diff --git a/ package.xml b/ package.xml
deleted file mode 100644
index 755cff62db36ac1002977b81e9ad9545a6a856eb..0000000000000000000000000000000000000000
--- a/ package.xml	
+++ /dev/null
@@ -1,63 +0,0 @@
-<?xml version="1.0"?>
-<package format="2">
-  <name>robot_models</name>
-  <version>0.1.0</version>
-  <description>The robot_models package</description>
-
-  <!-- One maintainer tag required, multiple allowed, one person per tag -->
-  <!-- Example:  -->
-  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
-  <maintainer email="nikhil.ambardar@tu-dresden.de">Nikhil Ambardar</maintainer>
-
-
-  <!-- One license tag required, multiple allowed, one license per tag -->
-  <!-- Commonly used license strings: -->
-  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
-  <license>MIT</license>
-
-
-  <!-- Url tags are optional, but multiple are allowed, one per tag -->
-  <!-- Optional attribute type can be: website, bugtracker, or repository -->
-  <!-- Example: -->
-  <!-- <url type="website">http://wiki.ros.org/robot_models</url> -->
-
-
-  <!-- Author tags are optional, multiple are allowed, one per tag -->
-  <!-- Authors do not have to be maintainers, but could be -->
-  <!-- Example: -->
-  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
-  <author email="nikhil.ambardar@tu-dresden.de">Nikhil Ambardar</author>
-
-
-  <!-- The *depend tags are used to specify dependencies -->
-  <!-- Dependencies can be catkin packages or system dependencies -->
-  <!-- Examples: -->
-  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
-  <!--   <depend>roscpp</depend> -->
-  <!--   Note that this is equivalent to the following: -->
-  <!--   <build_depend>roscpp</build_depend> -->
-  <!--   <exec_depend>roscpp</exec_depend> -->
-  <!-- Use build_depend for packages you need at compile time: -->
-  <!--   <build_depend>message_generation</build_depend> -->
-  <!-- Use build_export_depend for packages you need in order to build against this package: -->
-  <!--   <build_export_depend>message_generation</build_export_depend> -->
-  <!-- Use buildtool_depend for build tool packages: -->
-  <!--   <buildtool_depend>catkin</buildtool_depend> -->
-  <!-- Use exec_depend for packages you need at runtime: -->
-  <!--   <exec_depend>message_runtime</exec_depend> -->
-  <!-- Use test_depend for packages you need only for testing: -->
-  <!--   <test_depend>gtest</test_depend> -->
-  <!-- Use doc_depend for packages you need only for building documentation: -->
-  <!--   <doc_depend>doxygen</doc_depend> -->
-  <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>gazebo_ros</build_depend>
-  <build_export_depend>gazebo_ros</build_export_depend>
-  <exec_depend>gazebo_ros</exec_depend>
-
-
-  <!-- The export tag contains other, unspecified, tags -->
-  <export>
-    <!-- Other tools can request additional information be placed here -->
-
-  </export>
-</package>
\ No newline at end of file
diff --git a/.idea/.gitignore b/.idea/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..e7e9d11d4bf243bffe4bb60b4ac1f9392297f4bf
--- /dev/null
+++ b/.idea/.gitignore
@@ -0,0 +1,2 @@
+# Default ignored files
+/workspace.xml
diff --git a/.idea/.name b/.idea/.name
new file mode 100644
index 0000000000000000000000000000000000000000..53a59b7437c10e98b102e5b7b4640837aa9f6b18
--- /dev/null
+++ b/.idea/.name
@@ -0,0 +1 @@
+robot_models
\ No newline at end of file
diff --git a/.idea/dictionaries/nikhil.xml b/.idea/dictionaries/nikhil.xml
new file mode 100644
index 0000000000000000000000000000000000000000..26542fb0f1e381beef0bbfd6ecb25dc7b6fa1d0d
--- /dev/null
+++ b/.idea/dictionaries/nikhil.xml
@@ -0,0 +1,7 @@
+<component name="ProjectDictionaryState">
+  <dictionary name="nikhil">
+    <words>
+      <w>robname</w>
+    </words>
+  </dictionary>
+</component>
\ No newline at end of file
diff --git a/.idea/misc.xml b/.idea/misc.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8822db8f1c2b8ceffb5d86c69dd1952cf6552980
--- /dev/null
+++ b/.idea/misc.xml
@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="CMakeWorkspace" PROJECT_DIR="$PROJECT_DIR$" />
+  <component name="JavaScriptSettings">
+    <option name="languageLevel" value="ES6" />
+  </component>
+</project>
\ No newline at end of file
diff --git a/.idea/modules.xml b/.idea/modules.xml
new file mode 100644
index 0000000000000000000000000000000000000000..81ffd4c9b0c2f9ba46c2924e5038c07c27a81e80
--- /dev/null
+++ b/.idea/modules.xml
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectModuleManager">
+    <modules>
+      <module fileurl="file://$PROJECT_DIR$/.idea/zero.iml" filepath="$PROJECT_DIR$/.idea/zero.iml" />
+    </modules>
+  </component>
+</project>
\ No newline at end of file
diff --git a/.idea/vcs.xml b/.idea/vcs.xml
new file mode 100644
index 0000000000000000000000000000000000000000..c3e3123559af25182dc755d23187f0c2db61e55d
--- /dev/null
+++ b/.idea/vcs.xml
@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="$PROJECT_DIR$" vcs="Git" />
+    <mapping directory="$PROJECT_DIR$/src" vcs="Git" />
+  </component>
+</project>
\ No newline at end of file
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new file mode 100644
index 0000000000000000000000000000000000000000..f08604bb65b25149b195f9e9f282f9683a428592
--- /dev/null
+++ b/.idea/zero.iml
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<module classpath="CMake" type="CPP_MODULE" version="4" />
\ No newline at end of file
diff --git a/CMakeLists.txt b/CMakeLists.txt
index cff48857aabc3d4004afec479928e53e1bf93b8b..52144baee4820731646381b7d988ea9767a78ac5 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -142,17 +142,22 @@ include_directories(
 ## Declare a C++ executable
 ## With catkin_make all packages are built within a single CMake context
 ## The recommended prefix ensures that target names across packages don't collide
-add_executable(robot_models_node src/robot_models_node.cpp)
-add_executable(abstractobject.h /home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/abstractobject.h)
-add_executable(graspobject.h /home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/graspobject.h)
-add_executable(hand.h /home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/hand.h)
-add_executable(humanspace.h /home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/humanspace.h)
-add_executable(joint.h /home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/joint.h)
-add_executable(obstacle.h /home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/obstacle.h)
-add_executable(robot.h /home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/robot.h)
-add_executable(robotfpe.h /home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/robotfpe.h)
-add_executable(world.h /home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/world.h)
-add_executable(worldobject.h /home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/worldobject.h)
+add_executable(testappm
+                                                           src/testappm.cpp
+                                                           src/datalink/abstractobject.h
+                                                           src/datalink/graspobject.h
+                                                           src/datalink/hand.h
+                                                           src/datalink/humanspace.h
+                                                           src/datalink/joint.h
+                                                           src/datalink/obstacle.h
+                                                           src/datalink/robot.h
+                                                           src/datalink/robotfpe.h
+                                                           src/datalink/world.h
+                                                           src/datalink/worldobject.h
+                                                           src/datalink/quaternion.h
+
+        )
+
 
 ## Rename C++ executable without prefix
 ## The above recommended prefix causes long target names, the following renames the
@@ -165,7 +170,7 @@ add_executable(worldobject.h /home/nikhil/panda_gazebo_workspace/src/zero/src/da
 
 
 ## Specify libraries to link a library or executable target against
-target_link_libraries(robot_models_node ${catkin_LIBRARIES} )
+target_link_libraries(testappm ${catkin_LIBRARIES} )
 #add_dependencies(robot_models_node ${catkin_LIBRARIES})
 
 #############
diff --git a/README.md b/README.md
deleted file mode 100644
index e69de29bb2d1d6434b8b29ae775ad8c2e48c5391..0000000000000000000000000000000000000000
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index f1c2ed31ffc55a33eeadc10b2057ac9f75b501d1..bb26ec265b9c395fe962f59fa41a0a37fee8f4c7 100644
--- a/cmake-build-debug/CMakeCache.txt
+++ b/cmake-build-debug/CMakeCache.txt
@@ -234,7 +234,10 @@ CMAKE_STRIP:FILEPATH=/usr/bin/strip
 CMAKE_VERBOSE_MAKEFILE:BOOL=FALSE
 
 //Path to a program.
-DOXYGEN_EXECUTABLE:FILEPATH=DOXYGEN_EXECUTABLE-NOTFOUND
+DOXYGEN_EXECUTABLE:FILEPATH=/usr/bin/doxygen
+
+//Doxygen found
+DOXYGEN_FOUND:BOOL=TRUE
 
