diff --git a/config.py b/config.py
index 6e1c2d4..11986df 100644
--- a/config.py
+++ b/config.py
@@ -118,7 +118,7 @@ Z_MAX = TABLE_Z + 4.5*BLOCK_DIM #4 blocks high
 # the z-levels grow upwards.
 DEFAULT_LOOP_VEL = 0.1
 LOOP_VEL_MIN = 0.05
-LOOP_VEL_MAX = 0.7
+LOOP_VEL_MAX = 0.5
 LOOP_ACC = 0.5
 
 R_LVL0 = 0.691 #tip of tool at table edge
diff --git a/config.py.bak b/config.py.bak
new file mode 100644
index 0000000..3559b0f
--- /dev/null
+++ b/config.py.bak
@@ -0,0 +1,141 @@
+# This config file is the one tested and tuned during development.
+# Revert to this to reset parameters.
+import math
+
+DEBUG = True
+
+
+# GUI
+#
+# Frame rates should be high enough to poll keys efficiently.
+SCREEN_DIM = (800, 600)
+FONTSIZE = 24
+BG_COL = (255,255,255)
+FONT_COL = (0,0,0)
+MENU_FPS = 15
+CTR_FPS = 60 #manual control
+
+
+
+# NETWORK
+#
+# The IP address can be found in the PolyScope interface (tablet) of the robot.
+# SETUP Robot -> Setup NETWORK (requires password) -> IP address
+UR5_IP = "129.241.187.119"
+UR5_HOSTNAME = 'ur-2012208984' #requires dns.
+
+
+
+# BLOCK DIMENSION
+#
+# Blocks are cubic and the hole is centered.
+BLOCK_DIM = 0.0965 #TUNED
+
+
+# TABLE CONFIGURATION
+#
+# The table configuration specifies parameters for the cylinder coordinate system.
+# All table parameters are relative to the robots base coordinate system.
+#
+# TABLE_QUADRANT was added because the UR5's kinetmatics computations are dependent
+# on its own base coordinate system. For instance, quadrant 3.0 results in joint
+# violations in the original setup. Quadrant 0.0 corresponds to the table center
+# along the base x-axis, quadrant 1.0 corresponds to the base y-axis, etc.
+# Quardant 0 is recommended.
+TABLE_QUADRANT = 0 #[0..4)
+TABLE_ORIGO_OFFSET = (-0.245, -0.003) #offset from origo along base x-axis
+TABLE_Z = -0.3337 #this should be fine-tuned on each setup
+TABLE_ARC = math.pi/2
+
+
+
+# HOME JOINT CONFIGURATION
+#
+# This is the joint config for the robot's initial position.
+# We need this also expressed in joint space to ensure that the robot does not
+# collide with itself when moving to the base configuration, and to ensure
+# the correct tool orientation when calibrating the reference cylinder
+# coordinate system.
+#
+# Change joints 2-6 in QUADRANT_JOINTS_HOME to tune the tool orientation.
+R_HOME = 0.55
+THETA_HOME = 0
+Z_HOME = TABLE_Z + BLOCK_DIM
+JOINTS_HOME = [TABLE_QUADRANT*math.pi/2,
+			   	   		-3*math.pi/4,
+			   	   		-3*math.pi/4,
+			   	   		-math.pi/2,
+			   	  		-math.pi/2,
+			  	  		49*math.pi/50]
+
+
+# FORCE MONITOR
+#
+# Enables force constraints on the tool (for manual control).
+# When the force exceeds FORCE_CONSTRAINT (newton), the robot move in the direction
+# opposite to the current command in T_FORCE_VIOLATION seconds.
+# Note: Setting this to "True" involves polling the UR5 through a real-time
+# monitor that runs at 125Hz. If the controller runs slow, try disabling this.
+USE_FORCE_MONITOR = True
+FORCE_CONSTRAINT = 40
+T_FORCE_VIOLATION = 0.3
+
+
+
+# MANUAL CONTROL
+#
+# Parameters that specifies velocity curve and constraints of manual control.
+# Note that the angular velocity is also [m/s], not [rad/s], to ensure that the robot
+# moves with constant speed regardless of direction in the polar plane.
+# IMPORTANT: VEL_Z should be tuned to Z_MIN to avoid smashing into the table.
+VEL = 0.1 #[m/s]
+VEL_Z = 0.05 #[m/s]
+ACC = 0.5 #[m/s^2]
+STOP_ACC = 1.0 #aka deceleration
+T_DIR_CHANGE_COOLDOWN = 0.05
+
+# Constraints are relative to the cylinder coordinate system.
+# Because of delay and fluctuations of parameters in the system,
+# the calculation of projected positions are not correct.
+# Therefore, an empirical offset is added in controller.update().
+# Consider this before changing control speed
+R_MIN = 0.49
+R_MAX = 0.75
+THETA_MIN= -TABLE_ARC/2
+THETA_MAX = TABLE_ARC/2
+Z_MIN = TABLE_Z + 0.5*BLOCK_DIM
+Z_MAX = TABLE_Z + 4.5*BLOCK_DIM #4 blocks high
+
+
+
+# AUTO/LOOP CONTROL
+#
+# When looping, the robot use the same velocity for r, theta and z.
+# Also, since this is all planned motions, we dont need to use stopl().
+# This means that the trapezoidal velocity curve has the same slope at
+# start and end of a motion. (acceleration=deceleration)
+#
+# Constraints in r and z-direction are specefied in levels to enable
+# easier construction of loops. Note that the r-levels grow inwards, and
+# the z-levels grow upwards.
+DEFAULT_LOOP_VEL = 0.1
+LOOP_VEL_MIN = 0.05
+LOOP_VEL_MAX = 0.5
+LOOP_ACC = 0.5
+
+R_LVL0 = 0.691 #tip of tool at table edge
+Z_LVL0 = TABLE_Z + BLOCK_DIM/2 #tool in middle of block
+THETA_EDGE_LEFT = -math.pi/4 + math.pi/74 #empirical. table is not exact
+THETA_EDGE_RIGHT = math.pi/4 - math.pi/74
+
+# Offsets when picking (and placing) blocks.
+# The place-block move is the reverse of the pick-block move,
+# such that the start/end offsets for pick-block are the end/start offsets
+# for place-block
+R_STARTPICK_OFFSET = -1.3*BLOCK_DIM
+THETA_STARTPICK_OFFSET = 0
+Z_STARTPICK_OFFSET = 0
+R_ENDPICK_OFFSET = -0.01 #lift slightly inwards to avoid collision with adjacent blocks
+THETA_ENDPICK_OFFSET = 0
+Z_ENDPICK_OFFSET = BLOCK_DIM*0.5
+
diff --git a/config.pyc b/config.pyc
index 52247a8..6cff34c 100644
Binary files a/config.pyc and b/config.pyc differ
diff --git a/demo.py b/demo.py
index 925a7e5..1a5abf0 100755
--- a/demo.py
+++ b/demo.py
@@ -54,7 +54,9 @@ class UR5Demo(object):
 
