From 01217229cf9a5cf458ab9636ab1747c085b9450a Mon Sep 17 00:00:00 2001
From: wangWking <842749351@qq.com>
Date: Fri, 22 Apr 2022 16:23:19 +0800
Subject: [PATCH] add new_320_pi_moveit ROS

---
 .../new_mycobot_320_pi_moveit/CMakeLists.txt  |  14 +
 mycobot_320/new_mycobot_320_pi_moveit/LICENSE |  25 ++
 .../config/chomp_planning.yaml                |  18 ++
 .../config/fake_controllers.yaml              |   9 +
 .../config/firefighter.srdf                   |  38 +++
 .../config/joint_limits.yaml                  |  34 +++
 .../config/kinematics.yaml                    |   5 +
 .../config/ompl_planning.yaml                 | 150 +++++++++++
 .../config/ros_controllers.yaml               |  25 ++
 .../config/sensors_3d.yaml                    |  10 +
 .../launch/chomp_planning_pipeline.launch.xml |  10 +
 .../launch/default_warehouse_db.launch        |  15 ++
 .../launch/demo.launch                        |  57 ++++
 .../launch/demo_gazebo.launch                 |  70 +++++
 .../fake_moveit_controller_manager.launch.xml |   9 +
 ...ghter_moveit_controller_manager.launch.xml |  10 +
 ...refighter_moveit_sensor_manager.launch.xml |   3 +
 .../launch/gazebo.launch                      |  23 ++
 .../launch/joystick_control.launch            |  17 ++
 .../launch/move_group.launch                  |  77 ++++++
 .../launch/moveit.rviz                        | 250 ++++++++++++++++++
 .../launch/moveit_rviz.launch                 |  16 ++
 .../launch/mycobot320_moveit.launch           |  57 ++++
 .../launch/ompl_planning_pipeline.launch.xml  |  22 ++
 .../launch/planning_context.launch            |  24 ++
 .../launch/planning_pipeline.launch.xml       |  10 +
 .../launch/ros_controllers.launch             |  11 +
 .../launch/run_benchmark_ompl.launch          |  22 ++
 .../launch/sensor_manager.launch.xml          |  17 ++
 .../launch/setup_assistant.launch             |  15 ++
 .../launch/trajectory_execution.launch.xml    |  20 ++
 .../launch/warehouse.launch                   |  15 ++
 .../launch/warehouse_settings.launch.xml      |  16 ++
 .../new_mycobot_320_pi_moveit/package.xml     |  33 +++
 ...th_planning_and_obstacle_avoidance_demo.py | 137 ++++++++++
 .../scripts/sync_plan.py                      |  43 +++
 36 files changed, 1327 insertions(+)
 create mode 100644 mycobot_320/new_mycobot_320_pi_moveit/CMakeLists.txt
 create mode 100644 mycobot_320/new_mycobot_320_pi_moveit/LICENSE
 create mode 100644 mycobot_320/new_mycobot_320_pi_moveit/config/chomp_planning.yaml
 create mode 100644 mycobot_320/new_mycobot_320_pi_moveit/config/fake_controllers.yaml
 create mode 100644 mycobot_320/new_mycobot_320_pi_moveit/config/firefighter.srdf
 create mode 100644 mycobot_320/new_mycobot_320_pi_moveit/config/joint_limits.yaml
 create mode 100644 mycobot_320/new_mycobot_320_pi_moveit/config/kinematics.yaml
 create mode 100644 mycobot_320/new_mycobot_320_pi_moveit/config/ompl_planning.yaml
 create mode 100644 mycobot_320/new_mycobot_320_pi_moveit/config/ros_controllers.yaml
 create mode 100644 mycobot_320/new_mycobot_320_pi_moveit/config/sensors_3d.yaml
 create mode 100644 mycobot_320/new_mycobot_320_pi_moveit/launch/chomp_planning_pipeline.launch.xml
 create mode 100755 mycobot_320/new_mycobot_320_pi_moveit/launch/default_warehouse_db.launch
 create mode 100755 mycobot_320/new_mycobot_320_pi_moveit/launch/demo.launch
 create mode 100755 mycobot_320/new_mycobot_320_pi_moveit/launch/demo_gazebo.launch
 create mode 100644 mycobot_320/new_mycobot_320_pi_moveit/launch/fake_moveit_controller_manager.launch.xml
 create mode 100644 mycobot_320/new_mycobot_320_pi_moveit/launch/firefighter_moveit_controller_manager.launch.xml
 create mode 100644 mycobot_320/new_mycobot_320_pi_moveit/launch/firefighter_moveit_sensor_manager.launch.xml
 create mode 100755 mycobot_320/new_mycobot_320_pi_moveit/launch/gazebo.launch
 create mode 100755 mycobot_320/new_mycobot_320_pi_moveit/launch/joystick_control.launch
 create mode 100755 mycobot_320/new_mycobot_320_pi_moveit/launch/move_group.launch
 create mode 100644 mycobot_320/new_mycobot_320_pi_moveit/launch/moveit.rviz
 create mode 100755 mycobot_320/new_mycobot_320_pi_moveit/launch/moveit_rviz.launch
 create mode 100755 mycobot_320/new_mycobot_320_pi_moveit/launch/mycobot320_moveit.launch
 create mode 100644 mycobot_320/new_mycobot_320_pi_moveit/launch/ompl_planning_pipeline.launch.xml
 create mode 100755 mycobot_320/new_mycobot_320_pi_moveit/launch/planning_context.launch
 create mode 100644 mycobot_320/new_mycobot_320_pi_moveit/launch/planning_pipeline.launch.xml
 create mode 100755 mycobot_320/new_mycobot_320_pi_moveit/launch/ros_controllers.launch
 create mode 100755 mycobot_320/new_mycobot_320_pi_moveit/launch/run_benchmark_ompl.launch
 create mode 100644 mycobot_320/new_mycobot_320_pi_moveit/launch/sensor_manager.launch.xml
 create mode 100755 mycobot_320/new_mycobot_320_pi_moveit/launch/setup_assistant.launch
 create mode 100644 mycobot_320/new_mycobot_320_pi_moveit/launch/trajectory_execution.launch.xml
 create mode 100755 mycobot_320/new_mycobot_320_pi_moveit/launch/warehouse.launch
 create mode 100644 mycobot_320/new_mycobot_320_pi_moveit/launch/warehouse_settings.launch.xml
 create mode 100644 mycobot_320/new_mycobot_320_pi_moveit/package.xml
 create mode 100755 mycobot_320/new_mycobot_320_pi_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py
 create mode 100755 mycobot_320/new_mycobot_320_pi_moveit/scripts/sync_plan.py

diff --git a/mycobot_320/new_mycobot_320_pi_moveit/CMakeLists.txt b/mycobot_320/new_mycobot_320_pi_moveit/CMakeLists.txt
new file mode 100644
index 0000000..961d78c
--- /dev/null
+++ b/mycobot_320/new_mycobot_320_pi_moveit/CMakeLists.txt
@@ -0,0 +1,14 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(new_mycobot_320_pi_moveit)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  PATTERN "setup_assistant.launch" EXCLUDE)
+install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/mycobot_320/new_mycobot_320_pi_moveit/LICENSE b/mycobot_320/new_mycobot_320_pi_moveit/LICENSE
new file mode 100644
index 0000000..b8468e6
--- /dev/null
+++ b/mycobot_320/new_mycobot_320_pi_moveit/LICENSE
@@ -0,0 +1,25 @@
+BSD 2-Clause License
+
+Copyright (c) 2020, Elephant Robotics
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/mycobot_320/new_mycobot_320_pi_moveit/config/chomp_planning.yaml b/mycobot_320/new_mycobot_320_pi_moveit/config/chomp_planning.yaml
new file mode 100644
index 0000000..75258e5
--- /dev/null
+++ b/mycobot_320/new_mycobot_320_pi_moveit/config/chomp_planning.yaml
@@ -0,0 +1,18 @@
+planning_time_limit: 10.0
+max_iterations: 200
+max_iterations_after_collision_free: 5
+smoothness_cost_weight: 0.1
+obstacle_cost_weight: 1.0
+learning_rate: 0.01
+smoothness_cost_velocity: 0.0
+smoothness_cost_acceleration: 1.0
+smoothness_cost_jerk: 0.0
+ridge_factor: 0.01
+use_pseudo_inverse: false
+pseudo_inverse_ridge_factor: 1e-4
+joint_update_limit: 0.1
+collision_clearence: 0.2
+collision_threshold: 0.07
+use_stochastic_descent: true
+enable_failure_recovery: true
+max_recovery_attempts: 5
\ No newline at end of file
diff --git a/mycobot_320/new_mycobot_320_pi_moveit/config/fake_controllers.yaml b/mycobot_320/new_mycobot_320_pi_moveit/config/fake_controllers.yaml
new file mode 100644
index 0000000..47a2eb3
--- /dev/null
+++ b/mycobot_320/new_mycobot_320_pi_moveit/config/fake_controllers.yaml
@@ -0,0 +1,9 @@
+controller_list:
+  - name: fake_arm_group_controller
+    joints:
+      - joint2_to_joint1
+      - joint3_to_joint2
+      - joint4_to_joint3
+      - joint5_to_joint4
+      - joint6_to_joint5
+      - joint6output_to_joint6
\ No newline at end of file
diff --git a/mycobot_320/new_mycobot_320_pi_moveit/config/firefighter.srdf b/mycobot_320/new_mycobot_320_pi_moveit/config/firefighter.srdf
new file mode 100644
index 0000000..a7b6c89
--- /dev/null
+++ b/mycobot_320/new_mycobot_320_pi_moveit/config/firefighter.srdf
@@ -0,0 +1,38 @@
+<?xml version="1.0" ?>
+<!--This does not replace URDF, and is not an extension of URDF.