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-CMakeFiles/cmTC_db7f2.dir/src.c.o: In function `main':
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 Source file was:
@@ -44,20 +44,20 @@ int main(void)
 Determining if the function pthread_create exists in the pthreads failed with the following output:
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 make[1]: Entering directory '/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/CMakeFiles/CMakeTmp'
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diff --git a/cmake-build-debug/CMakeFiles/CMakeOutput.log b/cmake-build-debug/CMakeFiles/CMakeOutput.log
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+++ b/cmake-build-debug/CMakeFiles/CMakeOutput.log
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-				<Option object_output="./"/>
-				<Option type="1"/>
-				<Option compiler="gcc"/>
-				<Compiler>
-					<Add option="-DROS_BUILD_SHARED_LIBS=1"/>
-					<Add option="-DROS_PACKAGE_NAME=&quot;robot_models&quot;"/>
-					<Add option="-DROSCONSOLE_BACKEND_LOG4CXX"/>
-					<Add directory="/opt/ros/melodic/include"/>
-					<Add directory="/opt/ros/melodic/share/xmlrpcpp/cmake/../../../include/xmlrpcpp"/>
-					<Add directory="/usr/include/c++/7"/>
-					<Add directory="/usr/include/x86_64-linux-gnu/c++/7"/>
-					<Add directory="/usr/include/c++/7/backward"/>
-					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include"/>
-					<Add directory="/usr/local/include"/>
-					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include-fixed"/>
-					<Add directory="/usr/include/x86_64-linux-gnu"/>
-					<Add directory="/usr/include"/>
-				</Compiler>
-				<MakeCommands>
-					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 world.h/fast"/>
-					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
-					<Clean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
-					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
-				</MakeCommands>
-			</Target>
-			<Target title="robot.h">
-				<Option output="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models/robot.h" prefix_auto="0" extension_auto="0"/>
-				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models"/>
-				<Option object_output="./"/>
-				<Option type="1"/>
-				<Option compiler="gcc"/>
-				<Compiler>
-					<Add option="-DROS_BUILD_SHARED_LIBS=1"/>
-					<Add option="-DROS_PACKAGE_NAME=&quot;robot_models&quot;"/>
-					<Add option="-DROSCONSOLE_BACKEND_LOG4CXX"/>
-					<Add directory="/opt/ros/melodic/include"/>
-					<Add directory="/opt/ros/melodic/share/xmlrpcpp/cmake/../../../include/xmlrpcpp"/>
-					<Add directory="/usr/include/c++/7"/>
-					<Add directory="/usr/include/x86_64-linux-gnu/c++/7"/>
-					<Add directory="/usr/include/c++/7/backward"/>
-					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include"/>
-					<Add directory="/usr/local/include"/>
-					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include-fixed"/>
-					<Add directory="/usr/include/x86_64-linux-gnu"/>
-					<Add directory="/usr/include"/>
-				</Compiler>
-				<MakeCommands>
-					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 robot.h"/>
-					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
-					<Clean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
-					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
-				</MakeCommands>
-			</Target>
-			<Target title="robot.h/fast">
-				<Option output="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models/robot.h" prefix_auto="0" extension_auto="0"/>
-				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models"/>
-				<Option object_output="./"/>
-				<Option type="1"/>
-				<Option compiler="gcc"/>
-				<Compiler>
-					<Add option="-DROS_BUILD_SHARED_LIBS=1"/>
-					<Add option="-DROS_PACKAGE_NAME=&quot;robot_models&quot;"/>
-					<Add option="-DROSCONSOLE_BACKEND_LOG4CXX"/>
-					<Add directory="/opt/ros/melodic/include"/>
-					<Add directory="/opt/ros/melodic/share/xmlrpcpp/cmake/../../../include/xmlrpcpp"/>
-					<Add directory="/usr/include/c++/7"/>
-					<Add directory="/usr/include/x86_64-linux-gnu/c++/7"/>
-					<Add directory="/usr/include/c++/7/backward"/>
-					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include"/>
-					<Add directory="/usr/local/include"/>
-					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include-fixed"/>
-					<Add directory="/usr/include/x86_64-linux-gnu"/>
-					<Add directory="/usr/include"/>
-				</Compiler>
-				<MakeCommands>
-					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 robot.h/fast"/>
-					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
-					<Clean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
-					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
-				</MakeCommands>
-			</Target>
-			<Target title="obstacle.h">
-				<Option output="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models/obstacle.h" prefix_auto="0" extension_auto="0"/>
-				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models"/>
-				<Option object_output="./"/>
-				<Option type="1"/>
-				<Option compiler="gcc"/>
-				<Compiler>
-					<Add option="-DROS_BUILD_SHARED_LIBS=1"/>
-					<Add option="-DROS_PACKAGE_NAME=&quot;robot_models&quot;"/>
-					<Add option="-DROSCONSOLE_BACKEND_LOG4CXX"/>
-					<Add directory="/opt/ros/melodic/include"/>
-					<Add directory="/opt/ros/melodic/share/xmlrpcpp/cmake/../../../include/xmlrpcpp"/>
-					<Add directory="/usr/include/c++/7"/>
-					<Add directory="/usr/include/x86_64-linux-gnu/c++/7"/>
-					<Add directory="/usr/include/c++/7/backward"/>
-					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include"/>
-					<Add directory="/usr/local/include"/>
-					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include-fixed"/>
-					<Add directory="/usr/include/x86_64-linux-gnu"/>
-					<Add directory="/usr/include"/>
-				</Compiler>
-				<MakeCommands>
-					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 obstacle.h"/>
-					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
-					<Clean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
-					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
-				</MakeCommands>
-			</Target>
-			<Target title="obstacle.h/fast">
-				<Option output="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models/obstacle.h" prefix_auto="0" extension_auto="0"/>
-				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models"/>
-				<Option object_output="./"/>
-				<Option type="1"/>
-				<Option compiler="gcc"/>
-				<Compiler>
-					<Add option="-DROS_BUILD_SHARED_LIBS=1"/>
-					<Add option="-DROS_PACKAGE_NAME=&quot;robot_models&quot;"/>
-					<Add option="-DROSCONSOLE_BACKEND_LOG4CXX"/>
-					<Add directory="/opt/ros/melodic/include"/>
-					<Add directory="/opt/ros/melodic/share/xmlrpcpp/cmake/../../../include/xmlrpcpp"/>
-					<Add directory="/usr/include/c++/7"/>
-					<Add directory="/usr/include/x86_64-linux-gnu/c++/7"/>
-					<Add directory="/usr/include/c++/7/backward"/>
-					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include"/>
-					<Add directory="/usr/local/include"/>
-					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include-fixed"/>
-					<Add directory="/usr/include/x86_64-linux-gnu"/>
-					<Add directory="/usr/include"/>
-				</Compiler>
-				<MakeCommands>
-					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 obstacle.h/fast"/>
-					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
-					<Clean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
-					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
-				</MakeCommands>
-			</Target>
 			<Target title="std_srvs_generate_messages_py">
 				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug"/>
 				<Option type="4"/>
@@ -371,62 +127,6 @@
 					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
 				</MakeCommands>
 			</Target>
-			<Target title="graspobject.h">
-				<Option output="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models/graspobject.h" prefix_auto="0" extension_auto="0"/>
-				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models"/>
-				<Option object_output="./"/>
-				<Option type="1"/>
-				<Option compiler="gcc"/>
-				<Compiler>
-					<Add option="-DROS_BUILD_SHARED_LIBS=1"/>
-					<Add option="-DROS_PACKAGE_NAME=&quot;robot_models&quot;"/>
-					<Add option="-DROSCONSOLE_BACKEND_LOG4CXX"/>
-					<Add directory="/opt/ros/melodic/include"/>
-					<Add directory="/opt/ros/melodic/share/xmlrpcpp/cmake/../../../include/xmlrpcpp"/>
-					<Add directory="/usr/include/c++/7"/>
-					<Add directory="/usr/include/x86_64-linux-gnu/c++/7"/>
-					<Add directory="/usr/include/c++/7/backward"/>
-					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include"/>
-					<Add directory="/usr/local/include"/>
-					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include-fixed"/>
-					<Add directory="/usr/include/x86_64-linux-gnu"/>
-					<Add directory="/usr/include"/>
-				</Compiler>
-				<MakeCommands>
-					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 graspobject.h"/>
-					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
-					<Clean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
-					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
-				</MakeCommands>
-			</Target>
-			<Target title="graspobject.h/fast">
-				<Option output="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models/graspobject.h" prefix_auto="0" extension_auto="0"/>
-				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models"/>
-				<Option object_output="./"/>
-				<Option type="1"/>
-				<Option compiler="gcc"/>
-				<Compiler>
-					<Add option="-DROS_BUILD_SHARED_LIBS=1"/>
-					<Add option="-DROS_PACKAGE_NAME=&quot;robot_models&quot;"/>
-					<Add option="-DROSCONSOLE_BACKEND_LOG4CXX"/>
-					<Add directory="/opt/ros/melodic/include"/>
-					<Add directory="/opt/ros/melodic/share/xmlrpcpp/cmake/../../../include/xmlrpcpp"/>
-					<Add directory="/usr/include/c++/7"/>
-					<Add directory="/usr/include/x86_64-linux-gnu/c++/7"/>
-					<Add directory="/usr/include/c++/7/backward"/>
-					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include"/>
-					<Add directory="/usr/local/include"/>
-					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include-fixed"/>
-					<Add directory="/usr/include/x86_64-linux-gnu"/>
-					<Add directory="/usr/include"/>
-				</Compiler>
-				<MakeCommands>
-					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 graspobject.h/fast"/>
-					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
-					<Clean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
-					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
-				</MakeCommands>
-			</Target>
 			<Target title="tf_generate_messages_nodejs">
 				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug"/>
 				<Option type="4"/>
@@ -467,67 +167,21 @@
 					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
 				</MakeCommands>
 			</Target>
-			<Target title="joint.h">
-				<Option output="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models/joint.h" prefix_auto="0" extension_auto="0"/>
-				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models"/>
-				<Option object_output="./"/>
-				<Option type="1"/>
-				<Option compiler="gcc"/>
-				<Compiler>
-					<Add option="-DROS_BUILD_SHARED_LIBS=1"/>
-					<Add option="-DROS_PACKAGE_NAME=&quot;robot_models&quot;"/>
-					<Add option="-DROSCONSOLE_BACKEND_LOG4CXX"/>
-					<Add directory="/opt/ros/melodic/include"/>
-					<Add directory="/opt/ros/melodic/share/xmlrpcpp/cmake/../../../include/xmlrpcpp"/>
-					<Add directory="/usr/include/c++/7"/>
-					<Add directory="/usr/include/x86_64-linux-gnu/c++/7"/>
-					<Add directory="/usr/include/c++/7/backward"/>
-					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include"/>
-					<Add directory="/usr/local/include"/>
-					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include-fixed"/>
-					<Add directory="/usr/include/x86_64-linux-gnu"/>
-					<Add directory="/usr/include"/>
-				</Compiler>
-				<MakeCommands>
-					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 joint.h"/>
-					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
-					<Clean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
-					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
-				</MakeCommands>
-			</Target>
-			<Target title="joint.h/fast">
-				<Option output="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models/joint.h" prefix_auto="0" extension_auto="0"/>
-				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models"/>
-				<Option object_output="./"/>
-				<Option type="1"/>
-				<Option compiler="gcc"/>
-				<Compiler>
-					<Add option="-DROS_BUILD_SHARED_LIBS=1"/>
-					<Add option="-DROS_PACKAGE_NAME=&quot;robot_models&quot;"/>
-					<Add option="-DROSCONSOLE_BACKEND_LOG4CXX"/>
-					<Add directory="/opt/ros/melodic/include"/>
-					<Add directory="/opt/ros/melodic/share/xmlrpcpp/cmake/../../../include/xmlrpcpp"/>
-					<Add directory="/usr/include/c++/7"/>
-					<Add directory="/usr/include/x86_64-linux-gnu/c++/7"/>
-					<Add directory="/usr/include/c++/7/backward"/>
-					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include"/>
-					<Add directory="/usr/local/include"/>
-					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include-fixed"/>
-					<Add directory="/usr/include/x86_64-linux-gnu"/>
-					<Add directory="/usr/include"/>
-				</Compiler>
+			<Target title="actionlib_msgs_generate_messages_nodejs">
+				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug"/>
+				<Option type="4"/>
 				<MakeCommands>
-					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 joint.h/fast"/>
+					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 actionlib_msgs_generate_messages_nodejs"/>
 					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
 					<Clean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
 					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
 				</MakeCommands>
 			</Target>
-			<Target title="actionlib_msgs_generate_messages_nodejs">
+			<Target title="gazebo_ros_gencfg">
 				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug"/>
 				<Option type="4"/>
 				<MakeCommands>
-					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 actionlib_msgs_generate_messages_nodejs"/>
+					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 gazebo_ros_gencfg"/>
 					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
 					<Clean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
 					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
@@ -673,21 +327,21 @@
 					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
 				</MakeCommands>
 			</Target>
-			<Target title="rebuild_cache">
+			<Target title="actionlib_generate_messages_cpp">
 				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug"/>
 				<Option type="4"/>
 				<MakeCommands>
-					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 rebuild_cache"/>
+					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 actionlib_generate_messages_cpp"/>
 					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
 					<Clean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
 					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
 				</MakeCommands>
 			</Target>
-			<Target title="actionlib_generate_messages_cpp">
+			<Target title="rebuild_cache">
 				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug"/>
 				<Option type="4"/>
 				<MakeCommands>
-					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 actionlib_generate_messages_cpp"/>
+					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 rebuild_cache"/>
 					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
 					<Clean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
 					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
@@ -763,62 +417,6 @@
 					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
 				</MakeCommands>
 			</Target>
-			<Target title="robot_models_node">
-				<Option output="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models/robot_models_node" prefix_auto="0" extension_auto="0"/>
-				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models"/>
-				<Option object_output="./"/>
-				<Option type="1"/>
-				<Option compiler="gcc"/>
-				<Compiler>
-					<Add option="-DROS_BUILD_SHARED_LIBS=1"/>
-					<Add option="-DROS_PACKAGE_NAME=&quot;robot_models&quot;"/>
-					<Add option="-DROSCONSOLE_BACKEND_LOG4CXX"/>
-					<Add directory="/opt/ros/melodic/include"/>
-					<Add directory="/opt/ros/melodic/share/xmlrpcpp/cmake/../../../include/xmlrpcpp"/>
-					<Add directory="/usr/include/c++/7"/>
-					<Add directory="/usr/include/x86_64-linux-gnu/c++/7"/>
-					<Add directory="/usr/include/c++/7/backward"/>
-					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include"/>
-					<Add directory="/usr/local/include"/>
-					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include-fixed"/>
-					<Add directory="/usr/include/x86_64-linux-gnu"/>
-					<Add directory="/usr/include"/>
-				</Compiler>
-				<MakeCommands>
-					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 robot_models_node"/>
-					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
-					<Clean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
-					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
-				</MakeCommands>
-			</Target>
-			<Target title="robot_models_node/fast">
-				<Option output="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models/robot_models_node" prefix_auto="0" extension_auto="0"/>
-				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models"/>
-				<Option object_output="./"/>
-				<Option type="1"/>
-				<Option compiler="gcc"/>
-				<Compiler>
-					<Add option="-DROS_BUILD_SHARED_LIBS=1"/>
-					<Add option="-DROS_PACKAGE_NAME=&quot;robot_models&quot;"/>
-					<Add option="-DROSCONSOLE_BACKEND_LOG4CXX"/>
-					<Add directory="/opt/ros/melodic/include"/>
-					<Add directory="/opt/ros/melodic/share/xmlrpcpp/cmake/../../../include/xmlrpcpp"/>
-					<Add directory="/usr/include/c++/7"/>
-					<Add directory="/usr/include/x86_64-linux-gnu/c++/7"/>
-					<Add directory="/usr/include/c++/7/backward"/>
-					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include"/>
-					<Add directory="/usr/local/include"/>
-					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include-fixed"/>
-					<Add directory="/usr/include/x86_64-linux-gnu"/>
-					<Add directory="/usr/include"/>
-				</Compiler>
-				<MakeCommands>
-					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 robot_models_node/fast"/>
-					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
-					<Clean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
-					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
-				</MakeCommands>
-			</Target>
 			<Target title="rosgraph_msgs_generate_messages_lisp">
 				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug"/>
 				<Option type="4"/>
@@ -843,133 +441,47 @@
 				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug"/>
 				<Option type="4"/>
 				<MakeCommands>
-					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 tf_generate_messages_py"/>
-					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
-					<Clean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
-					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
-				</MakeCommands>
-			</Target>
-			<Target title="sensor_msgs_generate_messages_py">
-				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug"/>
-				<Option type="4"/>
-				<MakeCommands>
-					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 sensor_msgs_generate_messages_py"/>
-					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
-					<Clean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
-					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
-				</MakeCommands>
-			</Target>
-			<Target title="edit_cache">
-				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug"/>
-				<Option type="4"/>
-				<MakeCommands>
-					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 edit_cache"/>
-					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
-					<Clean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
-					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
-				</MakeCommands>
-			</Target>
-			<Target title="std_msgs_generate_messages_eus">
-				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug"/>
-				<Option type="4"/>
-				<MakeCommands>
-					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 std_msgs_generate_messages_eus"/>
-					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
-					<Clean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
-					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
-				</MakeCommands>
-			</Target>
-			<Target title="download_extra_data">
-				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug"/>
-				<Option type="4"/>
-				<MakeCommands>
-					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 download_extra_data"/>
-					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
-					<Clean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
-					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
-				</MakeCommands>
-			</Target>
-			<Target title="gazebo_msgs_generate_messages_py">
-				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug"/>
-				<Option type="4"/>
-				<MakeCommands>
-					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 gazebo_msgs_generate_messages_py"/>
+					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 tf_generate_messages_py"/>
 					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
 					<Clean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
 					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
 				</MakeCommands>
 			</Target>
-			<Target title="robotfpe.h">
-				<Option output="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models/robotfpe.h" prefix_auto="0" extension_auto="0"/>
-				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models"/>
-				<Option object_output="./"/>
-				<Option type="1"/>
-				<Option compiler="gcc"/>
-				<Compiler>
-					<Add option="-DROS_BUILD_SHARED_LIBS=1"/>
-					<Add option="-DROS_PACKAGE_NAME=&quot;robot_models&quot;"/>
-					<Add option="-DROSCONSOLE_BACKEND_LOG4CXX"/>
-					<Add directory="/opt/ros/melodic/include"/>
-					<Add directory="/opt/ros/melodic/share/xmlrpcpp/cmake/../../../include/xmlrpcpp"/>
-					<Add directory="/usr/include/c++/7"/>
-					<Add directory="/usr/include/x86_64-linux-gnu/c++/7"/>
-					<Add directory="/usr/include/c++/7/backward"/>
-					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include"/>
-					<Add directory="/usr/local/include"/>
-					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include-fixed"/>
-					<Add directory="/usr/include/x86_64-linux-gnu"/>
-					<Add directory="/usr/include"/>
-				</Compiler>
+			<Target title="sensor_msgs_generate_messages_py">
+				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug"/>
+				<Option type="4"/>
 				<MakeCommands>
-					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 robotfpe.h"/>
+					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 sensor_msgs_generate_messages_py"/>
 					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
 					<Clean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
 					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
 				</MakeCommands>
 			</Target>
-			<Target title="robotfpe.h/fast">
-				<Option output="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models/robotfpe.h" prefix_auto="0" extension_auto="0"/>
-				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models"/>
-				<Option object_output="./"/>
-				<Option type="1"/>
-				<Option compiler="gcc"/>
-				<Compiler>
-					<Add option="-DROS_BUILD_SHARED_LIBS=1"/>
-					<Add option="-DROS_PACKAGE_NAME=&quot;robot_models&quot;"/>
-					<Add option="-DROSCONSOLE_BACKEND_LOG4CXX"/>
-					<Add directory="/opt/ros/melodic/include"/>
-					<Add directory="/opt/ros/melodic/share/xmlrpcpp/cmake/../../../include/xmlrpcpp"/>
-					<Add directory="/usr/include/c++/7"/>
-					<Add directory="/usr/include/x86_64-linux-gnu/c++/7"/>
-					<Add directory="/usr/include/c++/7/backward"/>
-					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include"/>
-					<Add directory="/usr/local/include"/>
-					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include-fixed"/>
-					<Add directory="/usr/include/x86_64-linux-gnu"/>
-					<Add directory="/usr/include"/>
-				</Compiler>
+			<Target title="download_extra_data">
+				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug"/>
+				<Option type="4"/>
 				<MakeCommands>
-					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 robotfpe.h/fast"/>
+					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 download_extra_data"/>
 					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
 					<Clean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
 					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
 				</MakeCommands>
 			</Target>
-			<Target title="trajectory_msgs_generate_messages_py">
+			<Target title="gazebo_msgs_generate_messages_py">
 				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug"/>
 				<Option type="4"/>
 				<MakeCommands>
-					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 trajectory_msgs_generate_messages_py"/>
+					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 gazebo_msgs_generate_messages_py"/>
 					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
 					<Clean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
 					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
 				</MakeCommands>
 			</Target>
-			<Target title="rosgraph_msgs_generate_messages_nodejs">
+			<Target title="trajectory_msgs_generate_messages_py">
 				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug"/>
 				<Option type="4"/>
 				<MakeCommands>
-					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 rosgraph_msgs_generate_messages_nodejs"/>
+					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 trajectory_msgs_generate_messages_py"/>
 					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
 					<Clean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
 					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
@@ -1015,62 +527,6 @@
 					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
 				</MakeCommands>
 			</Target>
-			<Target title="humanspace.h">
-				<Option output="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models/humanspace.h" prefix_auto="0" extension_auto="0"/>
-				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models"/>
-				<Option object_output="./"/>
-				<Option type="1"/>
-				<Option compiler="gcc"/>
-				<Compiler>
-					<Add option="-DROS_BUILD_SHARED_LIBS=1"/>
-					<Add option="-DROS_PACKAGE_NAME=&quot;robot_models&quot;"/>
-					<Add option="-DROSCONSOLE_BACKEND_LOG4CXX"/>
-					<Add directory="/opt/ros/melodic/include"/>
-					<Add directory="/opt/ros/melodic/share/xmlrpcpp/cmake/../../../include/xmlrpcpp"/>
-					<Add directory="/usr/include/c++/7"/>
-					<Add directory="/usr/include/x86_64-linux-gnu/c++/7"/>
-					<Add directory="/usr/include/c++/7/backward"/>
-					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include"/>
-					<Add directory="/usr/local/include"/>
-					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include-fixed"/>
-					<Add directory="/usr/include/x86_64-linux-gnu"/>
-					<Add directory="/usr/include"/>
-				</Compiler>
-				<MakeCommands>
-					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 humanspace.h"/>
-					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
-					<Clean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
-					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
-				</MakeCommands>
-			</Target>
-			<Target title="humanspace.h/fast">
-				<Option output="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models/humanspace.h" prefix_auto="0" extension_auto="0"/>
-				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models"/>
-				<Option object_output="./"/>
-				<Option type="1"/>
-				<Option compiler="gcc"/>
-				<Compiler>
-					<Add option="-DROS_BUILD_SHARED_LIBS=1"/>
-					<Add option="-DROS_PACKAGE_NAME=&quot;robot_models&quot;"/>
-					<Add option="-DROSCONSOLE_BACKEND_LOG4CXX"/>
-					<Add directory="/opt/ros/melodic/include"/>
-					<Add directory="/opt/ros/melodic/share/xmlrpcpp/cmake/../../../include/xmlrpcpp"/>
-					<Add directory="/usr/include/c++/7"/>
-					<Add directory="/usr/include/x86_64-linux-gnu/c++/7"/>
-					<Add directory="/usr/include/c++/7/backward"/>
-					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include"/>
-					<Add directory="/usr/local/include"/>
-					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include-fixed"/>
-					<Add directory="/usr/include/x86_64-linux-gnu"/>
-					<Add directory="/usr/include"/>
-				</Compiler>
-				<MakeCommands>
-					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 humanspace.h/fast"/>
-					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
-					<Clean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
-					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
-				</MakeCommands>
-			</Target>
 			<Target title="actionlib_generate_messages_eus">
 				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug"/>
 				<Option type="4"/>
@@ -1101,6 +557,16 @@
 					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
 				</MakeCommands>
 			</Target>
+			<Target title="test">
+				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug"/>
+				<Option type="4"/>
+				<MakeCommands>
+					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 test"/>
+					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
+					<Clean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
+					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
+				</MakeCommands>
+			</Target>
 			<Target title="roscpp_generate_messages_eus">
 				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug"/>
 				<Option type="4"/>
@@ -1211,8 +677,58 @@
 					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
 				</MakeCommands>
 			</Target>
-			<Target title="abstractobject.h">
-				<Option output="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models/abstractobject.h" prefix_auto="0" extension_auto="0"/>
+			<Target title="gazebo_msgs_generate_messages_cpp">
+				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug"/>
+				<Option type="4"/>
+				<MakeCommands>
+					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 gazebo_msgs_generate_messages_cpp"/>
+					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
+					<Clean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
+					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
+				</MakeCommands>
+			</Target>
+			<Target title="dynamic_reconfigure_generate_messages_lisp">
+				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug"/>
+				<Option type="4"/>
+				<MakeCommands>
+					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 dynamic_reconfigure_generate_messages_lisp"/>
+					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
+					<Clean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
+					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
+				</MakeCommands>
+			</Target>
+			<Target title="dynamic_reconfigure_generate_messages_nodejs">
+				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug"/>
+				<Option type="4"/>
+				<MakeCommands>
+					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 dynamic_reconfigure_generate_messages_nodejs"/>
+					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
+					<Clean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
+					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
+				</MakeCommands>
+			</Target>
+			<Target title="dynamic_reconfigure_generate_messages_py">
+				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug"/>
+				<Option type="4"/>
+				<MakeCommands>
+					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 dynamic_reconfigure_generate_messages_py"/>
+					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
+					<Clean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
+					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
+				</MakeCommands>
+			</Target>
+			<Target title="rosgraph_msgs_generate_messages_nodejs">
+				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug"/>
+				<Option type="4"/>
+				<MakeCommands>
+					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 rosgraph_msgs_generate_messages_nodejs"/>
+					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
+					<Clean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
+					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
+				</MakeCommands>
+			</Target>
+			<Target title="testappm">
+				<Option output="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models/testappm" prefix_auto="0" extension_auto="0"/>
 				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models"/>
 				<Option object_output="./"/>
 				<Option type="1"/>
@@ -1233,14 +749,14 @@
 					<Add directory="/usr/include"/>
 				</Compiler>
 				<MakeCommands>
-					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 abstractobject.h"/>
+					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 testappm"/>
