = R_T0*tf::Vector3(posx,posy,posz)+R_disp;  
 		}
-        posx = tmp[0];
-        posy = tmp[1];
-        posz = tmp[2]; 	
+		posx = tmp[0];
+		posy = tmp[1];
+		posz = tmp[2]; 	
 
 		//cout << "TPosition = ("<< posx << "," << posy << ","<< posz << ")\n";
 		for (int i=0;i<3;i++)
@@ -296,7 +295,7 @@ int r2_fwd_kin(struct device *d0, int runlevel)
 			for (int j=0; j<3; j++)
 				d0->mech[m].ori.R[i][j] = (xf.getBasis())[i][j];  
 
-#ifdef simulator
+#ifdef simulator_packet
         log_file("FK_Pos_Arm%d: %d, %d, %d", m, d0->mech[m].pos.x, d0->mech[m].pos.y, d0->mech[m].pos.z); 
         log_file("FK_Ori_Arm%d: %f, %f, %f, %f, %f, %f, %f, %f, %f\n", m, d0->mech[m].ori.R[0][0], d0->mech[m].ori.R[0][1], d0->mech[m].ori.R[0][2], d0->mech[m].ori.R[1][0], d0->mech[m].ori.R[1][1], d0->mech[m].ori.R[1][2], d0->mech[m].ori.R[2][0], d0->mech[m].ori.R[2][1], d0->mech[m].ori.R[2][2]);  
 
@@ -526,9 +525,9 @@ int r2_inv_kin(struct device *d0, int runlevel)
 		int ret = inv_kin(xf, arm, iksol);
 		if (ret < 0)
 		{
-			log_msg("ik failed gracefully (arm%d ret:%d", arm, ret);
-#ifdef simulator
-			log_file("Error: ik failed gracefully (arm%d ret:%d", arm, ret);                 	
+			log_msg("ik failed gracefully (arm%d ret:%d)", arm, ret);
+#ifdef simulator_packet
+			log_file("Error: ik failed gracefully (arm%d ret:%d)", arm, ret);                 	
 #endif		
 		}
 #ifdef simulator	      
@@ -566,8 +565,8 @@ int r2_inv_kin(struct device *d0, int runlevel)
 		if ( (check_result = check_solutions(lo_thetas, iksol, sol_idx, sol_err)) < 0)
 		{
 			cout << "IK failed\n";
-#ifdef simulator
-			log_file("Error: IK failed\n");                	
+#ifdef simulator_packet
+			log_file("Error: IK failed (arm %d)\n",arm);                	
 #endif
 			return -1;
 		}
@@ -580,18 +579,18 @@ int r2_inv_kin(struct device *d0, int runlevel)
 		double gangle = double(d0->mech[m].ori_d.grasp) / 1000.0;
 		theta2joint(iksol[sol_idx], Js);
 		
-#ifdef simulator    
+#ifdef simulator_packet    
 		if (m == 0)
 		{
-	        gangles[0] = gangle;
-            iksols[0] = iksol[sol_idx]; 
+	            gangles[0] = gangle;
+                    iksols[0] = iksol[sol_idx]; 
 		}
 		else
 		{
-			gangles[1] = gangle;
-            iksols[1] = iksol[sol_idx]; 
-		}		
-		log_file("IK_Thetas_Arm%d: %f, %f, %f, %f, %f, %f, %f\n", 
+		    gangles[1] = gangle;
+                    iksols[1] = iksol[sol_idx]; 
+	 	}		
+	   	    log_file("IK_Thetas_Arm%d: %f, %f, %f, %f, %f, %f, %f\n", 
                         m,iksol[sol_idx].th1*r2d,iksol[sol_idx].th2*r2d,
                         iksol[sol_idx].d3,
                         iksol[sol_idx].th4*r2d, iksol[sol_idx].th5*r2d,
@@ -611,8 +610,8 @@ int r2_inv_kin(struct device *d0, int runlevel)
 					d0->mech[m].ori_d.R[i][j] = (xf_sat.getBasis())[i][j];
 
 			updateMasterRelativeOrigin(d0);
-#ifdef simulator
-			log_file("Error: Saturated to Joint Limits\n");              	
+#ifdef simulator_packet
+			log_file("Error: Saturated to Joint Limits (arm %d)\n", arm);                  	
 #endif
 		}
 		else
@@ -658,13 +657,19 @@ int r2_inv_kin(struct device *d0, int runlevel)
 	}
 
 	printIK=0;
-#ifdef simulator
+#ifdef simulator_packet
     int check_result = 0;
+    static int counter = 0;
+    counter++; 
+    if (counter % 100 == 0)
+    {
+
 	if ((check_result = check_collision(iksols,gangles)) < 0 )
 	{
 		log_msg("Collision Detected\n");	
 		log_file("Error: Collision Detected\n");
 	}  
+    }
         //log_file("RT_PROCESS) INV Kinematics Done.\n");            
 #endif	
 	return 0;
diff --git a/src/raven/reconfigure.cpp b/src/raven/reconfigure.cpp
old mode 100644
new mode 100755
diff --git a/src/raven/rt_process_preempt.cpp b/src/raven/rt_process_preempt.cpp
old mode 100644
new mode 100755
index c92a245dee5771f83d6d9e2ca05ef4ac4f0de077..fe86c0a34fb9a16ccbb24ac15dd2915da5b9dce8
--- a/src/raven/rt_process_preempt.cpp
+++ b/src/raven/rt_process_preempt.cpp
@@ -76,28 +76,32 @@ using namespace std;
 #define MS  (1000 * US)
 #define SEC (1000 * MS)
 
-#define simulator
 
 //Global Variables
 unsigned long int gTime;
 int initialized=0;     // State initialized flag
 int soft_estopped=0;   // Soft estop flag- indicate desired software estop.
-
 int    deviceType = SURGICAL_ROBOT;//PULLEY_BOARD;
 struct device device0 ={0};  //Declaration Moved outside rt loop for access from console thread
 int    mech_gravcomp_done[2]={0};
 
-#ifdef simulator
+#ifdef simulator_packet
 #include <fstream>
 int inject_mode;
 int NUM_MECH=2;   // Define NUM_MECH as a C variable, not a c++ variable
 int program_state = -1;
+int done_homing = 0;
 int logging = 0;
 int no_pack_cnt = 0;
 #else
 int NUM_MECH=0;   // Define NUM_MECH as a C variable, not a c++ variable
 #endif
 
+#ifdef skip_init_button
+int serial_fd = -1;
+#endif
+
+
 pthread_t rt_thread;
 pthread_t net_thread;
 pthread_t console_thread;
@@ -169,7 +173,7 @@ static void *rt_process(void* )
     {
       0
     };
-  struct timespec t, tnow, t2, tbz;                           // Tracks the timer value
+  struct timespec t, tnow, tnow2, t2, tbz;                           // Tracks the timer value
   int interval= 1 * MS;                        // task period in nanoseconds
 
   //CPU locking doesn't help timing.  Oh well.
@@ -185,7 +189,7 @@ static void *rt_process(void* )
 
   // set thread priority and stuff
   struct sched_param param;                    // process / thread priority settings
-  param.sched_priority = 96;
+  param.sched_priority = 99;
   log_msg("Using realtime, priority: %d", param.sched_priority);
   int ret = pthread_setschedparam(pthread_self(), SCHED_FIFO, &param);
   if (ret != 0)
@@ -217,33 +221,47 @@ static void *rt_process(void* )
   log_msg("*** Ready to teleoperate ***");
 
 
-
-
   // --- Main robot control loop ---
   // TODO: Break when board becomes disconnected.
   while (ros::ok() && !r2_kill)
   {
-
+      //printf("RealTime @= %lx\n", gTime); 
       // Initiate USB Read
 #ifndef simulator
       initiateUSBGet(&device0);
+#endif
+#ifdef test_gdb
+      clock_gettime(CLOCK_REALTIME,&tnow);
+      tsnorm(&tnow);
+      clock_gettime(CLOCK_REALTIME,&tnow2);
+      tsnorm(&tnow2);
+      long int Diff = (tnow2.tv_nsec-tnow.tv_nsec)/100000;
+      //if (Diff > 9)
+      //if ((gTime % 2) == 0) 
+       // printf("Diff = %ld\n",Diff);          
 #endif
       // Set next timer-shot (must be in future)
       clock_gettime(CLOCK_REALTIME,&tnow);
+      tsnorm(&tnow);
+
       int sleeploops = 0;
+
       while (isbefore(t,tnow))
         {
-	  t.tv_nsec+=interval;
+	  t.tv_nsec+=interval; 
 	  tsnorm(&t);
 	  sleeploops++;
         }
       if (sleeploops!=1)
+      {
 	//std::cout<< "slplup"<< sleeploops <<std::endl;
+      }
 #ifndef simulator
       parport_out(0x00);
 #endif
       /// SLEEP until next timer shot
       clock_nanosleep(0, TIMER_ABSTIME, &t, NULL);
+
 #ifndef simulator      
       parport_out(0x03);
 #endif
@@ -272,7 +290,9 @@ static void *rt_process(void* )
       clock_gettime(CLOCK_REALTIME,&t2);
       t2 = tsSubtract(t2, tnow);
       if (loops!=0)
-	std::cout<< "bzlup"<<loops<<"0us time:" << (double)t2.tv_sec + (double)t2.tv_nsec/SEC <<std::endl;
+      {
+	//std::cout<< "bzlup"<<loops<<"0us time:" << (double)t2.tv_sec + (double)t2.tv_nsec/SEC <<std::endl;
+      }
 
