diff --git a/smacc2_sm_reference_library/sm_panda_moveit2z_cb_inventory/include/sm_panda_moveit2z_cb_inventory/sm_panda_moveit2z_cb_inventory.hpp b/smacc2_sm_reference_library/sm_panda_moveit2z_cb_inventory/include/sm_panda_moveit2z_cb_inventory/sm_panda_moveit2z_cb_inventory.hpp
index 2bf5bce2..e56c5757 100644
--- a/smacc2_sm_reference_library/sm_panda_moveit2z_cb_inventory/include/sm_panda_moveit2z_cb_inventory/sm_panda_moveit2z_cb_inventory.hpp
+++ b/smacc2_sm_reference_library/sm_panda_moveit2z_cb_inventory/include/sm_panda_moveit2z_cb_inventory/sm_panda_moveit2z_cb_inventory.hpp
@@ -41,6 +41,7 @@
 using namespace cl_moveit2z;
 using namespace cl_keyboard;
 
+
 namespace sm_panda_moveit2z_cb_inventory
 {
 
@@ -71,7 +72,9 @@ struct StUndoLastTrajectory;
 
 //--------------------------------------------------------------------
 //STATE_MACHINE
+
 struct SmPandaMoveit2zCbInventory : public smacc2::SmaccStateMachineBase<SmPandaMoveit2zCbInventory, StPause1>
+
 {
   using SmaccStateMachineBase::SmaccStateMachineBase;
 
@@ -85,6 +88,7 @@ struct SmPandaMoveit2zCbInventory : public smacc2::SmaccStateMachineBase<SmPanda
 
 // STATES
 #include "states/st_acquire_sensors.hpp"
+<<<<<<< HEAD
 #include "states/st_pause_1.hpp"
 #include "states/st_pause_2.hpp"
 #include "states/st_pause_3.hpp"
@@ -95,6 +99,13 @@ struct SmPandaMoveit2zCbInventory : public smacc2::SmaccStateMachineBase<SmPanda
 #include "states/st_move_end_effector.hpp"
 #include "states/st_circular_pivot_motion.hpp"
 #include "states/st_move_joints_1.hpp"
+=======
+#include "states/st_acquire_sensors_3.hpp"
+#include "states/st_attach_object.hpp"
+#include "states/st_move_end_effector.hpp"
+#include "states/st_circular_pivot_motion.hpp"
+#include "states/st_move_joints.hpp"
+>>>>>>> humble
 #include "states/st_move_joints_2.hpp"
 #include "states/st_move_joints_3.hpp"
 #include "states/st_detach_object.hpp"
diff --git a/smacc2_sm_reference_library/sm_panda_moveit2z_cb_inventory/include/sm_panda_moveit2z_cb_inventory/states/st_acquire_sensors.hpp b/smacc2_sm_reference_library/sm_panda_moveit2z_cb_inventory/include/sm_panda_moveit2z_cb_inventory/states/st_acquire_sensors.hpp
index f7451b4c..c0791a35 100644
--- a/smacc2_sm_reference_library/sm_panda_moveit2z_cb_inventory/include/sm_panda_moveit2z_cb_inventory/states/st_acquire_sensors.hpp
+++ b/smacc2_sm_reference_library/sm_panda_moveit2z_cb_inventory/include/sm_panda_moveit2z_cb_inventory/states/st_acquire_sensors.hpp
@@ -48,9 +48,11 @@ struct StAcquireSensors : smacc2::SmaccState<StAcquireSensors, SmPandaMoveit2zCb
 
   // TRANSITION TABLE
   typedef boost::mpl::list<
+
     Transition<EvCbSuccess<CbWaitTopicMessage<sensor_msgs::msg::JointState>, OrArm>, StMoveKnownState1, SUCCESS>,
     
     Transition<EvKeyPressN<CbDefaultKeyboardBehavior, OrKeyboard>, StMoveKnownState1, NEXT>  
+
   
 
     > reactions;
diff --git a/smacc2_sm_reference_library/sm_panda_moveit2z_cb_inventory/include/sm_panda_moveit2z_cb_inventory/states/st_end_effector_rotate.hpp b/smacc2_sm_reference_library/sm_panda_moveit2z_cb_inventory/include/sm_panda_moveit2z_cb_inventory/states/st_end_effector_rotate.hpp
index 61b5d2e8..6c0acfa0 100644
--- a/smacc2_sm_reference_library/sm_panda_moveit2z_cb_inventory/include/sm_panda_moveit2z_cb_inventory/states/st_end_effector_rotate.hpp
+++ b/smacc2_sm_reference_library/sm_panda_moveit2z_cb_inventory/include/sm_panda_moveit2z_cb_inventory/states/st_end_effector_rotate.hpp
@@ -44,12 +44,14 @@ struct StEndEffectorRotate : smacc2::SmaccState<StEndEffectorRotate, SmPandaMove
   // TRANSITION TABLE
   typedef boost::mpl::list<
 
