diff --git a/roboglue_ros_ws.workspace.user b/roboglue_ros_ws.workspace.user
index c056b09..c683a93 100644
--- a/roboglue_ros_ws.workspace.user
+++ b/roboglue_ros_ws.workspace.user
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 4.9.1, 2019-10-23T10:43:57. -->
+<!-- Written by QtCreator 4.9.1, 2019-10-23T10:49:15. -->
 <qtcreator>
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   <variable>EnvironmentId</variable>
@@ -72,7 +72,7 @@
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    <value type="int" key="ProjectExplorer.Target.ActiveDeployConfiguration">0</value>
-   <value type="int" key="ProjectExplorer.Target.ActiveRunConfiguration">1</value>
+   <value type="int" key="ProjectExplorer.Target.ActiveRunConfiguration">2</value>
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@@ -124,7 +124,7 @@
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      <value type="QString">ROS_ROOT=/opt/ros/kinetic/share/ros</value>
      <value type="QString">ROS_VERSION=1</value>
-     <value type="QString">SHLVL=172</value>
+     <value type="QString">SHLVL=178</value>
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@@ -496,7 +483,7 @@
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@@ -505,7 +492,86 @@
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     <value type="bool" key="RunConfiguration.UseQmlDebuggerAuto">true</value>
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diff --git a/src/roboglue_ros/launch/roboglue_ros_urdriver_norviz.launch b/src/roboglue_ros/launch/roboglue_ros_urdriver_norviz.launch
index aba6786..b7b12bc 100644
--- a/src/roboglue_ros/launch/roboglue_ros_urdriver_norviz.launch
+++ b/src/roboglue_ros/launch/roboglue_ros_urdriver_norviz.launch
@@ -23,7 +23,8 @@
         <param name="OUTcoordinates" type="string" value="/roboglue_com/ros2com/coordinates" />
         <param name="OUTdelta_jog" type="string" value="/jog_arm_server/delta_jog_cmds" />
         <param name="OUTdelta_joint_jog" type="string" value="/jog_arm_server/delta_joint_jog_cmds" />
-        <param name="OUTtraj_jog" type="string" value="/pos_based_pos_traj_controller/command" />
+        <!-- For UR official driver use scalable position controller -->
+        <param name="OUTtraj_jog" type="string" value="/scaled_pos_traj_controller/command" />
         <param name="robot_model_name" type="string" value="robot_description" />
         <param name="move_group_name" type="string" value="manipulator" />
         <param name="loop_rate" type="int" value="100" />
diff --git a/src/roboglue_ros/src/roboglue_follower.cpp b/src/roboglue_ros/src/roboglue_follower.cpp
index 058766f..b0dbc74 100644
--- a/src/roboglue_ros/src/roboglue_follower.cpp
+++ b/src/roboglue_ros/src/roboglue_follower.cpp
@@ -9,6 +9,7 @@
 20190308 - Inserita una funzione che si occupa di effettuare il blocco delle variaili.
 20190325 - Implementato uso del ros parameter server per la configurazione del nodo.
             Contiene i nomi delle code ros.
+20191023 - Passaggio dei commenti a GIT
 */
 ////////// ROS INCLUDES /////////////
 #include "ros/ros.h"
@@ -21,6 +22,7 @@
 //////////////////////////////////////////
 void testFunction( ros::Publisher* trj_pub);
 trajectory_msgs::JointTrajectory composeTrjMessage(std::vector<double> jtpos);
+bool resetModelJointsHome(geometry_msgs::Pose, bool);
 
 ///////////////////////////////////////////
 ///////// ROS CALLBACKS //////////////////
@@ -45,7 +47,9 @@ void commandCallback(const std_msgs::String::ConstPtr& msg, internalState* is, p
             }
             else ROS_ERROR("Invalid acton");
         } else if (!command.compare("RECORD") || !command.compare("PLAY") || !command.compare("OPEN")) {
-            return;
+            return;             
+        } else if (!command.compare("HOME")) {
+          // Chiamata alla funzione di reset dei giunti nel modello
         } else {
             ROS_WARN("Unknown command: %s", command.c_str());
         }
@@ -242,6 +246,16 @@ int main(int argc, char **argv) {
 ///////////// END MAIN /////////////////
 ////////////////////////////////////////
 
+// TODO: aggiungere la possibilità di resettare i giunti nella configurazione home a comando da interfaccia
+bool resetModelJointsHome(geometry_msgs::Pose home_pos, bool execute=false) {{
+    ROS_DEBUG("Setting joint position to home");
+    if (execute){
+        return false;
+    } else {
+        return false;
+    }
+}
+
 trajectory_msgs::JointTrajectory composeTrjMessage(std::vector<double> jtpos){
     static trajectory_msgs::JointTrajectory trj;
     static double ang=0.0;