       //Run Safety State Machine
 #ifndef simulator
@@ -286,8 +306,8 @@ static void *rt_process(void* )
       //Get state updates from master
       if ( checkLocalUpdates() == TRUE)
       {
-#ifdef simulator
-   	    logging = 1;  
+#ifdef simulator_packet
+   	logging = 1;  
         no_pack_cnt++; 
         //log_file("RT_PROCESS) Update device state based on received packet.\n");         
 #endif
@@ -295,8 +315,8 @@ static void *rt_process(void* )
       }
       else
       {
-#ifdef simulator
-   	    logging = 0;  
+#ifdef simulator_packet
+   	logging = 0;  
         //log_file("RT_PROCESS) No new packets. Use previous parameters.\n");         
 #endif
         rcvdParams.runlevel = currParams.runlevel;
@@ -308,7 +328,7 @@ static void *rt_process(void* )
       //////////////// SURGICAL ROBOT CODE //////////////////////////
       if (deviceType == SURGICAL_ROBOT)
         {
-#ifdef simulator
+#ifdef simulator_packet
 	    program_state = 6;
 #endif
 	  // Calculate Raven control
@@ -337,6 +357,10 @@ static void *rt_process(void* )
       //Done for this cycle
   }
 
+#ifdef skip_init_button
+      closeSerialPort(serial_fd);
+#endif
+
   log_msg("Raven Control is shutdown");
   return 0;
 }
@@ -375,7 +399,7 @@ int init_ros(int argc, char **argv)
    */
   ros::init(argc, argv, "r2_control", ros::init_options::NoSigintHandler);
   ros::NodeHandle n;
-#ifdef simulator
+#ifdef simulator_packet
   n.getParam("inject",inject_mode);
 #endif
   //    rosrt::init();
@@ -416,18 +440,24 @@ int main(int argc, char **argv)
       cerr << "ERROR! Failed to init memory_pool.  Exiting.\n";
       exit(1);
     }
-#ifdef simulator
+
+#ifdef skip_init_button
+      serial_fd = openSerialPort();
+#endif
+
+#ifdef simulator_packet
   std::ofstream logfile;
   log_msg("************** Inject mode = %d\n",inject_mode);
   if (inject_mode == 0)
-      logfile.open("/home/homa/Documents/raven_2/sim_log.txt", std::ofstream::out);
+      logfile.open("/home/junjie/homa_wksp/raven_2/sim_log.txt", std::ofstream::out);
   else
   {
       char buff[50];
-      sprintf(buff,"/home/homa/Documents/raven_2/fault_log_%d.txt",inject_mode);
+      sprintf(buff,"/home/junjie/homa_wksp/raven_2/fault_log_%d.txt",inject_mode);
       logfile.open(buff,std::ofstream::out); 
   }
-  //log_file("MAIN) Initiated ROS and Memory Pool.\n");     
+  //log_file("MAIN) Initiated ROS and Memory Pool.\n");   
+
 #endif
 
   // init reconfigure
@@ -443,7 +473,6 @@ int main(int argc, char **argv)
 #ifdef simulator
   //log_file("MAIN) Created and initiated threads.\n");         
 #endif
-
   ros::spin();
 
