diff --git a/config/moteus/back_left.cfg b/config/moteus/back_left.cfg
index a8998ee34..ef09e6973 100644
--- a/config/moteus/back_left.cfg
+++ b/config/moteus/back_left.cfg
@@ -222,7 +222,7 @@ motor_position.sources.2.compensation_table.31 0.000000
 motor_position.commutation_source 0
 motor_position.output.source 0
 motor_position.output.offset 0.000000
-motor_position.output.sign 1
+motor_position.output.sign -1
 motor_position.output.reference_source -1
 motor_position.rotor_to_output_ratio 0.066667
 motor.poles 28
diff --git a/config/moteus/joint_c.cfg b/config/moteus/joint_c.cfg
index 057229a0e..761535fc1 100644
--- a/config/moteus/joint_c.cfg
+++ b/config/moteus/joint_c.cfg
@@ -59,6 +59,7 @@ aux2.i2c.i2c_mode 1
 aux2.i2c.pullup 0
 aux2.i2c.devices.0.type 0
 aux2.i2c.devices.0.address 64
+aux2.i2c.devices.0.poll_rate_us 1000
 aux2.i2c.devices.1.type 0
 aux2.i2c.devices.1.address 64
 aux2.i2c.devices.1.poll_rate_us 1000
@@ -102,24 +103,35 @@ motor_position.sources.0.sign -1
 motor_position.sources.0.debug_override -1
 motor_position.sources.0.reference 0
 motor_position.sources.0.pll_filter_hz 100.000000
-motor_position.sources.0.compensation_tabmotor_position.sources.0.compensation_table.1 0.000000
-motor_position.sources.0.compensation_tabmotor_position.sources.0.compensation_table.3 0.000000
+motor_position.sources.0.compensation_table.0 0.000000
+motor_position.sources.0.compensation_table.1 0.000000
+motor_position.sources.0.compensation_table.2 0.000000
+motor_position.sources.0.compensation_table.3 0.000000
 motor_position.sources.0.compensation_table.4 0.000000
 motor_position.sources.0.compensation_table.5 0.000000
 motor_position.sources.0.compensation_table.6 0.000000
 motor_position.sources.0.compensation_table.7 0.000000
-motor_position.sources.0.compensation_tabmotor_position.sources.0.compensation_table.9 0.000000
-motor_position.sources.0.compensation_tabmotor_position.sources.0.compensation_table.11 0.000000
-motor_position.sources.0.compensation_tabmotor_position.sources.0.compensation_table.13 0.000000
-motor_position.sources.0.compensation_tabmotor_position.sources.0.compensation_table.15 0.000000
-motor_position.sources.0.compensation_tabmotor_position.sources.0.compensation_table.17 0.000000
+motor_position.sources.0.compensation_table.8 0.000000
+motor_position.sources.0.compensation_table.9 0.000000
+motor_position.sources.0.compensation_table.10 0.000000
+motor_position.sources.0.compensation_table.11 0.000000
+motor_position.sources.0.compensation_table.12 0.000000
+motor_position.sources.0.compensation_table.13 0.000000
+motor_position.sources.0.compensation_table.14 0.000000
+motor_position.sources.0.compensation_table.15 0.000000
+motor_position.sources.0.compensation_table.16 0.000000
+motor_position.sources.0.compensation_table.17 0.000000
 motor_position.sources.0.compensation_table.18 0.000000
-motor_position.sources.0.compensation_tabmotor_position.sources.0.compensation_table.20 0.000000
+motor_position.sources.0.compensation_table.19 0.000000
+motor_position.sources.0.compensation_table.20 0.000000
 motor_position.sources.0.compensation_table.21 0.000000
-motor_position.sources.0.compensation_tabmotor_position.sources.0.compensation_tabmotor_position.sources.0.compensation_table.24 0.000000
+motor_position.sources.0.compensation_table.22 0.000000
+motor_position.sources.0.compensation_table.23 0.000000
+motor_position.sources.0.compensation_table.24 0.000000
 motor_position.sources.0.compensation_table.25 0.000000
 motor_position.sources.0.compensation_table.26 0.000000