+    This is a format for representing semantic information about the robot structure.
+    A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
+-->
+<robot name="firefighter">
+    <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
+    <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
+    <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
+    <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
+    <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
+    <group name="arm_group">
+        <joint name="joint2_to_joint1" />
+        <joint name="joint3_to_joint2" />
+        <joint name="joint4_to_joint3" />
+        <joint name="joint5_to_joint4" />
+        <joint name="joint6_to_joint5" />
+        <joint name="joint6output_to_joint6" />
+    </group>
+    <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
+    <group_state name="init_pose" group="arm_group">
+        <joint name="joint2_to_joint1" value="0" />
+        <joint name="joint3_to_joint2" value="0" />
+        <joint name="joint4_to_joint3" value="0" />
+        <joint name="joint5_to_joint4" value="0" />
+        <joint name="joint6_to_joint5" value="0" />
+        <joint name="joint6output_to_joint6" value="0" />
+    </group_state>
+    <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
+    <disable_collisions link1="base" link2="link1" reason="Adjacent" />
+    <disable_collisions link1="link1" link2="link2" reason="Adjacent" />
+    <disable_collisions link1="link1" link2="link4" reason="Never" />
+    <disable_collisions link1="link2" link2="link3" reason="Adjacent" />
+    <disable_collisions link1="link3" link2="link4" reason="Adjacent" />
+    <disable_collisions link1="link4" link2="link5" reason="Adjacent" />
+    <disable_collisions link1="link4" link2="link6" reason="Never" />
+    <disable_collisions link1="link5" link2="link6" reason="Adjacent" />
+</robot>
diff --git a/mycobot_320/new_mycobot_320_pi_moveit/config/joint_limits.yaml b/mycobot_320/new_mycobot_320_pi_moveit/config/joint_limits.yaml
new file mode 100644
index 0000000..6e9612a
--- /dev/null
+++ b/mycobot_320/new_mycobot_320_pi_moveit/config/joint_limits.yaml
@@ -0,0 +1,34 @@
+# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
+# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
+# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
+joint_limits:
+  joint2_to_joint1:
+    has_velocity_limits: false
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  joint3_to_joint2:
+    has_velocity_limits: false
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  joint4_to_joint3:
+    has_velocity_limits: false
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  joint5_to_joint4:
+    has_velocity_limits: false
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  joint6_to_joint5:
+    has_velocity_limits: false
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  joint6output_to_joint6:
+    has_velocity_limits: false
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
\ No newline at end of file
diff --git a/mycobot_320/new_mycobot_320_pi_moveit/config/kinematics.yaml b/mycobot_320/new_mycobot_320_pi_moveit/config/kinematics.yaml
new file mode 100644
index 0000000..031b273
--- /dev/null
+++ b/mycobot_320/new_mycobot_320_pi_moveit/config/kinematics.yaml
@@ -0,0 +1,5 @@
+arm_group:
+  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+  kinematics_solver_search_resolution: 0.005
+  kinematics_solver_timeout: 0.005
+  kinematics_solver_attempts: 3
\ No newline at end of file
diff --git a/mycobot_320/new_mycobot_320_pi_moveit/config/ompl_planning.yaml b/mycobot_320/new_mycobot_320_pi_moveit/config/ompl_planning.yaml
new file mode 100644
index 0000000..3f4d0c2
--- /dev/null
+++ b/mycobot_320/new_mycobot_320_pi_moveit/config/ompl_planning.yaml
@@ -0,0 +1,150 @@
+planner_configs:
+  SBL:
+    type: geometric::SBL
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+  EST:
+    type: geometric::EST
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+  LBKPIECE:
+    type: geometric::LBKPIECE
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9
+    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
+  BKPIECE:
+    type: geometric::BKPIECE
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9
+    failed_expansion_score_factor: 0.5  # When extending motion fails, scale score by factor. default: 0.5
+    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
+  KPIECE:
+    type: geometric::KPIECE
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9 (0.0,1.]
+    failed_expansion_score_factor: 0.5  # When extending motion fails, scale score by factor. default: 0.5
+    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
+  RRT:
+    type: geometric::RRT
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
+  RRTConnect:
+    type: geometric::RRTConnect
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+  RRTstar:
+    type: geometric::RRTstar
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
+    delay_collision_checking: 1  # Stop collision checking as soon as C-free parent found. default 1
+  TRRT:
+    type: geometric::TRRT
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
+    max_states_failed: 10  # when to start increasing temp. default: 10
+    temp_change_factor: 2.0  # how much to increase or decrease temp. default: 2.0
+    min_temperature: 10e-10  # lower limit of temp change. default: 10e-10
+    init_temperature: 10e-6  # initial temperature. default: 10e-6
+    frountier_threshold: 0.0  # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
+    frountierNodeRatio: 0.1  # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
+    k_constant: 0.0  # value used to normalize expresssion. default: 0.0 set in setup()
+  PRM:
+    type: geometric::PRM
+    max_nearest_neighbors: 10  # use k nearest neighbors. default: 10
+  PRMstar:
+    type: geometric::PRMstar
+  FMT:
+    type: geometric::FMT
+    num_samples: 1000  # number of states that the planner should sample. default: 1000
+    radius_multiplier: 1.1  # multiplier used for the nearest neighbors search radius. default: 1.1
+    nearest_k: 1  # use Knearest strategy. default: 1
+    cache_cc: 1  # use collision checking cache. default: 1
+    heuristics: 0  # activate cost to go heuristics. default: 0
+    extended_fmt: 1  # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1
+  BFMT:
+    type: geometric::BFMT
+    num_samples: 1000  # number of states that the planner should sample. default: 1000
+    radius_multiplier: 1.0  # multiplier used for the nearest neighbors search radius. default: 1.0
+    nearest_k: 1  # use the Knearest strategy. default: 1
+    balanced: 0  # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1
+    optimality: 1  # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1
+    heuristics: 1  # activates cost to go heuristics. default: 1
+    cache_cc: 1  # use the collision checking cache. default: 1
+    extended_fmt: 1  # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1
+  PDST:
+    type: geometric::PDST
+  STRIDE:
+    type: geometric::STRIDE
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+    use_projected_distance: 0  # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0
+    degree: 16  # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16
+    max_degree: 18  # max degree of a node in the GNAT. default: 12
+    min_degree: 12  # min degree of a node in the GNAT. default: 12
+    max_pts_per_leaf: 6  # max points per leaf in the GNAT. default: 6
+    estimated_dimension: 0.0  # estimated dimension of the free space. default: 0.0
+    min_valid_path_fraction: 0.2  # Accept partially valid moves above fraction. default: 0.2
+  BiTRRT:
+    type: geometric::BiTRRT
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    temp_change_factor: 0.1  # how much to increase or decrease temp. default: 0.1
+    init_temperature: 100  # initial temperature. default: 100
+    frountier_threshold: 0.0  # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
+    frountier_node_ratio: 0.1  # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
+    cost_threshold: 1e300  # the cost threshold. Any motion cost that is not better will not be expanded. default: inf
+  LBTRRT:
+    type: geometric::LBTRRT
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+    epsilon: 0.4  # optimality approximation factor. default: 0.4
+  BiEST:
+    type: geometric::BiEST
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+  ProjEST:
+    type: geometric::ProjEST
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+  LazyPRM:
+    type: geometric::LazyPRM
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+  LazyPRMstar:
+    type: geometric::LazyPRMstar
+  SPARS:
+    type: geometric::SPARS
+    stretch_factor: 3.0  # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
+    sparse_delta_fraction: 0.25  # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
+    dense_delta_fraction: 0.001  # delta fraction for interface detection. default: 0.001
+    max_failures: 1000  # maximum consecutive failure limit. default: 1000
+  SPARStwo:
+    type: geometric::SPARStwo
+    stretch_factor: 3.0  # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
+    sparse_delta_fraction: 0.25  # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
+    dense_delta_fraction: 0.001  # delta fraction for interface detection. default: 0.001
+    max_failures: 5000  # maximum consecutive failure limit. default: 5000
+arm_group:
+  default_planner_config: None
+  planner_configs:
+    - SBL
+    - EST
+    - LBKPIECE
+    - BKPIECE
+    - KPIECE
+    - RRT
+    - RRTConnect
+    - RRTstar
+    - TRRT
+    - PRM
+    - PRMstar
+    - FMT
+    - BFMT
+    - PDST
+    - STRIDE
+    - BiTRRT
+    - LBTRRT
+    - BiEST
+    - ProjEST
+    - LazyPRM
+    - LazyPRMstar
+    - SPARS
+    - SPARStwo
+  projection_evaluator: joints(joint2_to_joint1,joint3_to_joint2)
+  longest_valid_segment_fraction: 0.005
\ No newline at end of file
diff --git a/mycobot_320/new_mycobot_320_pi_moveit/config/ros_controllers.yaml b/mycobot_320/new_mycobot_320_pi_moveit/config/ros_controllers.yaml
new file mode 100644
index 0000000..cfae48a
--- /dev/null
+++ b/mycobot_320/new_mycobot_320_pi_moveit/config/ros_controllers.yaml
@@ -0,0 +1,25 @@
+# Simulation settings for using moveit_sim_controllers
+moveit_sim_hw_interface:
+  joint_model_group: arm_group
+  joint_model_group_pose: init_pose
+# Settings for ros_control_boilerplate control loop
+generic_hw_control_loop:
+  loop_hz: 300
+  cycle_time_error_threshold: 0.01
+# Settings for ros_control hardware interface
+hardware_interface:
+  joints:
+    - joint2_to_joint1
+    - joint3_to_joint2
+    - joint4_to_joint3
+    - joint5_to_joint4
+    - joint6_to_joint5
+    - joint6output_to_joint6
+  sim_control_mode: 1  # 0: position, 1: velocity
+# Publish all joint states
+# Creates the /joint_states topic necessary in ROS
+joint_state_controller:
+  type: joint_state_controller/JointStateController
+  publish_rate: 50
+controller_list:
+  []
\ No newline at end of file
diff --git a/mycobot_320/new_mycobot_320_pi_moveit/config/sensors_3d.yaml b/mycobot_320/new_mycobot_320_pi_moveit/config/sensors_3d.yaml
new file mode 100644
index 0000000..a4bb13e
--- /dev/null
+++ b/mycobot_320/new_mycobot_320_pi_moveit/config/sensors_3d.yaml
@@ -0,0 +1,10 @@
+# The name of this file shouldn't be changed, or else the Setup Assistant won't detect it
+sensors:
+  - filtered_cloud_topic: filtered_cloud
+    max_range: 5.0
+    max_update_rate: 1.0
+    padding_offset: 0.1
+    padding_scale: 1.0
+    point_cloud_topic: /head_mount_kinect/depth_registered/points
+    point_subsample: 1
+    sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
\ No newline at end of file
diff --git a/mycobot_320/new_mycobot_320_pi_moveit/launch/chomp_planning_pipeline.launch.xml b/mycobot_320/new_mycobot_320_pi_moveit/launch/chomp_planning_pipeline.launch.xml
new file mode 100644
index 0000000..9181edc
--- /dev/null
+++ b/mycobot_320/new_mycobot_320_pi_moveit/launch/chomp_planning_pipeline.launch.xml
@@ -0,0 +1,10 @@
+<launch>
+   <!-- CHOMP Plugin for MoveIt! -->
+   <arg name="planning_plugin" value="chomp_interface/CHOMPPlanner" />
+   <arg name="start_state_max_bounds_error" value="0.1" />
+
+   <param name="planning_plugin" value="$(arg planning_plugin)" />
+   <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
+
+   <rosparam command="load" file="$(find new_mycobot_320_pi_moveit)/config/chomp_planning.yaml" />
+</launch>
diff --git a/mycobot_320/new_mycobot_320_pi_moveit/launch/default_warehouse_db.launch b/mycobot_320/new_mycobot_320_pi_moveit/launch/default_warehouse_db.launch
new file mode 100755
index 0000000..4d09f5f
--- /dev/null
+++ b/mycobot_320/new_mycobot_320_pi_moveit/launch/default_warehouse_db.launch
@@ -0,0 +1,15 @@
+<launch>
+
+  <arg name="reset" default="false"/>
+  <!-- If not specified, we'll use a default database location -->
+  <arg name="moveit_warehouse_database_path" default="$(find new_mycobot_320_pi_moveit)/default_warehouse_mongo_db" />
+
+  <!-- Launch the warehouse with the configured database location -->
+  <include file="$(find new_mycobot_320_pi_moveit)/launch/warehouse.launch">
+    <arg name="moveit_warehouse_database_path" value="$(arg moveit_warehouse_database_path)" />
+  </include>
+
+  <!-- If we want to reset the database, run this node -->
+  <node if="$(arg reset)" name="$(anon moveit_default_db_reset)" type="moveit_init_demo_warehouse" pkg="moveit_ros_warehouse" respawn="false" output="screen" />
+
+</launch>
diff --git a/mycobot_320/new_mycobot_320_pi_moveit/launch/demo.launch b/mycobot_320/new_mycobot_320_pi_moveit/launch/demo.launch
new file mode 100755
index 0000000..6474547
--- /dev/null
+++ b/mycobot_320/new_mycobot_320_pi_moveit/launch/demo.launch
@@ -0,0 +1,57 @@
+<launch>
+
+  <!-- By default, we do not start a database (it can be large) -->
+  <arg name="db" default="false" />
+  <!-- Allow user to specify database location -->
+  <arg name="db_path" default="$(find new_mycobot_320_pi_moveit)/default_warehouse_mongo_db" />
+
+  <!-- By default, we are not in debug mode -->
+  <arg name="debug" default="false" />
+
+  <!--
+  By default, hide joint_state_publisher's GUI
+
+  MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher.
+  The latter one maintains and publishes the current joint configuration of the simulated robot.
+  It also provides a GUI to move the simulated robot around "manually".
+  This corresponds to moving around the real robot without the use of MoveIt.
+  -->
+  <arg name="use_gui" default="false" />
+
+  <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
+  <include file="$(find new_mycobot_320_pi_moveit)/launch/planning_context.launch">
+    <arg name="load_robot_description" value="true"/>
+  </include>
+
+  <!-- If needed, broadcast static tf for robot root -->
+  
+
+  <!-- We do not have a robot connected, so publish fake joint states -->
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <param name="use_gui" value="$(arg use_gui)"/>
+    <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
+  </node>
+
+  <!-- Given the published joint states, publish tf for the robot links -->
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
+
+  <!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
+  <include file="$(find mycobot_320_pi_moveit)/launch/move_group.launch">
+    <arg name="allow_trajectory_execution" value="true"/>
+    <arg name="fake_execution" value="true"/>
+    <arg name="info" value="true"/>
+    <arg name="debug" value="$(arg debug)"/>
+  </include>
+
+  <!-- Run Rviz and load the default config to see the state of the move_group node -->
+  <include file="$(find mycobot_320_pi_moveit)/launch/moveit_rviz.launch">
+    <arg name="config" value="true"/>
+    <arg name="debug" value="$(arg debug)"/>
+  </include>
+
+  <!-- If database loading was enabled, start mongodb as well -->
+  <include file="$(find mycobot_320_pi_moveit)/launch/default_warehouse_db.launch" if="$(arg db)">
+    <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
+  </include>
+
+</launch>
diff --git a/mycobot_320/new_mycobot_320_pi_moveit/launch/demo_gazebo.launch b/mycobot_320/new_mycobot_320_pi_moveit/launch/demo_gazebo.launch
new file mode 100755
index 0000000..7799658
--- /dev/null
+++ b/mycobot_320/new_mycobot_320_pi_moveit/launch/demo_gazebo.launch
@@ -0,0 +1,70 @@
+<launch>
+
+  <!-- By default, we do not start a database (it can be large) -->
+  <arg name="db" default="false" />
+  <!-- Allow user to specify database location -->
+  <arg name="db_path" default="$(find new_mycobot_320_pi_moveit)/default_warehouse_mongo_db" />
+
+  <!-- By default, we are not in debug mode -->
+  <arg name="debug" default="false" />
+
+  <!--
+  By default, hide joint_state_publisher's GUI
+
+  MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher.