 					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
 					<Clean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
 					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
 				</MakeCommands>
 			</Target>
-			<Target title="abstractobject.h/fast">
-				<Option output="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models/abstractobject.h" prefix_auto="0" extension_auto="0"/>
+			<Target title="testappm/fast">
+				<Option output="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models/testappm" prefix_auto="0" extension_auto="0"/>
 				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models"/>
 				<Option object_output="./"/>
 				<Option type="1"/>
@@ -1261,47 +777,7 @@
 					<Add directory="/usr/include"/>
 				</Compiler>
 				<MakeCommands>
-					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 abstractobject.h/fast"/>
-					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
-					<Clean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
-					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
-				</MakeCommands>
-			</Target>
-			<Target title="gazebo_msgs_generate_messages_cpp">
-				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug"/>
-				<Option type="4"/>
-				<MakeCommands>
-					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 gazebo_msgs_generate_messages_cpp"/>
-					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
-					<Clean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
-					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
-				</MakeCommands>
-			</Target>
-			<Target title="dynamic_reconfigure_generate_messages_lisp">
-				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug"/>
-				<Option type="4"/>
-				<MakeCommands>
-					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 dynamic_reconfigure_generate_messages_lisp"/>
-					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
-					<Clean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
-					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
-				</MakeCommands>
-			</Target>
-			<Target title="dynamic_reconfigure_generate_messages_nodejs">
-				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug"/>
-				<Option type="4"/>
-				<MakeCommands>
-					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 dynamic_reconfigure_generate_messages_nodejs"/>
-					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
-					<Clean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
-					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
-				</MakeCommands>
-			</Target>
-			<Target title="dynamic_reconfigure_generate_messages_py">
-				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug"/>
-				<Option type="4"/>
-				<MakeCommands>
-					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 dynamic_reconfigure_generate_messages_py"/>
+					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 testappm/fast"/>
 					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
 					<Clean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
 					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
@@ -1367,67 +843,31 @@
 					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
 				</MakeCommands>
 			</Target>
-			<Target title="gazebo_ros_gencfg">
+			<Target title="std_msgs_generate_messages_eus">
 				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug"/>
 				<Option type="4"/>
 				<MakeCommands>
-					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 gazebo_ros_gencfg"/>
+					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 std_msgs_generate_messages_eus"/>
 					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
 					<Clean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
 					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
 				</MakeCommands>
 			</Target>
-			<Target title="hand.h">
-				<Option output="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models/hand.h" prefix_auto="0" extension_auto="0"/>
-				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models"/>
-				<Option object_output="./"/>
-				<Option type="1"/>
-				<Option compiler="gcc"/>
-				<Compiler>
-					<Add option="-DROS_BUILD_SHARED_LIBS=1"/>
-					<Add option="-DROS_PACKAGE_NAME=&quot;robot_models&quot;"/>
-					<Add option="-DROSCONSOLE_BACKEND_LOG4CXX"/>
-					<Add directory="/opt/ros/melodic/include"/>
-					<Add directory="/opt/ros/melodic/share/xmlrpcpp/cmake/../../../include/xmlrpcpp"/>
-					<Add directory="/usr/include/c++/7"/>
-					<Add directory="/usr/include/x86_64-linux-gnu/c++/7"/>
-					<Add directory="/usr/include/c++/7/backward"/>
-					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include"/>
-					<Add directory="/usr/local/include"/>
-					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include-fixed"/>
-					<Add directory="/usr/include/x86_64-linux-gnu"/>
-					<Add directory="/usr/include"/>
-				</Compiler>
+			<Target title="edit_cache">
+				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug"/>
+				<Option type="4"/>
 				<MakeCommands>
-					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 hand.h"/>
+					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 edit_cache"/>
 					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
 					<Clean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
 					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
 				</MakeCommands>
 			</Target>
-			<Target title="hand.h/fast">
-				<Option output="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models/hand.h" prefix_auto="0" extension_auto="0"/>
-				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models"/>
-				<Option object_output="./"/>
-				<Option type="1"/>
-				<Option compiler="gcc"/>
-				<Compiler>
-					<Add option="-DROS_BUILD_SHARED_LIBS=1"/>
-					<Add option="-DROS_PACKAGE_NAME=&quot;robot_models&quot;"/>
-					<Add option="-DROSCONSOLE_BACKEND_LOG4CXX"/>
-					<Add directory="/opt/ros/melodic/include"/>
-					<Add directory="/opt/ros/melodic/share/xmlrpcpp/cmake/../../../include/xmlrpcpp"/>
-					<Add directory="/usr/include/c++/7"/>
-					<Add directory="/usr/include/x86_64-linux-gnu/c++/7"/>
-					<Add directory="/usr/include/c++/7/backward"/>
-					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include"/>
-					<Add directory="/usr/local/include"/>
-					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include-fixed"/>
-					<Add directory="/usr/include/x86_64-linux-gnu"/>
-					<Add directory="/usr/include"/>
-				</Compiler>
+			<Target title="list_install_components">
+				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug"/>
+				<Option type="4"/>
 				<MakeCommands>
-					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 hand.h/fast"/>
+					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 list_install_components"/>
 					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
 					<Clean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
 					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
@@ -1651,37 +1091,40 @@
 			</Target>
 		</Build>
 		<Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/abstractobject.h">
-			<Option target="abstractobject.h"/>
+			<Option target="testappm"/>
 		</Unit>
 		<Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/graspobject.h">
-			<Option target="graspobject.h"/>
+			<Option target="testappm"/>
 		</Unit>
 		<Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/hand.h">
-			<Option target="hand.h"/>
+			<Option target="testappm"/>
 		</Unit>
 		<Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/humanspace.h">
-			<Option target="humanspace.h"/>
+			<Option target="testappm"/>
 		</Unit>
 		<Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/joint.h">
-			<Option target="joint.h"/>
+			<Option target="testappm"/>
 		</Unit>
 		<Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/obstacle.h">
-			<Option target="obstacle.h"/>
+			<Option target="testappm"/>
+		</Unit>
+		<Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/quaternion.h">
+			<Option target="testappm"/>
 		</Unit>
 		<Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/robot.h">
-			<Option target="robot.h"/>
+			<Option target="testappm"/>
 		</Unit>
 		<Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/robotfpe.h">
-			<Option target="robotfpe.h"/>
+			<Option target="testappm"/>
 		</Unit>
 		<Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/world.h">
-			<Option target="world.h"/>
+			<Option target="testappm"/>
 		</Unit>
 		<Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/worldobject.h">
-			<Option target="worldobject.h"/>
+			<Option target="testappm"/>
 		</Unit>
-		<Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/robot_models_node.cpp">
-			<Option target="robot_models_node"/>
+		<Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/testappm.cpp">
+			<Option target="testappm"/>
 		</Unit>
 		<Unit filename="/usr/src/googletest/googlemock/src/gmock-all.cc">
 			<Option target="gmock_main"/>
diff --git a/launch/launcher.launch b/launch/launcher.launch
new file mode 100644
index 0000000000000000000000000000000000000000..c5e3ab33ff25a4909bb64383e32e88f742323775
--- /dev/null
+++ b/launch/launcher.launch
@@ -0,0 +1,10 @@
+<launch>
+
+    <include file="$(find panda_simulation)/launch/simulation.launch"/>
+
+    <include file="$(find panda_moveit_config)/launch/moveit_rviz.launch"/>
+
+    <node pkg="robot_models" type="testappm" name="launcher" respawn="false" output="screen"/>
+
+</launch>
+
diff --git a/src/.idea/misc.xml b/src/.idea/misc.xml
new file mode 100644
index 0000000000000000000000000000000000000000..8822db8f1c2b8ceffb5d86c69dd1952cf6552980
--- /dev/null
+++ b/src/.idea/misc.xml
@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="CMakeWorkspace" PROJECT_DIR="$PROJECT_DIR$" />
+  <component name="JavaScriptSettings">
+    <option name="languageLevel" value="ES6" />
+  </component>
+</project>
\ No newline at end of file
diff --git a/src/.idea/modules.xml b/src/.idea/modules.xml
new file mode 100644
index 0000000000000000000000000000000000000000..f669a0e5940d09242eeb8ff9d3cc4ff10de98b50
--- /dev/null
+++ b/src/.idea/modules.xml
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="ProjectModuleManager">
+    <modules>
+      <module fileurl="file://$PROJECT_DIR$/.idea/src.iml" filepath="$PROJECT_DIR$/.idea/src.iml" />
+    </modules>
+  </component>
+</project>
\ No newline at end of file
diff --git a/src/.idea/src.iml b/src/.idea/src.iml
new file mode 100644
index 0000000000000000000000000000000000000000..f08604bb65b25149b195f9e9f282f9683a428592
--- /dev/null
+++ b/src/.idea/src.iml
@@ -0,0 +1,2 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<module classpath="CMake" type="CPP_MODULE" version="4" />
\ No newline at end of file
diff --git a/src/.idea/vcs.xml b/src/.idea/vcs.xml
new file mode 100644
index 0000000000000000000000000000000000000000..94a25f7f4cb416c083d265558da75d457237d671
--- /dev/null
+++ b/src/.idea/vcs.xml
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="$PROJECT_DIR$" vcs="Git" />
+  </component>
+</project>
\ No newline at end of file
diff --git a/src/.idea/workspace.xml b/src/.idea/workspace.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a92ce3a805e826986e7b8c2cfd0b856624239bd0
--- /dev/null
+++ b/src/.idea/workspace.xml
@@ -0,0 +1,81 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="CMakeRunConfigurationManager" shouldGenerate="true" shouldDeleteObsolete="true">
+    <generated>
+      <config projectName="src" targetName="src" />
+    </generated>
+  </component>
+  <component name="CMakeSettings">
+    <configurations>
+      <configuration PROFILE_NAME="Debug" CONFIG_NAME="Debug" />
+    </configurations>
+  </component>
+  <component name="ChangeListManager">
+    <list default="true" id="520b547e-316a-4b29-9d69-e8ae7feb415a" name="Default Changelist" comment="">
+      <change beforePath="$PROJECT_DIR$/datalink/abstractobject.h" beforeDir="false" afterPath="$PROJECT_DIR$/datalink/abstractobject.h" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/datalink/graspobject.h" beforeDir="false" afterPath="$PROJECT_DIR$/datalink/graspobject.h" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/datalink/hand.h" beforeDir="false" afterPath="$PROJECT_DIR$/datalink/hand.h" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/datalink/humanspace.h" beforeDir="false" afterPath="$PROJECT_DIR$/datalink/humanspace.h" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/datalink/joint.h" beforeDir="false" afterPath="$PROJECT_DIR$/datalink/joint.h" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/datalink/obstacle.h" beforeDir="false" afterPath="$PROJECT_DIR$/datalink/obstacle.h" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/datalink/quaternion.h" beforeDir="false" afterPath="$PROJECT_DIR$/datalink/quaternion.h" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/datalink/robot.h" beforeDir="false" afterPath="$PROJECT_DIR$/datalink/robot.h" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/datalink/robotfpe.h" beforeDir="false" afterPath="$PROJECT_DIR$/datalink/robotfpe.h" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/datalink/world.h" beforeDir="false" afterPath="$PROJECT_DIR$/datalink/world.h" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/datalink/worldobject.h" beforeDir="false" afterPath="$PROJECT_DIR$/datalink/worldobject.h" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/robot_models_node.cpp" beforeDir="false" afterPath="$PROJECT_DIR$/robot_models_node.cpp" afterDir="false" />
+    </list>
+    <option name="SHOW_DIALOG" value="false" />
+    <option name="HIGHLIGHT_CONFLICTS" value="true" />
+    <option name="HIGHLIGHT_NON_ACTIVE_CHANGELIST" value="false" />
+    <option name="LAST_RESOLUTION" value="IGNORE" />
+  </component>
+  <component name="ClangdSettings">
+    <option name="formatViaClangd" value="false" />
+  </component>
+  <component name="ExecutionTargetManager" SELECTED_TARGET="CMakeBuildProfile:Debug" />
+  <component name="Git.Settings">
+    <option name="RECENT_GIT_ROOT_PATH" value="$PROJECT_DIR$" />
+  </component>
+  <component name="ProjectId" id="1j0i4XUJyEXWQ1vv8zV1DaoyBUd" />
+  <component name="ProjectViewState">
+    <option name="hideEmptyMiddlePackages" value="true" />
+    <option name="showExcludedFiles" value="true" />
+    <option name="showLibraryContents" value="true" />
+  </component>
+  <component name="PropertiesComponent">
+    <property name="RunOnceActivity.ShowReadmeOnStart" value="true" />
+    <property name="WebServerToolWindowFactoryState" value="false" />
+    <property name="last_opened_file_path" value="$PROJECT_DIR$/../../.." />
+  </component>
+  <component name="RunManager">
+    <configuration name="src" type="CMakeRunConfiguration" factoryName="Application" PASS_PARENT_ENVS_2="true" PROJECT_NAME="src" TARGET_NAME="src" CONFIG_NAME="Debug" RUN_TARGET_PROJECT_NAME="src" RUN_TARGET_NAME="src">
+      <method v="2">
+        <option name="com.jetbrains.cidr.execution.CidrBuildBeforeRunTaskProvider$BuildBeforeRunTask" enabled="true" />
+      </method>
+    </configuration>
+  </component>
+  <component name="SvnConfiguration">
+    <configuration />
+  </component>
+  <component name="TaskManager">
+    <task active="true" id="Default" summary="Default task">
+      <changelist id="520b547e-316a-4b29-9d69-e8ae7feb415a" name="Default Changelist" comment="" />
+      <created>1602947218598</created>
+      <option name="number" value="Default" />
+      <option name="presentableId" value="Default" />
+      <updated>1602947218598</updated>
+      <workItem from="1602947220175" duration="34000" />
+    </task>
+    <servers />
+  </component>
+  <component name="TypeScriptGeneratedFilesManager">
+    <option name="version" value="1" />
+  </component>
+  <component name="WindowStateProjectService">
+    <state x="616" y="220" width="424" height="484" key="FileChooserDialogImpl" timestamp="1602947253275">
+      <screen x="67" y="27" width="1533" height="873" />
+    </state>
+    <state x="616" y="220" width="424" height="484" key="FileChooserDialogImpl/67.27.1533.873@67.27.1533.873" timestamp="1602947253275" />
+  </component>
+</project>
\ No newline at end of file
diff --git a/src/datalink/abstractobject.h b/src/datalink/abstractobject.h
index 06127326636f94abbb6c70d586a9ad46a9d9249b..a52478b112831f3e4b4254b2bbd021fdfdafa367 100644
--- a/src/datalink/abstractobject.h
+++ b/src/datalink/abstractobject.h
@@ -1,18 +1,12 @@
 #include <vector>
-#include </home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/worldobject.h>
+#include "worldobject.h"
 #ifndef ROBOT_MODELS_AO_H
 #define ROBOT_MODELS_AO_H
 
