diff --git a/sr_error_reporter/src/UnderactuationErrorReporter.cpp b/sr_error_reporter/src/UnderactuationErrorReporter.cpp
index 716c93b5..9762013c 100644
--- a/sr_error_reporter/src/UnderactuationErrorReporter.cpp
+++ b/sr_error_reporter/src/UnderactuationErrorReporter.cpp
@@ -1,6 +1,6 @@
 /*
 * Software License Agreement (BSD License)
-* Copyright © 2021-2023 belongs to Shadow Robot Company Ltd.
+* Copyright © 2021-2024 belongs to Shadow Robot Company Ltd.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without modification,
@@ -39,11 +39,6 @@
 UnderactuationErrorReporter::UnderactuationErrorReporter(ros::NodeHandle& node_handle)
   : node_handle_(node_handle)
 {
-  trajectory_subscriber_left_ = node_handle.subscribe("/lh_trajectory_controller/state", 1,
-    &UnderactuationErrorReporter::trajectory_callback_left, this, ros::TransportHints().tcpNoDelay());
-  trajectory_subscriber_right_ = node_handle.subscribe("/rh_trajectory_controller/state", 1,
-    &UnderactuationErrorReporter::trajectory_callback_right, this, ros::TransportHints().tcpNoDelay());
-
   if (!wait_for_param(node_handle, "robot_description"))
   {
     ROS_ERROR("UnderactuationErrorReporter did't find robot_description on parameter server");
@@ -58,6 +53,11 @@ UnderactuationErrorReporter::UnderactuationErrorReporter(ros::NodeHandle& node_h
   {
     ROS_ERROR("UnderactuationErrorReporter did't find robot_description_semantic on parameter server");
   }
+
+  trajectory_subscriber_left_ = node_handle.subscribe("/lh_trajectory_controller/state", 1,
+    &UnderactuationErrorReporter::trajectory_callback_left, this, ros::TransportHints().tcpNoDelay());
+  trajectory_subscriber_right_ = node_handle.subscribe("/rh_trajectory_controller/state", 1,
+    &UnderactuationErrorReporter::trajectory_callback_right, this, ros::TransportHints().tcpNoDelay());
 }
 
 ros::Publisher UnderactuationErrorReporter::get_or_create_publisher(
diff --git a/sr_multi_moveit/sr_multi_moveit_test/scripts/test_planners.py b/sr_multi_moveit/sr_multi_moveit_test/scripts/test_planners.py
index 109105d8..fbdfeccc 100755
--- a/sr_multi_moveit/sr_multi_moveit_test/scripts/test_planners.py
+++ b/sr_multi_moveit/sr_multi_moveit_test/scripts/test_planners.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 
 # Software License Agreement (BSD License)
-# Copyright © 2019, 2022-2023 belongs to Shadow Robot Company Ltd.
+# Copyright © 2019, 2022-2024 belongs to Shadow Robot Company Ltd.
 # All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without modification,
@@ -267,8 +267,7 @@ def test_waypoints(self):
         wpose = waypoints[0]
         waypoints.append(copy.deepcopy(wpose))
 
-        (plan3, fraction) = self.group.compute_cartesian_path(
-            waypoints, 0.01, 0.0)
+        (plan3, fraction) = self.group.compute_cartesian_path(waypoints, 0.01)
         if not self._check_plan(plan3) and fraction > 0.8:
             self.fail_list.append("Failed: test_waypoints, " + self.planner)
         else:
diff --git a/sr_robot_commander/src/sr_robot_commander/follow_warehouse_trajectory.py b/sr_robot_commander/src/sr_robot_commander/follow_warehouse_trajectory.py
index 14bcbc16..c7710f0c 100755
--- a/sr_robot_commander/src/sr_robot_commander/follow_warehouse_trajectory.py
+++ b/sr_robot_commander/src/sr_robot_commander/follow_warehouse_trajectory.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 
 # Software License Agreement (BSD License)
-# Copyright © 2019, 2022-2023 belongs to Shadow Robot Company Ltd.
+# Copyright © 2019, 2022-2024 belongs to Shadow Robot Company Ltd.
 # All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without modification,
@@ -52,7 +52,6 @@ def __init__(self):
         rospy.sleep(2)
         group_id = rospy.get_param("~arm_group_name")
         self.eef_step = rospy.get_param("~eef_step", 0.01)
-        self.jump_threshold = rospy.get_param("~jump_threshold", 1000)
 