+
     Transition<EvCbSuccess<CbEndEffectorRotate, OrArm>, StMoveKnownState1, SUCCESS>,
     Transition<EvCbFailure<CbEndEffectorRotate, OrArm>, StEndEffectorRotate, SUCCESS>,
 
     Transition<EvKeyPressP<CbDefaultKeyboardBehavior, OrKeyboard>, StMoveEndEffector, PREVIOUS>,  
     Transition<EvKeyPressN<CbDefaultKeyboardBehavior, OrKeyboard>, StMoveKnownState1, NEXT>  
 
+
     >
     reactions;
 
@@ -59,8 +61,10 @@ struct StEndEffectorRotate : smacc2::SmaccState<StEndEffectorRotate, SmPandaMove
       double deltaRadians = -M_PI * 0.1;
       //std::string tipLink  = "tool0";
       //std::string tipLink = "wrist_3_link";
+
        std::string tipLink = "panda_link8";
 
+
      configure_orthogonal<OrArm, CbEndEffectorRotate>(deltaRadians, tipLink);
     configure_orthogonal<OrKeyboard, CbDefaultKeyboardBehavior>();
   }
diff --git a/smacc2_sm_reference_library/sm_panda_moveit2z_cb_inventory/include/sm_panda_moveit2z_cb_inventory/states/st_move_end_effector.hpp b/smacc2_sm_reference_library/sm_panda_moveit2z_cb_inventory/include/sm_panda_moveit2z_cb_inventory/states/st_move_end_effector.hpp
index af65b949..4ffc383a 100644
--- a/smacc2_sm_reference_library/sm_panda_moveit2z_cb_inventory/include/sm_panda_moveit2z_cb_inventory/states/st_move_end_effector.hpp
+++ b/smacc2_sm_reference_library/sm_panda_moveit2z_cb_inventory/include/sm_panda_moveit2z_cb_inventory/states/st_move_end_effector.hpp
@@ -46,7 +46,9 @@ struct StMoveEndEffector : smacc2::SmaccState<StMoveEndEffector, SmPandaMoveit2z
     Transition<EvCbSuccess<CbMoveEndEffector, OrArm>, StEndEffectorRotate, SUCCESS>,
     Transition<EvCbFailure<CbMoveEndEffector, OrArm>, StMoveEndEffector, ABORT>,
 
+
     Transition<EvKeyPressP<CbDefaultKeyboardBehavior, OrKeyboard>, StMoveJoints1, PREVIOUS>,  
+
     Transition<EvKeyPressN<CbDefaultKeyboardBehavior, OrKeyboard>, StEndEffectorRotate, NEXT>  
     >
     reactions;
diff --git a/smacc2_sm_reference_library/sm_panda_moveit2z_cb_inventory/include/sm_panda_moveit2z_cb_inventory/states/st_move_joints_1.hpp b/smacc2_sm_reference_library/sm_panda_moveit2z_cb_inventory/include/sm_panda_moveit2z_cb_inventory/states/st_move_joints_1.hpp
index 4b9a83e3..7f2f78b6 100644
--- a/smacc2_sm_reference_library/sm_panda_moveit2z_cb_inventory/include/sm_panda_moveit2z_cb_inventory/states/st_move_joints_1.hpp
+++ b/smacc2_sm_reference_library/sm_panda_moveit2z_cb_inventory/include/sm_panda_moveit2z_cb_inventory/states/st_move_joints_1.hpp
@@ -42,11 +42,13 @@ struct StMoveJoints1 : smacc2::SmaccState<StMoveJoints1, SmPandaMoveit2zCbInvent
 
   // TRANSITION TABLE
   typedef boost::mpl::list<
+
     Transition<EvCbSuccess<CbMoveJoints, OrArm>, StPause3, SUCCESS>,
     Transition<EvCbFailure<CbMoveJoints, OrArm>, StMoveJoints1, ABORT>,
   
     Transition<EvKeyPressN<CbDefaultKeyboardBehavior, OrKeyboard>, StPause3, NEXT>  
 
+
     >
     reactions;
 
diff --git a/smacc2_sm_reference_library/sm_panda_moveit2z_cb_inventory/include/sm_panda_moveit2z_cb_inventory/states/st_move_joints_2.hpp b/smacc2_sm_reference_library/sm_panda_moveit2z_cb_inventory/include/sm_panda_moveit2z_cb_inventory/states/st_move_joints_2.hpp
index 3f0ee6b2..a8a982f0 100644
--- a/smacc2_sm_reference_library/sm_panda_moveit2z_cb_inventory/include/sm_panda_moveit2z_cb_inventory/states/st_move_joints_2.hpp
+++ b/smacc2_sm_reference_library/sm_panda_moveit2z_cb_inventory/include/sm_panda_moveit2z_cb_inventory/states/st_move_joints_2.hpp
@@ -42,11 +42,13 @@ struct StMoveJoints2 : smacc2::SmaccState<StMoveJoints2, SmPandaMoveit2zCbInvent
 
   // TRANSITION TABLE
   typedef boost::mpl::list<
+
     Transition<EvCbSuccess<CbMoveJoints, OrArm>, StPause4, SUCCESS>,
     Transition<EvCbFailure<CbMoveJoints, OrArm>, StMoveJoints2, ABORT>,
  
     Transition<EvKeyPressN<CbDefaultKeyboardBehavior, OrKeyboard>, StPause4, NEXT>  
 
+
     >
     reactions;
 
diff --git a/smacc2_sm_reference_library/sm_panda_moveit2z_cb_inventory/include/sm_panda_moveit2z_cb_inventory/states/st_move_joints_3.hpp b/smacc2_sm_reference_library/sm_panda_moveit2z_cb_inventory/include/sm_panda_moveit2z_cb_inventory/states/st_move_joints_3.hpp
index db7981bf..4de73896 100644
--- a/smacc2_sm_reference_library/sm_panda_moveit2z_cb_inventory/include/sm_panda_moveit2z_cb_inventory/states/st_move_joints_3.hpp
+++ b/smacc2_sm_reference_library/sm_panda_moveit2z_cb_inventory/include/sm_panda_moveit2z_cb_inventory/states/st_move_joints_3.hpp
@@ -42,11 +42,13 @@ struct StMoveJoints3 : smacc2::SmaccState<StMoveJoints3, SmPandaMoveit2zCbInvent
 
   // TRANSITION TABLE
   typedef boost::mpl::list<
+
     Transition<EvCbSuccess<CbMoveJoints, OrArm>, StPause5, SUCCESS>,
     Transition<EvCbFailure<CbMoveJoints, OrArm>, StMoveJoints3, ABORT>,
   
     Transition<EvKeyPressN<CbDefaultKeyboardBehavior, OrKeyboard>, StPause5, NEXT>  
 
+
     >
     reactions;
 
diff --git a/smacc2_sm_reference_library/sm_panda_moveit2z_cb_inventory/include/sm_panda_moveit2z_cb_inventory/states/st_move_known_state_1.hpp b/smacc2_sm_reference_library/sm_panda_moveit2z_cb_inventory/include/sm_panda_moveit2z_cb_inventory/states/st_move_known_state_1.hpp
index 4cbb37c2..8e2b12dc 100644
--- a/smacc2_sm_reference_library/sm_panda_moveit2z_cb_inventory/include/sm_panda_moveit2z_cb_inventory/states/st_move_known_state_1.hpp
+++ b/smacc2_sm_reference_library/sm_panda_moveit2z_cb_inventory/include/sm_panda_moveit2z_cb_inventory/states/st_move_known_state_1.hpp
@@ -43,9 +43,11 @@ struct StMoveKnownState1 : smacc2::SmaccState<StMoveKnownState1, SmPandaMoveit2z
 
   // TRANSITION TABLE
   typedef boost::mpl::list<
+
       Transition<EvCbSuccess<CbMoveKnownState, OrArm>, StPause2, SUCCESS>,
  
       Transition<EvKeyPressN<CbDefaultKeyboardBehavior, OrKeyboard>, StPause2, NEXT>  
+
     >
     reactions;
 
diff --git a/smacc2_sm_reference_library/sm_panda_moveit2z_cb_inventory/include/sm_panda_moveit2z_cb_inventory/states/st_pouring_motion.hpp b/smacc2_sm_reference_library/sm_panda_moveit2z_cb_inventory/include/sm_panda_moveit2z_cb_inventory/states/st_pouring_motion.hpp
index 136cc717..d113be48 100644
--- a/smacc2_sm_reference_library/sm_panda_moveit2z_cb_inventory/include/sm_panda_moveit2z_cb_inventory/states/st_pouring_motion.hpp
+++ b/smacc2_sm_reference_library/sm_panda_moveit2z_cb_inventory/include/sm_panda_moveit2z_cb_inventory/states/st_pouring_motion.hpp
@@ -46,7 +46,9 @@ struct StPouringMotion : smacc2::SmaccState<StPouringMotion, SmPandaMoveit2zCbIn
       Transition<EvCbSuccess<CbCircularPouringMotion, OrArm>, StMoveLastTrajectoryInitialState, SUCCESS>,
       Transition<EvCbFailure<CbCircularPouringMotion, OrArm>, StMoveLastTrajectoryInitialState, ABORT>,
 
+
       Transition<EvKeyPressP<CbDefaultKeyboardBehavior, OrKeyboard>, StMoveKnownState1, PREVIOUS>,  
+
       Transition<EvKeyPressN<CbDefaultKeyboardBehavior, OrKeyboard>, StMoveLastTrajectoryInitialState, NEXT>  
     >
     reactions;