 class abstractobject:public worldobject
 {
     public:
-
-    vector<int> size;
-
-//no need of constructor here
-//abstractobject()
-//{
-//}
+    vector<float> size;
 
 };
 #endif //ROBOT_MODELS_TEST_H
\ No newline at end of file
diff --git a/src/datalink/graspobject.h b/src/datalink/graspobject.h
index e15791a8555c081ae53bc3a7978e83af8d73b453..91c70a4e1c0bfbdc9684e2b630793324347e0913 100644
--- a/src/datalink/graspobject.h
+++ b/src/datalink/graspobject.h
@@ -1,11 +1,9 @@
-#include </home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/abstractobject.h>
+#include "abstractobject.h"
 #ifndef ROBOT_MODELS_GO_H
 #define ROBOT_MODELS_GO_H
 class graspobject : public abstractobject
 {
 
-//constructor
-
 
 };
 #endif //ROBOT_MODELS_TEST_H
\ No newline at end of file
diff --git a/src/datalink/hand.h b/src/datalink/hand.h
index d6b32caa005633efb84f8f5060808a9b42058d7b..c684fcbff270c03332afc3363366e7e8acab8ce2 100644
--- a/src/datalink/hand.h
+++ b/src/datalink/hand.h
@@ -5,6 +5,6 @@ using namespace std;
 class hand
 {
 public:
-vector<int> grippos;
+vector<float> grippos;
 };
 #endif //ROBOT_MODELS_TEST_H
\ No newline at end of file
diff --git a/src/datalink/humanspace.h b/src/datalink/humanspace.h
index 82c2e5291114062afc66028b409888cbeea7d5f0..5e681f457ae615be680821e5ee63c7a9ae26cce6 100644
--- a/src/datalink/humanspace.h
+++ b/src/datalink/humanspace.h
@@ -1,14 +1,11 @@
-
-#include </home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/world.h>
 #ifndef ROBOT_MODELS_HS_H
 #define ROBOT_MODELS_HS_H
 
-
-
-class humanspace : public world
+class humanspace
 {
 public:
-int humannum;
+    int humannum;
+
 
 //constructor
 
diff --git a/src/datalink/joint.h b/src/datalink/joint.h
index 479af8cd6b65d6e38a6aaf31f5fe795ef935c30c..cfe0df40cd809c4003fac071018ff8ebcaf0b256 100644
--- a/src/datalink/joint.h
+++ b/src/datalink/joint.h
@@ -1,8 +1,10 @@
-#include </home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/worldobject.h>
+#include "worldobject.h"
+#include "quaternion.h"
 #ifndef ROBOT_MODELS_J_H
 #define ROBOT_MODELS_J_H
 class joint : public worldobject
 {
-
+    public:
+    quaternion or2;
 };
 #endif //ROBOT_MODELS_TEST_H
\ No newline at end of file
diff --git a/src/datalink/obstacle.h b/src/datalink/obstacle.h
index 36c30b38673fd027766336bd492426af1641b377..19e3d4b7013535fcacca07182ff6b7355f7ec858 100644
--- a/src/datalink/obstacle.h
+++ b/src/datalink/obstacle.h
@@ -1,4 +1,4 @@
-#include </home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/abstractobject.h>
+#include "abstractobject.h"
 #ifndef ROBOT_MODELS_O_H
 #define ROBOT_MODELS_O_H
 class obstacle : public abstractobject
diff --git a/src/datalink/quaternion.h b/src/datalink/quaternion.h
index 1bf6f40056a3213f118b0c01deb2bbf81462d1a5..bf0f640676656dd880d3613a0ef16d7903a034d5 100644
--- a/src/datalink/quaternion.h
+++ b/src/datalink/quaternion.h
@@ -5,7 +5,7 @@
 class quaternion
 {
 public:
-     float x,y,z,w;
+    double x,y,z,w;
 
 
      //no need of constructor here
diff --git a/src/datalink/robot.h b/src/datalink/robot.h
index d6a045d3576993eadc11475d9df98203fbaecf7f..b805f7e28f67a943e02964ed237c884f0cdd71de 100644
--- a/src/datalink/robot.h
+++ b/src/datalink/robot.h
@@ -1,4 +1,5 @@
-#include </home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/worldobject.h>
+#include "worldobject.h"
+
 #include <vector>
 #ifndef ROBOT_MODELS_R_H
 #define ROBOT_MODELS_R_H
@@ -7,6 +8,14 @@ class robot : public worldobject
 {
 public:
     std::string robname;
-
+    joint *jo1= new joint;
+    joint *jo2= new joint;
+    joint *jo3= new joint;
+    joint *jo4= new joint;
+    joint *jo5= new joint;
+    joint *jo6= new joint;
+    joint *jo7= new joint;
+    bool of,moving,grasppos;
+    std::string planninggrp;
 };
 #endif //ROBOT_MODELS_TEST_H
\ No newline at end of file
diff --git a/src/datalink/robotfpe.h b/src/datalink/robotfpe.h
index 8958cc712a8474e0541a36eea345fa892d6f4de8..304e14c6b5c2cb4ba1ed8bc75dedcf1aca0bee21 100644
--- a/src/datalink/robotfpe.h
+++ b/src/datalink/robotfpe.h
@@ -1,4 +1,4 @@
-#include </home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/robot.h>
+#include "robot.h"
 #include <vector>
 #include<string>
 #ifndef ROBOT_MODELS_RF_H
@@ -7,8 +7,9 @@ using namespace std;
 class robotfpe : public robot
 {
 public:
-bool of,moving,grasppos;
 
-    std::string planninggrp;
+hand *h=new hand;
+
+
 };
 #endif //ROBOT_MODELS_TEST_H
\ No newline at end of file
diff --git a/src/datalink/world.h b/src/datalink/world.h
index 113f8aee390b3ea0fa4d31b5f8d5885c0e1daf3e..0ffeae43aad8949737e69027a3f0150ecfcb5d67 100644
--- a/src/datalink/world.h
+++ b/src/datalink/world.h
@@ -1,7 +1,20 @@
+#include "humanspace.h"
+#include "abstractobject.h"
+#include "robot.h"
+
 #ifndef ROBOT_MODELS_W_H
 #define ROBOT_MODELS_W_H
 class world
 {
+public: humanspace *a=new humanspace;
+
+
+  abstractobject *b1=new abstractobject;
+
+  abstractobject *b2=new abstractobject;
+
+  robot *c=new robot;
+
 
 };
 #endif //ROBOT_MODELS_TEST_H
diff --git a/src/datalink/worldobject.h b/src/datalink/worldobject.h
index 11484d8a3995065d180d99709d0485ff76c0e545..96f83cd3b83e7c4c3c3b109d858afefc00a08440 100644
--- a/src/datalink/worldobject.h
+++ b/src/datalink/worldobject.h
@@ -1,16 +1,18 @@
 #include <vector>
 #ifndef ROBOT_MODELS_WO_H
 #define ROBOT_MODELS_WO_H
-#include </home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/quaternion.h>
+#include "quaternion.h"
 using namespace std;
-class worldobject : public quaternion
+class worldobject
 {
+
+
 public:
-     vector<int> p1,h3;// saw no purpose of using h3 here in WO ,its used seperately in hand class
-     std::string name;
-     quaternion or2;
+     vector<float> p1;// saw no purpose of using h3 here in WO ,its used seperately in hand class
 
-     //no need of constructor here
+     std::string name;
+     double x,y,z,w;
+    //no need of constructor here
 
 };
 #endif //ROBOT_MODELS_TEST_H
\ No newline at end of file
diff --git a/src/robot_models_node.cpp b/src/robot_models_node.cpp
index 7c759c5d32bb7537079f7794f90d40b84009b88f..9b01fda577c36fc6c76b028e9d50376329aec851 100644
--- a/src/robot_models_node.cpp
+++ b/src/robot_models_node.cpp
@@ -1,15 +1,15 @@
 #include <ros/ros.h>
-#include </home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/abstractobject.h>
-#include </home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/graspobject.h>
-#include </home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/hand.h>
-#include </home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/humanspace.h>
-#include </home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/joint.h>
-#include </home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/obstacle.h>
-#include </home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/robot.h>
-#include </home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/robotfpe.h>
-#include </home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/world.h>
-#include </home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/worldobject.h>
-#include </home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/quaternion.h>
+#include "datalink/abstractobject.h"
+#include "datalink/graspobject.h"
+#include "datalink/hand.h"
+#include "datalink/humanspace.h"
+#include "datalink/joint.h"
+#include "datalink/obstacle.h"
+#include "datalink/robot.h"
+#include "datalink/robotfpe.h"
+#include "datalink/world.h"
+#include "datalink/worldobject.h"
+#include "datalink/quaternion.h"
 #include <vector>
 #include <iostream>
 #include <tf2_ros/transform_listener.h>
@@ -30,9 +30,9 @@
         ros::NodeHandle node_handle("namespace_name");
         ros::AsyncSpinner spinner(1);
         spinner.start();
+        ROS_INFO("HELLO, WORLD");
 
 
-        ROS_INFO("HELLO, WORLD");
 
 
         abstractobject o1;
@@ -54,47 +54,100 @@
         world o9;
         worldobject o10;
 
+        o7.jo1->name= "panda_link1";
+        o7.jo2->name= "panda_link2";
+        o7.jo3->name= "panda_link3";
+        o7.jo4->name= "panda_link4";
+        o7.jo5->name= "panda_link5";
+        o7.jo6->name= "panda_link6";
+        o7.jo7->name= "panda_link7";
+
+        //o5a.name = "panda_link1";
+        //o5b.name = "panda_link2";
+        //o5c.name = "panda_link3";
+        //o5d.name = "panda_link4";
+        //o5e.name = "panda_link5";
+        //o5f.name = "panda_link6";
+        //o5g.name = "panda_link7";
+        o7.jo1->or2= {1.2,5.3,6.5,7.4};
+        o7.jo2->or2= {2.5,3.6,5.8,4.9};
+        o7.jo3->or2= {5.1,1.2,9.9,6.8};
+        o7.jo4->or2= {6.3,3.4,8.5,9.6};
+        o7.jo5->or2= {8.2,2.6,7.9,5.5};
+        o7.jo6->or2= {7.3,4.4,6.7,4.0};
+        o7.jo7->or2= {7.3,4.4,6.7,4.0};
+
+
+        //o5a.or2 = {1.2,5.3,6.5,7.4};
+        //o5b.or2 = {2.5,3.6,5.8,4.9};
+        //o5c.or2 = {5.1,1.2,9.9,6.8};
+        //o5d.or2 = {6.3,3.4,8.5,9.6};
+        //o5e.or2 = {8.2,2.6,7.9,5.5};
+        //o5f.or2 = {7.3,4.4,6.7,4.0};
+        //o5g.or2 = {9.0,5.2,5.5,8.7};
+
+        //o5a.p1 = {1.3, 10.1, 9.4};
+        //o5b.p1 = {14.7, 11.3, 6.5};
+        //o5c.p1 = {4.9, 13.8, 7.7};
+        //o5d.p1 = {2.4, 12.5, 1.6};
+        //o5e.p1 = {3.1, 16.2, 5.3};
+        //o5f.p1 = {11.5, 15.4, 3.4};
+        //o5g.p1 = {5.1, 18.3, 4.2};
+
+        o7.jo1->p1= {1.3, 10.1, 9.4};
+        o7.jo2->p1= {14.7, 11.3, 6.5};
+        o7.jo3->p1= {4.9, 13.8, 7.7};
+        o7.jo4->p1= {2.4, 12.5, 1.6};
+        o7.jo5->p1= {3.1, 16.2, 5.3};
+        o7.jo6->p1= {11.5, 15.4, 3.4};
+        o7.jo7->p1= {5.1, 18.3, 4.2};
+        //o5a.p1 = {1.3, 10.1, 9.4};
+        //o5b.p1 = {14.7, 11.3, 6.5};
+        //o5c.p1 = {4.9, 13.8, 7.7};
+        //o5d.p1 = {2.4, 12.5, 1.6};
+        //o5e.p1 = {3.1, 16.2, 5.3};
+        //o5f.p1 = {11.5, 15.4, 3.4};
+        //o5g.p1 = {5.1, 18.3, 4.2};
+
+        o9.c->robname="Robot FPE";
+
+        o9.c->of=true;
+        o9.c->moving=false;
+
+        o9.c->grasppos=true;
+
+        o9.c->planninggrp= "Panda Teaching";
+
+
+        o8.h->grippos= {12.1, 14.3, 18.2};
+
+        o9.a->humannum = 1;
+
+        o9.b1->name="Cube";
+
+        o9.b1->size={5.2, 7.5, 9.1};
+
+        o9.b1->p1= {13.2, 14.1, 17.5};
+
+        o9.b1->x= 2.3;
+        o9.b1->y = 1.2;
+        o9.b1->z = 0.2;
+        o9.b1->w = 0.1;
 
-        o5a.name = "panda_joint1";
-        o5b.name = "panda_joint2";
-        o5c.name = "panda_joint3";
-        o5d.name = "panda_joint4";
-        o5e.name = "panda_joint5";
-        o5f.name = "panda_joint6";
-        o5g.name = "panda_joint7";
-        o5a.x = 1.7;
-        o5b.y = 1.8;
-        o5c.z = 1.9;
-        o5d.w = 2.0;
-        o5a.p1 = {12, 11, 9, 18};
 