+  The latter one maintains and publishes the current joint configuration of the simulated robot.
+  It also provides a GUI to move the simulated robot around "manually".
+  This corresponds to moving around the real robot without the use of MoveIt.
+  -->
+  <arg name="use_gui" default="false" />
+
+  <!-- Gazebo specific options -->
+  <arg name="gazebo_gui" default="true"/>
+  <arg name="paused" default="false"/>
+  <!-- By default, use the urdf location provided from the package -->
+  <arg name="urdf_path" default="$(find mycobot_description)/urdf/new_320_pi/new_mycobot_pro_320_pi_moveit.urdf"/>
+
+  <!-- launch the gazebo simulator and spawn the robot -->
+  <include file="$(find new_mycobot_320_pi_moveit)/launch/gazebo.launch" >
+    <arg name="paused" value="$(arg paused)"/>
+    <arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
+    <arg name="urdf_path" value="$(arg urdf_path)"/>
+  </include>
+
+  <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
+  <include file="$(find new_mycobot_320_pi_moveit)/launch/planning_context.launch">
+    <arg name="load_robot_description" value="false"/>
+  </include>
+
+  <!-- If needed, broadcast static tf for robot root -->
+  
+
+  <!-- We do not have a robot connected, so publish fake joint states -->
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <param name="use_gui" value="$(arg use_gui)"/>
+    <rosparam param="source_list">[/joint_states]</rosparam>
+  </node>
+
+  <!-- Given the published joint states, publish tf for the robot links -->
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
+
+  <!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
+  <include file="$(find new_mycobot_320_pi_moveit)/launch/move_group.launch">
+    <arg name="allow_trajectory_execution" value="true"/>
+    <arg name="fake_execution" value="false"/>
+    <arg name="info" value="true"/>
+    <arg name="debug" value="$(arg debug)"/>
+  </include>  
+
+  <!-- Run Rviz and load the default config to see the state of the move_group node -->
+  <include file="$(find new_mycobot_320_pi_moveit)/launch/moveit_rviz.launch">
+    <arg name="config" value="true"/>
+    <arg name="debug" value="$(arg debug)"/>
+  </include>
+
+  <!-- If database loading was enabled, start mongodb as well -->
+  <include file="$(find new_mycobot_320_pi_moveit)/launch/default_warehouse_db.launch" if="$(arg db)">
+    <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
+  </include>
+
+</launch>
diff --git a/mycobot_320/new_mycobot_320_pi_moveit/launch/fake_moveit_controller_manager.launch.xml b/mycobot_320/new_mycobot_320_pi_moveit/launch/fake_moveit_controller_manager.launch.xml
new file mode 100644
index 0000000..a33aa79
--- /dev/null
+++ b/mycobot_320/new_mycobot_320_pi_moveit/launch/fake_moveit_controller_manager.launch.xml
@@ -0,0 +1,9 @@
+<launch>
+
+  <!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
+  <param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/>
+
+  <!-- The rest of the params are specific to this plugin -->
+  <rosparam file="$(find new_mycobot_320_pi_moveit)/config/fake_controllers.yaml"/>
+
+</launch>
diff --git a/mycobot_320/new_mycobot_320_pi_moveit/launch/firefighter_moveit_controller_manager.launch.xml b/mycobot_320/new_mycobot_320_pi_moveit/launch/firefighter_moveit_controller_manager.launch.xml
new file mode 100644
index 0000000..89acd60
--- /dev/null
+++ b/mycobot_320/new_mycobot_320_pi_moveit/launch/firefighter_moveit_controller_manager.launch.xml
@@ -0,0 +1,10 @@
+<launch>
+
+  <!-- loads moveit_controller_manager on the parameter server which is taken as argument 
+    if no argument is passed, moveit_simple_controller_manager will be set -->
+  <arg name="moveit_controller_manager" default="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
+  <param name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
+
+  <!-- loads ros_controllers to the param server -->
+  <rosparam file="$(find new_mycobot_320_pi_moveit)/config/ros_controllers.yaml"/>
+</launch>
diff --git a/mycobot_320/new_mycobot_320_pi_moveit/launch/firefighter_moveit_sensor_manager.launch.xml b/mycobot_320/new_mycobot_320_pi_moveit/launch/firefighter_moveit_sensor_manager.launch.xml
new file mode 100644
index 0000000..5d02698
--- /dev/null
+++ b/mycobot_320/new_mycobot_320_pi_moveit/launch/firefighter_moveit_sensor_manager.launch.xml
@@ -0,0 +1,3 @@
+<launch>
+
+</launch>
diff --git a/mycobot_320/new_mycobot_320_pi_moveit/launch/gazebo.launch b/mycobot_320/new_mycobot_320_pi_moveit/launch/gazebo.launch
new file mode 100755
index 0000000..0bfa8b2
--- /dev/null
+++ b/mycobot_320/new_mycobot_320_pi_moveit/launch/gazebo.launch
@@ -0,0 +1,23 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="paused" default="false"/>
+  <arg name="gazebo_gui" default="true"/>
+  <arg name="urdf_path" default="$(find mycobot_description)/urdf/320_pi/mycobot_pro_320_pi_moveit.urdf"/>
+
+  <!-- startup simulated world -->
+  <include file="$(find gazebo_ros)/launch/empty_world.launch">
+    <arg name="world_name" default="worlds/empty.world"/>
+    <arg name="paused" value="$(arg paused)"/>
+    <arg name="gui" value="$(arg gazebo_gui)"/>
+  </include>
+
+  <!-- send robot urdf to param server -->
+  <param name="robot_description" textfile="$(arg urdf_path)" />
+
+  <!-- push robot_description to factory and spawn robot in gazebo at the origin, change x,y,z arguments to spawn in a different position -->
+  <node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot -x 0 -y 0 -z 0"
+    respawn="false" output="screen" />
+
+  <include file="$(find new_mycobot_320_pi_moveit)/launch/ros_controllers.launch"/>
+
+</launch>
diff --git a/mycobot_320/new_mycobot_320_pi_moveit/launch/joystick_control.launch b/mycobot_320/new_mycobot_320_pi_moveit/launch/joystick_control.launch
new file mode 100755
index 0000000..9411f6e
--- /dev/null
+++ b/mycobot_320/new_mycobot_320_pi_moveit/launch/joystick_control.launch
@@ -0,0 +1,17 @@
+<launch>
+  <!-- See moveit_ros/visualization/doc/joystick.rst for documentation -->
+
+  <arg name="dev" default="/dev/input/js0" />
+
+  <!-- Launch joy node -->
+  <node pkg="joy" type="joy_node" name="joy">
+    <param name="dev" value="$(arg dev)" /> <!-- Customize this to match the location your joystick is plugged in on-->
+    <param name="deadzone" value="0.2" />
+    <param name="autorepeat_rate" value="40" />
+    <param name="coalesce_interval" value="0.025" />
+  </node>
+
+  <!-- Launch python interface -->
+  <node pkg="moveit_ros_visualization" type="moveit_joy.py" output="screen" name="moveit_joy"/>
+
+</launch>
diff --git a/mycobot_320/new_mycobot_320_pi_moveit/launch/move_group.launch b/mycobot_320/new_mycobot_320_pi_moveit/launch/move_group.launch
new file mode 100755
index 0000000..f541e89
--- /dev/null
+++ b/mycobot_320/new_mycobot_320_pi_moveit/launch/move_group.launch
@@ -0,0 +1,77 @@
+<launch>
+
+  <include file="$(find new_mycobot_320_pi_moveit)/launch/planning_context.launch" />
+
+  <!-- GDB Debug Option -->
+  <arg name="debug" default="false" />
+  <arg unless="$(arg debug)" name="launch_prefix" value="" />
+  <arg     if="$(arg debug)" name="launch_prefix"
+	   value="gdb -x $(find new_mycobot_320_pi_moveit)/launch/gdb_settings.gdb --ex run --args" />
+
+  <!-- Verbose Mode Option -->
+  <arg name="info" default="$(arg debug)" />
+  <arg unless="$(arg info)" name="command_args" value="" />
+  <arg     if="$(arg info)" name="command_args" value="--debug" />
+
+  <!-- move_group settings -->
+  <arg name="allow_trajectory_execution" default="true"/>
+  <arg name="fake_execution" default="false"/>
+  <arg name="max_safe_path_cost" default="1"/>
+  <arg name="jiggle_fraction" default="0.05" />
+  <arg name="publish_monitored_planning_scene" default="true"/>
+
+  <arg name="capabilities" default=""/>
+  <arg name="disable_capabilities" default=""/>
+  <!-- load these non-default MoveGroup capabilities (space seperated) -->
+  <!--
+  <arg name="capabilities" value="
+                a_package/AwsomeMotionPlanningCapability
+                another_package/GraspPlanningPipeline
+                " />
+  -->
+
+  <!-- inhibit these default MoveGroup capabilities (space seperated) -->
+  <!--
+  <arg name="disable_capabilities" value="
+                move_group/MoveGroupKinematicsService
+                move_group/ClearOctomapService
+                " />
+  -->
+
+  <!-- Planning Functionality -->
+  <include ns="move_group" file="$(find new_mycobot_320_pi_moveit)/launch/planning_pipeline.launch.xml">
+    <arg name="pipeline" value="ompl" />
+  </include>
+
+  <!-- Trajectory Execution Functionality -->
+  <include ns="move_group" file="$(find new_mycobot_320_pi_moveit)/launch/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
+    <arg name="moveit_manage_controllers" value="true" />
+    <arg name="moveit_controller_manager" value="firefighter" unless="$(arg fake_execution)"/>
+    <arg name="moveit_controller_manager" value="fake" if="$(arg fake_execution)"/>
+  </include>
+
+  <!-- Sensors Functionality -->
