diff --git a/config/trajectory/trajectory_files/exp1_traj_rx.txt b/config/trajectory/trajectory_files/exp1_traj_rx.txt
new file mode 100644
index 0000000..06072f3
--- /dev/null
+++ b/config/trajectory/trajectory_files/exp1_traj_rx.txt
@@ -0,0 +1,26 @@
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diff --git a/config/trajectory/trajectory_files/exp2_traj_tx.txt b/config/trajectory/trajectory_files/exp2_traj_tx.txt
new file mode 100644
index 0000000..3580559
--- /dev/null
+++ b/config/trajectory/trajectory_files/exp2_traj_tx.txt
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diff --git a/config/trajectory/trajectory_files/exp2_traj_tx_h0.3.txt b/config/trajectory/trajectory_files/exp2_traj_tx_h0.3.txt
new file mode 100644
index 0000000..8f16f8d
--- /dev/null
+++ b/config/trajectory/trajectory_files/exp2_traj_tx_h0.3.txt
@@ -0,0 +1,1066 @@
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diff --git a/config/trajectory/trajectory_files/exp3_traj_tx1.txt b/config/trajectory/trajectory_files/exp3_traj_tx1.txt
new file mode 100644
index 0000000..46686fe
--- /dev/null
+++ b/config/trajectory/trajectory_files/exp3_traj_tx1.txt
@@ -0,0 +1,101 @@
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diff --git a/config/trajectory/trajectory_files/v1_tx1.txt b/config/trajectory/trajectory_files/v1_tx1.txt
index 1b0f4af..28acabf 100644
--- a/config/trajectory/trajectory_files/v1_tx1.txt
+++ b/config/trajectory/trajectory_files/v1_tx1.txt
@@ -1,1236 +1,1241 @@
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diff --git a/config/trajectory/trajectory_files/v1_tx2.txt b/config/trajectory/trajectory_files/v1_tx2.txt
index 051b5fa..20874ae 100644
--- a/config/trajectory/trajectory_files/v1_tx2.txt
+++ b/config/trajectory/trajectory_files/v1_tx2.txt
@@ -1,1236 +1,1241 @@
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diff --git a/config/trajectory/trajectory_files/v2_tx1.txt b/config/trajectory/trajectory_files/v2_tx1.txt
new file mode 100644
index 0000000..3452976
--- /dev/null
+++ b/config/trajectory/trajectory_files/v2_tx1.txt
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diff --git a/config/trajectory/trajectory_files/v2_tx2.txt b/config/trajectory/trajectory_files/v2_tx2.txt
new file mode 100644
index 0000000..2316a6c
--- /dev/null
+++ b/config/trajectory/trajectory_files/v2_tx2.txt
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diff --git a/config/trajectory/trajectory_files/v3_tx1.txt b/config/trajectory/trajectory_files/v3_tx1.txt
new file mode 100644
index 0000000..aed3988
--- /dev/null
+++ b/config/trajectory/trajectory_files/v3_tx1.txt
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diff --git a/config/trajectory/trajectory_files/v3_tx2.txt b/config/trajectory/trajectory_files/v3_tx2.txt
new file mode 100644
index 0000000..cac84d3
--- /dev/null
+++ b/config/trajectory/trajectory_files/v3_tx2.txt
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diff --git a/scripts/trajectory_generation.py b/scripts/trajectory_generation.py
index cf24ec6..bfc45b2 100644
--- a/scripts/trajectory_generation.py
+++ b/scripts/trajectory_generation.py
@@ -64,17 +64,20 @@ def save_trajectory(trajectory, filename):
 if __name__ == '__main__':
 
     waypoints = [
-       (-60,15,4,0.785),
-       (-60,15,2,0.785)
+       (-58,15,5,-0.3),
+       (-58,20,5,-0.3),
+       (-58,15,5,-0.3),
+       (-63,15,5,-0.3),
+       (-58,15,5,-0.3),
    ]
 
 
     #0 hover time for each waypoint
-    # time = 240
-    hover_times = [240,5]
-    # hover_times = [time] * len(waypoints)
+    time = 0
+    # hover_times = []
+    hover_times = [time] * len(waypoints)
     trajectory = generate_trajectory(waypoints, hover_times, T=0.2)
     plot_trajectory(trajectory)
-    file_name = 'v1_tx1.txt'    
+    file_name = 'exp3_traj_tx1.txt'    
     file_location = os.path.expanduser('~/catkin_ws/src/uvdar_core/config/trajectory/trajectory_files/' + file_name)
     save_trajectory(trajectory, file_location)
diff --git a/scripts/two_drones/session_marlon.yml b/scripts/two_drones/session_marlon.yml
index 64f0976..35b1e73 100644
--- a/scripts/two_drones/session_marlon.yml
+++ b/scripts/two_drones/session_marlon.yml
@@ -78,8 +78,8 @@ windows:
   - trajectories:
       layout: tiled
       panes:
-        - export UAV_NAME=uav1; history -s rosservice call /'"$UAV_NAME"'/control_manager/start_trajectory_tracking; history -s rosservice call /'"$UAV_NAME"'/control_manager/goto_trajectory_start; history -s roslaunch uvdar_core load_trajectory.launch file:="trajectory_rx.txt"
-        - export UAV_NAME=uav2; history -s rosservice call /'"$UAV_NAME"'/control_manager/start_trajectory_tracking; history -s rosservice call /'"$UAV_NAME"'/control_manager/goto_trajectory_start; history -s roslaunch uvdar_core load_trajectory.launch file:="v1_tx1.txt"
+        - export UAV_NAME=uav1; history -s rosservice call /'"$UAV_NAME"'/control_manager/start_trajectory_tracking; history -s rosservice call /'"$UAV_NAME"'/control_manager/goto_trajectory_start; history -s roslaunch uvdar_core load_trajectory.launch file:="traj_rx.txt"
+        - export UAV_NAME=uav2; history -s rosservice call /'"$UAV_NAME"'/control_manager/start_trajectory_tracking; history -s rosservice call /'"$UAV_NAME"'/control_manager/goto_trajectory_start; history -s roslaunch uvdar_core load_trajectory.launch file:="v3_tx1.txt"
         # - export UAV_NAME=uav3; history -s rosservice call /'"$UAV_NAME"'/control_manager/start_trajectory_tracking; history -s rosservice call /'"$UAV_NAME"'/control_manager/goto_trajectory_start; history -s roslaunch uvdar_core load_trajectory.launch file:="v1_tx2.txt"
   - rviz:
       layout: even-vertical