From 7e8e36088f76a2a0da97dedb5ce7fef1e82eebe8 Mon Sep 17 00:00:00 2001
From: wangWking <842749351@qq.com>
Date: Tue, 7 Jan 2025 15:16:56 +0800
Subject: [PATCH 1/4] =?UTF-8?q?=E6=9B=B4=E6=96=B0630=20URDF=E6=A8=A1?=
 =?UTF-8?q?=E5=9E=8B=E5=88=9D=E5=A7=8B=E5=A7=BF=E6=80=81?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 demo_img/pro630/pro630.png                    | Bin 294353 -> 291234 bytes
 .../urdf/mycobot_pro_630/mycobot_pro_630.urdf |  10 ++++++----
 .../mycobot_630/config/mycobot_630.rviz       |   6 +++---
 .../mycobot_630/scripts/mycobot_630_slider.py |   3 +++
 4 files changed, 12 insertions(+), 7 deletions(-)

diff --git a/demo_img/pro630/pro630.png b/demo_img/pro630/pro630.png
index 8407f68ec0f1c54f7e6635a68e00746a0a5f4b41..615b13059897ade3eb9734fb406982db26e1e6bd 100644
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diff --git a/mycobot_description/urdf/mycobot_pro_630/mycobot_pro_630.urdf b/mycobot_description/urdf/mycobot_pro_630/mycobot_pro_630.urdf
index 783b8ac..2578a4b 100755
--- a/mycobot_description/urdf/mycobot_pro_630/mycobot_pro_630.urdf
+++ b/mycobot_description/urdf/mycobot_pro_630/mycobot_pro_630.urdf
@@ -131,10 +131,11 @@
 
   <joint name="joint2_to_joint1" type="revolute">
     <axis xyz="0 0 -1"/>
-    <limit effort = "1000.0" lower = "-4.71" upper = "1.5707" velocity = "0"/>
+    <!-- <limit effort = "1000.0" lower = "-4.71" upper = "1.5707" velocity = "0"/> -->
+    <limit effort = "1000.0" lower = "-3.14159" upper = "3.14159" velocity = "0"/>
     <parent link="link1"/>
     <child link="link2"/>
-    <origin xyz= "0 0  0" rpy = "1.5707 0 0"/>
+    <origin xyz= "0 0  0" rpy = "1.5707 -1.5708 0"/>
   </joint>
 
 
@@ -148,10 +149,11 @@
 
   <joint name="joint4_to_joint3" type="revolute">
     <axis xyz=" 0 0 -1"/>
-    <limit effort = "1000.0" lower = "-4.53" upper = "1.3962" velocity = "0"/>
+    <!-- <limit effort = "1000.0" lower = "-4.53" upper = "1.3962" velocity = "0"/> -->
+    <limit effort = "1000.0" lower = "-2.9670" upper = "2.9670" velocity = "0"/>
     <parent link="link3"/>
     <child link="link4"/>
-    <origin xyz= "0.267 0  -0.0745" rpy = "0 0 0"/>  
+    <origin xyz= "0.267 0  -0.0745" rpy = "0 0 1.5708"/>  
   </joint>
 
   <joint name="joint5_to_joint4" type="revolute">
diff --git a/mycobot_pro/mycobot_630/config/mycobot_630.rviz b/mycobot_pro/mycobot_630/config/mycobot_630.rviz
index 4775280..7769c6e 100644
--- a/mycobot_pro/mycobot_630/config/mycobot_630.rviz
+++ b/mycobot_pro/mycobot_630/config/mycobot_630.rviz
@@ -180,7 +180,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 1.5878180265426636
+      Distance: 2.1886165142059326
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -196,9 +196,9 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.5947973132133484
+      Pitch: 0.8997963666915894
       Target Frame: <Fixed Frame>
-      Yaw: 2.5353903770446777
+      Yaw: 3.4653899669647217
     Saved: ~
 Window Geometry:
   Displays:
diff --git a/mycobot_pro/mycobot_630/scripts/mycobot_630_slider.py b/mycobot_pro/mycobot_630/scripts/mycobot_630_slider.py
index 62ed79b..8d32163 100755
--- a/mycobot_pro/mycobot_630/scripts/mycobot_630_slider.py
+++ b/mycobot_pro/mycobot_630/scripts/mycobot_630_slider.py
@@ -21,6 +21,9 @@ def callback(data):
     for index, value in enumerate(data.position):
         radians_to_angles = round(math.degrees(value), 2)
         data_list.append(radians_to_angles)
+    
+    data_list[1] = data_list[1] - 90
+    data_list[3] = data_list[3] - 90
         
     rospy.loginfo(rospy.get_caller_id() + "%s", data_list)
     mc.write_angles(data_list, 800)

From fbd15bcc56f980dd8097454fa0534661deacf7db Mon Sep 17 00:00:00 2001
From: wangWking <842749351@qq.com>
Date: Tue, 7 Jan 2025 17:33:53 +0800
Subject: [PATCH 2/4] =?UTF-8?q?=E4=BC=98=E5=8C=96630=20moveit=E5=8C=85-?=
 =?UTF-8?q?=E4=BF=AE=E5=A4=8Drviz=E6=B7=BB=E5=8A=A0=E5=9C=B0=E9=9D=A2?=
 =?UTF-8?q?=E5=90=8E=E6=97=A0=E6=B3=95=E8=BF=90=E5=8A=A8=E8=A7=84=E5=88=92?=
 =?UTF-8?q?=E9=97=AE=E9=A2=98=EF=BC=8C=E6=9B=B4=E6=96=B0URDF=E6=A8=A1?=
 =?UTF-8?q?=E5=9E=8B=E5=88=9D=E5=A7=8B=E5=A7=BF=E6=80=81?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../mycobot_pro_630_moveit.urdf               | 175 ++++++++++++
 .../mycobot_630_moveit/.setup_assistant       |   4 +-
 mycobot_pro/mycobot_630_moveit/CMakeLists.txt |  15 +-
 .../config/cartesian_limits.yaml              |   5 +
 .../config/chomp_planning.yaml                |   8 +-
 .../config/fake_controllers.yaml              |   6 +-
 .../config/firefighter.srdf                   |  65 ++---
 .../config/gazebo_controllers.yaml            |   4 +
 .../config/gazebo_firefighter.urdf            | 250 ++++++++++++++++++
 .../config/joint_limits.yaml                  |  42 +--
 .../mycobot_630_moveit/config/kinematics.yaml |   4 +-
 .../config/ompl_planning.yaml                 |  60 ++++-
 .../config/ros_controllers.yaml               |  52 ++--
 .../mycobot_630_moveit/config/sensors_3d.yaml |   1 -
 .../config/simple_moveit_controllers.yaml     |  12 +
 .../config/stomp_planning.yaml                |  39 +++
 .../launch/chomp_planning_pipeline.launch.xml |  23 +-
 .../launch/default_warehouse_db.launch        |   2 +-
 .../mycobot_630_moveit/launch/demo.launch     |  71 ++---
 .../launch/demo_gazebo.launch                 |  79 ++----
 .../fake_moveit_controller_manager.launch.xml |   5 +-
 .../mycobot_630_moveit/launch/gazebo.launch   |  37 ++-
 .../launch/move_group.launch                  |  60 +++--
 .../mycobot_630_moveit/launch/moveit.rviz     |   8 +-
 .../launch/moveit_rviz.launch                 |   9 +-
 .../launch/mycobot630_moveit.launch           |  72 ++---
 .../ompl-chomp_planning_pipeline.launch.xml   |  20 ++
 .../launch/ompl_planning_pipeline.launch.xml  |  26 +-
 ...otion_planner_planning_pipeline.launch.xml |  15 ++
 .../launch/planning_context.launch            |   4 +-
 .../launch/planning_pipeline.launch.xml       |   2 +-
 ...ntrol_moveit_controller_manager.launch.xml |   4 +
 .../launch/ros_controllers.launch             |   2 +-
 .../launch/run_benchmark_ompl.launch          |   5 +-
 .../launch/sensor_manager.launch.xml          |   2 +-
 .../launch/setup_assistant.launch             |   7 +-
 ...imple_moveit_controller_manager.launch.xml |   8 +
 .../launch/stomp_planning_pipeline.launch.xml |  23 ++
 .../launch/trajectory_execution.launch.xml    |  13 +-
 .../launch/warehouse.launch                   |   2 +-
 mycobot_pro/mycobot_630_moveit/package.xml    |  18 +-
 .../mycobot_630_moveit/scripts/sync_plan.py   |   3 +
 .../scripts/test_add_ground.py                |  35 +++
 43 files changed, 978 insertions(+), 319 deletions(-)
 create mode 100755 mycobot_description/urdf/mycobot_pro_630/mycobot_pro_630_moveit.urdf
 create mode 100644 mycobot_pro/mycobot_630_moveit/config/cartesian_limits.yaml
 create mode 100644 mycobot_pro/mycobot_630_moveit/config/gazebo_controllers.yaml
 create mode 100644 mycobot_pro/mycobot_630_moveit/config/gazebo_firefighter.urdf
 create mode 100644 mycobot_pro/mycobot_630_moveit/config/simple_moveit_controllers.yaml
 create mode 100644 mycobot_pro/mycobot_630_moveit/config/stomp_planning.yaml
 create mode 100644 mycobot_pro/mycobot_630_moveit/launch/ompl-chomp_planning_pipeline.launch.xml
 create mode 100644 mycobot_pro/mycobot_630_moveit/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml
 create mode 100644 mycobot_pro/mycobot_630_moveit/launch/ros_control_moveit_controller_manager.launch.xml
 create mode 100644 mycobot_pro/mycobot_630_moveit/launch/simple_moveit_controller_manager.launch.xml
 create mode 100644 mycobot_pro/mycobot_630_moveit/launch/stomp_planning_pipeline.launch.xml
 create mode 100755 mycobot_pro/mycobot_630_moveit/scripts/test_add_ground.py

diff --git a/mycobot_description/urdf/mycobot_pro_630/mycobot_pro_630_moveit.urdf b/mycobot_description/urdf/mycobot_pro_630/mycobot_pro_630_moveit.urdf
new file mode 100755
index 0000000..3b109d6
--- /dev/null
+++ b/mycobot_description/urdf/mycobot_pro_630/mycobot_pro_630_moveit.urdf
@@ -0,0 +1,175 @@
+<?xml version="1.0"?>
+<robot  xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter" >
+	
+<xacro:property name="width" value=".2" />
+
+
+  <link name="base">
+    <visual>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/base.dae"/>
+      </geometry>
+    <origin xyz = "0 0 0 " rpy = " 1.5707 0 0"/>
+    </visual>
+    <collision>
+      <origin xyz = "0 0 0.04 " rpy = " 0 0 1.5708"/>
+      <geometry>
+        <cylinder length="0.08" radius="0.06"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="link1">
+    <visual>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link1.dae"/>
+      </geometry>
+    <origin xyz = "0 0 -0.06 " rpy = "0 0 3.1415926"/>
+    </visual>
+     <collision>
+      <origin xyz = "0.0 0.0 -0.02 " rpy = " 0 0 1.5708"/>
+      <geometry>
+        <cylinder length="0.06" radius="0.03"/>
+      </geometry>
+    </collision>
+  </link>
+
+
+  <link name="link2">
+    <visual>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link2.dae"/>
+      </geometry>
+    <origin xyz = "0 0 -0.0446 " rpy = " 0 -1.5707 -1.5707"/>
+    </visual>
+     <collision>
+      <origin xyz = "0.14 0 -0.08 " rpy = " 0 1.5708 0"/>
+      <geometry>
+        <cylinder length="0.28" radius="0.028"/>
+      </geometry>
+    </collision>
+  </link>
+
+
+  <link name="link3">
+    <visual>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link3.dae"/>
+      </geometry>
+    <origin xyz = "0 0 -0.0444 " rpy = " 0 1.5707 -1.5707"/>
+    </visual>
+     <collision>
+      <origin xyz = "0.13 0.0 0.02 " rpy = "0 1.5708 0"/>
+      <geometry>
+        <cylinder length="0.28" radius="0.024"/>
+      </geometry>
+    </collision>
+  </link>
+
+
+<link name="link4">
+    <visual>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link4.dae"/>
+      </geometry>
+    <origin xyz = "0 0 0.041 " rpy = " -1.5707 0 1.5707"/>
+    </visual>
+     <collision>
+      <origin xyz = "0.0 -0.01 0.007" rpy = " 1.5708 1.5708 0"/>
+      <geometry>
+        <cylinder length="0.05" radius="0.024"/>
+      </geometry>
+    </collision>
+  </link>
+
+
+  <link name="link5">
+    <visual>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link5.dae"/>
+      </geometry>
+    <origin xyz = "-0.043 0  0 " rpy = " 0  -1.5707 3.1415926"/>
+    </visual>
+     <collision>
+      <origin xyz = "0.0 0.0 -0.015 " rpy = " 0  0 -1.5708"/>
+      <geometry>
+        <cylinder length="0.05" radius="0.028"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="link6">
+    <visual>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link6.dae"/>
+      </geometry>
+      <!-- <material name = "grey">
+        <color rgba = "0.5 0.5 0.5 1"/>
+      </material> -->
+    <origin xyz = "0.01 0 0" rpy = " 0 1.5707  0"/>
+    </visual>
+     <collision>
+      <origin xyz = "0.006 0.0 -0.0 " rpy = " 0 1.5708 0"/>
+      <geometry>
+        <cylinder length="0.006" radius="0.026"/>
+      </geometry>
+    </collision>
+  </link>
+
+
+  <joint name="joint1_to_base" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
+    <parent link="base"/>
+    <child link="link1"/>
+    <origin xyz= "0 0 0.22934" rpy = "0 0 0"/>  
+  </joint>
+
+
+  <joint name="joint2_to_joint1" type="revolute">
+    <axis xyz="0 0 -1"/>
+    <!-- <limit effort = "1000.0" lower = "-4.71" upper = "1.5707" velocity = "0"/> -->
+    <limit effort = "1000.0" lower = "-3.14159" upper = "3.14159" velocity = "0"/>
+    <parent link="link1"/>
+    <child link="link2"/>
+    <origin xyz= "0 0  0" rpy = "1.5707 -1.5708 0"/>
+  </joint>
+
+
+  <joint name="joint3_to_joint2" type="revolute">
+    <axis xyz=" 0 0 -1"/>
+    <limit effort = "1000.0" lower = "-2.61" upper = "2.618" velocity = "0"/>
+    <parent link="link2"/>
+    <child link="link3"/>
+    <origin xyz= "0.27 0 0   " rpy = "0 0 0"/>  
+  </joint>
+
+  <joint name="joint4_to_joint3" type="revolute">
+    <axis xyz=" 0 0 -1"/>
+    <!-- <limit effort = "1000.0" lower = "-4.53" upper = "1.3962" velocity = "0"/> -->
+    <limit effort = "1000.0" lower = "-2.9670" upper = "2.9670" velocity = "0"/>
+    <parent link="link3"/>
+    <child link="link4"/>
+    <origin xyz= "0.267 0  -0.0745" rpy = "0 0 1.5708"/>  
+  </joint>
+
+  <joint name="joint5_to_joint4" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort = "1000.0" lower = "-2.93" upper = "2.9321" velocity = "0"/>
+    <parent link="link4"/>
+    <child link="link5"/>
+    <origin xyz= "0 -0.095 0.002" rpy = "1.5707 -1.5707 0"/>  
+  </joint>
+
+  <joint name="joint6_to_joint5" type="revolute">
+    <axis xyz="-1 0 0"/>
+    <limit effort = "1000.0" lower = "-3.03" upper = "3.0368" velocity = "0"/>
+    <parent link="link5"/>
+    <child link="link6"/>
+    <origin xyz= "-0.054 0 0" rpy = "-1.5707 0 0 "/>  
+  </joint>
+
+
+
+</robot>
+
diff --git a/mycobot_pro/mycobot_630_moveit/.setup_assistant b/mycobot_pro/mycobot_630_moveit/.setup_assistant
index baebb43..660b509 100644
--- a/mycobot_pro/mycobot_630_moveit/.setup_assistant
+++ b/mycobot_pro/mycobot_630_moveit/.setup_assistant
@@ -1,11 +1,11 @@
 moveit_setup_assistant_config:
   URDF:
     package: mycobot_description
-    relative_path: urdf/mycobot_pro_630/mycobot_pro_630.urdf
+    relative_path: urdf/mycobot_pro_630/mycobot_pro_630_moveit.urdf
     xacro_args: "--inorder "
   SRDF:
     relative_path: config/firefighter.srdf
   CONFIG:
     author_name: wangweijian
     author_email: weijian.wang@elephantrobotics.com
-    generated_timestamp: 1652406964
\ No newline at end of file
+    generated_timestamp: 1736239899
\ No newline at end of file
diff --git a/mycobot_pro/mycobot_630_moveit/CMakeLists.txt b/mycobot_pro/mycobot_630_moveit/CMakeLists.txt
index c6b79de..0f9c3c0 100644
--- a/mycobot_pro/mycobot_630_moveit/CMakeLists.txt
+++ b/mycobot_pro/mycobot_630_moveit/CMakeLists.txt
@@ -1,21 +1,10 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.1.3)
 project(mycobot_630_moveit)
 