 
-        o8.robname = "Robot FPE";
-        o8.of = true;
-        o8.moving = false;
-        o8.grasppos = true;
-        o8.planninggrp = "Panda Teaching";
 
-        o3.grippos = {12, 14, 18};
 
-        o4.humannum = 1;
+        o9.b2->name="Ball";
 
-        o2.name = "Cube";
-        o2.size = {5, 7, 9};
-        o2.p1 = {13, 14, 17};
-        o2.x = 2.3;
-        o2.y = 1.2;
-        o2.z = 0.2;
-        o2.w = 0.1;
+        o9.b2->size={1.3, 2.1, 3.2};
+        o9.b2->p1= {12.5, 16.4, 17.3};
 
+        o9.b2->x= 1.1;
+        o9.b2->y = 1.4;
+        o9.b2->z = 1.6;
+        o9.b2->w = 1.9;
 
-        o6.name = "Ball";
-        o6.size = {1, 2, 3};
-        o6.p1 = {12, 16, 17};
-        o6.x = 1.1;
-        o6.y = 1.4;
-        o6.z = 1.6;
-        o6.w = 1.9;
 
 
         tf2_ros::Buffer tfBuffer;
@@ -105,22 +158,207 @@
         while (node_handle.ok()) {
             //for (const auto &topic : ROSNODE1::topics)
             {
-                geometry_msgs::TransformStamped transformStamped;
+                geometry_msgs::TransformStamped transformStamped1;
+                geometry_msgs::TransformStamped transformStamped2;
+                geometry_msgs::TransformStamped transformStamped3;
+                geometry_msgs::TransformStamped transformStamped4;
+                geometry_msgs::TransformStamped transformStamped5;
+                geometry_msgs::TransformStamped transformStamped6;
+                geometry_msgs::TransformStamped transformStamped7;
+
                 try {
-                    transformStamped = tfBuffer.lookupTransform("panda_joint1", tfBuffer.o5a, ros::Time(0));
-                    transformStamped = tfBuffer.lookupTransform("panda_joint2", tfBuffer.o5b, ros::Time(0));
-                    transformStamped = tfBuffer.lookupTransform("panda_joint3", o5c, ros::Time(0));
-                    transformStamped = tfBuffer.lookupTransform("panda_joint4", o5d, ros::Time(0));
-                    transformStamped = tfBuffer.lookupTransform("panda_joint5", o5e, ros::Time(0));
-                    transformStamped = tfBuffer.lookupTransform("panda_joint6", o5f, ros::Time(0));
-                    transformStamped = tfBuffer.lookupTransform("panda_joint7", To5g, ros::Time(0));
+                    transformStamped1 = tfBuffer.lookupTransform("world", o7.jo1->name, ros::Time(0));
+                    transformStamped2 = tfBuffer.lookupTransform("world", o7.jo2->name, ros::Time(0));
+                    transformStamped3 = tfBuffer.lookupTransform("world", o7.jo3->name, ros::Time(0));
+                    transformStamped4 = tfBuffer.lookupTransform("world", o7.jo4->name, ros::Time(0));
+                    transformStamped5 = tfBuffer.lookupTransform("world", o7.jo5->name, ros::Time(0));
+                    transformStamped6 = tfBuffer.lookupTransform("world", o7.jo6->name, ros::Time(0));
+                    transformStamped7 = tfBuffer.lookupTransform("world", o7.jo7->name, ros::Time(0));
                 } catch (tf2::TransformException &ex) {
                     ROS_WARN("%s", ex.what());
                     ros::Duration(0.1).sleep();
                     continue;
 
                 }
-            }
+
+                o7.jo1->p1[0]=0.0;
+                o7.jo1->p1[1]=0.0;
+                o7.jo1->p1[2]=0.0;
+                o7.jo2->p1[0]=0.0;
+                o7.jo2->p1[1]=0.0;
+                o7.jo2->p1[2]=0.0;
+                o7.jo3->p1[0]=0.0;
+                o7.jo3->p1[1]=0.0;
+                o7.jo3->p1[2]=0.0;
+                o7.jo4->p1[0]=0.0;
+                o7.jo4->p1[1]=0.0;
+                o7.jo4->p1[2]=0.0;
+                o7.jo5->p1[0]=0.0;
+                o7.jo5->p1[1]=0.0;
+                o7.jo5->p1[2]=0.0;
+                o7.jo6->p1[0]=0.0;
+                o7.jo6->p1[1]=0.0;
+                o7.jo6->p1[2]=0.0;
+                o7.jo7->p1[0]=0.0;
+                o7.jo7->p1[1]=0.0;
+                o7.jo7->p1[2]=0.0;
+               // o5a.p1[0]=0.0;
+                // o5a.p1[1]=0.0;
+                // o5a.p1[2]=0.0;
+                // o5b.p1[0]=0.0;
+                //o5b.p1[1]=0.0;
+                //               o5b.p1[2]=0.0;//
+                //o5c.p1[0]=0.0;
+                // o5c.p1[1]=0.0;
+                //o5c.p1[2]=0.0;
+                //o5d.p1[0]=0.0;
+                // o5d.p1[1]=0.0;
+                //o5d.p1[2]=0.0;
+                //o5e.p1[0]=0.0;
+                //o5e.p1[1]=0.0;
+                // o5e.p1[2]=0.0;
+                // o5f.p1[0]=0.0;
+                // o5f.p1[1]=0.0;
+                //o5f.p1[2]=0.0;
+                //o5g.p1[0]=0.0;
+                //o5g.p1[1]=0.0;
+                //o5g.p1[2]=0.0;
+
+                o7.jo1->p1[0]=transformStamped1.transform.translation.x;
+                o7.jo1->p1[1]=transformStamped1.transform.translation.y;
+                o7.jo1->p1[2]=transformStamped1.transform.translation.z;
+                ROS_INFO_STREAM("panda_link1 Position is " <<" x = "<< o7.jo1->p1[0] << ", y = "<< o7.jo1->p1[1]<<", z = "<<o7.jo1->p1[2]);
+
+                o7.jo2->p1[0]=transformStamped2.transform.translation.x;
+                o7.jo2->p1[1]=transformStamped2.transform.translation.y;
+                o7.jo2->p1[2]=transformStamped2.transform.translation.z;
+                ROS_INFO_STREAM("panda_link2 Position is " <<" x = "<< o7.jo2->p1[0] << ", y = "<< o7.jo2->p1[1]<<", z = "<<o7.jo2->p1[2]);
+
+                o7.jo3->p1[0]=transformStamped3.transform.translation.x;
+                o7.jo3->p1[1]=transformStamped3.transform.translation.y;
+                o7.jo3->p1[2]=transformStamped3.transform.translation.z;
+                ROS_INFO_STREAM("panda_link3 Position is " <<" x = "<< o7.jo3->p1[0] << ", y = "<< o7.jo3->p1[1]<<", z = "<<o7.jo3->p1[2]);
+
+                o7.jo4->p1[0]=transformStamped4.transform.translation.x;
+                o7.jo4->p1[1]=transformStamped4.transform.translation.y;
+                o7.jo4->p1[2]=transformStamped4.transform.translation.z;
+                ROS_INFO_STREAM("panda_link4 Position is " <<" x = "<< o7.jo4->p1[0] << ", y = "<< o7.jo4->p1[1]<<", z = "<<o7.jo4->p1[2]);
+
+                o7.jo5->p1[0]=transformStamped5.transform.translation.x;
+                o7.jo5->p1[1]=transformStamped5.transform.translation.y;
+                o7.jo5->p1[2]=transformStamped5.transform.translation.z;
+                ROS_INFO_STREAM("panda_link5 Position is " <<" x = "<< o7.jo5->p1[0] << ", y = "<< o7.jo5->p1[1]<<", z = "<<o7.jo5->p1[2]);
+
+                o7.jo6->p1[0]=transformStamped6.transform.translation.x;
+                o7.jo6->p1[1]=transformStamped6.transform.translation.y;
+                o7.jo6->p1[2]=transformStamped6.transform.translation.z;
+                ROS_INFO_STREAM("panda_link6 Position is " <<" x = "<< o7.jo6->p1[0] << ", y = "<< o7.jo6->p1[1]<<", z = "<<o7.jo6->p1[2]);
+
+                o7.jo7->p1[0]=transformStamped7.transform.translation.x;
+                o7.jo7->p1[0]=transformStamped7.transform.translation.y;
+                o7.jo7->p1[0]=transformStamped7.transform.translation.z;
+                ROS_INFO_STREAM("panda_link7 Position is " <<" x = "<< o7.jo7->p1[0] << ", y = "<< o7.jo7->p1[1]<<", z = "<<o7.jo7->p1[2]);
+
+                o7.jo1->or2.w=0.0;
+                o7.jo1->or2.x=0.0;
+                o7.jo1->or2.y=0.0;
+                o7.jo1->or2.z=0.0;
+                o7.jo2->or2.w=0.0;
+                o7.jo2->or2.x=0.0;
+                o7.jo2->or2.y=0.0;
+                o7.jo2->or2.z=0.0;
+                o7.jo3->or2.w=0.0;
+                o7.jo3->or2.x=0.0;
+                o7.jo3->or2.y=0.0;
+                o7.jo3->or2.z=0.0;
+                o7.jo4->or2.w=0.0;
+                o7.jo4->or2.x=0.0;
+                o7.jo4->or2.y=0.0;
+                o7.jo4->or2.z=0.0;
+                o7.jo5->or2.w=0.0;
+                o7.jo5->or2.x=0.0;
+                o7.jo5->or2.y=0.0;
+                o7.jo5->or2.z=0.0;
+                o7.jo6->or2.w=0.0;
+                o7.jo6->or2.x=0.0;
+                o7.jo6->or2.y=0.0;
+                o7.jo6->or2.z=0.0;
+                o7.jo7->or2.w=0.0;
+                o7.jo7->or2.x=0.0;
+                o7.jo7->or2.y=0.0;
+                o7.jo7->or2.z=0.0;
+               /*o5a.or2.w=0.0;
+                o5a.or2.x=0.0;
+                o5a.or2.y=0.0;
+                o5a.or2.z=0.0;
+                o5b.or2.w=0.0;
+                o5b.or2.x=0.0;
+                o5b.or2.y=0.0;
+                o5b.or2.z=0.0;
+                o5c.or2.w=0.0;
+                o5c.or2.x=0.0;
+                o5c.or2.y=0.0;
+                o5c.or2.z=0.0;
+                o5d.or2.w=0.0;
+                o5d.or2.x=0.0;
+                o5d.or2.y=0.0;
+                o5d.or2.z=0.0;
+                o5e.or2.w=0.0;
+                o5e.or2.x=0.0;
+                o5e.or2.y=0.0;
+                o5e.or2.z=0.0;
+                o5f.or2.w=0.0;
+                o5f.or2.x=0.0;
+                o5f.or2.y=0.0;
+                o5f.or2.z=0.0;
+                o5g.or2.w=0.0;
+                o5g.or2.x=0.0;
+                o5g.or2.y=0.0;
+                o5g.or2.z=0.0;*/
+
+                o7.jo1->or2.w=transformStamped1.transform.rotation.w;
+                o7.jo1->or2.x=transformStamped1.transform.rotation.x;
+                o7.jo1->or2.y=transformStamped1.transform.rotation.y;
+                o7.jo1->or2.z=transformStamped1.transform.rotation.z;
+                ROS_INFO_STREAM("panda_link1 Orientation is " <<" w = "<< o7.jo1->or2.w<<", x = "<<o7.jo1->or2.x<<", y = "<<o7.jo1->or2.y<<", z = "<<o7.jo1->or2.z);
+
+                o7.jo2->or2.w=transformStamped2.transform.rotation.w;
+                o7.jo2->or2.x=transformStamped2.transform.rotation.x;
+                o7.jo2->or2.y=transformStamped2.transform.rotation.y;
+                o7.jo2->or2.z=transformStamped2.transform.rotation.z;
+                ROS_INFO_STREAM("panda_link2 Orientation is " <<" w = "<<  o7.jo2->or2.w<<", x = "<< o7.jo2->or2.x<<", y = "<< o7.jo2->or2.y<<", z = "<< o7.jo2->or2.z);
+
+                o7.jo3->or2.w=transformStamped3.transform.rotation.w;
+                o7.jo3->or2.x=transformStamped3.transform.rotation.x;
+                o7.jo3->or2.y=transformStamped3.transform.rotation.y;
+                o7.jo3->or2.z=transformStamped3.transform.rotation.z;
+                ROS_INFO_STREAM("panda_link3 Orientation is " <<" w = "<< o7.jo3->or2.w<<", x = "<<o7.jo3->or2.x<<", y = "<<o7.jo3->or2.y<<", z = "<<o7.jo3->or2.z);
+
+                o7.jo4->or2.w=transformStamped4.transform.rotation.w;
+                o7.jo4->or2.x=transformStamped4.transform.rotation.x;
+                o7.jo4->or2.y=transformStamped4.transform.rotation.y;
+                o7.jo4->or2.z=transformStamped4.transform.rotation.z;
+                ROS_INFO_STREAM("panda_link4 Orientation is " <<" w = "<<o7.jo4->or2.w<<", x = "<<o7.jo4->or2.x<<", y = "<<o7.jo4->or2.y<<", z = "<<o7.jo4->or2.z);
+
+                o7.jo5->or2.w=transformStamped5.transform.rotation.w;
+                o7.jo5->or2.x=transformStamped5.transform.rotation.x;
+                o7.jo5->or2.y=transformStamped5.transform.rotation.y;
+                o7.jo5->or2.z=transformStamped5.transform.rotation.z;
+                ROS_INFO_STREAM("panda_link5 Orientation is " <<" w = "<< o7.jo5->or2.w<<", x = "<<o7.jo5->or2.x<<", y = "<<o7.jo5->or2.y<<", z = "<<o7.jo5->or2.z);
+
+                o7.jo6->or2.w=transformStamped6.transform.rotation.w;
+                o7.jo6->or2.x=transformStamped6.transform.rotation.x;
+                o7.jo6->or2.y=transformStamped6.transform.rotation.y;
+                o7.jo6->or2.z=transformStamped6.transform.rotation.z;
+                ROS_INFO_STREAM("panda_link6 Orientation is " <<" w = "<< o7.jo6->or2.w<<", x = "<<o7.jo6->or2.x<<", y = "<<o7.jo6->or2.y<<", z = "<<o7.jo6->or2.z);
+
+                o7.jo7->or2.w=transformStamped7.transform.rotation.w;
+                o7.jo7->or2.x=transformStamped7.transform.rotation.x;
+                o7.jo7->or2.y=transformStamped7.transform.rotation.y;
+                o7.jo7->or2.z=transformStamped7.transform.rotation.z;
+                ROS_INFO_STREAM("panda_link7 Orientation is " <<" w = "<<o7.jo7->or2.w<<", x = "<<o7.jo7->or2.x<<", y = "<<o7.jo7->or2.y<<", z = "<<o7.jo7->or2.z);
+
+              }
             rate.sleep();
         }
 