 #ifndef simulator  
diff --git a/src/raven/rt_raven.cpp b/src/raven/rt_raven.cpp
old mode 100644
new mode 100755
index e9f1173539f20d70d6c1e01008ece63db7a403c5..55e83c257ef21a140e2fb42f3231484337ea7c83
--- a/src/raven/rt_raven.cpp
+++ b/src/raven/rt_raven.cpp
@@ -34,7 +34,6 @@
 
 #include "rt_raven.h"
 #include "defines.h"
-
 #include "init.h"             // for initSurgicalArms()
 #include "inv_kinematics.h"
 #include "r2_kinematics.h"
@@ -51,11 +50,15 @@
 #include "update_device_state.h"
 #include "parallel.h"
 
-#define simulator 
-#ifdef simulator
+
+#ifdef simulator_packet
 extern int program_state;
+extern int done_homing;
+#endif
+#ifdef test_gdb
+struct timespec tnow, tnow2;
 #endif
-extern int NUM_MECH; //Defined in rt_process_preempt.cpp
+extern int NUM_MECH; //Defined in rt_process_																								preempt.cpp
 extern unsigned long int gTime; //Defined in rt_process_preempt.cpp
 extern struct DOF_type DOF_types[]; //Defined in DOF_type.h
 extern t_controlmode newRobotControlMode; //Defined in struct.h
@@ -92,9 +95,18 @@ extern int initialized; //Defined in rt_process_preempt.cpp
 *
 */
 int controlRaven(struct device *device0, struct param_pass *currParams){
-#ifdef simulator
-    program_state = 7;
+#ifdef test_gdb
+      clock_gettime(CLOCK_REALTIME,&tnow);
+#endif      
+#ifdef simulator_packet
+      program_state = 7;
 #endif
+#ifdef test_gdb      
+      clock_gettime(CLOCK_REALTIME,&tnow2);
+      long int Diff = (tnow2.tv_nsec-tnow.tv_nsec)/100000;
+      if (Diff > 9)
+          printf("Diff = %ld\n",Diff);
+#endif    
     int ret = 0;
     //Desired control mode
     t_controlmode controlmode = (t_controlmode)currParams->robotControlMode;
@@ -107,13 +119,13 @@ int controlRaven(struct device *device0, struct param_pass *currParams){
     stateEstimate(device0); 
 #endif
 
-#ifdef simulator
+#ifdef simulator_packet
     program_state = 8;
 #endif
     //Foward Cable Coupling
     fwdCableCoupling(device0, currParams->runlevel);
 
-#ifdef simulator
+#ifdef simulator_packet
     program_state = 9;
 #endif
     //Forward kinematics
@@ -124,7 +136,7 @@ int controlRaven(struct device *device0, struct param_pass *currParams){
         //CHECK ME: what is the purpose of this mode?
         case no_control:
         {
-#ifdef simulator
+#ifdef simulator_packet
 	    program_state = 10;
         //log_file("RT_PROCESS) No Control");         
 #endif
@@ -146,7 +158,8 @@ int controlRaven(struct device *device0, struct param_pass *currParams){
         }
         //Cartesian Space Control is called to control the robot in cartesian space
         case cartesian_space_control:
-#ifdef simulator
+#ifdef simulator_packet
+		done_homing = 1;
 	        program_state = 11;
             //log_file("RT_PROCESS) Cartesian space control");         
 #endif		
@@ -164,12 +177,12 @@ int controlRaven(struct device *device0, struct param_pass *currParams){
             break;
         //Runs homing mode
         case homing_mode:
-#ifdef simulator
-	    program_state = 12;
-        //log_file("RT_PROCESS) Homing Mode");         
+#ifdef simulator_packet
+	   program_state = 12;
+           //log_file("RT_PROCESS) Homing Mode");         
+           //log_msg("Homing");
 #endif	
-	    log_msg("Homing");
-        	static int hom = 0;
+	        static int hom = 0;
         	if (hom==0){
         		log_msg("Entered homing mode");
         		hom = 1;
@@ -248,19 +261,19 @@ int raven_cartesian_space_command(struct device *device0, struct param_pass *cur
     parport_out(0x01);
 #endif
 
-#ifdef simulator
+#ifdef simulator_packet
     program_state = 13;
 #endif
     //Inverse kinematics
     r2_inv_kin(device0, currParams->runlevel);
 
-#ifdef simulator
+#ifdef simulator_packet
     program_state = 14;
 #endif
     //Inverse Cable Coupling
     invCableCoupling(device0, currParams->runlevel);
 