-find_package(catkin REQUIRED
-  rospy
-  std_msgs
-  moveit_msgs
-)
+find_package(catkin REQUIRED)
 
 catkin_package()
 
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-catkin_install_python(PROGRAMS
-  scripts/sync_plan.py
-  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
-
 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_pro/mycobot_630_moveit/config/cartesian_limits.yaml b/mycobot_pro/mycobot_630_moveit/config/cartesian_limits.yaml
new file mode 100644
index 0000000..7df72f6
--- /dev/null
+++ b/mycobot_pro/mycobot_630_moveit/config/cartesian_limits.yaml
@@ -0,0 +1,5 @@
+cartesian_limits:
+  max_trans_vel: 1
+  max_trans_acc: 2.25
+  max_trans_dec: -5
+  max_rot_vel: 1.57
diff --git a/mycobot_pro/mycobot_630_moveit/config/chomp_planning.yaml b/mycobot_pro/mycobot_630_moveit/config/chomp_planning.yaml
index 75258e5..eb9c912 100644
--- a/mycobot_pro/mycobot_630_moveit/config/chomp_planning.yaml
+++ b/mycobot_pro/mycobot_630_moveit/config/chomp_planning.yaml
@@ -7,12 +7,12 @@ learning_rate: 0.01
 smoothness_cost_velocity: 0.0
 smoothness_cost_acceleration: 1.0
 smoothness_cost_jerk: 0.0
-ridge_factor: 0.01
+ridge_factor: 0.0
 use_pseudo_inverse: false
 pseudo_inverse_ridge_factor: 1e-4
 joint_update_limit: 0.1
-collision_clearence: 0.2
+collision_clearance: 0.2
 collision_threshold: 0.07
 use_stochastic_descent: true
-enable_failure_recovery: true
-max_recovery_attempts: 5
\ No newline at end of file
+enable_failure_recovery: false
+max_recovery_attempts: 5
diff --git a/mycobot_pro/mycobot_630_moveit/config/fake_controllers.yaml b/mycobot_pro/mycobot_630_moveit/config/fake_controllers.yaml
index aa4aef9..3e6f342 100644
--- a/mycobot_pro/mycobot_630_moveit/config/fake_controllers.yaml
+++ b/mycobot_pro/mycobot_630_moveit/config/fake_controllers.yaml
@@ -1,9 +1,13 @@
 controller_list:
   - name: fake_arm_group_controller
+    type: $(arg fake_execution_type)
     joints:
       - joint1_to_base
       - joint2_to_joint1
       - joint3_to_joint2
       - joint4_to_joint3
       - joint5_to_joint4
-      - joint6_to_joint5
\ No newline at end of file
+      - joint6_to_joint5
+initial:  # Define initial robot poses per group
+  - group: arm_group
+    pose: init_pose
\ No newline at end of file
diff --git a/mycobot_pro/mycobot_630_moveit/config/firefighter.srdf b/mycobot_pro/mycobot_630_moveit/config/firefighter.srdf
index 9609c58..27ae337 100644
--- a/mycobot_pro/mycobot_630_moveit/config/firefighter.srdf
+++ b/mycobot_pro/mycobot_630_moveit/config/firefighter.srdf
@@ -1,4 +1,4 @@
-<?xml version="1.0" ?>
+<?xml version="1.0" encoding="UTF-8"?>
 <!--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
@@ -10,47 +10,36 @@
     <!--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="joint1_to_base" />
-        <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="joint1_to_base"/>
+        <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"/>
     </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="joint1_to_base" value="0" />
-        <joint name="joint2_to_joint1" value="-1.5708" />
-        <joint name="joint3_to_joint2" value="0" />
-        <joint name="joint4_to_joint3" value="-1.5708" />
-        <joint name="joint5_to_joint4" value="0" />
-        <joint name="joint6_to_joint5" value="0" />
+        <joint name="joint1_to_base" value="0"/>
+        <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"/>
     </group_state>
     <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
-    
-    <!-- <virtual_joint name="vitual_joint" type="fixed" parent_frame="basic" child_link="joint1" /> -->
-    <virtual_joint name="vitual_joint" type="fixed" parent_frame="basic" child_link="base" />
-
+    <virtual_joint name="vitual_joint" type="fixed" parent_frame="basic" child_link="base"/>
     <!--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="base" link2="link2" reason="Never" />
-    <disable_collisions link1="base" link2="link3" reason="Never" />
-    <disable_collisions link1="base" link2="link4" reason="Never" />
-    <disable_collisions link1="base" link2="link5" reason="Never" />
-    <disable_collisions link1="base" link2="link6" reason="Never" />
-    <disable_collisions link1="link1" link2="link2" reason="Adjacent" />
-    <disable_collisions link1="link1" link2="link3" reason="Never" />
-    <disable_collisions link1="link1" link2="link4" reason="Never" />
-    <disable_collisions link1="link1" link2="link5" reason="Never" />
-    <disable_collisions link1="link1" link2="link6" reason="Never" />
-    <disable_collisions link1="link2" link2="link3" reason="Adjacent" />
-    <disable_collisions link1="link2" link2="link4" reason="Never" />
-    <disable_collisions link1="link2" link2="link5" reason="Never" />
-    <disable_collisions link1="link2" link2="link6" reason="Never" />
-    <disable_collisions link1="link3" link2="link4" reason="Adjacent" />
-    <disable_collisions link1="link3" link2="link5" reason="Never" />
-    <disable_collisions link1="link3" link2="link6" reason="Never" />
-    <disable_collisions link1="link4" link2="link5" reason="Adjacent" />
-    <disable_collisions link1="link4" link2="link6" reason="Never" />
-    <disable_collisions link1="link5" link2="link6" reason="Adjacent" />
+    <disable_collisions link1="base" link2="link1" reason="Adjacent"/>
+    <disable_collisions link1="link1" link2="link2" reason="Adjacent"/>
+    <disable_collisions link1="link1" link2="link3" reason="Never"/>
+    <disable_collisions link1="link1" link2="link4" reason="Never"/>
+    <disable_collisions link1="link1" link2="link5" reason="Never"/>
+    <disable_collisions link1="link2" link2="link3" reason="Adjacent"/>
+    <disable_collisions link1="link2" link2="link4" reason="Never"/>
+    <disable_collisions link1="link3" link2="link4" reason="Adjacent"/>
+    <disable_collisions link1="link3" link2="link5" reason="Never"/>
+    <disable_collisions link1="link3" link2="link6" reason="Never"/>
+    <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_pro/mycobot_630_moveit/config/gazebo_controllers.yaml b/mycobot_pro/mycobot_630_moveit/config/gazebo_controllers.yaml
new file mode 100644
index 0000000..e4d2eb0
--- /dev/null
+++ b/mycobot_pro/mycobot_630_moveit/config/gazebo_controllers.yaml
@@ -0,0 +1,4 @@
+# Publish joint_states
+joint_state_controller:
+  type: joint_state_controller/JointStateController
+  publish_rate: 50
diff --git a/mycobot_pro/mycobot_630_moveit/config/gazebo_firefighter.urdf b/mycobot_pro/mycobot_630_moveit/config/gazebo_firefighter.urdf
new file mode 100644
index 0000000..381af5c
--- /dev/null
+++ b/mycobot_pro/mycobot_630_moveit/config/gazebo_firefighter.urdf
@@ -0,0 +1,250 @@
+<?xml version="1.0" ?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter">
+    <xacro:property name="width" value=".2" />
+    <link name="base">
+        <visual>
+            <geometry>
+                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/base.dae" />
+            </geometry>
+            <origin xyz="0 0 0 " rpy=" 1.5707 0 0" />
+        </visual>
+        <collision>
+            <origin xyz="0 0 0.04 " rpy=" 0 0 1.5708" />
+            <geometry>
+                <cylinder length="0.08" radius="0.06" />
+            </geometry>
+        </collision>
+        <inertial>
+            <mass value="0.1" />
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
+        </inertial>
+    </link>
+    <link name="link1">
+        <visual>
+            <geometry>
+                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link1.dae" />
+            </geometry>
+            <origin xyz="0 0 -0.06 " rpy="0 0 3.1415926" />
+        </visual>
+        <collision>
+            <origin xyz="0.0 0.0 -0.02 " rpy=" 0 0 1.5708" />
+            <geometry>
+                <cylinder length="0.06" radius="0.03" />
+            </geometry>
+        </collision>
+        <inertial>
+            <mass value="0.1" />
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
+        </inertial>
+    </link>
+    <link name="link2">
+        <visual>
+            <geometry>
+                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link2.dae" />
+            </geometry>
+            <origin xyz="0 0 -0.0446 " rpy=" 0 -1.5707 -1.5707" />
+        </visual>
+        <collision>
+            <origin xyz="0.14 0 -0.08 " rpy=" 0 1.5708 0" />
+            <geometry>
+                <cylinder length="0.28" radius="0.028" />
+            </geometry>
+        </collision>
+        <inertial>
+            <mass value="0.1" />
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
+        </inertial>
+    </link>
+    <link name="link3">
+        <visual>
+            <geometry>
+                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link3.dae" />
+            </geometry>
+            <origin xyz="0 0 -0.0444 " rpy=" 0 1.5707 -1.5707" />
+        </visual>
+        <collision>
+            <origin xyz="0.13 0.0 0.02 " rpy="0 1.5708 0" />
+            <geometry>
+                <cylinder length="0.28" radius="0.024" />
+            </geometry>
+        </collision>
+        <inertial>
+            <mass value="0.1" />
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
+        </inertial>
+    </link>
+    <link name="link4">
+        <visual>
+            <geometry>
+                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link4.dae" />
+            </geometry>
+            <origin xyz="0 0 0.041 " rpy=" -1.5707 0 1.5707" />
+        </visual>
+        <collision>
+            <origin xyz="0.0 -0.01 0.007" rpy=" 1.5708 1.5708 0" />
+            <geometry>
+                <cylinder length="0.05" radius="0.024" />
+            </geometry>
+        </collision>
+        <inertial>
+            <mass value="0.1" />
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
+        </inertial>
+    </link>
+    <link name="link5">
+        <visual>
+            <geometry>
+                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link5.dae" />
+            </geometry>
+            <origin xyz="-0.043 0  0 " rpy=" 0  -1.5707 3.1415926" />
+        </visual>
+        <collision>
+            <origin xyz="0.0 0.0 -0.015 " rpy=" 0  0 -1.5708" />
+            <geometry>
+                <cylinder length="0.05" radius="0.028" />
+            </geometry>
+        </collision>
+        <inertial>
+            <mass value="0.1" />
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
+        </inertial>
+    </link>
+    <link name="link6">
+        <visual>
+            <geometry>
+                <mesh filename="package://mycobot_description/urdf/mycobot_pro_630/link6.dae" />
+            </geometry>
+            <!-- <material name = "grey">
+        <color rgba = "0.5 0.5 0.5 1"/>
+      </material> -->
+            <origin xyz="0.01 0 0" rpy=" 0 1.5707  0" />
+        </visual>
+        <collision>
+            <origin xyz="0.006 0.0 -0.0 " rpy=" 0 1.5708 0" />
+            <geometry>
+                <cylinder length="0.006" radius="0.026" />
+            </geometry>
+        </collision>
+        <inertial>
+            <mass value="0.1" />
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
+        </inertial>
+    </link>
+    <joint name="joint1_to_base" type="revolute">
+        <axis xyz="0 0 1" />
+        <limit effort="1000.0" lower="-3.14" upper="3.14159" velocity="0" />
+        <parent link="base" />
+        <child link="link1" />
+        <origin xyz="0 0 0.22934" rpy="0 0 0" />
+    </joint>
+    <joint name="joint2_to_joint1" type="revolute">
+        <axis xyz="0 0 -1" />
+        <!-- <limit effort = "1000.0" lower = "-4.71" upper = "1.5707" velocity = "0"/> -->
+        <limit effort="1000.0" lower="-3.14159" upper="3.14159" velocity="0" />
+        <parent link="link1" />
+        <child link="link2" />
+        <origin xyz="0 0  0" rpy="1.5707 -1.5708 0" />
+    </joint>
+    <joint name="joint3_to_joint2" type="revolute">
+        <axis xyz=" 0 0 -1" />
+        <limit effort="1000.0" lower="-2.61" upper="2.618" velocity="0" />
+        <parent link="link2" />
+        <child link="link3" />
+        <origin xyz="0.27 0 0   " rpy="0 0 0" />
+    </joint>
+    <joint name="joint4_to_joint3" type="revolute">
+        <axis xyz=" 0 0 -1" />
+        <!-- <limit effort = "1000.0" lower = "-4.53" upper = "1.3962" velocity = "0"/> -->
+        <limit effort="1000.0" lower="-2.9670" upper="2.9670" velocity="0" />
+        <parent link="link3" />
+        <child link="link4" />
+        <origin xyz="0.267 0  -0.0745" rpy="0 0 1.5708" />
+    </joint>
+    <joint name="joint5_to_joint4" type="revolute">
+        <axis xyz="0 0 1" />
+        <limit effort="1000.0" lower="-2.93" upper="2.9321" velocity="0" />
+        <parent link="link4" />
+        <child link="link5" />
+        <origin xyz="0 -0.095 0.002" rpy="1.5707 -1.5707 0" />
+    </joint>
+    <joint name="joint6_to_joint5" type="revolute">
+        <axis xyz="-1 0 0" />
+        <limit effort="1000.0" lower="-3.03" upper="3.0368" velocity="0" />
+        <parent link="link5" />
+        <child link="link6" />
+        <origin xyz="-0.054 0 0" rpy="-1.5707 0 0 " />
+    </joint>
+    <transmission name="trans_joint1_to_base">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="joint1_to_base">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="joint1_to_base_motor">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+    </transmission>
+    <transmission name="trans_joint2_to_joint1">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="joint2_to_joint1">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="joint2_to_joint1_motor">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+    </transmission>
+    <transmission name="trans_joint3_to_joint2">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="joint3_to_joint2">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="joint3_to_joint2_motor">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+    </transmission>
+    <transmission name="trans_joint4_to_joint3">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="joint4_to_joint3">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="joint4_to_joint3_motor">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+    </transmission>