-motor_position.sources.0.compensation_tabmotor_position.sources.0.compensation_table.28 0.000000
+motor_position.sources.0.compensation_table.27 0.000000
+motor_position.sources.0.compensation_table.28 0.000000
 motor_position.sources.0.compensation_table.29 0.000000
 motor_position.sources.0.compensation_table.30 0.000000
 motor_position.sources.0.compensation_table.31 0.000000
@@ -136,13 +148,15 @@ motor_position.sources.1.pll_filter_hz 100.000000
 motor_position.sources.1.compensation_table.0 0.000000
 motor_position.sources.1.compensation_table.1 0.000000
 motor_position.sources.1.compensation_table.2 0.000000
-motor_position.sources.1.compensation_tabmotor_position.sources.1.compensation_table.4 0.000000
+motor_position.sources.1.compensation_table.3 0.000000
+motor_position.sources.1.compensation_table.4 0.000000
 motor_position.sources.1.compensation_table.5 0.000000
 motor_position.sources.1.compensation_table.6 0.000000
 motor_position.sources.1.compensation_table.7 0.000000
 motor_position.sources.1.compensation_table.8 0.000000
 motor_position.sources.1.compensation_table.9 0.000000
-motor_position.sources.1.compensation_tabmotor_position.sources.1.compensation_table.11 0.000000
+motor_position.sources.1.compensation_table.10 0.000000
+motor_position.sources.1.compensation_table.11 0.000000
 motor_position.sources.1.compensation_table.12 0.000000
 motor_position.sources.1.compensation_table.13 0.000000
 motor_position.sources.1.compensation_table.14 0.000000
@@ -152,7 +166,8 @@ motor_position.sources.1.compensation_table.17 0.000000
 motor_position.sources.1.compensation_table.18 0.000000
 motor_position.sources.1.compensation_table.19 0.000000
 motor_position.sources.1.compensation_table.20 0.000000
-motor_position.sources.1.compensation_tabmotor_position.sources.1.compensation_table.22 0.000000
+motor_position.sources.1.compensation_table.21 0.000000
+motor_position.sources.1.compensation_table.22 0.000000
 motor_position.sources.1.compensation_table.23 0.000000
 motor_position.sources.1.compensation_table.24 0.000000
 motor_position.sources.1.compensation_table.25 0.000000
@@ -185,7 +200,8 @@ motor_position.sources.2.compensation_table.9 0.000000
 motor_position.sources.2.compensation_table.10 0.000000
 motor_position.sources.2.compensation_table.11 0.000000
 motor_position.sources.2.compensation_table.12 0.000000
-motor_position.sources.2.compensation_tabmotor_position.sources.2.compensation_table.14 0.000000
+motor_position.sources.2.compensation_table.13 0.000000
+motor_position.sources.2.compensation_table.14 0.000000
 motor_position.sources.2.compensation_table.15 0.000000
 motor_position.sources.2.compensation_table.16 0.000000
 motor_position.sources.2.compensation_table.17 0.000000
@@ -193,7 +209,8 @@ motor_position.sources.2.compensation_table.18 0.000000
 motor_position.sources.2.compensation_table.19 0.000000
 motor_position.sources.2.compensation_table.20 0.000000
 motor_position.sources.2.compensation_table.21 0.000000
-motor_position.sources.2.compensation_tabmotor_position.sources.2.compensation_table.23 0.000000
+motor_position.sources.2.compensation_table.22 0.000000
+motor_position.sources.2.compensation_table.23 0.000000
 motor_position.sources.2.compensation_table.24 0.000000
 motor_position.sources.2.compensation_table.25 0.000000
 motor_position.sources.2.compensation_table.26 0.000000
@@ -205,12 +222,13 @@ motor_position.sources.2.compensation_table.31 0.000000
 motor_position.commutation_source 0
 motor_position.output.source 0
 motor_position.output.offset 0.297363
+motor_position.output.sign 1
 motor_position.output.reference_source 1
 motor_position.rotor_to_output_ratio 0.002066
 motor.poles 14
 motor.phase_invert 0
-motor.resistance_ohm 0.165744
-motor.v_per_hz 0.194689
+motor.resistance_ohm 0.162850
+motor.v_per_hz 0.000505
 motor.offset.0 0.000000
 motor.offset.1 0.000000
 motor.offset.2 0.000000
@@ -1303,6 +1321,7 @@ motor.cogging_dq_comp.1020 0
 motor.cogging_dq_comp.1021 0
 motor.cogging_dq_comp.1022 0
 motor.cogging_dq_comp.1023 0
+drv8323_conf.dis_cpuv 0
 drv8323_conf.dis_gdf 0
 drv8323_conf.otw_rep 0
 drv8323_conf.pwm_mode 1
@@ -1335,14 +1354,15 @@ servo.max_voltage 56.000000
 servo.max_power_W 450.000000
 servo.derate_temperature 50.000000
 servo.fault_temperature 75.000000
+servo.enable_motor_temperature 0
 servo.motor_derate_temperature 50.000000
 servo.motor_fault_temperature nan
 servo.velocity_threshold 0.000000
 servo.position_derate 0.020000
 servo.adc_cur_cycles 2
 servo.adc_aux_cycles 47
-servo.pid_dq.kp 0.060796
-servo.pid_dq.ki 104.140076
+servo.pid_dq.kp 0.060606
+servo.pid_dq.ki 102.321388
 servo.pid_position.kp 800.000000
 servo.pid_position.ki 0.000000
 servo.pid_position.kd 50.000000
@@ -1358,7 +1378,6 @@ servo.voltage_mode_control 0
 servo.fixed_voltage_mode 0
 servo.fixed_voltage_control_V 0.000000
 servo.max_position_slip 0.100000
-servo.max_velocity_slip nan
 servo.default_timeout_s 0.100000
 servo.timeout_max_torque_Nm 5.000000
 servo.timeout_mode 12
@@ -1366,6 +1385,7 @@ servo.flux_brake_min_voltage 53.000000
 servo.flux_brake_resistance_ohm 0.025000
 servo.max_current_A 100.000000
 servo.derate_current_A -20.000000
+servo.max_velocity 0.100000
 servo.max_velocity_derate 2.000000
 servo.cooldown_cycles 256
 servo.velocity_zero_capture_threshold 0.050000
diff --git a/launch/jetson_autonomy.launch b/launch/jetson_autonomy.launch
index 4e0e1cbb6..17bff49f3 100644
--- a/launch/jetson_autonomy.launch
+++ b/launch/jetson_autonomy.launch
@@ -18,7 +18,7 @@
   <node pkg="mrover" type="gst_websocket_streamer" name="static_streamer"
         output="screen">
     <param name="dev_path" value="/devices/platform/3610000.xhci/usb1/1-2/1-2.4/1-2.4.4"/>
-    <param name="port" value="8082"/>
+    <param name="port" value="8083"/>
   </node>
 
   <!-- Zed mini -->
diff --git a/launch/jetson_erd.launch b/launch/jetson_erd.launch
index 072b8219c..086fb79be 100644
--- a/launch/jetson_erd.launch
+++ b/launch/jetson_erd.launch
@@ -5,7 +5,7 @@
   <node pkg="mrover" type="gst_websocket_streamer" name="static_streamer"
         output="screen">
     <param name="dev_path" value="/devices/platform/3610000.xhci/usb1/1-2/1-2.4/1-2.4.4"/>
-    <param name="port" value="8082"/>
+    <param name="port" value="8083"/>
   </node>
 
 
diff --git a/launch/jetson_es.launch b/launch/jetson_es.launch
index 558a8b352..c54314eaf 100644
--- a/launch/jetson_es.launch
+++ b/launch/jetson_es.launch
@@ -5,7 +5,7 @@
   <node pkg="mrover" type="gst_websocket_streamer" name="static_streamer"
         output="screen">
     <param name="dev_path" value="/devices/platform/3610000.xhci/usb1/1-2/1-2.4/1-2.4.4"/>
-    <param name="port" value="8082"/>
+    <param name="port" value="8083"/>
   </node>
 
   <include file="$(find mrover)/launch/zed.launch">
diff --git a/src/perception/object_detector/pch.hpp b/src/perception/object_detector/pch.hpp
index d8504e984..d9b99790b 100644
--- a/src/perception/object_detector/pch.hpp
+++ b/src/perception/object_detector/pch.hpp
@@ -49,5 +49,3 @@
 
 #include "point.hpp"
 #include <learning.hpp>
-
-#include <bitset>
\ No newline at end of file