diff --git a/README.md b/README.md
index 5e52dca..0c78263 100644
--- a/README.md
+++ b/README.md
@@ -1,4 +1,4 @@
-# SNP Implementation for Robotic Blending Milesone 5
+# SNP Implementation for Robotic Blending Milestone 5
 
 This demo uses a Motoman MH180 with an Intel RealSense camera to reconstruct the surface of an arbitrary part and generate motion plans for grinding the part in a raster pattern
 
@@ -6,53 +6,12 @@ This demo uses a Motoman MH180 with an Intel RealSense camera to reconstruct the
 
 1. Follow the [build setup instructions](https://github.com/ros-industrial-consortium/scan_n_plan_workshop#build-setup) for the main repository
 
-1. Clone the application-specific ROS2 dependencies into the same workspace
-    ```
-    cd <snp_workspace>
-    vcs import src < snp_automate_2022/dependencies.repos
-    ```
 
 ## Build
 
 ```
 colcon build --cmake-args -DTESSERACT_BUILD_FCL=OFF
 ```
-
-## ROS1 Hardware Interface Software Installation
-
-Install the requisite ROS1 driver software to run the application on hardware
-
-**Note: this step is not required to run the application in simulation only**
-
-1. Build the ros1_bridge
-    - Create a new workspace, clone this branch of the `ros1_bridge` repository
-      ```bash
-      git clone -b action_bridge https://github.com/ipa-hsd/ros1_bridge.git
-      ```
-    - Source the both ROS distros
-      ```bash
-      source /opt/ros/foxy/setup.bash
-      source /opt/ros/noetic/setup.bash
-      ```
-    - Build the bridge
-      ```bash
-      colcon build --symlink-install --packages-select ros1_bridge --cmake-force-configure
-      ```
-
-1. Build the ROS1 workspace
-    - Create a new workspace, clone this commit of the `motoman` repository
-      ```bash
-      git clone -b 63c94ec https://github.com/ros-industrial/motoman.git
-      ```
-    - Source the ROS1 installation
-      ```bash
-      source /opt/ros/noetic/setup.bash
-      ```
-    - Build the repo
-      ```bash
-      catkin build
-      ```
-
 ## Running the system
 ### Simulation
 ```bash
@@ -60,19 +19,6 @@ ros2 launch snp_blending start.launch.xml
 ```
 
 ### On Hardware
-1. Start the ROS1 launch file in a new terminal
-    ```bash
-    cd <ros1_workspace>
-    source devel/setup.bash
-    roslaunch motoman_hc10_support robot_interface_streaming_hc10.launch robot_ip:=192.168.1.31 controller:=yrc1000
-    ```
-1. Run the bridge in a second terminal
-    ```bash
-    cd <bridge_workspace>
-    source install/setup.bash
-    ros2 run ros1_bridge dynamic_bridge --bridge-all-1to2-topics
-    ```
-1. Start the ROS2 launch file in a third terminal
     ```bash
     cd <snp_workspace>
     source install/setup.bash
diff --git a/launch/start.launch.xml b/launch/start.launch.xml
index 9244102..e3943fc 100644
--- a/launch/start.launch.xml
+++ b/launch/start.launch.xml
@@ -6,7 +6,8 @@
   <arg name="mesh_file" default="$(find-pkg-share snp_blending)/meshes/part_scan.ply"/>
   <arg name="scan_trajectory_file" default="$(find-pkg-share snp_blending)/config/scan_traj.yaml"/>
   <arg name="verbose" default="True"/>
-  <arg name="touch_links" default="[table, base_link, floor]"/>
+  <arg name="scan_disabled_contact_links" default="[table, base_link, floor]"/>
+  <arg name="scan_reduced_contact_links" default="[buffy_tcp]"/>
   <arg name="robot_description_file" default="$(find-pkg-share snp_blending)/urdf/workcell.xacro"/>
   <arg name="robot_description" default="$(command 'xacro $(var robot_description_file) ros_distro:=$(env ROS_DISTRO)')"/>
   <arg name="robot_description_semantic" default="$(command 'cat $(find-pkg-share snp_blending)/config/workcell.srdf')"/>
@@ -41,6 +42,7 @@
     <param name="camera_frame" value="camera_color_optical_frame"/>
     <param name="robot_description" value="$(var robot_description)"/>
     <param name="robot_description_semantic" value="$(var robot_description_semantic)"/>
+    <param name="follow_joint_trajectory_action" value="$(var follow_joint_trajectory_action)"/>
     <!-- TSDF parameters -->
     <param name="tsdf.min.x" value="0.0"/>
     <param name="tsdf.min.y" value="0.0"/>
@@ -66,7 +68,7 @@
     <include file="$(find-pkg-share realsense2_camera)/launch/rs_launch.py">
       <arg name="align_depth.enable" value="true"/>
       <arg name="pointcloud.enable" value="true"/>
-      <arg name="rgb_camera.profile" value="640x360x90"/>
+      <arg name="rgb_camera.profile" value="640x360x30"/>
     </include>
   </group>
   <!-- Launch Open3d Interface Node (Sim) -->
@@ -83,7 +85,8 @@
     <arg name="robot_description" value="$(var robot_description)"/>
     <arg name="robot_description_semantic" value="$(var robot_description_semantic)"/>
     <arg name="verbose" value="$(var verbose)"/>
-    <arg name="touch_links" value="$(var touch_links)"/>
+    <arg name="scan_disabled_contact_links" value="$(var scan_disabled_contact_links)"/>
+    <arg name="scan_reduced_contact_links" value="$(var scan_reduced_contact_links)"/>
   </include>
 
   <node pkg="snp_scanning" exec="scan_motion_plan_from_file_node">