+    <transmission name="trans_joint5_to_joint4">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="joint5_to_joint4">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="joint5_to_joint4_motor">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+    </transmission>
+    <transmission name="trans_joint6_to_joint5">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="joint6_to_joint5">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="joint6_to_joint5_motor">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+    </transmission>
+    <gazebo>
+        <plugin name="gazebo_ros_control">
+            <robotNamespace>/</robotNamespace>
+        </plugin>
+    </gazebo>
+</robot>
+
diff --git a/mycobot_pro/mycobot_630_moveit/config/joint_limits.yaml b/mycobot_pro/mycobot_630_moveit/config/joint_limits.yaml
index 8bc72c6..47328ee 100644
--- a/mycobot_pro/mycobot_630_moveit/config/joint_limits.yaml
+++ b/mycobot_pro/mycobot_630_moveit/config/joint_limits.yaml
@@ -1,34 +1,40 @@
 # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
+
+# For beginners, we downscale velocity and acceleration limits.
+# You can always specify higher scaling factors (<= 1.0) in your motion requests.  # Increase the values below to 1.0 to always move at maximum speed.
+default_velocity_scaling_factor: 0.1
+default_acceleration_scaling_factor: 0.1
+
 # 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:
   joint1_to_base:
-    has_velocity_limits: true
-    max_velocity: 3.14
+    has_velocity_limits: false
+    max_velocity: 0
     has_acceleration_limits: false
-    max_acceleration: 30
+    max_acceleration: 0
   joint2_to_joint1:
-    has_velocity_limits: true
-    max_velocity: 3.14
+    has_velocity_limits: false
+    max_velocity: 0
     has_acceleration_limits: false
-    max_acceleration: 30
+    max_acceleration: 0
   joint3_to_joint2:
-    has_velocity_limits: true
-    max_velocity: 3.14
+    has_velocity_limits: false
+    max_velocity: 0
     has_acceleration_limits: false
-    max_acceleration: 30
+    max_acceleration: 0
   joint4_to_joint3:
-    has_velocity_limits: true
-    max_velocity: 3.14
+    has_velocity_limits: false
+    max_velocity: 0
     has_acceleration_limits: false
-    max_acceleration: 30
+    max_acceleration: 0
   joint5_to_joint4:
-    has_velocity_limits: true
-    max_velocity: 3.14
+    has_velocity_limits: false
+    max_velocity: 0
     has_acceleration_limits: false
-    max_acceleration: 30
+    max_acceleration: 0
   joint6_to_joint5:
-    has_velocity_limits: true
-    max_velocity: 3.14
+    has_velocity_limits: false
+    max_velocity: 0
     has_acceleration_limits: false
-    max_acceleration: 30
\ No newline at end of file
+    max_acceleration: 0
\ No newline at end of file
diff --git a/mycobot_pro/mycobot_630_moveit/config/kinematics.yaml b/mycobot_pro/mycobot_630_moveit/config/kinematics.yaml
index 3c16bbc..2f06d6e 100644
--- a/mycobot_pro/mycobot_630_moveit/config/kinematics.yaml
+++ b/mycobot_pro/mycobot_630_moveit/config/kinematics.yaml
@@ -2,4 +2,6 @@ arm_group:
   kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
   kinematics_solver_search_resolution: 0.005
   kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3
+  goal_joint_tolerance: 0.0001
+  goal_position_tolerance: 0.0001
+  goal_orientation_tolerance: 0.001
\ No newline at end of file
diff --git a/mycobot_pro/mycobot_630_moveit/config/ompl_planning.yaml b/mycobot_pro/mycobot_630_moveit/config/ompl_planning.yaml
index 82f7d9d..7f30514 100644
--- a/mycobot_pro/mycobot_630_moveit/config/ompl_planning.yaml
+++ b/mycobot_pro/mycobot_630_moveit/config/ompl_planning.yaml
@@ -1,4 +1,11 @@
 planner_configs:
+  AnytimePathShortening:
+    type: geometric::AnytimePathShortening
+    shortcut: true  # Attempt to shortcut all new solution paths
+    hybridize: true  # Compute hybrid solution trajectories
+    max_hybrid_paths: 24  # Number of hybrid paths generated per iteration
+    num_planners: 4  # The number of default planners to use for planning
+    planners: ""  # A comma-separated list of planner types (e.g., "PRM,EST,RRTConnect"Optionally, planner parameters can be passed to change the default:"PRM[max_nearest_neighbors=5],EST[goal_bias=.5],RRT[range=10. goal_bias=.1]"
   SBL:
     type: geometric::SBL
     range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
@@ -44,8 +51,8 @@ planner_configs:
     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
+    frontier_threshold: 0.0  # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
+    frontier_node_ratio: 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
@@ -88,8 +95,8 @@ planner_configs:
     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
+    frontier_threshold: 0.0  # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
+    frontier_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
@@ -120,9 +127,47 @@ planner_configs:
     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
+  AITstar:
+    type: geometric::AITstar
+    use_k_nearest: 1  # whether to use a k-nearest RGG connection model (1) or an r-disc model (0). Default: 1
+    rewire_factor: 1.001  # rewire factor of the RGG. Valid values: [1.0:0.01:3.0]. Default: 1.001
+    samples_per_batch: 100  # batch size. Valid values: [1:1:1000]. Default: 100
+    use_graph_pruning: 1  # enable graph pruning (1) or not (0). Default: 1
+    find_approximate_solutions: 0  # track approximate solutions (1) or not (0). Default: 0
+    set_max_num_goals: 1  # maximum number of goals sampled from sampleable goal regions. Valid values: [1:1:1000]. Default: 1
+  ABITstar:
+    type: geometric::ABITstar
+    use_k_nearest: 1  # whether to use a k-nearest RGG connection model (1) or an r-disc model (0). Default: 1
+    rewire_factor: 1.001  # rewire factor of the RGG. Valid values: [1.0:0.01:3.0]. Default: 1.001
+    samples_per_batch: 100  # batch size. Valid values: [1:1:1000]. Default: 100
+    use_graph_pruning: 1  # enable graph pruning (1) or not (0). Default: 1
+    prune_threshold_as_fractional_cost_change: 0.1  # fractional change in the solution cost AND problem measure necessary for pruning to occur. Default: 0.1
+    delay_rewiring_to_first_solution: 0  # delay (1) or not (0) rewiring until a solution is found. Default: 0
+    use_just_in_time_sampling: 0  # delay the generation of samples until they are * necessary. Only works with r-disc connection and path length minimization. Default: 0
+    drop_unconnected_samples_on_prune: 0  # drop unconnected samples when pruning, regardless of their heuristic value. Default: 0
+    stop_on_each_solution_improvement: 0  # stop the planner each time a solution improvement is found. Useful for debugging. Default: 0
+    use_strict_queue_ordering: 0  # sort edges in the queue at the end of the batch (0) or after each rewiring (1). Default: 0
+    find_approximate_solutions: 0  # track approximate solutions (1) or not (0). Default: 0
+    initial_inflation_factor: 1000000  # inflation factor for the initial search. Valid values: [1.0:0.01:1000000.0]. Default: 1000000
+    inflation_scaling_parameter: 10  # scaling parameter for the inflation factor update policy. Valid values: [1.0:0.01:1000000.0]. Default: 0
+    truncation_scaling_parameter: 5.0  # scaling parameter for the truncation factor update policy. Valid values: [1.0:0.01:1000000.0]. Default: 0
+  BITstar:
+    type: geometric::BITstar
+    use_k_nearest: 1  # whether to use a k-nearest RGG connection model (1) or an r-disc model (0). Default: 1
+    rewire_factor: 1.001  # rewire factor of the RGG. Valid values: [1.0:0.01:3.0]. Default: 1.001
+    samples_per_batch: 100  # batch size. Valid values: [1:1:1000]. Default: 100
+    use_graph_pruning: 1  # enable graph pruning (1) or not (0). Default: 1
+    prune_threshold_as_fractional_cost_change: 0.1  # fractional change in the solution cost AND problem measure necessary for pruning to occur. Default: 0.1
+    delay_rewiring_to_first_solution: 0  # delay (1) or not (0) rewiring until a solution is found. Default: 0
+    use_just_in_time_sampling: 0  # delay the generation of samples until they are * necessary. Only works with r-disc connection and path length minimization. Default: 0
+    drop_unconnected_samples_on_prune: 0  # drop unconnected samples when pruning, regardless of their heuristic value. Default: 0
+    stop_on_each_solution_improvement: 0  # stop the planner each time a solution improvement is found. Useful for debugging. Default: 0
+    use_strict_queue_ordering: 0  # sort edges in the queue at the end of the batch (0) or after each rewiring (1). Default: 0
+    find_approximate_solutions: 0  # track approximate solutions (1) or not (0). Default: 0
 arm_group:
   default_planner_config: RRTConnect
   planner_configs:
+    - AnytimePathShortening
     - SBL
     - EST
     - LBKPIECE
@@ -146,5 +191,8 @@ arm_group:
     - LazyPRMstar
     - SPARS
     - SPARStwo
-  projection_evaluator: joints(joint2_to_joint1,joint3_to_joint2)
-  longest_valid_segment_fraction: 0.005
\ No newline at end of file
+    - AITstar
+    - ABITstar
+    - BITstar
+  projection_evaluator: joints(joint1_to_base,joint2_to_joint1)
+  longest_valid_segment_fraction: 0.005
diff --git a/mycobot_pro/mycobot_630_moveit/config/ros_controllers.yaml b/mycobot_pro/mycobot_630_moveit/config/ros_controllers.yaml
index 491f450..efc7c6c 100644
--- a/mycobot_pro/mycobot_630_moveit/config/ros_controllers.yaml
+++ b/mycobot_pro/mycobot_630_moveit/config/ros_controllers.yaml
@@ -1,26 +1,40 @@
-# 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:
+arm_group_controller:
+  type: effort_controllers/JointTrajectoryController
   joints:
-    - vitual_joint
     - joint1_to_base
     - joint2_to_joint1
     - joint3_to_joint2
     - joint4_to_joint3
     - joint5_to_joint4
     - joint6_to_joint5
-  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
+  gains:
+    joint1_to_base:
+      p: 100
+      d: 1
+      i: 1
+      i_clamp: 1
+    joint2_to_joint1:
+      p: 100
+      d: 1
+      i: 1
+      i_clamp: 1
+    joint3_to_joint2:
+      p: 100
+      d: 1
+      i: 1
+      i_clamp: 1
+    joint4_to_joint3:
+      p: 100
+      d: 1
+      i: 1
+      i_clamp: 1
+    joint5_to_joint4:
+      p: 100
+      d: 1
+      i: 1
+      i_clamp: 1
+    joint6_to_joint5:
+      p: 100
+      d: 1
+      i: 1
+      i_clamp: 1
\ No newline at end of file
diff --git a/mycobot_pro/mycobot_630_moveit/config/sensors_3d.yaml b/mycobot_pro/mycobot_630_moveit/config/sensors_3d.yaml
index a4bb13e..01538cc 100644
--- a/mycobot_pro/mycobot_630_moveit/config/sensors_3d.yaml
+++ b/mycobot_pro/mycobot_630_moveit/config/sensors_3d.yaml
@@ -1,4 +1,3 @@
-# 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
diff --git a/mycobot_pro/mycobot_630_moveit/config/simple_moveit_controllers.yaml b/mycobot_pro/mycobot_630_moveit/config/simple_moveit_controllers.yaml
new file mode 100644
index 0000000..68c9469
--- /dev/null
+++ b/mycobot_pro/mycobot_630_moveit/config/simple_moveit_controllers.yaml
@@ -0,0 +1,12 @@
+controller_list:
+  - name: arm_group_controller
+    action_ns: follow_joint_trajectory
+    type: FollowJointTrajectory
+    default: True
+    joints:
+      - joint1_to_base
+      - joint2_to_joint1
+      - joint3_to_joint2
+      - joint4_to_joint3
+      - joint5_to_joint4
+      - joint6_to_joint5
\ No newline at end of file
diff --git a/mycobot_pro/mycobot_630_moveit/config/stomp_planning.yaml b/mycobot_pro/mycobot_630_moveit/config/stomp_planning.yaml
new file mode 100644
index 0000000..fa999a9
--- /dev/null
+++ b/mycobot_pro/mycobot_630_moveit/config/stomp_planning.yaml
@@ -0,0 +1,39 @@
+stomp/arm_group:
+  group_name: arm_group
+  optimization:
+    num_timesteps: 60
+    num_iterations: 40
+    num_iterations_after_valid: 0
+    num_rollouts: 30
+    max_rollouts: 30
+    initialization_method: 1  # [1 : LINEAR_INTERPOLATION, 2 : CUBIC_POLYNOMIAL, 3 : MININUM_CONTROL_COST]
+    control_cost_weight: 0.0
+  task:
+    noise_generator:
+      - class: stomp_moveit/NormalDistributionSampling
+        stddev: [0.05, 0.05, 0.05, 0.05, 0.05, 0.05]
+    cost_functions:
+      - class: stomp_moveit/CollisionCheck
+        collision_penalty: 1.0
+        cost_weight: 1.0
+        kernel_window_percentage: 0.2
+        longest_valid_joint_move: 0.05
+    noisy_filters:
+      - class: stomp_moveit/JointLimits
+        lock_start: True
+        lock_goal: True
+      - class: stomp_moveit/MultiTrajectoryVisualization
+        line_width: 0.02
+        rgb: [255, 255, 0]
+        marker_array_topic: stomp_trajectories
+        marker_namespace: noisy
+    update_filters:
+      - class: stomp_moveit/PolynomialSmoother
+        poly_order: 6
+      - class: stomp_moveit/TrajectoryVisualization
+        line_width: 0.05
+        rgb: [0, 191, 255]
+        error_rgb: [255, 0, 0]
+        publish_intermediate: True
+        marker_topic: stomp_trajectory
+        marker_namespace: optimized
\ No newline at end of file
diff --git a/mycobot_pro/mycobot_630_moveit/launch/chomp_planning_pipeline.launch.xml b/mycobot_pro/mycobot_630_moveit/launch/chomp_planning_pipeline.launch.xml
index d660d07..3748356 100644
--- a/mycobot_pro/mycobot_630_moveit/launch/chomp_planning_pipeline.launch.xml
+++ b/mycobot_pro/mycobot_630_moveit/launch/chomp_planning_pipeline.launch.xml
@@ -1,10 +1,21 @@
 <launch>
-   <!-- CHOMP Plugin for MoveIt! -->
-   <arg name="planning_plugin" value="chomp_interface/CHOMPPlanner" />
-   <arg name="start_state_max_bounds_error" value="0.1" />
+  <arg name="start_state_max_bounds_error" default="0.1" />
+  <arg name="jiggle_fraction" default="0.05" />
+  <!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
+  <arg name="planning_adapters"
+       default="default_planner_request_adapters/LimitMaxCartesianLinkSpeed
+                default_planner_request_adapters/AddTimeParameterization
+                default_planner_request_adapters/ResolveConstraintFrames
+                default_planner_request_adapters/FixWorkspaceBounds
+                default_planner_request_adapters/FixStartStateBounds
+                default_planner_request_adapters/FixStartStateCollision
+                default_planner_request_adapters/FixStartStatePathConstraints"
+                />
 