-#ifdef simulator
+#ifdef simulator_packet
     program_state = 15;
 #endif
     // Set all joints to zero torque
diff --git a/src/raven/state_estimate.cpp b/src/raven/state_estimate.cpp
old mode 100644
new mode 100755
diff --git a/src/raven/state_machine.cpp b/src/raven/state_machine.cpp
old mode 100644
new mode 100755
index 1ecfae18d540974d68bc3016cb8f8d82dbe76a29..fa354e963a188cad9b39a04c20a7e722d04d071d
--- a/src/raven/state_machine.cpp
+++ b/src/raven/state_machine.cpp
@@ -58,12 +58,14 @@ void stateMachine(struct device *device0, struct param_pass *currParams, struct
     u_08 tmp;
     rlDesired = 9; // arbitrary large number
 
+
     // Checks runlevel of all mechanisms. Lowest runlevel is chosen.
     for (i=0;i<NUM_MECH;i++)
     {
         tmp = ( device0->mech[i].inputs & (PIN_PS0 | PIN_PS1)) >> 6;
         if ( tmp < rlDesired )
         {
+
             rlDesired = tmp;
         }
     }
@@ -83,8 +85,7 @@ void stateMachine(struct device *device0, struct param_pass *currParams, struct
     *rl = rlDesired;            // Update Run Level
     device0->runlevel = *rl;    // Log runlevels in DS0.
     log_msg("Entered runlevel %d", *rl);
-
-
+ 
     if (*rl == RL_E_STOP)
     {
         if (soft_estopped)
diff --git a/src/raven/t_to_DAC_val.cpp b/src/raven/t_to_DAC_val.cpp
old mode 100644
new mode 100755
diff --git a/src/raven/trajectory.cpp b/src/raven/trajectory.cpp
old mode 100644
new mode 100755
diff --git a/src/raven/update_atmel_io.cpp b/src/raven/update_atmel_io.cpp
old mode 100644
new mode 100755
index 751c71795c4f4913bb73e90c8f3029e2f50db639..c6ff3fa64b3087461873fa561663dadc274c114f
--- a/src/raven/update_atmel_io.cpp
+++ b/src/raven/update_atmel_io.cpp
@@ -57,7 +57,7 @@ void updateAtmelOutputs(struct device *device0, int runlevel)
 
     //Update Linux State
     outputs |= (runlevel & (PIN_LS0 | PIN_LS1));
-
+      
     //Update WD Timer - if not software triggered
     if ( !soft_estopped )
     {
@@ -70,7 +70,7 @@ void updateAtmelOutputs(struct device *device0, int runlevel)
             counter = 0;
         }
     }
-
+        
     //Write Changes
     for (i = 0; i < NUM_MECH; i++)
         device0->mech[i].outputs = outputs;
@@ -93,11 +93,12 @@ void updateAtmelInputs(struct device device0, int runlevel)
 
     //Update PLC State
     PLCState = (device0.mech[0].inputs & (PIN_PS0 | PIN_PS1)) >> 6;
-
-    //  printk("Mech0.inputs: %#x\n",device0.mech[0].inputs);
-    //  static int j;
-    //if (j++ % 1000 == 0)
-    //  printk("PLC State is %d\n",PLCState);
-    //if (PLCState != runlevel)
-    // printk("RunLevels on Linux Box and PLC do not match!!!\n");
+#ifdef skip_init_button
+    //log_msg("Mech0.inputs: %#x\n",device0.mech[0].inputs);
+    static int j;
+    if (j++ % 1000 == 0)
+        log_msg("PLC State is %d\n",PLCState);
+    if (PLCState != runlevel)
+        log_msg("RunLevels on Linux Box and PLC do not match!!!\n");
+#endif
 }
diff --git a/src/raven/update_device_state.cpp b/src/raven/update_device_state.cpp
old mode 100644
new mode 100755
index dead3d2f697ae3920bb1061ae998af50bbd63860..e89d057c43c46aa0775d8caa884aadbd8d8e78af
--- a/src/raven/update_device_state.cpp
+++ b/src/raven/update_device_state.cpp
@@ -20,8 +20,7 @@
 #include "update_device_state.h"
 #include "log.h"
 
