In this talk Gullu introduces the 5 hindrances: Desire, Aversion, Sloth/Torpor, Restlessness & Doubt and how they keep us from feeling comfortable or "at home" with the present moment. He also introduces the acronym RAFT from Gil Fronsdal as a method of working with them. RAFT is Recognize, Allow, Feel & Tease Apart. The talk uses some visual aids which can be found at https://links.gullusingh.com/mj1