-   <param name="planning_plugin" value="$(arg planning_plugin)" />
-   <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
+  <param name="planning_plugin" value="chomp_interface/CHOMPPlanner" />
+  <param name="request_adapters" value="$(arg planning_adapters)" />
+  <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
+  <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
 
-   <rosparam command="load" file="$(find mycobot_630_moveit)/config/chomp_planning.yaml" />
+  <rosparam command="load" file="$(find mycobot_630_moveit)/config/chomp_planning.yaml" />
 </launch>
diff --git a/mycobot_pro/mycobot_630_moveit/launch/default_warehouse_db.launch b/mycobot_pro/mycobot_630_moveit/launch/default_warehouse_db.launch
index e2fc2f8..c85e7fe 100644
--- a/mycobot_pro/mycobot_630_moveit/launch/default_warehouse_db.launch
+++ b/mycobot_pro/mycobot_630_moveit/launch/default_warehouse_db.launch
@@ -5,7 +5,7 @@
   <arg name="moveit_warehouse_database_path" default="$(find mycobot_630_moveit)/default_warehouse_mongo_db" />
 
   <!-- Launch the warehouse with the configured database location -->
-  <include file="$(find mycobot_630_moveit)/launch/warehouse.launch">
+  <include file="$(dirname)/warehouse.launch">
     <arg name="moveit_warehouse_database_path" value="$(arg moveit_warehouse_database_path)" />
   </include>
 
diff --git a/mycobot_pro/mycobot_630_moveit/launch/demo.launch b/mycobot_pro/mycobot_630_moveit/launch/demo.launch
index c47c540..87652b8 100644
--- a/mycobot_pro/mycobot_630_moveit/launch/demo.launch
+++ b/mycobot_pro/mycobot_630_moveit/launch/demo.launch
@@ -1,65 +1,66 @@
 <launch>
 
+  <!-- specify the planning pipeline -->
+  <arg name="pipeline" default="ompl" />
+
   <!-- By default, we do not start a database (it can be large) -->
-  <!-- 默认情况下，我们不启动数据库（它可能很大） -->
   <arg name="db" default="false" />
   <!-- Allow user to specify database location -->
-  <!-- 允许用户指定数据库位置 -->
   <arg name="db_path" default="$(find mycobot_630_moveit)/default_warehouse_mongo_db" />
 
   <!-- By default, we are not in debug mode -->
-  <!-- 默认情况下，我们不处于调试模式 -->
   <arg name="debug" default="false" />
 
-  <!--
-  By default, hide joint_state_publisher's GUI
+  <!-- By default, we will load or override the robot_description -->
+  <arg name="load_robot_description" default="true"/>
 
-  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.
-  -->
+  <!-- Choose controller manager: fake, simple, or ros_control -->
+  <arg name="moveit_controller_manager" default="fake" />
+  <!-- Set execution mode for fake execution controllers -->
+  <arg name="fake_execution_type" default="interpolate" />
+
+  <!-- By default, hide joint_state_publisher's GUI in 'fake' controller_manager mode -->
   <arg name="use_gui" default="false" />
-
-  <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
-  <!-- 加载参数服务器上的URDF、SRDF等.yaml配置文件-->
-  <include file="$(find mycobot_630_moveit)/launch/planning_context.launch">
-    <arg name="load_robot_description" value="true"/>
-  </include>
+  <arg name="use_rviz" default="true" />
 
   <!-- If needed, broadcast static tf for robot root -->
-  
+  <node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 basic base" />
 
-  <!-- We do not have a robot connected, so publish fake joint states -->
-  <!-- 我们没有连接机器人，所以发布假关节状态 -->
-  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
-    <param name="use_gui" value="$(arg use_gui)"/>
-    <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-  </node>
+  <group if="$(eval arg('moveit_controller_manager') == 'fake')">
+    <!-- We do not have a real robot connected, so publish fake joint states via a joint_state_publisher
+         MoveIt's fake controller's joint states are considered via the 'source_list' parameter -->
+    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
+      <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
+    </node>
+    <!-- If desired, a GUI version is available allowing to move the simulated robot around manually
+         This corresponds to moving around the real robot without the use of MoveIt. -->
+    <node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(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 -->
-  <!-- 给定已发布的关节状态，为机器人链接发布 tf -->
-  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
+    <!-- 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" />
+  </group>
 
-  <!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
-  <!-- 运行主MoveIt！ 没有轨迹执行的可执行文件（我们默认没有配置控制器）-->
-  <include file="$(find mycobot_630_moveit)/launch/move_group.launch">
+  <!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
+  <include file="$(dirname)/move_group.launch">
     <arg name="allow_trajectory_execution" value="true"/>
-    <arg name="fake_execution" value="true"/>
+    <arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
+    <arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
     <arg name="info" value="true"/>
     <arg name="debug" value="$(arg debug)"/>
+    <arg name="pipeline" value="$(arg pipeline)"/>
+    <arg name="load_robot_description" value="$(arg load_robot_description)"/>
   </include>
 
   <!-- Run Rviz and load the default config to see the state of the move_group node -->
-  <!-- 运行 Rviz 并加载默认配置以查看 move_group 节点的状态 -->
-  <include file="$(find mycobot_630_moveit)/launch/moveit_rviz.launch">
-    <arg name="config" value="true"/>
+  <include file="$(dirname)/moveit_rviz.launch" if="$(arg use_rviz)">
+    <arg name="rviz_config" value="$(dirname)/moveit.rviz"/>
     <arg name="debug" value="$(arg debug)"/>
   </include>
 
   <!-- If database loading was enabled, start mongodb as well -->
-  <!-- 如果启用了数据库加载，也启动 mongodb -->
-  <include file="$(find mycobot_630_moveit)/launch/default_warehouse_db.launch" if="$(arg db)">
+  <include file="$(dirname)/default_warehouse_db.launch" if="$(arg db)">
     <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
   </include>
 
diff --git a/mycobot_pro/mycobot_630_moveit/launch/demo_gazebo.launch b/mycobot_pro/mycobot_630_moveit/launch/demo_gazebo.launch
index 3ee6039..0ef8f95 100644
--- a/mycobot_pro/mycobot_630_moveit/launch/demo_gazebo.launch
+++ b/mycobot_pro/mycobot_630_moveit/launch/demo_gazebo.launch
@@ -1,70 +1,21 @@
+<?xml version="1.0"?>
 <launch>
+  <!-- MoveIt options -->
+  <arg name="pipeline" default="ompl" doc="Planning pipeline to use with MoveIt"/>
 
-  <!-- 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 mycobot_630_moveit)/default_warehouse_mongo_db" />
+  <!-- Gazebo options -->
+  <arg name="gazebo_gui" default="true" doc="Start Gazebo GUI"/>
+  <arg name="paused" default="false" doc="Start Gazebo paused"/>
+  <arg name="world_name" default="worlds/empty.world" doc="Gazebo world file"/>
+  <arg name="world_pose" default="-x 0 -y 0 -z 0 -R 0 -P 0 -Y 0" doc="Pose to spawn the robot at"/>
 
-  <!-- By default, we are not in debug mode -->
-  <arg name="debug" default="false" />
+  <!-- Launch Gazebo and spawn the robot -->
+  <include file="$(dirname)/gazebo.launch" pass_all_args="true"/>
 
-  <!--
-  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="$(find mycobot_description)/urdf/mycobot_pro_630/mycobot_pro_630.urdf"/>
-
-  <!-- launch the gazebo simulator and spawn the robot -->
-  <include file="$(find mycobot_630_moveit)/launch/gazebo.launch" >
-    <arg name="paused" value="$(arg paused)"/>
-    <arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
-    <arg name="urdf_path" value="$(arg urdf_path)"/>
+  <!-- Launch MoveIt -->
+  <include file="$(dirname)/demo.launch" pass_all_args="true">
+    <!-- robot_description is loaded by gazebo.launch, to enable Gazebo features -->
+    <arg name="load_robot_description" value="false" />
+    <arg name="moveit_controller_manager" value="ros_control" />
   </include>
-
-  <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
-  <include file="$(find mycobot_630_moveit)/launch/planning_context.launch">
-    <arg name="load_robot_description" value="false"/>
-  </include>
-
-  <!-- If needed, broadcast static tf for robot root -->
-  
-
-  <!-- We do not have a robot connected, so publish fake joint states -->
-  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
-    <param name="use_gui" value="$(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="$(find mycobot_630_moveit)/launch/move_group.launch">
-    <arg name="allow_trajectory_execution" value="true"/>
-    <arg name="fake_execution" value="false"/>
-    <arg name="info" value="true"/>
-    <arg name="debug" value="$(arg debug)"/>
-  </include>  
-
-  <!-- Run Rviz and load the default config to see the state of the move_group node -->
-  <include file="$(find mycobot_630_moveit)/launch/moveit_rviz.launch">
-    <arg name="config" value="true"/>
-    <arg name="debug" value="$(arg debug)"/>
-  </include>
-
-  <!-- If database loading was enabled, start mongodb as well -->
-  <include file="$(find mycobot_630_moveit)/launch/default_warehouse_db.launch" if="$(arg db)">
-    <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
-  </include>
-
 </launch>
diff --git a/mycobot_pro/mycobot_630_moveit/launch/fake_moveit_controller_manager.launch.xml b/mycobot_pro/mycobot_630_moveit/launch/fake_moveit_controller_manager.launch.xml
index 06e4891..dc584b0 100644
--- a/mycobot_pro/mycobot_630_moveit/launch/fake_moveit_controller_manager.launch.xml
+++ b/mycobot_pro/mycobot_630_moveit/launch/fake_moveit_controller_manager.launch.xml
@@ -1,9 +1,12 @@
 <launch>
 
+  <!-- execute the trajectory in 'interpolate' mode or jump to goal position in 'last point' mode -->
+  <arg name="fake_execution_type" default="interpolate" />
+
   <!-- 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="$(find mycobot_630_moveit)/config/fake_controllers.yaml"/>
+  <rosparam subst_value="true" file="$(find mycobot_630_moveit)/config/fake_controllers.yaml"/>
 
 </launch>
diff --git a/mycobot_pro/mycobot_630_moveit/launch/gazebo.launch b/mycobot_pro/mycobot_630_moveit/launch/gazebo.launch
index 444a8d3..e145891 100644
--- a/mycobot_pro/mycobot_630_moveit/launch/gazebo.launch
+++ b/mycobot_pro/mycobot_630_moveit/launch/gazebo.launch
@@ -1,23 +1,34 @@
 <?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/mycobot_pro_630/mycobot_pro_630.urdf"/>
+  <!-- Gazebo options -->
+  <arg name="gazebo_gui" default="true" doc="Start Gazebo GUI"/>
+  <arg name="paused" default="false" doc="Start Gazebo paused"/>
+  <arg name="world_name" default="worlds/empty.world" doc="Gazebo world file"/>
+  <arg name="world_pose" default="-x 0 -y 0 -z 0 -R 0 -P 0 -Y 0" doc="Pose to spawn the robot at"/>
+  <arg name="initial_joint_positions" default=" -J joint1_to_base 0 -J joint2_to_joint1 0 -J joint3_to_joint2 0 -J joint4_to_joint3 0 -J joint5_to_joint4 0 -J joint6_to_joint5 0" doc="Initial joint configuration of the robot"/>
 
-  <!-- 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="$(arg gazebo_gui)"/>
+  <!-- Start Gazebo paused to allow the controllers to pickup the initial pose -->
+  <include file="$(find gazebo_ros)/launch/empty_world.launch" pass_all_args="true">
+    <arg name="paused" value="true"/>
   </include>
 
-  <!-- send robot urdf to param server -->
-  <param name="robot_description" textfile="$(arg urdf_path)" />
+  <!-- Set the robot urdf on the parameter server -->
+  <param name="robot_description" textfile="$(find mycobot_630_moveit)/config/gazebo_firefighter.urdf" />
 
-  <!-- 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"
+  <!-- Unpause the simulation after loading the robot model -->
+  <arg name="unpause" value="$(eval '' if arg('paused') else '-unpause')" />
+
+  <!-- Spawn the robot in Gazebo -->
+  <node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot $(arg unpause) $(arg world_pose) $(arg initial_joint_positions)"
     respawn="false" output="screen" />
 
-  <include file="$(find mycobot_630_moveit)/launch/ros_controllers.launch"/>
+  <!-- Load the controller parameters onto the parameter server -->
+  <rosparam file="$(find mycobot_630_moveit)/config/gazebo_controllers.yaml" />
+  <include file="$(dirname)/ros_controllers.launch"/>
 
+  <!-- Spawn the Gazebo ROS controllers -->
+  <node name="gazebo_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_state_controller" />
+
+  <!-- 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" />
 </launch>
diff --git a/mycobot_pro/mycobot_630_moveit/launch/move_group.launch b/mycobot_pro/mycobot_630_moveit/launch/move_group.launch
index 9f58ce1..2330bcb 100644
--- a/mycobot_pro/mycobot_630_moveit/launch/move_group.launch
+++ b/mycobot_pro/mycobot_630_moveit/launch/move_group.launch
@@ -1,12 +1,10 @@
 <launch>
 
-  <include file="$(find mycobot_630_moveit)/launch/planning_context.launch" />
-
   <!-- GDB Debug Option -->
   <arg name="debug" default="false" />
   <arg unless="$(arg debug)" name="launch_prefix" value="" />
   <arg     if="$(arg debug)" name="launch_prefix"
-	   value="gdb -x $(find mycobot_630_moveit)/launch/gdb_settings.gdb --ex run --args" />
+           value="gdb -x $(dirname)/gdb_settings.gdb --ex run --args" />
 
   <!-- Verbose Mode Option -->
   <arg name="info" default="$(arg debug)" />
@@ -14,10 +12,11 @@
   <arg     if="$(arg info)" name="command_args" value="--debug" />
 
   <!-- move_group settings -->
+  <arg name="pipeline" default="ompl" />
   <arg name="allow_trajectory_execution" default="true"/>
-  <arg name="fake_execution" default="false"/>
+  <arg name="moveit_controller_manager" default="simple" />
+  <arg name="fake_execution_type" default="interpolate"/>
   <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=""/>
@@ -38,20 +37,46 @@
                 " />
   -->
 