+  <include ns="move_group" file="$(find new_mycobot_320_pi_moveit)/launch/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
+    <arg name="moveit_sensor_manager" value="firefighter" />
+  </include>
+
+  <!-- Start the actual move_group node/action server -->
+  <node name="move_group" launch-prefix="$(arg launch_prefix)" pkg="moveit_ros_move_group" type="move_group" respawn="false" output="screen" args="$(arg command_args)">
+    <!-- Set the display variable, in case OpenGL code is used internally -->
+    <env name="DISPLAY" value="$(optenv DISPLAY :0)" />
+
+    <param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/>
+    <param name="max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
+    <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
+    <param name="capabilities" value="$(arg capabilities)"/>
+    <param name="disable_capabilities" value="$(arg disable_capabilities)"/>
+
+
+    <!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot -->
+    <param name="planning_scene_monitor/publish_planning_scene" value="$(arg publish_monitored_planning_scene)" />
+    <param name="planning_scene_monitor/publish_geometry_updates" value="$(arg publish_monitored_planning_scene)" />
+    <param name="planning_scene_monitor/publish_state_updates" value="$(arg publish_monitored_planning_scene)" />
+    <param name="planning_scene_monitor/publish_transforms_updates" value="$(arg publish_monitored_planning_scene)" />
+  </node>
+
+</launch>
diff --git a/mycobot_320/new_mycobot_320_pi_moveit/launch/moveit.rviz b/mycobot_320/new_mycobot_320_pi_moveit/launch/moveit.rviz
new file mode 100644
index 0000000..ecece4d
--- /dev/null
+++ b/mycobot_320/new_mycobot_320_pi_moveit/launch/moveit.rviz
@@ -0,0 +1,250 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 84
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /MotionPlanning1
+        - /MotionPlanning1/Scene Geometry1
+        - /MotionPlanning1/Scene Robot1
+        - /MotionPlanning1/Planning Request1
+        - /MotionPlanning1/Planned Path1
+      Splitter Ratio: 0.742560029
+    Tree Height: 195
+  - Class: rviz/Help
+    Name: Help
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.0299999993
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Acceleration_Scaling_Factor: 1
+      Class: moveit_rviz_plugin/MotionPlanning
+      Enabled: true
+      Move Group Namespace: ""
+      MoveIt_Allow_Approximate_IK: false
+      MoveIt_Allow_External_Program: false
+      MoveIt_Allow_Replanning: false
+      MoveIt_Allow_Sensor_Positioning: false
+      MoveIt_Goal_Tolerance: 0
+      MoveIt_Planning_Attempts: 10
+      MoveIt_Planning_Time: 5
+      MoveIt_Use_Constraint_Aware_IK: true
+      MoveIt_Warehouse_Host: 127.0.0.1
+      MoveIt_Warehouse_Port: 33829
+      MoveIt_Workspace:
+        Center:
+          X: 0
+          Y: 0
+          Z: 0
+        Size:
+          X: 2
+          Y: 2
+          Z: 2
+      Name: MotionPlanning
+      Planned Path:
+        Color Enabled: false
+        Interrupt Display: false
+        Links:
+          All Links Enabled: true
+          Expand Joint Details: false
+          Expand Link Details: false
+          Expand Tree: false
+          Link Tree Style: Links in Alphabetic Order
+          base:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          link1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          link2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          link3:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          link4:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          link5:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          link6:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+        Loop Animation: false
+        Robot Alpha: 0.5
+        Robot Color: 150; 50; 150
+        Show Robot Collision: false
+        Show Robot Visual: true
+        Show Trail: false
+        State Display Time: 0.05 s
+        Trail Step Size: 1
+        Trajectory Topic: move_group/display_planned_path
+      Planning Metrics:
+        Payload: 1
+        Show Joint Torques: false
+        Show Manipulability: false
+        Show Manipulability Index: false
+        Show Weight Limit: false
+        TextHeight: 0.0799999982
+      Planning Request:
+        Colliding Link Color: 255; 0; 0
+        Goal State Alpha: 1
+        Goal State Color: 250; 128; 0
+        Interactive Marker Size: 0
+        Joint Violation Color: 255; 0; 255
+        Planning Group: arm_group
+        Query Goal State: true
+        Query Start State: true
+        Show Workspace: false
+        Start State Alpha: 1
+        Start State Color: 0; 255; 0
+      Planning Scene Topic: move_group/monitored_planning_scene
+      Robot Description: robot_description
+      Scene Geometry:
+        Scene Alpha: 1
+        Scene Color: 50; 230; 50
+        Scene Display Time: 0.200000003
+        Show Scene Geometry: true
+        Voxel Coloring: Z-Axis
+        Voxel Rendering: Occupied Voxels
+      Scene Robot:
+        Attached Body Color: 150; 50; 150
+        Links:
+          All Links Enabled: true
+          Expand Joint Details: false
+          Expand Link Details: false
+          Expand Tree: false
+          Link Tree Style: Links in Alphabetic Order
+          base:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          link1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          link2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          link3:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          link4:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          link5:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          link6:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+        Robot Alpha: 0.5
+        Show Robot Collision: false
+        Show Robot Visual: false
+      Value: true
+      Velocity_Scaling_Factor: 1
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: base
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+  Value: true
+  Views:
+    Current:
+      Class: rviz/XYOrbit
+      Distance: 2.99650002
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.0599999987
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0.113567002
+        Y: 0.105920002
+        Z: 2.23518001e-07
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.0500000007
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.00999999978
+      Pitch: 0.0797968805
+      Target Frame: base
+      Value: XYOrbit (rviz)
+      Yaw: 2.89994884
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 898
+  Help:
+    collapsed: false
+  Hide Left Dock: false
+  Hide Right Dock: false
+  MotionPlanning:
+    collapsed: false
+  MotionPlanning - Trajectory Slider:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd0000000100000000000002ad0000033cfc0200000007fb000000100044006900730070006c006100790073010000002800000158000000d700fffffffb0000000800480065006c00700000000342000000bb0000007300fffffffb0000000a0056006900650077007300000003b0000000b0000000ad00fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c006900640065007201000001860000004a0000004a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001d60000018e0000018300ffffff0000048c0000033c00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Views:
+    collapsed: false
+  Width: 1855
+  X: 58
+  Y: 24
diff --git a/mycobot_320/new_mycobot_320_pi_moveit/launch/moveit_rviz.launch b/mycobot_320/new_mycobot_320_pi_moveit/launch/moveit_rviz.launch
new file mode 100755
index 0000000..e05875b
--- /dev/null
+++ b/mycobot_320/new_mycobot_320_pi_moveit/launch/moveit_rviz.launch
@@ -0,0 +1,16 @@
+<launch>
+
+  <arg name="debug" default="false" />
+  <arg unless="$(arg debug)" name="launch_prefix" value="" />
+  <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
+
+  <arg name="config" default="false" />
+  <arg unless="$(arg config)" name="command_args" value="" />
+  <arg     if="$(arg config)" name="command_args" value="-d $(find new_mycobot_320_pi_moveit)/launch/moveit.rviz" />
+
+  <node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
+	args="$(arg command_args)" output="screen">
+    <rosparam command="load" file="$(find new_mycobot_320_pi_moveit)/config/kinematics.yaml"/>
+  </node>
+
+</launch>
diff --git a/mycobot_320/new_mycobot_320_pi_moveit/launch/mycobot320_moveit.launch b/mycobot_320/new_mycobot_320_pi_moveit/launch/mycobot320_moveit.launch
new file mode 100755
index 0000000..6efa196
--- /dev/null
+++ b/mycobot_320/new_mycobot_320_pi_moveit/launch/mycobot320_moveit.launch
@@ -0,0 +1,57 @@
+<launch>
+
+  <!-- By default, we do not start a database (it can be large) -->
+  <arg name="db" default="false" />
+  <!-- Allow user to specify database location -->
+  <arg name="db_path" default="$(find new_mycobot_320_pi_moveit)/default_warehouse_mongo_db" />
+
+  <!-- By default, we are not in debug mode -->
+  <arg name="debug" default="false" />
+
+  <!--
+  By default, hide joint_state_publisher's GUI
+
+  MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher.