diff --git a/src/testappm.cpp b/src/testappm.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..8e790e152aed43363cb46eb2aa6cf95409bf22ea
--- /dev/null
+++ b/src/testappm.cpp
@@ -0,0 +1,146 @@
+#include <ros/ros.h>
+#include "datalink/abstractobject.h"
+#include "datalink/graspobject.h"
+#include "datalink/hand.h"
+#include "datalink/humanspace.h"
+#include "datalink/joint.h"
+#include "datalink/obstacle.h"
+#include "datalink/robot.h"
+#include "datalink/robotfpe.h"
+#include "datalink/world.h"
+#include "datalink/worldobject.h"
+#include "datalink/quaternion.h"
+#include <vector>
+#include <iostream>
+#include <tf2_ros/transform_listener.h>
+#include <geometry_msgs/TransformStamped.h>
+#include <geometry_msgs/PoseStamped.h>
+#include <tf2_ros/static_transform_broadcaster.h>
+#include <cstdio>
+#include <tf2/LinearMath/Quaternion.h>
+#include "tf2_ros/message_filter.h"
+#include "message_filters/subscriber.h"
+#include "tf2_geometry_msgs/tf2_geometry_msgs.h"
+#include "geometry_msgs/PointStamped.h"
+#include <tf2_ros/transform_broadcaster.h>
+#include <tf2/LinearMath/Quaternion.h>
+
+    int main(int argc, char** argv) {
+        ros::init(argc, argv, "TestNode");
+        ros::NodeHandle node_handle("namespace_name");
+        ros::AsyncSpinner spinner(1);
+        spinner.start();
+        ROS_INFO("Welcome to Test Code");
+
+        abstractobject o1;
+        graspobject o2;
+        hand o3;
+        humanspace o4;
+
+        joint o5a;
+        joint o5b;
+        joint o5c;
+        joint o5d;
+        joint o5e;
+        joint o5f;
+        joint o5g;
+
+        obstacle o6;
+        robot o7;
+        robotfpe o8;
+        world o9;
+        worldobject o10;
+
+        o7.jo1->name= "panda_link1";
+        o7.jo2->name= "panda_link2";
+        o7.jo3->name= "panda_link3";
+        o7.jo4->name= "panda_link4";
+        o7.jo5->name= "panda_link5";
+        o7.jo6->name= "panda_link6";
+        o7.jo7->name= "panda_link7";
+
+      /*  o7.jo1->or2= {1.2,5.3,6.5,7.4};
+        o7.jo2->or2= {2.5,3.6,5.8,4.9};
+        o7.jo3->or2= {5.1,1.2,9.9,6.8};
+        o7.jo4->or2= {6.3,3.4,8.5,9.6};
+        o7.jo5->or2= {8.2,2.6,7.9,5.5};
+        o7.jo6->or2= {7.3,4.4,6.7,4.0};
+        o7.jo7->or2= {7.3,4.4,6.7,4.0};
+
+        o7.jo1->p1= {1.3, 10.1, 9.4};
+        o7.jo2->p1= {14.7, 11.3, 6.5};
+        o7.jo3->p1= {4.9, 13.8, 7.7};
+        o7.jo4->p1= {2.4, 12.5, 1.6};
+        o7.jo5->p1= {3.1, 16.2, 5.3};
+        o7.jo6->p1= {11.5, 15.4, 3.4};
+        o7.jo7->p1= {5.1, 18.3, 4.2};
+*/
+        o9.c->robname="Robot FPE";
+        o9.c->of=true;
+        o9.c->moving=false;
+        o9.c->grasppos=true;
+        o9.c->planninggrp= "Panda Teaching";
+
+        o8.h->grippos= {12.1, 14.3, 18.2};
+        o3.grippos={1.1,2.3,2.1};
+
+        o9.a->humannum = 1;
+        o9.b1->name="Cube";
+        o9.b1->size={5.2, 7.5, 9.1};
+        o9.b1->p1= {13.2, 14.1, 17.5};
+        o9.b1->x= 2.3;
+        o9.b1->y = 1.2;
+        o9.b1->z = 0.2;
+        o9.b1->w = 0.1;
+        o9.b2->name="Ball";
+        o9.b2->size={1.3, 2.1, 3.2};
+        o9.b2->p1= {12.5, 16.4, 17.3};
+        o9.b2->x= 1.1;
+        o9.b2->y = 1.4;
+        o9.b2->z = 1.6;
+        o9.b2->w = 1.9;
+
+        tf2_ros::Buffer tfBuffer;
+        tf2_ros::TransformListener tfListener(tfBuffer);
+
+        ros::Rate rate(10);
+                  int i=0;
+        while (node_handle.ok()) {
+            //for (const auto &topic : ROSNODE1::topics)
+            {
+
+                geometry_msgs::TransformStamped transformStamped[7];
+
+
+                try {
+
+                    transformStamped[i++] = tfBuffer.lookupTransform("world", o7.jo1->name, ros::Time(0));
+                    transformStamped[i++] = tfBuffer.lookupTransform("world", o7.jo2->name, ros::Time(0));
+                    transformStamped[i++] = tfBuffer.lookupTransform("world", o7.jo3->name, ros::Time(0));
+                    transformStamped[i++] = tfBuffer.lookupTransform("world", o7.jo4->name, ros::Time(0));
+                    transformStamped[i++] = tfBuffer.lookupTransform("world", o7.jo5->name, ros::Time(0));
+                    transformStamped[i++] = tfBuffer.lookupTransform("world", o7.jo6->name, ros::Time(0));
+                    transformStamped[i++] = tfBuffer.lookupTransform("world", o7.jo7->name, ros::Time(0));
+
+
+                } catch (tf2::TransformException &ex) {
+                    ROS_WARN("%s", ex.what());
+                    ros::Duration(0.1).sleep();
+                    continue;
+
+                }
+                if(i==7)
+                    ROS_INFO("TEST CASE SUCCESSFUL.ROBOT FPE HAS 7 JOINTS");
+                else
+                    ROS_INFO("TEST CASE NOT SUCCESSFUL.ROBOT FPE HAS WRONG NUMBER OF JOINTS");
+
+
+
+
+              }
+            rate.sleep();
+        }
+
+
+return 0;
+}