         self.group = MoveGroupCommander(group_id)
         self._robot_name = self.robot._r.get_robot_name()
@@ -151,8 +150,7 @@ def plan_from_list(self, waypoint_names):
             # +1 because current position is used as first waypiont.
             rospy.logerr("Not all waypoints existed, not executing.")
             return False
-        (plan, fraction) = self.group.compute_cartesian_path(
-            waypoints, self.eef_step, self.jump_threshold)
+        (plan, fraction) = self.group.compute_cartesian_path(waypoints, self.eef_step)
 
         if fraction < self._min_wp_fraction:
             rospy.logerr("Only managed to generate trajectory through" +
diff --git a/sr_robot_commander/src/sr_robot_commander/sr_robot_commander.py b/sr_robot_commander/src/sr_robot_commander/sr_robot_commander.py
index 651c1f4e..ec21952a 100644
--- a/sr_robot_commander/src/sr_robot_commander/sr_robot_commander.py
+++ b/sr_robot_commander/src/sr_robot_commander/sr_robot_commander.py
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 
 # Software License Agreement (BSD License)
-# Copyright © 2015, 2022-2023 belongs to Shadow Robot Company Ltd.
+# Copyright © 2015, 2022-2024 belongs to Shadow Robot Company Ltd.
 # All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without modification,
@@ -808,15 +808,13 @@ def run_joint_trajectory_unsafe(self, joint_trajectory, wait=True):
                 rospy.loginfo("Trajectory not completed")
 
     def plan_to_waypoints_target(self, waypoints, reference_frame=None,
-                                 eef_step=0.005, jump_threshold=0.0, custom_start_state=None):
+                                 eef_step=0.005, custom_start_state=None):
         """
         Specify a set of waypoints for the end-effector and plans.
         This is a blocking method.
         @param reference_frame - the reference frame in which the waypoints are given.
         @param waypoints - an array of poses of end-effector.
         @param eef_step - configurations are computed for every eef_step meters.
-        @param jump_threshold - maximum distance in configuration space between consecutive points in the
-        resulting path.
         @param custom_start_state - specify a start state different than the current state.
         @return - motion plan (RobotTrajectory msg) that contains the trajectory to the set wayapoints targets.
         """
@@ -827,7 +825,7 @@ def plan_to_waypoints_target(self, waypoints, reference_frame=None,
         old_frame = self._move_group_commander.get_pose_reference_frame()
         if reference_frame is not None:
             self.set_pose_reference_frame(reference_frame)
-        self.__plan, fraction = self._move_group_commander.compute_cartesian_path(waypoints, eef_step, jump_threshold)
+        self.__plan, fraction = self._move_group_commander.compute_cartesian_path(waypoints, eef_step)
         self.set_pose_reference_frame(old_frame)
         return self.__plan, fraction
 
diff --git a/sr_robot_launch/launch/sr_ur_arm_hand.launch b/sr_robot_launch/launch/sr_ur_arm_hand.launch
index 819d3b5c..e64f729e 100644
--- a/sr_robot_launch/launch/sr_ur_arm_hand.launch
+++ b/sr_robot_launch/launch/sr_ur_arm_hand.launch
@@ -1,6 +1,6 @@
 <!--
  Software License Agreement (BSD License)
- Copyright © 2022-2023 belongs to Shadow Robot Company Ltd.
+ Copyright © 2022-2024 belongs to Shadow Robot Company Ltd.
  All rights reserved.
  Redistribution and use in source and binary forms, with or without modification,
  are permitted provided that the following conditions are met:
@@ -198,5 +198,5 @@
   </group>
 
   <!-- Publish underactuation error -->
-  <node name="error_reporter" pkg="sr_error_reporter" type="error_reporter" output="screen"/>
+  <node name="underactuation_error_reporter" pkg="sr_error_reporter" type="error_reporter" output="screen"/>
 </launch>
diff --git a/sr_robot_launch/launch/sr_ur_arms_hands.launch b/sr_robot_launch/launch/sr_ur_arms_hands.launch
index 510cf6e9..6932d0eb 100644
--- a/sr_robot_launch/launch/sr_ur_arms_hands.launch
+++ b/sr_robot_launch/launch/sr_ur_arms_hands.launch
@@ -1,6 +1,6 @@
 <!--
  Software License Agreement (BSD License)
- Copyright © 2022-2023 belongs to Shadow Robot Company Ltd.
+ Copyright © 2022-2024 belongs to Shadow Robot Company Ltd.
  All rights reserved.
  Redistribution and use in source and binary forms, with or without modification,
  are permitted provided that the following conditions are met:
@@ -217,6 +217,6 @@
   </group>
 
   <!-- Publish underactuation error -->
-  <node name="error_reporter" pkg="sr_error_reporter" type="error_reporter" output="screen"/>
+  <node name="underactuation_error_reporter" pkg="sr_error_reporter" type="error_reporter" output="screen"/>
 
 </launch>
diff --git a/sr_robot_launch/launch/srhand.launch b/sr_robot_launch/launch/srhand.launch
index 83386eac..6f67aa41 100644
--- a/sr_robot_launch/launch/srhand.launch
+++ b/sr_robot_launch/launch/srhand.launch
@@ -1,6 +1,6 @@
 <!--
  Software License Agreement (BSD License)
- Copyright © 2022-2023 belongs to Shadow Robot Company Ltd.
+ Copyright © 2022-2024 belongs to Shadow Robot Company Ltd.
  All rights reserved.
  Redistribution and use in source and binary forms, with or without modification,
  are permitted provided that the following conditions are met:
@@ -66,13 +66,13 @@
   <arg if="$(eval arg('hand_id') == 'lh')" name="side" default="left"/>
   <!-- Set to hand_e or hand_g -->
   <arg name="hand_type" default="hand_e"/>
-  <arg if="$(eval arg('hand_type') == 'hand_e')" name="hand_version" default="E3M5"/>
-  <arg if="$(eval arg('hand_type') == 'hand_g')" name="hand_version" default="G1M5"/>
+  <arg if="$(eval arg('hand_type') == 'hand_e')" name="hand_version" default="E4"/>
+  <arg if="$(eval arg('hand_type') == 'hand_g')" name="hand_version" default="G4"/>
   <arg if="$(eval arg('hand_type') == 'hand_c')" name="hand_version" default="C6M2"/>
     <!-- Set to all allowed fingers by default but you can specify less using a list like this "th,ff,mf,rf,lf" -->
   <arg name="fingers" default="all"/>
   <!-- Set to pst sensors by default but they can be specified by finger using a list like this "th=pst,ff=pst,mf=pst,rf=pst,lf=pst" -->
-  <arg name="tip_sensors" default="pst"/>
+  <arg name="tip_sensors" default="mst"/>
   <arg name="mid_sensors" default="none"/>
   <arg name="prox_sensors" default="none"/>
   <arg name="palm_sensor" default="none"/>
@@ -135,5 +135,5 @@
   </include>  
 
   <!-- Publish underactuation error -->
-  <node name="error_reporter" pkg="sr_error_reporter" type="error_reporter" output="screen"/>
+  <node name="underactuation_error_reporter" pkg="sr_error_reporter" type="error_reporter" output="screen"/>
 </launch>