+  The latter one maintains and publishes the current joint configuration of the simulated robot.
+  It also provides a GUI to move the simulated robot around "manually".
+  This corresponds to moving around the real robot without the use of MoveIt.
+  -->
+  <arg name="use_gui" default="false" />
+
+  <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
+  <include file="$(find new_mycobot_320_pi_moveit)/launch/planning_context.launch">
+    <arg name="load_robot_description" value="true"/>
+  </include>
+
+  <!-- If needed, broadcast static tf for robot root -->
+  
+
+  <!-- We do not have a robot connected, so publish fake joint states -->
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <param name="use_gui" value="$(arg use_gui)"/>
+    <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
+  </node>
+
+  <!-- Given the published joint states, publish tf for the robot links -->
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
+
+  <!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
+  <include file="$(find new_mycobot_320_pi_moveit)/launch/move_group.launch">
+    <arg name="allow_trajectory_execution" value="true"/>
+    <arg name="fake_execution" value="true"/>
+    <arg name="info" value="true"/>
+    <arg name="debug" value="$(arg debug)"/>
+  </include>
+
+  <!-- Run Rviz and load the default config to see the state of the move_group node -->
+  <include file="$(find new_mycobot_320_pi_moveit)/launch/moveit_rviz.launch">
+    <arg name="config" value="true"/>
+    <arg name="debug" value="$(arg debug)"/>
+  </include> 
+
+  <!-- If database loading was enabled, start mongodb as well -->
+  <include file="$(find new_mycobot_320_pi_moveit)/launch/default_warehouse_db.launch" if="$(arg db)">
+    <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
+  </include>
+
+</launch>
diff --git a/mycobot_320/new_mycobot_320_pi_moveit/launch/ompl_planning_pipeline.launch.xml b/mycobot_320/new_mycobot_320_pi_moveit/launch/ompl_planning_pipeline.launch.xml
new file mode 100644
index 0000000..1081c15
--- /dev/null
+++ b/mycobot_320/new_mycobot_320_pi_moveit/launch/ompl_planning_pipeline.launch.xml
@@ -0,0 +1,22 @@
+<launch>
+
+  <!-- OMPL Plugin for MoveIt! -->
+  <arg name="planning_plugin" value="ompl_interface/OMPLPlanner" />
+
+  <!-- The request adapters (plugins) used when planning with OMPL.
+       ORDER MATTERS -->
+  <arg name="planning_adapters" value="default_planner_request_adapters/AddTimeParameterization
+				       default_planner_request_adapters/FixWorkspaceBounds
+				       default_planner_request_adapters/FixStartStateBounds
+				       default_planner_request_adapters/FixStartStateCollision
+				       default_planner_request_adapters/FixStartStatePathConstraints" />
+
+  <arg name="start_state_max_bounds_error" value="0.1" />
+
+  <param name="planning_plugin" value="$(arg planning_plugin)" />
+  <param name="request_adapters" value="$(arg planning_adapters)" />
+  <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
+
+  <rosparam command="load" file="$(find new_mycobot_320_pi_moveit)/config/ompl_planning.yaml"/>
+
+</launch>
diff --git a/mycobot_320/new_mycobot_320_pi_moveit/launch/planning_context.launch b/mycobot_320/new_mycobot_320_pi_moveit/launch/planning_context.launch
new file mode 100755
index 0000000..d2adb4a
--- /dev/null
+++ b/mycobot_320/new_mycobot_320_pi_moveit/launch/planning_context.launch
@@ -0,0 +1,24 @@
+<launch>
+  <!-- By default we do not overwrite the URDF. Change the following to true to change the default behavior -->
+  <arg name="load_robot_description" default="false"/>
+
+  <!-- The name of the parameter under which the URDF is loaded -->
+  <arg name="robot_description" default="robot_description"/>
+
+  <!-- Load universal robot description format (URDF) -->
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/new_320_pi/new_mycobot_pro_320_pi_moveit.urdf"/>
+
+  <!-- The semantic description that corresponds to the URDF -->
+  <param name="$(arg robot_description)_semantic" textfile="$(find new_mycobot_320_pi_moveit)/config/firefighter.srdf" />
+
+  <!-- Load updated joint limits (override information from URDF) -->
+  <group ns="$(arg robot_description)_planning">
+    <rosparam command="load" file="$(find new_mycobot_320_pi_moveit)/config/joint_limits.yaml"/>
+  </group>
+
+  <!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->
+  <group ns="$(arg robot_description)_kinematics">
+    <rosparam command="load" file="$(find new_mycobot_320_pi_moveit)/config/kinematics.yaml"/>
+  </group>
+
+</launch>
diff --git a/mycobot_320/new_mycobot_320_pi_moveit/launch/planning_pipeline.launch.xml b/mycobot_320/new_mycobot_320_pi_moveit/launch/planning_pipeline.launch.xml
new file mode 100644
index 0000000..7deaa46
--- /dev/null
+++ b/mycobot_320/new_mycobot_320_pi_moveit/launch/planning_pipeline.launch.xml
@@ -0,0 +1,10 @@
+<launch>
+
+  <!-- This file makes it easy to include different planning pipelines;
+       It is assumed that all planning pipelines are named XXX_planning_pipeline.launch  -->
+
+  <arg name="pipeline" default="ompl" />
+
+  <include file="$(find new_mycobot_320_pi_moveit)/launch/$(arg pipeline)_planning_pipeline.launch.xml" />
+
+</launch>
diff --git a/mycobot_320/new_mycobot_320_pi_moveit/launch/ros_controllers.launch b/mycobot_320/new_mycobot_320_pi_moveit/launch/ros_controllers.launch
new file mode 100755
index 0000000..c2bfee2
--- /dev/null
+++ b/mycobot_320/new_mycobot_320_pi_moveit/launch/ros_controllers.launch
@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<launch>
+
+  <!-- Load joint controller configurations from YAML file to parameter server -->
+  <rosparam file="$(find new_mycobot_320_pi_moveit)/config/ros_controllers.yaml" command="load"/>
+
+  <!-- Load the controllers -->
+  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
+    output="screen" args=""/>
+
+</launch>
diff --git a/mycobot_320/new_mycobot_320_pi_moveit/launch/run_benchmark_ompl.launch b/mycobot_320/new_mycobot_320_pi_moveit/launch/run_benchmark_ompl.launch
new file mode 100755
index 0000000..d9e17a7
--- /dev/null
+++ b/mycobot_320/new_mycobot_320_pi_moveit/launch/run_benchmark_ompl.launch
@@ -0,0 +1,22 @@
+<launch>
+
+  <!-- This argument must specify the list of .cfg files to process for benchmarking -->
+  <arg name="cfg" />
+
+  <!-- Load URDF -->
+  <include file="$(find new_mycobot_320_pi_moveit)/launch/planning_context.launch">
+    <arg name="load_robot_description" value="true"/>
+  </include>
+
+  <!-- Start the database -->
+  <include file="$(find new_mycobot_320_pi_moveit)/launch/warehouse.launch">
+    <arg name="moveit_warehouse_database_path" value="moveit_ompl_benchmark_warehouse"/>
+  </include>
+
+  <!-- Start Benchmark Executable -->
+  <node name="$(anon moveit_benchmark)" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" args="$(arg cfg) --benchmark-planners" respawn="false" output="screen">
+    <rosparam command="load" file="$(find new_mycobot_320_pi_moveit)/config/kinematics.yaml"/>
