diff --git a/script/RobotTCP.py b/script/RobotTCP.py
index ea24afe..791aa66 100644
--- a/script/RobotTCP.py
+++ b/script/RobotTCP.py
@@ -65,51 +65,47 @@ class RobotTCP(TcpDevice, Stoppable):
     def get_var(self, name):
         return self.execute('get_var', name)
 
-    def get_varb(self, name):
-        return True if (self.execute('get_bool', name).strip() == '1') else False        
-
     def get_str(self, name):
         return self.execute('get_str', name)
 
     def get_arr(self, name, size):
         return self.execute('get_arr', name, size)
 
-    def get_trf(self, name):
-        return self.execute('get_trf', name)
+    def get_bool(self, name = "b"):
+        return True if (self.execute('get_bool', name).strip() == '1') else False        
 
-    def get_jnt(self, name):
-        return self.execute('get_jnt', name)
+    def get_int(self, name ="n"):
+        return int(self.get_var(name))
 
-    def get_pnt(self, name):
-        return self.execute('get_pnt', name)
+    def get_float(self, name ="n"):
+        return float(self.get_var(name))
 
-    def get_int(self):
-        return int(self.get_var("n"))
-
-    def get_float(self):
-        return float(self.get_var("n"))
-
-    def get_bool(self, name):
-        return self.get_varb("b")
-
-    def get_int_arr(self, size):
+    def get_int_arr(self, size, name="arr"):
         # not working. A Jython bug in PyUnicaode?
         #return [int(x) for x in self.get_arr("arr", size)] 
         ret = []
-        a=self.get_arr("arr", size)
+        a=self.get_arr(name, size)
         for i in range(size):
             ret.append(int(a[i]))
         return ret
 
-    def get_float_arr(self, size):
+    def get_float_arr(self, size, name="arr"):
         #return [float(x) for x in self.get_arr("arr", size)]
         ret = []
         a=self.get_arr("arr", size)
         for i in range(size):
             ret.append(int(a[i]))
         return ret
-
     
+    def get_trf(self, name="t"):
+        return self.execute('get_trf', name)
+
+    def get_jnt(self, name="j"):
+        return self.execute('get_jnt', name)
+
+    def get_pnt(self, name="p"):
+        return self.execute('get_pnt', name)
+
     def eval_int(self, cmd):
         self.evaluate("n=" + cmd)
         return self.get_int()
@@ -120,7 +116,19 @@ class RobotTCP(TcpDevice, Stoppable):
 
     def eval_bool(self, cmd):
         self.evaluate("b=" + cmd)
-        return self.get_bool(self)
+        return self.get_bool()
+
+    def eval_jnt(self, cmd):
+        self.evaluate("j=" + cmd)
+        return self.get_jnt()
+
+    def eval_trf(self, cmd):
+        self.evaluate("t=" + cmd)
+        return self.get_trf()
+
+    def eval_pnt(self, cmd):
+        self.evaluate("p=" + cmd)
+        return self.get_pnt()
 
 
     #Robot control
@@ -218,6 +226,11 @@ class RobotTCP(TcpDevice, Stoppable):
     #This function can timeout since it synchronizes move. Better check state before
     def close(self, tool):
         return self.evaluate("close(" + tool + " )")
+
+    #Arm position
+    def herej(self):
+        return get_jnt("")
+    
     
     #Updating
     def update_status(self):
@@ -225,8 +238,8 @@ class RobotTCP(TcpDevice, Stoppable):
         self.read_working_mode()
         self.is_powered()
         self.get_monitor_speed()
-        self.is_empty()
-        self.is_settled()
+        #self.is_empty()
+        #self.is_settled()
 
     def poll_events(self):
         ev = self.read_event()                    
@@ -239,7 +252,7 @@ class RobotTCP(TcpDevice, Stoppable):
             start = time.time()
             self.update_status()            
             self.poll_events()
-            #self.setState(State.Busy if self.status=="move" else State.Ready)
+            self.setState(State.Busy if self.status=="move" else State.Ready)
             self.setState(State.Ready if self.empty and self.settled  else State.Busy)
             #print time.time() - start
         except Exception, e: