diff --git a/cpp_examples/CMakeLists.txt b/cpp_examples/CMakeLists.txt
index 5486a6be..bb05ee81 100644
--- a/cpp_examples/CMakeLists.txt
+++ b/cpp_examples/CMakeLists.txt
@@ -31,9 +31,4 @@ target_link_libraries(arm_to_cart_target ${OpenRAVE_BOTH_LIBRARIES} sco utils js
 
 add_executable(arm_to_joint_target arm_to_joint_target.cpp atlas_utils.cpp)
 set_target_properties(arm_to_joint_target PROPERTIES COMPILE_FLAGS "-std=c++0x")
-target_link_libraries(arm_to_joint_target ${OpenRAVE_BOTH_LIBRARIES} ${Boost_LIBRARIES} sco utils json osgviewer trajopt)
-
-add_executable(position_base position_base.cpp atlas_utils.cpp)
-set_target_properties(position_base PROPERTIES COMPILE_FLAGS "-std=c++0x")
-target_link_libraries(position_base ${OpenRAVE_BOTH_LIBRARIES} ${Boost_LIBRARIES} sco utils json osgviewer trajopt)
-
+target_link_libraries(arm_to_joint_target ${OpenRAVE_BOTH_LIBRARIES} ${Boost_LIBRARIES} sco utils json osgviewer trajopt)
\ No newline at end of file
diff --git a/python_examples/arm_to_joint_target.py b/python_examples/arm_to_joint_target.py
index c53c5401..3b82fa5c 100644
--- a/python_examples/arm_to_joint_target.py
+++ b/python_examples/arm_to_joint_target.py
@@ -31,8 +31,7 @@
   "costs" : [
   {
     "type" : "joint_vel", # joint-space velocity cost
-    "params": {"coeffs" : [1]} # a list of length one is automatically expanded to a list of length n_dofs
-    # also valid: [1.9, 2, 3, 4, 5, 5, 4, 3, 2, 1]
+    "params": {"coeffs" : [1]} # a list of length one is automatically expanded to a list of length n_dofs. also valid: [1.9, 2, 3, 4, 5, 5, 4, 3, 2, 1]
   },
   {
     "type" : "collision",
diff --git a/src/osgviewer/osgviewer.cpp b/src/osgviewer/osgviewer.cpp
index b72ca1bc..f532c4ff 100644
--- a/src/osgviewer/osgviewer.cpp
+++ b/src/osgviewer/osgviewer.cpp
@@ -188,7 +188,7 @@ KinBodyGroup* osgNodeFromKinBody(const KinBody& body) {
   KinBodyGroup* group = new KinBodyGroup;
   const vector<KinBody::LinkPtr>& links = body.GetLinks();
   for (int i=0; i < links.size(); ++i) {
-    if (links[i]->GetGeometries().size() > 0) {
+    if (links[i]->GetGeometries().size() > 0 && links[i]->IsEnabled()==true) {
       MatrixTransform* link_node = osgNodeFromLink(*links[i]);
       group->addChild(link_node);
       group->links.push_back(links[i]);
@@ -371,6 +371,10 @@ class OsgGraphHandle : public OpenRAVE::GraphHandle {
   ~OsgGraphHandle() {
     parent->removeChild(node);
   }
+  void SetTransform(const RaveTransform<float>& t){
+    //Still needs to be implemented
+    return;
+  }
 };
 
 KinBodyGroup* GetOsgGroup(KinBody& body) {
@@ -457,7 +461,8 @@ OSGViewer::OSGViewer(EnvironmentBasePtr env) : ViewerBase(env), m_idling(false)
   m_viewer.realize();
   m_cam = m_viewer.getCamera();
   m_handler = new EventHandler;
-  m_viewer.setCameraManipulator(m_handler.get());
+  m_handler->setHomePosition(Vec3f(3,3,2), Vec3f(0,0,1), Vec3f(0,0,1));
+  m_viewer.setCameraManipulator(m_handler.get(),true);
   AddLights(m_root);
   m_cam->setClearColor(osg::Vec4(1,1,1,1));
 
@@ -809,6 +814,11 @@ OpenRAVE::GraphHandlePtr  OSGViewer::_drawlines(osg::PrimitiveSet::Mode mode, co
 OpenRAVE::GraphHandlePtr  OSGViewer::drawlinestrip(const float *ppoints,  int numPoints, int stride, float fwidth, const RaveVectorf &color) {
   return _drawlines(osg::PrimitiveSet::LINE_STRIP, ppoints, numPoints, stride, fwidth, color);
 }
+OpenRAVE::GraphHandlePtr  OSGViewer::drawlinestrip(const float* ppoints, int numPoints, int stride, float fwidth, const float* colors) {
+  //Place holder function, correct behavior still needs to be implemented
+  return _drawlines(osg::PrimitiveSet::LINE_STRIP, ppoints, numPoints, stride, fwidth, RaveVectorf(1,0,0,1));
+}
+
 OpenRAVE::GraphHandlePtr  OSGViewer::drawlinelist(const float *ppoints,  int numPoints, int stride, float fwidth, const RaveVectorf &color) {
   return _drawlines(osg::PrimitiveSet::LINES, ppoints, numPoints, stride, fwidth, color);
 }
diff --git a/src/osgviewer/osgviewer.hpp b/src/osgviewer/osgviewer.hpp
index 3aa23613..7d74e3a3 100644
--- a/src/osgviewer/osgviewer.hpp
+++ b/src/osgviewer/osgviewer.hpp
@@ -1,3 +1,8 @@
+#ifndef OSGVIEWER_HPP
+#define OSGVIEWER_HPP
+
+/*** INCLUDE FILES ***/
+
 #pragma once
 #include <openrave/openrave.h>
 #include <osg/Geometry>
@@ -40,6 +45,7 @@ class TRAJOPT_API OSGViewer : public OpenRAVE::ViewerBase {
   OpenRAVE::GraphHandlePtr plot3(const float* ppoints, int numPoints, int stride, float pointsize, const float* colors, int drawstyle=0, bool bhasalpha=false);
   OpenRAVE::GraphHandlePtr  drawlinelist(const float *ppoints, int numPoints, int stride, float fwidth, const RaveVectorf &color);
   OpenRAVE::GraphHandlePtr  drawlinestrip(const float *ppoints, int numPoints, int stride, float fwidth, const RaveVectorf &color);
+  OpenRAVE::GraphHandlePtr  drawlinestrip(const float* ppoints, int numPoints, int stride, float fwidth, const float* colors);
   OpenRAVE::GraphHandlePtr  _drawlines(osg::PrimitiveSet::Mode mode, const float *ppoints, int numPoints, int stride, float fwidth, const RaveVectorf &color);
   OpenRAVE::GraphHandlePtr drawtext(const std::string& text, float x, float y, float fontsize, const OpenRAVE::Vector& color);
 
@@ -80,3 +86,5 @@ typedef boost::shared_ptr<OSGViewer> OSGViewerPtr;
 
 void TRAJOPT_API SetColor(OpenRAVE::GraphHandlePtr handle, const osg::Vec4& color);
 void TRAJOPT_API SetTransparency(OpenRAVE::GraphHandlePtr handle, float alpha);
+
+#endif // OSGVIEWER_HPP
\ No newline at end of file