-  <!-- Planning Functionality -->
-  <include ns="move_group" file="$(find mycobot_630_moveit)/launch/planning_pipeline.launch.xml">
-    <arg name="pipeline" value="ompl" />
+  <arg name="load_robot_description" default="false" />
+  <!-- load URDF, SRDF and joint_limits configuration -->
+  <include file="$(dirname)/planning_context.launch">
+    <arg name="load_robot_description" value="$(arg load_robot_description)" />
   </include>
 
+  <!-- Planning Pipelines -->
+  <group ns="move_group/planning_pipelines">
+
+    <!-- OMPL -->
+    <include file="$(dirname)/planning_pipeline.launch.xml">
+      <arg name="pipeline" value="ompl" />
+    </include>
+
+    <!-- CHOMP -->
+    <include file="$(dirname)/planning_pipeline.launch.xml">
+      <arg name="pipeline" value="chomp" />
+    </include>
+
+    <!-- Pilz Industrial Motion -->
+    <include file="$(dirname)/planning_pipeline.launch.xml">
+      <arg name="pipeline" value="pilz_industrial_motion_planner" />
+    </include>
+
+    <!-- Support custom planning pipeline -->
+    <include if="$(eval arg('pipeline') not in ['ompl', 'chomp', 'pilz_industrial_motion_planner'])"
+             file="$(dirname)/planning_pipeline.launch.xml">
+      <arg name="pipeline" value="$(arg pipeline)" />
+    </include>
+  </group>
+
   <!-- Trajectory Execution Functionality -->
-  <include ns="move_group" file="$(find mycobot_630_moveit)/launch/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
+  <include ns="move_group" file="$(dirname)/trajectory_execution.launch.xml" if="$(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)"/>
+    <arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
+    <arg name="fake_execution_type" value="$(arg fake_execution_type)" />
   </include>
 
   <!-- Sensors Functionality -->
-  <include ns="move_group" file="$(find mycobot_630_moveit)/launch/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
+  <include ns="move_group" file="$(dirname)/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
     <arg name="moveit_sensor_manager" value="firefighter" />
   </include>
 
@@ -61,11 +86,14 @@
     <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="$(arg disable_capabilities)"/>
+    <param name="sense_for_plan/max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
+    <param name="default_planning_pipeline" value="$(arg pipeline)" />
+    <param name="capabilities" value="$(arg capabilities)" />
+    <param name="disable_capabilities" value="$(arg disable_capabilities)" />
 
+    <!-- do not copy dynamics information from /joint_states to internal robot monitoring
+         default to false, because almost nothing in move_group relies on this information -->
+    <param name="monitor_dynamics" value="false" />
 
     <!-- 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)" />
diff --git a/mycobot_pro/mycobot_630_moveit/launch/moveit.rviz b/mycobot_pro/mycobot_630_moveit/launch/moveit.rviz
index 61506b6..e4b03b9 100644
--- a/mycobot_pro/mycobot_630_moveit/launch/moveit.rviz
+++ b/mycobot_pro/mycobot_630_moveit/launch/moveit.rviz
@@ -211,7 +211,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/XYOrbit
-      Distance: 1.3915867805480957
+      Distance: 1.955079197883606
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -227,9 +227,9 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.3547966480255127
+      Pitch: 0.2597966492176056
       Target Frame: base
-      Yaw: 2.0267655849456787
+      Yaw: 2.8617656230926514
     Saved: ~
 Window Geometry:
   Displays:
@@ -243,7 +243,7 @@ Window Geometry:
     collapsed: false
   MotionPlanning - Trajectory Slider:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd0000000100000000000001f300000330fc0200000007fb000000100044006900730070006c006100790073010000003d00000156000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720100000199000000420000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001e10000018c0000017d00ffffff0000053f0000033000000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000100000000000001f300000330fc0200000007fb000000100044006900730070006c006100790073010000003d00000156000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720100000199000000410000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001e00000018d0000017d00ffffff0000053f0000033000000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Views:
     collapsed: false
   Width: 1848
diff --git a/mycobot_pro/mycobot_630_moveit/launch/moveit_rviz.launch b/mycobot_pro/mycobot_630_moveit/launch/moveit_rviz.launch
index a375679..a4605c0 100644
--- a/mycobot_pro/mycobot_630_moveit/launch/moveit_rviz.launch
+++ b/mycobot_pro/mycobot_630_moveit/launch/moveit_rviz.launch
@@ -4,13 +4,12 @@
   <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 $(find mycobot_630_moveit)/launch/moveit.rviz" />
+  <arg name="rviz_config" default="" />
+  <arg     if="$(eval rviz_config=='')" name="command_args" value="" />
+  <arg unless="$(eval rviz_config=='')" name="command_args" value="-d $(arg rviz_config)" />
 
   <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 mycobot_630_moveit)/config/kinematics.yaml"/>
+        args="$(arg command_args)" output="screen">
   </node>
 
 </launch>
diff --git a/mycobot_pro/mycobot_630_moveit/launch/mycobot630_moveit.launch b/mycobot_pro/mycobot_630_moveit/launch/mycobot630_moveit.launch
index 0a9be57..87652b8 100644
--- a/mycobot_pro/mycobot_630_moveit/launch/mycobot630_moveit.launch
+++ b/mycobot_pro/mycobot_630_moveit/launch/mycobot630_moveit.launch
@@ -1,64 +1,66 @@
 <launch>
 
+  <!-- specify the planning pipeline -->
+  <arg name="pipeline" default="ompl" />
+
   <!-- By default, we do not start a database (it can be large) -->
-   <!-- 默认情况下，我们不启动数据库（它可能很大） -->
   <arg name="db" default="false" />
   <!-- Allow user to specify database location -->
-   <!-- 允许用户指定数据库位置 -->
   <arg name="db_path" default="$(find mycobot_630_moveit)/default_warehouse_mongo_db" />
 
-  <!-- By default, we are not in debug mode -->  <!-- 默认情况下，我们不处于调试模式 -->
+  <!-- By default, we are not in debug mode -->
   <arg name="debug" default="false" />
 
-  <!--
-  By default, hide joint_state_publisher's GUI
+  <!-- By default, we will load or override the robot_description -->
+  <arg name="load_robot_description" default="true"/>
 
-  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.
-  -->
+  <!-- Choose controller manager: fake, simple, or ros_control -->
+  <arg name="moveit_controller_manager" default="fake" />
+  <!-- Set execution mode for fake execution controllers -->
+  <arg name="fake_execution_type" default="interpolate" />
+
+  <!-- By default, hide joint_state_publisher's GUI in 'fake' controller_manager mode -->
   <arg name="use_gui" default="false" />
-
-  <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
-   <!-- 加载参数服务器上的URDF、SRDF等.yaml配置文件-->
-  <include file="$(find mycobot_630_moveit)/launch/planning_context.launch">
-    <arg name="load_robot_description" value="true"/>
-  </include>
+  <arg name="use_rviz" default="true" />
 
   <!-- If needed, broadcast static tf for robot root -->
-  
+  <node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 basic base" />
 
-  <!-- We do not have a robot connected, so publish fake joint states -->
-   <!-- 我们没有连接机器人，所以发布假关节状态 -->
-  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
-    <param name="use_gui" value="$(arg use_gui)"/>
-    <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-  </node>
+  <group if="$(eval arg('moveit_controller_manager') == 'fake')">
+    <!-- We do not have a real robot connected, so publish fake joint states via a joint_state_publisher
+         MoveIt's fake controller's joint states are considered via the 'source_list' parameter -->
+    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
+      <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
+    </node>
+    <!-- If desired, a GUI version is available allowing to move the simulated robot around manually
+         This corresponds to moving around the real robot without the use of MoveIt. -->
+    <node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(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 -->
-   <!-- 给定已发布的关节状态，为机器人链接发布 tf -->
-  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
+    <!-- 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" />
+  </group>
 
-  <!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
-    <!-- 运行主MoveIt！ 没有轨迹执行的可执行文件（我们默认没有配置控制器）-->
-  <include file="$(find mycobot_630_moveit)/launch/move_group.launch">
+  <!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
+  <include file="$(dirname)/move_group.launch">
     <arg name="allow_trajectory_execution" value="true"/>
-    <arg name="fake_execution" value="true"/>
+    <arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
+    <arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
     <arg name="info" value="true"/>
     <arg name="debug" value="$(arg debug)"/>
+    <arg name="pipeline" value="$(arg pipeline)"/>
+    <arg name="load_robot_description" value="$(arg load_robot_description)"/>
   </include>
 
   <!-- Run Rviz and load the default config to see the state of the move_group node -->
-   <!-- 运行 Rviz 并加载默认配置以查看 move_group 节点的状态 -->
-  <include file="$(find mycobot_630_moveit)/launch/moveit_rviz.launch">
-    <arg name="config" value="true"/>
+  <include file="$(dirname)/moveit_rviz.launch" if="$(arg use_rviz)">
+    <arg name="rviz_config" value="$(dirname)/moveit.rviz"/>
     <arg name="debug" value="$(arg debug)"/>
   </include>
 
   <!-- If database loading was enabled, start mongodb as well -->
-  <!-- 如果启用了数据库加载，也启动 mongodb -->
-  <include file="$(find mycobot_630_moveit)/launch/default_warehouse_db.launch" if="$(arg db)">
+  <include file="$(dirname)/default_warehouse_db.launch" if="$(arg db)">
     <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
   </include>
 
diff --git a/mycobot_pro/mycobot_630_moveit/launch/ompl-chomp_planning_pipeline.launch.xml b/mycobot_pro/mycobot_630_moveit/launch/ompl-chomp_planning_pipeline.launch.xml
new file mode 100644
index 0000000..8ff1cd7
--- /dev/null
+++ b/mycobot_pro/mycobot_630_moveit/launch/ompl-chomp_planning_pipeline.launch.xml
@@ -0,0 +1,20 @@
+<launch>
+  <!-- load OMPL planning pipeline, but add the CHOMP planning adapter. -->
+  <include file="$(find mycobot_630_moveit)/launch/ompl_planning_pipeline.launch.xml">
+    <arg name="planning_adapters"
+         default="default_planner_request_adapters/LimitMaxCartesianLinkSpeed
+                  default_planner_request_adapters/AddTimeParameterization
+                  default_planner_request_adapters/FixWorkspaceBounds
+                  default_planner_request_adapters/FixStartStateBounds
+                  default_planner_request_adapters/FixStartStateCollision
+                  default_planner_request_adapters/FixStartStatePathConstraints
+                  chomp/OptimizerAdapter"
+                  />
+  </include>
+
+  <!-- load chomp config -->
+  <rosparam command="load" file="$(find mycobot_630_moveit)/config/chomp_planning.yaml" />
+
+  <!-- override trajectory_initialization_method: Use OMPL-generated trajectory -->
+  <param name="trajectory_initialization_method" value="fillTrajectory"/>
+</launch>
diff --git a/mycobot_pro/mycobot_630_moveit/launch/ompl_planning_pipeline.launch.xml b/mycobot_pro/mycobot_630_moveit/launch/ompl_planning_pipeline.launch.xml
index ccbe152..79f6f44 100644
--- a/mycobot_pro/mycobot_630_moveit/launch/ompl_planning_pipeline.launch.xml
+++ b/mycobot_pro/mycobot_630_moveit/launch/ompl_planning_pipeline.launch.xml
@@ -1,21 +1,23 @@
 <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"
+       default="default_planner_request_adapters/LimitMaxCartesianLinkSpeed
+                default_planner_request_adapters/AddTimeParameterization
+                default_planner_request_adapters/ResolveConstraintFrames
+                default_planner_request_adapters/FixWorkspaceBounds
+                default_planner_request_adapters/FixStartStateBounds
+                default_planner_request_adapters/FixStartStateCollision
+                default_planner_request_adapters/FixStartStatePathConstraints"
+                />
 
-  <!-- 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" default="0.1" />
+  <arg name="jiggle_fraction" default="0.05" />
 
-  <arg name="start_state_max_bounds_error" value="0.1" />
-
-  <param name="planning_plugin" value="$(arg planning_plugin)" />
+  <param name="planning_plugin" value="ompl_interface/OMPLPlanner" />
   <param name="request_adapters" value="$(arg planning_adapters)" />
   <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
+  <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
 
   <rosparam command="load" file="$(find mycobot_630_moveit)/config/ompl_planning.yaml"/>
 
diff --git a/mycobot_pro/mycobot_630_moveit/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml b/mycobot_pro/mycobot_630_moveit/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml
new file mode 100644
index 0000000..c7c4cf5
--- /dev/null
+++ b/mycobot_pro/mycobot_630_moveit/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml
@@ -0,0 +1,15 @@
+<launch>
+
+  <!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
+  <arg name="planning_adapters" default="" />
+
+  <param name="planning_plugin" value="pilz_industrial_motion_planner::CommandPlanner" />
+  <param name="request_adapters" value="$(arg planning_adapters)" />
+
+  <!-- Define default planner (for all groups) -->
+  <param name="default_planner_config" value="PTP" />
+
+  <!-- MoveGroup capabilities to load for this pipeline, append sequence capability -->
+  <param name="capabilities" value="pilz_industrial_motion_planner/MoveGroupSequenceAction
+                                    pilz_industrial_motion_planner/MoveGroupSequenceService" />
+</launch>
diff --git a/mycobot_pro/mycobot_630_moveit/launch/planning_context.launch b/mycobot_pro/mycobot_630_moveit/launch/planning_context.launch
index 36ba3d9..4f54be0 100644
--- a/mycobot_pro/mycobot_630_moveit/launch/planning_context.launch
+++ b/mycobot_pro/mycobot_630_moveit/launch/planning_context.launch
@@ -6,7 +6,7 @@
   <arg name="robot_description" default="robot_description"/>
 
   <!-- Load universal robot description format (URDF) -->
-  <param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/mycobot_pro_630/mycobot_pro_630.urdf"/>
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/mycobot_pro_630/mycobot_pro_630_moveit.urdf"/>
 
   <!-- The semantic description that corresponds to the URDF -->
   <param name="$(arg robot_description)_semantic" textfile="$(find mycobot_630_moveit)/config/firefighter.srdf" />
@@ -14,11 +14,13 @@
   <!-- Load updated joint limits (override information from URDF) -->
   <group ns="$(arg robot_description)_planning">
     <rosparam command="load" file="$(find mycobot_630_moveit)/config/joint_limits.yaml"/>
+    <rosparam command="load" file="$(find mycobot_630_moveit)/config/cartesian_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 mycobot_630_moveit)/config/kinematics.yaml"/>
+
   </group>
 
 </launch>
diff --git a/mycobot_pro/mycobot_630_moveit/launch/planning_pipeline.launch.xml b/mycobot_pro/mycobot_630_moveit/launch/planning_pipeline.launch.xml
index 6640f40..4b4d0d6 100644
--- a/mycobot_pro/mycobot_630_moveit/launch/planning_pipeline.launch.xml
+++ b/mycobot_pro/mycobot_630_moveit/launch/planning_pipeline.launch.xml
@@ -5,6 +5,6 @@
 