+    <rosparam command="load" file="$(find new_mycobot_320_pi_moveit)/config/ompl_planning.yaml"/>
+  </node>
+
+</launch>
diff --git a/mycobot_320/new_mycobot_320_pi_moveit/launch/sensor_manager.launch.xml b/mycobot_320/new_mycobot_320_pi_moveit/launch/sensor_manager.launch.xml
new file mode 100644
index 0000000..45f5de3
--- /dev/null
+++ b/mycobot_320/new_mycobot_320_pi_moveit/launch/sensor_manager.launch.xml
@@ -0,0 +1,17 @@
+<launch>
+
+  <!-- This file makes it easy to include the settings for sensor managers -->
+
+  <!-- Params for 3D sensors config -->
+  <rosparam command="load" file="$(find new_mycobot_320_pi_moveit)/config/sensors_3d.yaml" />
+
+  <!-- Params for the octomap monitor -->
+  <!--  <param name="octomap_frame" type="string" value="some frame in which the robot moves" /> -->
+  <param name="octomap_resolution" type="double" value="0.025" />
+  <param name="max_range" type="double" value="5.0" />
+
+  <!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
+  <arg name="moveit_sensor_manager" default="firefighter" />
+  <include file="$(find new_mycobot_320_pi_moveit)/launch/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
+
+</launch>
diff --git a/mycobot_320/new_mycobot_320_pi_moveit/launch/setup_assistant.launch b/mycobot_320/new_mycobot_320_pi_moveit/launch/setup_assistant.launch
new file mode 100755
index 0000000..7bb4d33
--- /dev/null
+++ b/mycobot_320/new_mycobot_320_pi_moveit/launch/setup_assistant.launch
@@ -0,0 +1,15 @@
+<!-- Re-launch the MoveIt! Setup Assistant with this configuration package already loaded -->
+<launch>
+
+  <!-- Debug Info -->
+  <arg name="debug" default="false" />
+  <arg unless="$(arg debug)" name="launch_prefix" value="" />
+  <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
+
+  <!-- Run -->
+  <node pkg="moveit_setup_assistant" type="moveit_setup_assistant" name="moveit_setup_assistant"
+	args="--config_pkg=new_mycobot_320_pi_moveit"
+	launch-prefix="$(arg launch_prefix)"
+        output="screen" />
+
+</launch>
diff --git a/mycobot_320/new_mycobot_320_pi_moveit/launch/trajectory_execution.launch.xml b/mycobot_320/new_mycobot_320_pi_moveit/launch/trajectory_execution.launch.xml
new file mode 100644
index 0000000..2a51583
--- /dev/null
+++ b/mycobot_320/new_mycobot_320_pi_moveit/launch/trajectory_execution.launch.xml
@@ -0,0 +1,20 @@
+<launch>
+
+  <!-- This file makes it easy to include the settings for trajectory execution  -->
+
+  <!-- Flag indicating whether MoveIt! is allowed to load/unload  or switch controllers -->
+  <arg name="moveit_manage_controllers" default="true"/>
+  <param name="moveit_manage_controllers" value="$(arg moveit_manage_controllers)"/>
+
+  <!-- When determining the expected duration of a trajectory, this multiplicative factor is applied to get the allowed duration of execution -->
+  <param name="trajectory_execution/allowed_execution_duration_scaling" value="1.2"/> <!-- default 1.2 -->
+  <!-- Allow more than the expected execution time before triggering a trajectory cancel (applied after scaling) -->
+  <param name="trajectory_execution/allowed_goal_duration_margin" value="0.5"/> <!-- default 0.5 -->
+  <!-- Allowed joint-value tolerance for validation that trajectory's first point matches current robot state -->
+  <param name="trajectory_execution/allowed_start_tolerance" value="0.01"/> <!-- default 0.01 -->
+
+  <!-- Load the robot specific controller manager; this sets the moveit_controller_manager ROS parameter -->
+  <arg name="moveit_controller_manager" default="firefighter" />
+  <include file="$(find new_mycobot_320_pi_moveit)/launch/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" />
+
+</launch>
diff --git a/mycobot_320/new_mycobot_320_pi_moveit/launch/warehouse.launch b/mycobot_320/new_mycobot_320_pi_moveit/launch/warehouse.launch
new file mode 100755
index 0000000..ffc2052
--- /dev/null
+++ b/mycobot_320/new_mycobot_320_pi_moveit/launch/warehouse.launch
@@ -0,0 +1,15 @@
+<launch>
+
+  <!-- The path to the database must be specified -->
+  <arg name="moveit_warehouse_database_path" />
+
+  <!-- Load warehouse parameters -->
+  <include file="$(find new_mycobot_320_pi_moveit)/launch/warehouse_settings.launch.xml" />
+
+  <!-- Run the DB server -->
+  <node name="$(anon mongo_wrapper_ros)" cwd="ROS_HOME" type="mongo_wrapper_ros.py" pkg="warehouse_ros_mongo">
+    <param name="overwrite" value="false"/>
+    <param name="database_path" value="$(arg moveit_warehouse_database_path)" />
+  </node>
+
+</launch>
diff --git a/mycobot_320/new_mycobot_320_pi_moveit/launch/warehouse_settings.launch.xml b/mycobot_320/new_mycobot_320_pi_moveit/launch/warehouse_settings.launch.xml
new file mode 100644
index 0000000..e473b08
--- /dev/null
+++ b/mycobot_320/new_mycobot_320_pi_moveit/launch/warehouse_settings.launch.xml
@@ -0,0 +1,16 @@
+<launch>
+  <!-- Set the parameters for the warehouse and run the mongodb server. -->
+
+  <!-- The default DB port for moveit (not default MongoDB port to avoid potential conflicts) -->
+  <arg name="moveit_warehouse_port" default="33829" />
+
+  <!-- The default DB host for moveit -->
+  <arg name="moveit_warehouse_host" default="localhost" />
+
+  <!-- Set parameters for the warehouse -->
+  <param name="warehouse_port" value="$(arg moveit_warehouse_port)"/>
+  <param name="warehouse_host" value="$(arg moveit_warehouse_host)"/>
+  <param name="warehouse_exec" value="mongod" />
+  <param name="warehouse_plugin" value="warehouse_ros_mongo::MongoDatabaseConnection" />
+
+</launch>
diff --git a/mycobot_320/new_mycobot_320_pi_moveit/package.xml b/mycobot_320/new_mycobot_320_pi_moveit/package.xml
new file mode 100644
index 0000000..b6526cb
--- /dev/null
+++ b/mycobot_320/new_mycobot_320_pi_moveit/package.xml
@@ -0,0 +1,33 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>new_mycobot_320_pi_moveit</name>
+  <version>0.0.0</version>
+  <description>The new_mycobot_320_pi_moveit package</description>
+
+ <author email="weijian.wang@elephantrobotics.com">zachary</author>
+  <maintainer email="weijian.wang@elephantrobotics.com">zachary</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">http://moveit.ros.org/</url>
+  <url type="bugtracker">https://github.com/ros-planning/moveit/issues</url>
+  <url type="repository">https://github.com/ros-planning/moveit</url>
+
+ 
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <exec_depend>moveit_ros_move_group</exec_depend>
+  <exec_depend>moveit_fake_controller_manager</exec_depend>
+  <exec_depend>moveit_kinematics</exec_depend>
+  <exec_depend>moveit_planners_ompl</exec_depend>
+  <exec_depend>moveit_ros_visualization</exec_depend>
+  <exec_depend>moveit_setup_assistant</exec_depend>
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>xacro</exec_depend>
+  <!-- This package is referenced in the warehouse launch files, but does not build out of the box at the moment. Commented the dependency until this works. -->