-#define simulator
-#ifdef simulator
+#ifdef simulator_packet
 extern int program_state;
 extern int logging;
 int curr_pack_no = 0;
@@ -53,32 +52,33 @@ int updateDeviceState(struct param_pass *currParams, struct param_pass *rcvdPara
     ///log_msg("updateDeviceState %d", currParams->runlevel);///Added
     currParams->last_sequence = rcvdParams->last_sequence;
 
-#ifdef simulator
+#ifdef simulator_packet
     program_state = 5;
     if ((currParams->last_sequence == 111) && (curr_pack_no == 0))
-	{
-		logging = 0;
+    {
+        logging = 0;
     }
     else
+    {
+	if (currParams->last_sequence != curr_pack_no)
 	{
-		if (currParams->last_sequence != curr_pack_no)
+		if (curr_pack_no !=0)		 	
+		{
+			log_file("______________________________________________\n");
+		}
+		// Dropped
+		if (currParams->last_sequence > (curr_pack_no+1))
 		{
-			if (curr_pack_no !=0)		 	
-			{
-				log_file("______________________________________________\n");
-			}
-			// Dropped
-			if (currParams->last_sequence > (curr_pack_no+1))
-			{
-				for (int i=curr_pack_no+1;i<currParams->last_sequence;i++)   {
-					log_file("Packet: %d\n", i);
-   					log_file("Error: Packet Dropped.\n");  
-					log_file("______________________________________________\n");	  
-		        }			
-			}
-			curr_pack_no = currParams->last_sequence;   
-			log_file("Packet: %d\n", curr_pack_no);  
+  		    for (int i=curr_pack_no+1;i<currParams->last_sequence;i++)   
+                    {
+			log_file("Packet: %d\n", i);
+			log_file("Error: Packet Dropped.\n");  
+			log_file ("______________________________________________\n");	  
+	            }			
 		}
+		curr_pack_no = currParams->last_sequence;   
+		log_file("Packet: %d\n", curr_pack_no);  
+	}
     }
 #endif
  
diff --git a/src/raven/utils.cpp b/src/raven/utils.cpp
old mode 100644
new mode 100755
diff --git a/src/raven_2/__init__.py b/src/raven_2/__init__.py
old mode 100644
new mode 100755
diff --git a/src/raven_2/cfg/MyStuffConfig.py b/src/raven_2/cfg/MyStuffConfig.py
old mode 100644
new mode 100755
index bbc0c7ab3bb16167a317143545a1e17e1f96c48d..843f98641a377b141f3502067c29c8abe102b2c5
--- a/src/raven_2/cfg/MyStuffConfig.py
+++ b/src/raven_2/cfg/MyStuffConfig.py
@@ -6,6 +6,40 @@
 ## 
 ## ********************************************************/
 
+##**********************************************************
+## Software License Agreement (BSD License)
+##
+##  Copyright (c) 2008, Willow Garage, Inc.
+##  All rights reserved.
+##
+##  Redistribution and use in source and binary forms, with or without
+##  modification, are permitted provided that the following conditions
+##  are met:
+##
+##   * Redistributions of source code must retain the above copyright
+##     notice, this list of conditions and the following disclaimer.
+##   * Redistributions in binary form must reproduce the above
+##     copyright notice, this list of conditions and the following
+##     disclaimer in the documentation and/or other materials provided
+##     with the distribution.
+##   * Neither the name of the Willow Garage nor the names of its
+##     contributors may be used to endorse or promote products derived
+##     from this software without specific prior written permission.
+##
+##  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+##  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+##  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+##  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+##  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+##  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+##  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+##  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+##  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+##  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+##  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+##  POSSIBILITY OF SUCH DAMAGE.
+##**********************************************************/
+
 from dynamic_reconfigure.encoding import extract_params
 
 inf = float('inf')
diff --git a/src/raven_2/cfg/__init__.py b/src/raven_2/cfg/__init__.py
old mode 100644
new mode 100755
diff --git a/src/raven_2/msg/__init__.py b/src/raven_2/msg/__init__.py
old mode 100644
new mode 100755
diff --git a/src/raven_2/msg/_raven_automove.py b/src/raven_2/msg/_raven_automove.py
old mode 100644
new mode 100755
diff --git a/src/raven_2/msg/_raven_state.py b/src/raven_2/msg/_raven_state.py
old mode 100644
new mode 100755
diff --git a/workspace.workspace b/workspace.workspace
old mode 100644
new mode 100755