   <arg name="pipeline" default="ompl" />
 
-  <include file="$(find mycobot_630_moveit)/launch/$(arg pipeline)_planning_pipeline.launch.xml" />
+  <include ns="$(arg pipeline)" file="$(dirname)/$(arg pipeline)_planning_pipeline.launch.xml" />
 
 </launch>
diff --git a/mycobot_pro/mycobot_630_moveit/launch/ros_control_moveit_controller_manager.launch.xml b/mycobot_pro/mycobot_630_moveit/launch/ros_control_moveit_controller_manager.launch.xml
new file mode 100644
index 0000000..9ebc91c
--- /dev/null
+++ b/mycobot_pro/mycobot_630_moveit/launch/ros_control_moveit_controller_manager.launch.xml
@@ -0,0 +1,4 @@
+<launch>
+	<!-- Define MoveIt controller manager plugin -->
+	<param name="moveit_controller_manager" value="moveit_ros_control_interface::MoveItControllerManager" />
+</launch>
diff --git a/mycobot_pro/mycobot_630_moveit/launch/ros_controllers.launch b/mycobot_pro/mycobot_630_moveit/launch/ros_controllers.launch
index 939670e..faece43 100644
--- a/mycobot_pro/mycobot_630_moveit/launch/ros_controllers.launch
+++ b/mycobot_pro/mycobot_630_moveit/launch/ros_controllers.launch
@@ -6,6 +6,6 @@
 
   <!-- Load the controllers -->
   <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
-    output="screen" args=""/>
+    output="screen" args="arm_group_controller "/>
 
 </launch>
diff --git a/mycobot_pro/mycobot_630_moveit/launch/run_benchmark_ompl.launch b/mycobot_pro/mycobot_630_moveit/launch/run_benchmark_ompl.launch
index bf9c8b6..3fb79fa 100644
--- a/mycobot_pro/mycobot_630_moveit/launch/run_benchmark_ompl.launch
+++ b/mycobot_pro/mycobot_630_moveit/launch/run_benchmark_ompl.launch
@@ -4,18 +4,17 @@
   <arg name="cfg" />
 
   <!-- Load URDF -->
-  <include file="$(find mycobot_630_moveit)/launch/planning_context.launch">
+  <include file="$(dirname)/planning_context.launch">
     <arg name="load_robot_description" value="true"/>
   </include>
 
   <!-- Start the database -->
-  <include file="$(find mycobot_630_moveit)/launch/warehouse.launch">
+  <include file="$(dirname)/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="$(find mycobot_630_moveit)/config/kinematics.yaml"/>
     <rosparam command="load" file="$(find mycobot_630_moveit)/config/ompl_planning.yaml"/>
   </node>
 
diff --git a/mycobot_pro/mycobot_630_moveit/launch/sensor_manager.launch.xml b/mycobot_pro/mycobot_630_moveit/launch/sensor_manager.launch.xml
index 66a8fb4..d89d281 100644
--- a/mycobot_pro/mycobot_630_moveit/launch/sensor_manager.launch.xml
+++ b/mycobot_pro/mycobot_630_moveit/launch/sensor_manager.launch.xml
@@ -12,6 +12,6 @@
 
   <!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
   <arg name="moveit_sensor_manager" default="firefighter" />
-  <include file="$(find mycobot_630_moveit)/launch/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
+  <include file="$(dirname)/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
 
 </launch>
diff --git a/mycobot_pro/mycobot_630_moveit/launch/setup_assistant.launch b/mycobot_pro/mycobot_630_moveit/launch/setup_assistant.launch
index bba5569..a37d34a 100644
--- a/mycobot_pro/mycobot_630_moveit/launch/setup_assistant.launch
+++ b/mycobot_pro/mycobot_630_moveit/launch/setup_assistant.launch
@@ -1,4 +1,4 @@
-<!-- Re-launch the MoveIt! Setup Assistant with this configuration package already loaded -->
+<!-- Re-launch the MoveIt Setup Assistant with this configuration package already loaded -->
 <launch>
 
   <!-- Debug Info -->
@@ -8,8 +8,9 @@
 
   <!-- Run -->
   <node pkg="moveit_setup_assistant" type="moveit_setup_assistant" name="moveit_setup_assistant"
-	args="--config_pkg=mycobot_630_moveit"
-	launch-prefix="$(arg launch_prefix)"
+        args="--config_pkg=mycobot_630_moveit"
+        launch-prefix="$(arg launch_prefix)"
+        required="true"
         output="screen" />
 
 </launch>
diff --git a/mycobot_pro/mycobot_630_moveit/launch/simple_moveit_controller_manager.launch.xml b/mycobot_pro/mycobot_630_moveit/launch/simple_moveit_controller_manager.launch.xml
new file mode 100644
index 0000000..9ad259c
--- /dev/null
+++ b/mycobot_pro/mycobot_630_moveit/launch/simple_moveit_controller_manager.launch.xml
@@ -0,0 +1,8 @@
+<launch>
+  <!-- Define the MoveIt controller manager plugin to use for trajectory execution -->
+  <param name="moveit_controller_manager" value="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
+
+  <!-- Load controller list to the parameter server -->
+  <rosparam file="$(find mycobot_630_moveit)/config/simple_moveit_controllers.yaml" />
+  <rosparam file="$(find mycobot_630_moveit)/config/ros_controllers.yaml" />
+</launch>
diff --git a/mycobot_pro/mycobot_630_moveit/launch/stomp_planning_pipeline.launch.xml b/mycobot_pro/mycobot_630_moveit/launch/stomp_planning_pipeline.launch.xml
new file mode 100644
index 0000000..b70333c
--- /dev/null
+++ b/mycobot_pro/mycobot_630_moveit/launch/stomp_planning_pipeline.launch.xml
@@ -0,0 +1,23 @@
+<launch>
+  <!-- Stomp Plugin for MoveIt -->
+  <arg name="planning_plugin" value="stomp_moveit/StompPlannerManager" />
+
+  <arg name="start_state_max_bounds_error" value="0.1" />
+  <arg name="jiggle_fraction" value="0.05" />
+  <!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
+  <arg name="planning_adapters"
+       default="default_planner_request_adapters/LimitMaxCartesianLinkSpeed
+                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" />
+
+
+  <param name="planning_plugin" value="$(arg planning_plugin)" />
+  <param name="request_adapters" value="$(arg planning_adapters)" />
+  <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
+  <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
+
+  <rosparam command="load" file="$(find mycobot_630_moveit)/config/stomp_planning.yaml"/>
+</launch>
diff --git a/mycobot_pro/mycobot_630_moveit/launch/trajectory_execution.launch.xml b/mycobot_pro/mycobot_630_moveit/launch/trajectory_execution.launch.xml
index 20e6e19..20c3dfc 100644
--- a/mycobot_pro/mycobot_630_moveit/launch/trajectory_execution.launch.xml
+++ b/mycobot_pro/mycobot_630_moveit/launch/trajectory_execution.launch.xml
@@ -1,8 +1,11 @@
 <launch>
+  <!-- This file summarizes all settings required for trajectory execution  -->
 
-  <!-- This file makes it easy to include the settings for trajectory execution  -->
+  <!-- Define moveit controller manager plugin: fake, simple, or ros_control -->
+  <arg name="moveit_controller_manager" />
+  <arg name="fake_execution_type" default="interpolate" />
 
-  <!-- Flag indicating whether MoveIt! is allowed to load/unload  or switch controllers -->
+  <!-- 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)"/>
 
@@ -13,8 +16,8 @@
   <!-- 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="$(find mycobot_630_moveit)/launch/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" />
+  <!-- We use pass_all_args=true here to pass fake_execution_type, which is required by fake controllers, but not by real-robot controllers.
+       As real-robot controller_manager.launch files shouldn't be required to define this argument, we use the trick of passing all args. -->
+  <include file="$(dirname)/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" pass_all_args="true" />
 
 </launch>
diff --git a/mycobot_pro/mycobot_630_moveit/launch/warehouse.launch b/mycobot_pro/mycobot_630_moveit/launch/warehouse.launch
index 1496e6f..0712e67 100644
--- a/mycobot_pro/mycobot_630_moveit/launch/warehouse.launch
+++ b/mycobot_pro/mycobot_630_moveit/launch/warehouse.launch
@@ -4,7 +4,7 @@
   <arg name="moveit_warehouse_database_path" />
 
   <!-- Load warehouse parameters -->
-  <include file="$(find mycobot_630_moveit)/launch/warehouse_settings.launch.xml" />
+  <include file="$(dirname)/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">
diff --git a/mycobot_pro/mycobot_630_moveit/package.xml b/mycobot_pro/mycobot_630_moveit/package.xml
index fbdd127..6b2a499 100644
--- a/mycobot_pro/mycobot_630_moveit/package.xml
+++ b/mycobot_pro/mycobot_630_moveit/package.xml
@@ -3,7 +3,7 @@
   <name>mycobot_630_moveit</name>
   <version>0.3.0</version>
   <description>
-     An automatically generated package with all the configuration and launch files for using the firefighter with the MoveIt! Motion Planning Framework
+     An automatically generated package with all the configuration and launch files for using the firefighter with the MoveIt Motion Planning Framework
   </description>
   <author email="weijian.wang@elephantrobotics.com">wangweijian</author>
   <maintainer email="weijian.wang@elephantrobotics.com">wangweijian</maintainer>
@@ -19,20 +19,22 @@
   <run_depend>moveit_ros_move_group</run_depend>
   <run_depend>moveit_fake_controller_manager</run_depend>
   <run_depend>moveit_kinematics</run_depend>
-  <run_depend>moveit_planners_ompl</run_depend>
+  <run_depend>moveit_planners</run_depend>
   <run_depend>moveit_ros_visualization</run_depend>
   <run_depend>moveit_setup_assistant</run_depend>
+  <run_depend>moveit_simple_controller_manager</run_depend>
   <run_depend>joint_state_publisher</run_depend>
+  <run_depend>joint_state_publisher_gui</run_depend>
   <run_depend>robot_state_publisher</run_depend>
+  <run_depend>rviz</run_depend>
+  <run_depend>tf2_ros</run_depend>
   <run_depend>xacro</run_depend>
+  <!-- The next 2 packages are required for the gazebo simulation.
+       We don't include them by default to prevent installing gazebo and all its dependencies. -->
+  <!-- <run_depend>joint_trajectory_controller</run_depend> -->
+  <!-- <run_depend>gazebo_ros_control</run_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. -->
   <!-- <run_depend>warehouse_ros_mongo</run_depend> -->
-  <build_depend>roscpp</build_depend>
-  <build_depend>rospy</build_depend>
-  <build_depend>std_msgs</build_depend>
-  <build_depend>actionlib</build_depend>
-  <build_depend>moveit_msgs</build_depend>
-  <build_depend>mycobot_description</build_depend>
   <run_depend>mycobot_description</run_depend>
 
 
diff --git a/mycobot_pro/mycobot_630_moveit/scripts/sync_plan.py b/mycobot_pro/mycobot_630_moveit/scripts/sync_plan.py
index 661f825..c0db4ea 100755
--- a/mycobot_pro/mycobot_630_moveit/scripts/sync_plan.py
+++ b/mycobot_pro/mycobot_630_moveit/scripts/sync_plan.py
@@ -23,6 +23,9 @@ def callback(data):
         radians_to_angles = round(math.degrees(value), 2)
         data_list.append(radians_to_angles)
         
+    data_list[1] = data_list[1] - 90
+    data_list[3] = data_list[3] - 90
+        
     rospy.loginfo(rospy.get_caller_id() + "%s", data_list)
     mc.write_angles(data_list, 800)
 
diff --git a/mycobot_pro/mycobot_630_moveit/scripts/test_add_ground.py b/mycobot_pro/mycobot_630_moveit/scripts/test_add_ground.py
new file mode 100755
index 0000000..36f7f48
--- /dev/null
+++ b/mycobot_pro/mycobot_630_moveit/scripts/test_add_ground.py
@@ -0,0 +1,35 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+import rospy
+from moveit_commander import PlanningSceneInterface
+from geometry_msgs.msg import PoseStamped
+
+class GroundAdder:
+    def __init__(self):
+        # 初始化 ROS 节点
+        rospy.init_node('add_ground_node', anonymous=True)
+        
+        # 初始化 PlanningSceneInterface
+        self.scene = PlanningSceneInterface()
+        rospy.sleep(2)  # 等待场景初始化
+
+    def add_ground(self):
+        # 定义地面的姿态
+        ground_pose = PoseStamped()
+        ground_pose.header.frame_id = "base"  # 基座坐标系
+        ground_pose.pose.position.x = 0.0
+        ground_pose.pose.position.y = 0.0
+        ground_pose.pose.position.z = -0.01  # 地面位于基座下方 0.01 米
+        ground_pose.pose.orientation.w = 1.0
+
+        # 添加地面到场景中
+        self.scene.add_box("ground", ground_pose, size=(1.5, 1.5, 0.005))
+        rospy.loginfo("Ground added to the planning scene.")
+
+if __name__ == "__main__":
+    try:
+        ground_adder = GroundAdder()
+        ground_adder.add_ground()
+        rospy.spin()  # 保持节点运行，防止退出
+    except rospy.ROSInterruptException:
+        pass

From fbed374f44589e56a060b0fa79fed38e79bdd021 Mon Sep 17 00:00:00 2001
From: wangWking <842749351@qq.com>
Date: Tue, 7 Jan 2025 18:04:28 +0800
Subject: [PATCH 3/4] =?UTF-8?q?=E6=9B=B4=E6=96=B0pro=20600=20URDF=E6=A8=A1?=
 =?UTF-8?q?=E5=9E=8B=E5=88=9D=E5=A7=8B=E5=A7=BF=E6=80=81?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 demo_img/pro600/pro600.png                    | Bin 288263 -> 278903 bytes
 .../urdf/mycobot_pro_600/mycobot_pro_600.urdf |  16 +++---
 .../mycobot_600/config/mycobot_600.rviz       |  47 ++++++++++--------
 mycobot_pro/mycobot_600/scripts/slider_600.py |   3 ++
 4 files changed, 38 insertions(+), 28 deletions(-)

diff --git a/demo_img/pro600/pro600.png b/demo_img/pro600/pro600.png
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diff --git a/mycobot_description/urdf/mycobot_pro_600/mycobot_pro_600.urdf b/mycobot_description/urdf/mycobot_pro_600/mycobot_pro_600.urdf
index 747d9cf..8b13dae 100755
--- a/mycobot_description/urdf/mycobot_pro_600/mycobot_pro_600.urdf
+++ b/mycobot_description/urdf/mycobot_pro_600/mycobot_pro_600.urdf
@@ -143,12 +143,12 @@
 
   <joint name="joint3_to_joint2" type="revolute">
     <axis xyz="0 0 -1"/>
-    <limit effort = "1000.0" lower = "-4.71" upper = "1.5708" velocity = "0"/>
-    <!-- <limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/> -->
+    <!-- <limit effort = "1000.0" lower = "-4.71" upper = "1.5708" velocity = "0"/> -->
+    <limit effort = "1000.0" lower = "-3.14159" upper = "3.14159" velocity = "0"/>
     <parent link="link1"/>
     <child link="link2"/>
-    <!-- <origin xyz= "0 0  0" rpy = "1.5708 -1.5708 0"/>   -->
-    <origin xyz= "0 0  0" rpy = "1.5708 0 0"/>
+    <origin xyz= "0 0  0" rpy = "1.5708 -1.5708 0"/>  
+    <!-- <origin xyz= "0 0  0" rpy = "1.5708 0 0"/> -->
   </joint>
 