     def go_home_pos(self):
         self._disptxt(["Going to home configuration..."])
-        self.controller.movel(config.R_HOME, config.THETA_HOME, config.Z_HOME)
+        pose = self.controller.cylinder2cartesian(config.R_HOME, config.THETA_HOME, config.Z_HOME)
+        move = pose + [0.5, 0.1, 0]
+        self.controller.exec_move(move, wait=True)
 
     def freedrive(self):
         self.controller.set_freedrive(True)
@@ -96,11 +98,29 @@ class UR5Demo(object):
             self.clock.tick(config.MENU_FPS)
 
     def run_loop1(self):
-        loopcount = 0
-        self._disptxt(["Running loop \"four blocks high\"", "Loopcount: %d" % loopcount])
-        time.sleep(1)
+        vel = self.loop_speed
+        acc = 1.1*vel
+        edge_left = config.THETA_EDGE_LEFT
+        edge_right = config.THETA_EDGE_RIGHT
         
-        # initiate loop, poll for robot move change and keypress
+        moves = []
+        moves.append(self.controller.blocklevel2move(0.5, 0, 0, acc, vel, 0))
+        moves += self.controller.pick_block(1, edge_left, 0, acc, vel)
+        moves += self.controller.place_block(0, 0, 0, acc, vel)
+        moves += self.controller.pick_block(1, edge_right, 0, acc, vel)
+        moves.append(self.controller.blocklevel2move(1.1, edge_right/2, 2, acc, vel, 0.15))
+        moves += self.controller.place_block(0, 0, 1, acc, vel)
+        moves += self.controller.pick_block(0, edge_left, 0, acc, vel)
+        moves.append(self.controller.blocklevel2move(0.1, edge_left/2, 3, acc, vel, 0.15))
+        moves += self.controller.place_block(0, 0, 2, acc, vel)
+        moves += self.controller.pick_block(0, edge_right, 0, acc, vel)
+        moves.append(self.controller.blocklevel2move(0.1, edge_right/2, 4, acc, vel, 0.15))
+        moves += self.controller.place_block(0, 0, 3, acc, vel)
+        moves.append(self.controller.blocklevel2move(1.5, 0, 0.1, acc, vel, 0))
+
+        loopcount = 0.0
+        self._disptxt(["Running loop \"four blocks high\"", "Loopcount: %d" % math.floor(loopcount)])
+        self.controller.exec_moves(moves, wait=False)
         running = True
         while running:
             pressed = pygame.key.get_pressed()
@@ -109,17 +129,51 @@ class UR5Demo(object):
                    self.sig_quit = True
             if pressed[pygame.K_ESCAPE] or self.sig_quit:
                 running = False
-            self.clock.tick(config.MENU_FPS)
 
-        # Set to default pos before return?
+            if not self.controller.is_looping(1.0):
+                moves.reverse()
+                self.controller.exec_moves(moves, wait=False) # try-catch?
+                loopcount += 0.5
+                self._disptxt(["Running loop \"four blocks high\"", "Loopcount: %d" % math.floor(loopcount)])
 
+            #self.clock.tick(config.MENU_FPS) # we dont need this here, check loop blocks for 1 sec
+        self.controller.robot.stopj(acc)
 
     def run_loop2(self):
-        loopcount = 0
-        self._disptxt(["Running loop \"small pyramid\"", "Loopcount: %d" % loopcount])
-        time.sleep(1)
-        
-        # initiate loop, poll for robot move change and keypress
+        vel = self.loop_speed
+        acc = 1.1*vel
+        dtheta_lvl0 = config.BLOCK_DIM/config.R_LVL0 + math.pi/64 #medium gap
+        edge_left = config.THETA_EDGE_LEFT
+        edge_right = config.THETA_EDGE_RIGHT
+
+        moves = []
+        moves.append(self.controller.blocklevel2move(0.5, 0, 0, acc, vel, 0)) #initial
+        moves += self.controller.pick_block(0, edge_left, 1, acc, vel)
+        moves.append(self.controller.blocklevel2move(0.1, edge_left/2, 2, acc, vel, 0.15))
+        moves += self.controller.place_block(0, 0, 0, acc, vel)
+        moves += self.controller.pick_block(0, edge_right, 1, acc, vel)
+        moves.append(self.controller.blocklevel2move(0.1, (edge_right+dtheta_lvl0)/2, 2, acc, vel, 0.15))
+        moves += self.controller.place_block(0, dtheta_lvl0, 0, acc, vel)
+        moves.append(self.controller.blocklevel2move(1.1, (edge_left+dtheta_lvl0)/2, 0.5, acc, vel, 0.15))
+        moves += self.controller.pick_block(1, edge_left, 0, acc, vel)
+        moves += self.controller.place_block(0, -dtheta_lvl0, 0, acc, vel)
+        moves.append(self.controller.blocklevel2move(1.1, (edge_right-dtheta_lvl0)/2, 0.5, acc, vel, 0.15))
+        moves += self.controller.pick_block(1, edge_right, 0, acc, vel)
+        moves.append(self.controller.blocklevel2move(1.1, edge_right/2, 2, acc, vel, 0.15))
+        moves += self.controller.place_block(0, 0.5*dtheta_lvl0, 1, acc, vel)
+        moves += self.controller.pick_block(0, edge_left, 0, acc, vel)
+        moves.append(self.controller.blocklevel2move(0.1, edge_left/2, 2, acc, vel, 0.15))
+        moves += self.controller.place_block(0, -0.5*dtheta_lvl0, 1, acc, vel)
+        moves.append(self.controller.blocklevel2move(1.1, (edge_right-dtheta_lvl0)/2, 0.5, acc, vel, 0.15))
+        moves += self.controller.pick_block(0, edge_right, 0, acc, vel)
+        moves.append(self.controller.blocklevel2move(0.1, edge_right/2, 3, acc, vel, 0.15))
+        moves += self.controller.place_block(0, 0, 2, acc, vel)
+        moves.append(self.controller.blocklevel2move(1.5, 0, 0.1, acc, vel, 0))
+
+
+        loopcount = 0.0
+        self._disptxt(["Running loop \"small pyramid\"", "Loopcount: %d" % math.floor(loopcount)])
+        self.controller.exec_moves(moves, wait=False)
         running = True
         while running:
             pressed = pygame.key.get_pressed()
@@ -128,9 +182,13 @@ class UR5Demo(object):
                    self.sig_quit = True
             if pressed[pygame.K_ESCAPE] or self.sig_quit:
                 running = False
-            self.clock.tick(config.MENU_FPS)
 
-        # Set to default pos before return?
+            if not self.controller.is_looping(1.0):
+                moves.reverse()
+                self.controller.exec_moves(moves, wait=False)
+                loopcount += 0.5
+                self._disptxt(["Running loop \"small pyramid\"", "Loopcount: %d" % math.floor(loopcount)])
+        self.controller.robot.stopj(acc)
 
 
     def loop_init(self, block_init_msg, loopnum):