+  <!-- <exec_depend>warehouse_ros_mongo</exec_depend> -->
+  <build_depend>mycobot_description</build_depend>
+  <exec_depend>mycobot_description</exec_depend>
+</package>
diff --git a/mycobot_320/new_mycobot_320_pi_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py b/mycobot_320/new_mycobot_320_pi_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py
new file mode 100755
index 0000000..cd4024d
--- /dev/null
+++ b/mycobot_320/new_mycobot_320_pi_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py
@@ -0,0 +1,137 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+import rospy, roslib, sys
+import moveit_commander
+from moveit_msgs.msg import RobotTrajectory
+from trajectory_msgs.msg import JointTrajectoryPoint
+
+from geometry_msgs.msg import PoseStamped, Pose
+from tf.transformations import euler_from_quaternion, quaternion_from_euler
+
+
+class MoveItPlanningDemo:
+    def __init__(self):
+        # API to initialize move_group,初始化move_group的API
+        moveit_commander.roscpp_initialize(sys.argv)
+
+        # Initialize the ROS node,初始化ROS节点
+        rospy.init_node("moveit_ik_demo")
+
+        # Initialize the scene object to monitor changes in the external environment
+        # 初始化场景对象，用来监听外部环境的变化
+        self.scene = moveit_commander.PlanningSceneInterface()
+        rospy.sleep(1)
+
+        # Initialize self.arm group in the robotic arm that needs to be controlled by move group
+        # 初始化需要使用move group控制的机械臂中的self.arm group
+        self.arm = moveit_commander.MoveGroupCommander("arm_group")
+
+        # Get the name of the terminal link,获取终端link的名称
+        self.end_effector_link = self.arm.get_end_effector_link()
+
+        # Set the reference coordinate system used for the target position
+        # 设置目标位置所使用的参考坐标系
+        self.reference_frame = "joint1"
+        self.arm.set_pose_reference_frame(self.reference_frame)
+
+        # Allow replanning when motion planning fails,当运动规划失败后，允许重新规划
+        self.arm.allow_replanning(True)
+
+        # Set the allowable error of position (unit: meter) and attitude (unit: radian)
+        # 设置位置(单位：米)和姿态（单位：弧度）的允许误差
+        self.arm.set_goal_position_tolerance(0.01)
+        self.arm.set_goal_orientation_tolerance(0.05)
+
+    def moving(self):
+        # # Control the robotic arm to return to the initialization position first
+        # 控制机械臂先回到初始化位置
+        self.arm.set_named_target("init_pose")
+        self.arm.go()
+        rospy.sleep(2)
+
+        # Set the target pose in the robotic arm workspace, the position is described by x, y, z coordinates,
+        # 设置机械臂工作空间中的目标位姿，位置使用x、y、z坐标描述，
+        # Pose is described by quaternion, based on base_link coordinate system
+        # 姿态使用四元数描述，基于base_link坐标系
+        target_pose = PoseStamped()
+        target_pose.header.frame_id = self.reference_frame
+        target_pose.header.stamp = rospy.Time.now()
+        target_pose.pose.position.x = 0.132
+        target_pose.pose.position.y = -0.150
+        target_pose.pose.position.z = 0.075
+        target_pose.pose.orientation.x = 0.026
+        target_pose.pose.orientation.y = 1.0
+        target_pose.pose.orientation.z = 0.0
+        target_pose.pose.orientation.w = 0.014
+
+        # Set the current state of the robot arm as the initial state of motion
+        # 设置机器臂当前的状态作为运动初始状态
+        self.arm.set_start_state_to_current_state()
+
+        # Set the target pose of the terminal motion of the robotic arm
+        # 设置机械臂终端运动的目标位姿
+        self.arm.set_pose_target(target_pose, self.end_effector_link)
+
+        # Plan the movement path,规划运动路径
+        traj = self.arm.plan()
+
+        # Control the motion of the robotic arm according to the planned motion path
+        # 按照规划的运动路径控制机械臂运动
+        self.arm.execute(traj)
+        rospy.sleep(1)
+
+        # Control the terminal of the robotic arm to move 5cm to the right. Parameter 1 represents y, 0,1,2,3,4,5 represents xyzrpy
+        # 控制机械臂终端向右移动5cm 參數1是代表y， 0,1,2,3,4,5 代表xyzrpy
+        self.arm.shift_pose_target(1, 0.12, self.end_effector_link)
+        self.arm.go()
+        rospy.sleep(1)
+
+        self.arm.shift_pose_target(1, 0.1, self.end_effector_link)
+        self.arm.go()
+        rospy.sleep(1)
+
+        # Control the terminal of the robotic arm to rotate 90 degrees in the opposite direction. 0,1,2,3,4,5 represent xyzrpy
+        # 控制机械臂终端反向旋转90度  0,1,2,3,4,5 代表xyzrpy
+        # self.arm.shift_pose_target(3, -1.57, end_effector_link)
+        # self.arm.go()
+        # rospy.sleep(1)
+
+    def run(self):
+        self.scene.remove_world_object("suit")
+
+        # Run once without obstacles,没有障碍物运行一次
+        self.moving()
+
+        # Add environment,添加环境
+        quat = quaternion_from_euler(3.1415, 0, -1.57)
+
+        suit_post = PoseStamped()
+        suit_post.header.frame_id = self.reference_frame
+        suit_post.pose.position.x = 0.0
+        suit_post.pose.position.y = 0.0
+        suit_post.pose.position.z = -0.02
+        suit_post.pose.orientation.x = quat[0]
+        suit_post.pose.orientation.y = quat[1]
+        suit_post.pose.orientation.z = quat[2]
+        suit_post.pose.orientation.w = quat[3]
+
+        suit_path = (
+            roslib.packages.get_pkg_dir("mycobot_description")
+            + "/urdf/mycobot/suit_env.dae"
+        )
+        # need `pyassimp==3.3`
+        self.scene.add_mesh("suit", suit_post, suit_path)
+        rospy.sleep(2)
+
+        # Run it again if there is an environmental impact,有环境影响后再运行一次
+        self.moving()
+
+        # close and exit moveit，关闭并退出moveit
+        moveit_commander.roscpp_shutdown()
+        moveit_commander.os._exit(0)
+
+
+if __name__ == "__main__":
+    o = MoveItPlanningDemo()
+    o.run()
diff --git a/mycobot_320/new_mycobot_320_pi_moveit/scripts/sync_plan.py b/mycobot_320/new_mycobot_320_pi_moveit/scripts/sync_plan.py
new file mode 100755
index 0000000..e93730b
--- /dev/null
+++ b/mycobot_320/new_mycobot_320_pi_moveit/scripts/sync_plan.py
@@ -0,0 +1,43 @@
+#!/usr/bin/env python2
+# -*- coding: utf-8 -*-
+import time
+import subprocess
+import rospy
+from sensor_msgs.msg import JointState
+
+from pymycobot.mycobot import MyCobot
+
+
+mc = None
+
+
+def callback(data):
+    rospy.loginfo(rospy.get_caller_id() + "%s", data)
+    data_list = []
+    for index, value in enumerate(data.position):
+        # if index != 2:
+        #     value *= -1
+        data_list.append(value)
+
+    mc.send_radians(data_list, 80)
+
+
+def listener():
+    global mc
+    rospy.init_node("mycobot_reciver", anonymous=True)
+    port = subprocess.check_output(['echo -n /dev/ttyAMA*'], 
+                                    shell=True)
+
+    port = rospy.get_param("~port", port)
+    baud = rospy.get_param("~baud", 1000000)
+    # 1000000
+    mc = MyCobot(port, baud)
+
+    rospy.Subscriber("joint_states", JointState, callback)
+
+    # spin() simply keeps python from exiting until this node is stopped
+    rospy.spin()
+
+
+if __name__ == "__main__":
+    listener()