 
@@ -162,12 +162,12 @@
 
   <joint name="joint5_to_joint4" type="revolute">
     <axis xyz=" 0 0 -1"/>
-    <limit effort = "1000.0" lower = "-4.53" upper = "1.3962" velocity = "0"/>
-    <!-- <limit effort = "1000.0" lower = "-2.96" upper = "2.97" velocity = "0"/> -->
+    <!-- <limit effort = "1000.0" lower = "-4.53" upper = "1.3962" velocity = "0"/> -->
+    <limit effort = "1000.0" lower = "-2.9670" upper = "2.9670" velocity = "0"/>
     <parent link="link3"/>
     <child link="link4"/>
-    <!-- <origin xyz= "0.25 0  -0.1091" rpy = "0 0 1.5708"/>   -->
-    <origin xyz= "0.25 0  -0.1091" rpy = "0 0 0"/>  
+    <origin xyz= "0.25 0  -0.1091" rpy = "0 0 1.5708"/>  
+    <!-- <origin xyz= "0.25 0  -0.1091" rpy = "0 0 0"/>   -->
   </joint>
 
   <joint name="joint6_to_joint5" type="revolute">
diff --git a/mycobot_pro/mycobot_600/config/mycobot_600.rviz b/mycobot_pro/mycobot_600/config/mycobot_600.rviz
index 145b7d8..8adf356 100644
--- a/mycobot_pro/mycobot_600/config/mycobot_600.rviz
+++ b/mycobot_pro/mycobot_600/config/mycobot_600.rviz
@@ -9,7 +9,7 @@ Panels:
         - /RobotModel1
         - /TF1
       Splitter Ratio: 0.5
-    Tree Height: 775
+    Tree Height: 609
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -18,17 +18,18 @@ Panels:
       - /2D Nav Goal1
       - /Publish Point1
     Name: Tool Properties
-    Splitter Ratio: 0.588679016
+    Splitter Ratio: 0.5886790156364441
   - Class: rviz/Views
     Expanded:
       - /Current View1
     Name: Views
     Splitter Ratio: 0.5
   - Class: rviz/Time
-    Experimental: false
     Name: Time
     SyncMode: 0
     SyncSource: ""
+Preferences:
+  PromptSaveOnExit: true
 Toolbars:
   toolButtonStyle: 2
 Visualization Manager:
@@ -40,7 +41,7 @@ Visualization Manager:
       Color: 160; 160; 164
       Enabled: true
       Line Style:
-        Line Width: 0.0299999993
+        Line Width: 0.029999999329447746
         Value: Lines
       Name: Grid
       Normal Cell Count: 0
@@ -105,6 +106,8 @@ Visualization Manager:
       Visual Enabled: true
     - Class: rviz/TF
       Enabled: true
+      Filter (blacklist): ""
+      Filter (whitelist): ""
       Frame Timeout: 15
       Frames:
         All Enabled: true
@@ -122,7 +125,8 @@ Visualization Manager:
           Value: true
         link6:
           Value: true
-      Marker Scale: 0.300000012
+      Marker Alpha: 1
+      Marker Scale: 0.20000000298023224
       Name: TF
       Show Arrows: true
       Show Axes: true
@@ -153,7 +157,10 @@ Visualization Manager:
     - Class: rviz/FocusCamera
     - Class: rviz/Measure
     - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
       Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
     - Class: rviz/SetGoal
       Topic: /move_base_simple/goal
     - Class: rviz/PublishPoint
@@ -163,33 +170,33 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 2.0593462
+      Distance: 2.0004639625549316
       Enable Stereo Rendering:
-        Stereo Eye Separation: 0.0599999987
+        Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
+      Field of View: 0.7853981852531433
       Focal Point:
-        X: -0.0706475973
-        Y: -0.0814988762
-        Z: 0.107583851
+        X: -0.07064759731292725
+        Y: -0.0814988762140274
+        Z: 0.10758385062217712
       Focal Shape Fixed Size: true
-      Focal Shape Size: 0.0500000007
+      Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
-      Near Clip Distance: 0.00999999978
-      Pitch: 0.660398126
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.45539799332618713
       Target Frame: <Fixed Frame>
-      Value: Orbit (rviz)
-      Yaw: 3.10539246
+      Yaw: 2.6153931617736816
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 1056
+  Height: 906
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000396fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000022f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073f0000003efc0100000002fb0000000800540069006d006501000000000000073f0000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000039a0000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a000002ecfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002ec000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000022f000002ecfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002ec000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d0065010000000000000450000000000000000000000393000002ec00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -198,6 +205,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1855
-  X: 65
-  Y: 24
+  Width: 1848
+  X: 72
+  Y: 27
diff --git a/mycobot_pro/mycobot_600/scripts/slider_600.py b/mycobot_pro/mycobot_600/scripts/slider_600.py
index c8fd3ab..b618415 100755
--- a/mycobot_pro/mycobot_600/scripts/slider_600.py
+++ b/mycobot_pro/mycobot_600/scripts/slider_600.py
@@ -22,6 +22,9 @@ def callback(data):
         radians_to_angles = round(math.degrees(value), 2)
         data_list.append(radians_to_angles)
         
+    data_list[1] = data_list[1] - 90
+    data_list[3] = data_list[3] - 90
+        
     rospy.loginfo(rospy.get_caller_id() + "%s", data_list)
     mc.write_angles(data_list, 1000)
 

From eec15553408f7e84ffc76a2d31147cf6970c1b06 Mon Sep 17 00:00:00 2001
From: wangWking <842749351@qq.com>
Date: Tue, 7 Jan 2025 18:40:49 +0800
Subject: [PATCH 4/4] =?UTF-8?q?=E4=BC=98=E5=8C=96pro=20600=20moveit?=
 =?UTF-8?q?=E5=8C=85-=E4=BF=AE=E5=A4=8Drviz=E6=B7=BB=E5=8A=A0=E5=9C=B0?=
 =?UTF-8?q?=E9=9D=A2=E5=90=8E=E6=97=A0=E6=B3=95=E8=BF=90=E5=8A=A8=E8=A7=84?=
 =?UTF-8?q?=E5=88=92=E9=97=AE=E9=A2=98=EF=BC=8C=E6=9B=B4=E6=96=B0URDF?=
 =?UTF-8?q?=E6=A8=A1=E5=9E=8B=E5=88=9D=E5=A7=8B=E5=A7=BF=E6=80=81?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../mycobot_pro_600_moveit.urdf               | 183 +++++++++++++
 .../mycobot_600_moveit/.setup_assistant       |   4 +-
 mycobot_pro/mycobot_600_moveit/CMakeLists.txt |  15 +-
 .../config/cartesian_limits.yaml              |   5 +
 .../config/chomp_planning.yaml                |   8 +-
 .../config/fake_controllers.yaml              |   6 +-
 .../config/firefighter.srdf                   |  69 +++--
 .../config/gazebo_controllers.yaml            |   4 +
 .../config/gazebo_firefighter.urdf            | 257 ++++++++++++++++++
 .../config/joint_limits.yaml                  |  42 +--
 .../mycobot_600_moveit/config/kinematics.yaml |   4 +-
 .../config/ompl_planning.yaml                 |  58 +++-
 .../config/ros_controllers.yaml               |  52 ++--
 .../mycobot_600_moveit/config/sensors_3d.yaml |   1 -
 .../config/simple_moveit_controllers.yaml     |  12 +
 .../config/stomp_planning.yaml                |  39 +++
 .../launch/chomp_planning_pipeline.launch.xml |  23 +-
 .../launch/default_warehouse_db.launch        |   2 +-
 .../mycobot_600_moveit/launch/demo.launch     |  71 ++---
 .../launch/demo_gazebo.launch                 |  79 +-----
 .../fake_moveit_controller_manager.launch.xml |   5 +-
 .../mycobot_600_moveit/launch/gazebo.launch   |  37 ++-
 .../launch/move_group.launch                  |  60 ++--
 .../mycobot_600_moveit/launch/moveit.rviz     |  49 ++--
 .../launch/moveit_rviz.launch                 |   9 +-
 .../launch/mycobot600_moveit.launch           |  72 ++---
 .../ompl-chomp_planning_pipeline.launch.xml   |  20 ++
 .../launch/ompl_planning_pipeline.launch.xml  |  26 +-
 ...otion_planner_planning_pipeline.launch.xml |  15 +
 .../launch/planning_context.launch            |   4 +-
 .../launch/planning_pipeline.launch.xml       |   2 +-
 ...ntrol_moveit_controller_manager.launch.xml |   4 +
 .../launch/ros_controllers.launch             |   2 +-
 .../launch/run_benchmark_ompl.launch          |   5 +-
 .../launch/sensor_manager.launch.xml          |   2 +-
 .../launch/setup_assistant.launch             |   7 +-
 ...imple_moveit_controller_manager.launch.xml |   8 +
 .../launch/stomp_planning_pipeline.launch.xml |  23 ++
 .../launch/trajectory_execution.launch.xml    |  13 +-
 .../launch/warehouse.launch                   |   2 +-
 mycobot_pro/mycobot_600_moveit/package.xml    |  18 +-
 .../mycobot_600_moveit/scripts/sync_plan.py   |   3 +
 42 files changed, 982 insertions(+), 338 deletions(-)
 create mode 100755 mycobot_description/urdf/mycobot_pro_600/mycobot_pro_600_moveit.urdf
 create mode 100644 mycobot_pro/mycobot_600_moveit/config/cartesian_limits.yaml
 create mode 100644 mycobot_pro/mycobot_600_moveit/config/gazebo_controllers.yaml
 create mode 100644 mycobot_pro/mycobot_600_moveit/config/gazebo_firefighter.urdf
 create mode 100644 mycobot_pro/mycobot_600_moveit/config/simple_moveit_controllers.yaml
 create mode 100644 mycobot_pro/mycobot_600_moveit/config/stomp_planning.yaml
 create mode 100644 mycobot_pro/mycobot_600_moveit/launch/ompl-chomp_planning_pipeline.launch.xml
 create mode 100644 mycobot_pro/mycobot_600_moveit/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml
 create mode 100644 mycobot_pro/mycobot_600_moveit/launch/ros_control_moveit_controller_manager.launch.xml
 create mode 100644 mycobot_pro/mycobot_600_moveit/launch/simple_moveit_controller_manager.launch.xml
 create mode 100644 mycobot_pro/mycobot_600_moveit/launch/stomp_planning_pipeline.launch.xml

diff --git a/mycobot_description/urdf/mycobot_pro_600/mycobot_pro_600_moveit.urdf b/mycobot_description/urdf/mycobot_pro_600/mycobot_pro_600_moveit.urdf
new file mode 100755
index 0000000..ec05b4b
--- /dev/null
+++ b/mycobot_description/urdf/mycobot_pro_600/mycobot_pro_600_moveit.urdf
@@ -0,0 +1,183 @@
+<?xml version="1.0"?>
+<robot  xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter" >
+	
+<xacro:property name="width" value=".2" />
+
+
+  <link name="base">
+    <visual>
+      <geometry>
+	     <!--- 0.0 0 -0.04  1.5708 3.14159-->
+       <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/base.dae"/>
+      </geometry>
+    <origin xyz = "0 0 0 " rpy = " 0 0 0"/>
+    </visual>
+    <collision>
+      <origin xyz = "0 0 0.04 " rpy = " 0 0 1.5708"/>
+      <geometry>
+        <cylinder length="0.06" radius="0.038"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="link1">
+    <visual>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/link1.dae"/>
+      </geometry>
+    <origin xyz = "0 0 0 " rpy = "0 0 3.1415926"/>
+    </visual>
+     <collision>
+      <origin xyz = "0.0 0.0 -0.02 " rpy = " 0 0 1.5708"/>
+      <geometry>
+        <cylinder length="0.05" radius="0.03"/>
+      </geometry>
+    </collision>
+  </link>
+
+
+  <link name="link2">
+    <visual>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/link2.dae"/>
+      </geometry>
+    <origin xyz = "0 0 -0.080 " rpy = " 3.1415926 0 3.1415926"/>
+    </visual>
+     <collision>
+      <origin xyz = "0.128 0 -0.125 " rpy = " 0 1.5708 0"/>
+      <geometry>
+        <cylinder length="0.28" radius="0.024"/>
+      </geometry>
+    </collision>
+  </link>
+
+
+  <link name="link3">
+    <visual>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/link3.dae"/>
+      </geometry>
+    <origin xyz = "0 0 -0.0855 " rpy = " 3.1415926 0 3.1415926"/>
+    </visual>
+     <collision>
+      <origin xyz = "0.128 0.0 -0.003 " rpy = "0 1.5708 0"/>
+      <geometry>
+        <cylinder length="0.24" radius="0.024"/>
+      </geometry>
+    </collision>
+  </link>
+
+
+
+<link name="link4">
+    <visual>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/link4.dae"/>
+      </geometry>
+    <origin xyz = "0 0 0 " rpy = " 0 3.1415926 0"/>
+    </visual>
+     <collision>
+      <origin xyz = "0.0 -0.01 0.007" rpy = " 1.5708 1.5708 0"/>
+      <geometry>
+        <cylinder length="0.05" radius="0.024"/>
+      </geometry>
+    </collision>
+  </link>
+
+
+  <link name="link5">
+    <visual>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/link5.dae"/>
+      </geometry>
+    <origin xyz = "0 0  0 " rpy = " 0  0 1.5707"/>
+    </visual>
+     <collision>
+      <origin xyz = "0.0 0.0 -0.015 " rpy = " 0  0 -1.5708"/>
+      <geometry>
+        <cylinder length="0.05" radius="0.028"/>
+      </geometry>
+     </collision>
+  </link>
+
+  <link name="link6">
+    <visual>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/link6.dae"/>
+      </geometry>
+      <material name = "grey">
+        <color rgba = "0.5 0.5 0.5 1"/>
+      </material>
+    <origin xyz = "0.03 0 0" rpy = " 0 -1.5707  0"/>
+    </visual>
+     <collision>
+      <origin xyz = "0.006 0.0 -0.0 " rpy = " 0 1.5708 0"/>
+      <geometry>
+        <cylinder length="0.006" radius="0.026"/>
+      </geometry>
+    </collision>
+  </link>
+
+
+  <joint name="joint2_to_joint1" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
+    <parent link="base"/>
+    <child link="link1"/>
+    <origin xyz= "0 0 0.19934" rpy = "0 0 0"/>  
+  </joint>
+
+
+  <joint name="joint3_to_joint2" type="revolute">
+    <axis xyz="0 0 -1"/>
+    <!-- <limit effort = "1000.0" lower = "-4.71" upper = "1.5708" velocity = "0"/> -->
+    <limit effort = "1000.0" lower = "-3.14159" upper = "3.14159" velocity = "0"/>
+    <parent link="link1"/>
+    <child link="link2"/>
+    <origin xyz= "0 0  0" rpy = "1.5708 -1.5708 0"/>  
+    <!-- <origin xyz= "0 0  0" rpy = "1.5708 0 0"/> -->
+  </joint>
+
+
+  <joint name="joint4_to_joint3" type="revolute">
+    <axis xyz=" 0 0 -1"/>
+    <limit effort = "1000.0" lower = "-2.61" upper = "2.618" velocity = "0"/>
+    <parent link="link2"/>
+    <child link="link3"/>
+    <origin xyz= "0.25 0 0   " rpy = "0 0 0"/>  
+  </joint>
+
+  <joint name="joint5_to_joint4" type="revolute">
+    <axis xyz=" 0 0 -1"/>
+    <!-- <limit effort = "1000.0" lower = "-4.53" upper = "1.3962" velocity = "0"/> -->
+    <limit effort = "1000.0" lower = "-2.9670" upper = "2.9670" velocity = "0"/>
+    <parent link="link3"/>
+    <child link="link4"/>
+    <origin xyz= "0.25 0  -0.1091" rpy = "0 0 1.5708"/>  
+    <!-- <origin xyz= "0.25 0  -0.1091" rpy = "0 0 0"/>   -->
+  </joint>
+
+  <joint name="joint6_to_joint5" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort = "1000.0" lower = "-2.93" upper = "2.9321" velocity = "0"/>
+    <parent link="link4"/>
+    <child link="link5"/>
+    <origin xyz= "0 -0.108 0" rpy = "1.57080 -1.57080 0"/>  
+  </joint>
+
+  <joint name="joint6output_to_joint6" type="revolute">
+    <axis xyz="-1 0 0"/>
+    <limit effort = "1000.0" lower = "-3.03" upper = "3.0368" velocity = "0"/>
+    <parent link="link5"/>
+    <child link="link6"/>
+    <origin xyz= "-0.07586 0 0" rpy = "-1.57080 0 0 "/>  
+  </joint>
+
+
+
+</robot>
+
diff --git a/mycobot_pro/mycobot_600_moveit/.setup_assistant b/mycobot_pro/mycobot_600_moveit/.setup_assistant
index 22756f1..dba7a13 100644
--- a/mycobot_pro/mycobot_600_moveit/.setup_assistant
+++ b/mycobot_pro/mycobot_600_moveit/.setup_assistant
@@ -1,11 +1,11 @@
 moveit_setup_assistant_config:
   URDF:
     package: mycobot_description
-    relative_path: urdf/mycobot_pro_600/mycobot_pro_600.urdf
+    relative_path: urdf/mycobot_pro_600/mycobot_pro_600_moveit.urdf
     xacro_args: "--inorder "
   SRDF:
     relative_path: config/firefighter.srdf
   CONFIG:
     author_name: wangweijian
     author_email: weijian.wang@elephantrobotics.com
-    generated_timestamp: 1652406964
\ No newline at end of file
+    generated_timestamp: 1736245598
\ No newline at end of file
diff --git a/mycobot_pro/mycobot_600_moveit/CMakeLists.txt b/mycobot_pro/mycobot_600_moveit/CMakeLists.txt
index 3a55cbf..15cc2dd 100644
--- a/mycobot_pro/mycobot_600_moveit/CMakeLists.txt
+++ b/mycobot_pro/mycobot_600_moveit/CMakeLists.txt
@@ -1,21 +1,10 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.1.3)
 project(mycobot_600_moveit)
 
-find_package(catkin REQUIRED
-  rospy
-  std_msgs
-  moveit_msgs
-)
+find_package(catkin REQUIRED)
 
 catkin_package()
 
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-catkin_install_python(PROGRAMS
-  scripts/sync_plan.py
-  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-)
-
 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_pro/mycobot_600_moveit/config/cartesian_limits.yaml b/mycobot_pro/mycobot_600_moveit/config/cartesian_limits.yaml
new file mode 100644
index 0000000..7df72f6
--- /dev/null
+++ b/mycobot_pro/mycobot_600_moveit/config/cartesian_limits.yaml
@@ -0,0 +1,5 @@
+cartesian_limits:
+  max_trans_vel: 1
+  max_trans_acc: 2.25
+  max_trans_dec: -5
+  max_rot_vel: 1.57
diff --git a/mycobot_pro/mycobot_600_moveit/config/chomp_planning.yaml b/mycobot_pro/mycobot_600_moveit/config/chomp_planning.yaml
index 75258e5..eb9c912 100644
--- a/mycobot_pro/mycobot_600_moveit/config/chomp_planning.yaml
+++ b/mycobot_pro/mycobot_600_moveit/config/chomp_planning.yaml
@@ -7,12 +7,12 @@ learning_rate: 0.01
 smoothness_cost_velocity: 0.0
 smoothness_cost_acceleration: 1.0
 smoothness_cost_jerk: 0.0
-ridge_factor: 0.01
+ridge_factor: 0.0
 use_pseudo_inverse: false
 pseudo_inverse_ridge_factor: 1e-4
 joint_update_limit: 0.1
-collision_clearence: 0.2
+collision_clearance: 0.2
 collision_threshold: 0.07
 use_stochastic_descent: true
-enable_failure_recovery: true
-max_recovery_attempts: 5
\ No newline at end of file
+enable_failure_recovery: false
+max_recovery_attempts: 5
diff --git a/mycobot_pro/mycobot_600_moveit/config/fake_controllers.yaml b/mycobot_pro/mycobot_600_moveit/config/fake_controllers.yaml
index 47a2eb3..74fdd55 100644
--- a/mycobot_pro/mycobot_600_moveit/config/fake_controllers.yaml
+++ b/mycobot_pro/mycobot_600_moveit/config/fake_controllers.yaml
@@ -1,9 +1,13 @@
 controller_list:
   - name: fake_arm_group_controller
+    type: $(arg fake_execution_type)
     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
+      - joint6output_to_joint6
+initial:  # Define initial robot poses per group
+  - group: arm_group
+    pose: init_pose
\ No newline at end of file
diff --git a/mycobot_pro/mycobot_600_moveit/config/firefighter.srdf b/mycobot_pro/mycobot_600_moveit/config/firefighter.srdf
index 60a6e0e..9b3f5bd 100644
--- a/mycobot_pro/mycobot_600_moveit/config/firefighter.srdf
+++ b/mycobot_pro/mycobot_600_moveit/config/firefighter.srdf
@@ -1,4 +1,4 @@
-<?xml version="1.0" ?>
+<?xml version="1.0" encoding="UTF-8"?>
 <!--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
@@ -10,47 +10,40 @@
     <!--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" />
+        <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="-1.5708" />
-        <joint name="joint4_to_joint3" value="0" />
-        <joint name="joint5_to_joint4" value="-1.5708" />
-        <joint name="joint6_to_joint5" value="0" />
-        <joint name="joint6output_to_joint6" value="0" />
+        <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>
     <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
-    
-    <!-- <virtual_joint name="vitual_joint" type="fixed" parent_frame="basic" child_link="joint1" /> -->
-    <virtual_joint name="vitual_joint" type="fixed" parent_frame="basic" child_link="base" />
-
+    <virtual_joint name="vitual_joint" type="fixed" parent_frame="basic" child_link="base"/>
     <!--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="base" link2="link2" reason="Never" />
-    <disable_collisions link1="base" link2="link3" reason="Never" />
-    <disable_collisions link1="base" link2="link4" reason="Never" />
-    <disable_collisions link1="base" link2="link5" reason="Never" />
-    <disable_collisions link1="base" link2="link6" reason="Never" />
-    <disable_collisions link1="link1" link2="link2" reason="Adjacent" />
-    <disable_collisions link1="link1" link2="link3" reason="Never" />
-    <disable_collisions link1="link1" link2="link4" reason="Never" />
-    <disable_collisions link1="link1" link2="link5" reason="Never" />
-    <disable_collisions link1="link1" link2="link6" reason="Never" />
-    <disable_collisions link1="link2" link2="link3" reason="Adjacent" />
-    <disable_collisions link1="link2" link2="link4" reason="Never" />
-    <disable_collisions link1="link2" link2="link5" reason="Never" />
-    <disable_collisions link1="link2" link2="link6" reason="Never" />
-    <disable_collisions link1="link3" link2="link4" reason="Adjacent" />
-    <disable_collisions link1="link3" link2="link5" reason="Never" />
-    <disable_collisions link1="link3" link2="link6" reason="Never" />
-    <disable_collisions link1="link4" link2="link5" reason="Adjacent" />
-    <disable_collisions link1="link4" link2="link6" reason="Never" />
-    <disable_collisions link1="link5" link2="link6" reason="Adjacent" />
+    <disable_collisions link1="base" link2="link1" reason="Adjacent"/>
+    <disable_collisions link1="base" link2="link2" reason="Never"/>
+    <disable_collisions link1="base" link2="link4" reason="Never"/>
+    <disable_collisions link1="base" link2="link5" reason="Never"/>
+    <disable_collisions link1="link1" link2="link2" reason="Adjacent"/>
+    <disable_collisions link1="link1" link2="link3" reason="Never"/>
+    <disable_collisions link1="link1" link2="link4" reason="Never"/>
+    <disable_collisions link1="link1" link2="link5" reason="Never"/>
+    <disable_collisions link1="link1" link2="link6" reason="Never"/>
+    <disable_collisions link1="link2" link2="link3" reason="Adjacent"/>
+    <disable_collisions link1="link2" link2="link4" reason="Never"/>
+    <disable_collisions link1="link3" link2="link4" reason="Adjacent"/>
+    <disable_collisions link1="link3" link2="link5" reason="Never"/>
+    <disable_collisions link1="link3" link2="link6" reason="Never"/>
+    <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_pro/mycobot_600_moveit/config/gazebo_controllers.yaml b/mycobot_pro/mycobot_600_moveit/config/gazebo_controllers.yaml
new file mode 100644
index 0000000..e4d2eb0
--- /dev/null
+++ b/mycobot_pro/mycobot_600_moveit/config/gazebo_controllers.yaml
@@ -0,0 +1,4 @@
+# Publish joint_states
+joint_state_controller:
+  type: joint_state_controller/JointStateController
+  publish_rate: 50
diff --git a/mycobot_pro/mycobot_600_moveit/config/gazebo_firefighter.urdf b/mycobot_pro/mycobot_600_moveit/config/gazebo_firefighter.urdf
new file mode 100644
index 0000000..93f26df
--- /dev/null
+++ b/mycobot_pro/mycobot_600_moveit/config/gazebo_firefighter.urdf
@@ -0,0 +1,257 @@
+<?xml version="1.0" ?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter">
+    <xacro:property name="width" value=".2" />
+    <link name="base">
+        <visual>
+            <geometry>
+                <!--- 0.0 0 -0.04  1.5708 3.14159-->
+                <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/base.dae" />
+            </geometry>
+            <origin xyz="0 0 0 " rpy=" 0 0 0" />
+        </visual>
+        <collision>
+            <origin xyz="0 0 0.04 " rpy=" 0 0 1.5708" />
+            <geometry>
+                <cylinder length="0.06" radius="0.038" />
+            </geometry>
+        </collision>
+        <inertial>
+            <mass value="0.1" />
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
+        </inertial>
+    </link>
+    <link name="link1">
+        <visual>
+            <geometry>
+                <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/link1.dae" />
+            </geometry>
+            <origin xyz="0 0 0 " rpy="0 0 3.1415926" />
+        </visual>
+        <collision>
+            <origin xyz="0.0 0.0 -0.02 " rpy=" 0 0 1.5708" />
+            <geometry>
+                <cylinder length="0.05" radius="0.03" />
+            </geometry>
+        </collision>
+        <inertial>
+            <mass value="0.1" />
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
+        </inertial>
+    </link>
+    <link name="link2">
+        <visual>
+            <geometry>
+                <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/link2.dae" />
+            </geometry>
+            <origin xyz="0 0 -0.080 " rpy=" 3.1415926 0 3.1415926" />
+        </visual>
+        <collision>
+            <origin xyz="0.128 0 -0.125 " rpy=" 0 1.5708 0" />
+            <geometry>
+                <cylinder length="0.28" radius="0.024" />
+            </geometry>
+        </collision>
+        <inertial>
+            <mass value="0.1" />
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
+        </inertial>
+    </link>
+    <link name="link3">
+        <visual>
+            <geometry>
+                <!--- 0.0 0 -0.04 -->
+                <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/link3.dae" />
+            </geometry>
+            <origin xyz="0 0 -0.0855 " rpy=" 3.1415926 0 3.1415926" />
+        </visual>
+        <collision>
+            <origin xyz="0.128 0.0 -0.003 " rpy="0 1.5708 0" />
+            <geometry>
+                <cylinder length="0.24" radius="0.024" />
+            </geometry>
+        </collision>
+        <inertial>
+            <mass value="0.1" />
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
+        </inertial>
+    </link>
+    <link name="link4">
+        <visual>
+            <geometry>
+                <!--- 0.0 0 -0.04 -->
+                <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/link4.dae" />
+            </geometry>
+            <origin xyz="0 0 0 " rpy=" 0 3.1415926 0" />
+        </visual>
+        <collision>
+            <origin xyz="0.0 -0.01 0.007" rpy=" 1.5708 1.5708 0" />
+            <geometry>
+                <cylinder length="0.05" radius="0.024" />
+            </geometry>
+        </collision>
+        <inertial>
+            <mass value="0.1" />
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
+        </inertial>
+    </link>
+    <link name="link5">
+        <visual>
+            <geometry>
+                <!--- 0.0 0 -0.04 -->
+                <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/link5.dae" />
+            </geometry>
+            <origin xyz="0 0  0 " rpy=" 0  0 1.5707" />
+        </visual>
+        <collision>
+            <origin xyz="0.0 0.0 -0.015 " rpy=" 0  0 -1.5708" />
+            <geometry>
+                <cylinder length="0.05" radius="0.028" />
+            </geometry>
+        </collision>
+        <inertial>
+            <mass value="0.1" />
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
+        </inertial>
+    </link>
+    <link name="link6">
+        <visual>
+            <geometry>
+                <!--- 0.0 0 -0.04 -->
+                <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/link6.dae" />
+            </geometry>
+            <material name="grey">
+                <color rgba="0.5 0.5 0.5 1" />
+            </material>
+            <origin xyz="0.03 0 0" rpy=" 0 -1.5707  0" />
+        </visual>
+        <collision>
+            <origin xyz="0.006 0.0 -0.0 " rpy=" 0 1.5708 0" />
+            <geometry>
+                <cylinder length="0.006" radius="0.026" />
+            </geometry>
+        </collision>
+        <inertial>
+            <mass value="0.1" />
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
+        </inertial>
+    </link>
+    <joint name="joint2_to_joint1" type="revolute">
+        <axis xyz="0 0 1" />
+        <limit effort="1000.0" lower="-3.14" upper="3.14159" velocity="0" />
+        <parent link="base" />
+        <child link="link1" />
+        <origin xyz="0 0 0.19934" rpy="0 0 0" />
+    </joint>
+    <joint name="joint3_to_joint2" type="revolute">
+        <axis xyz="0 0 -1" />
+        <!-- <limit effort = "1000.0" lower = "-4.71" upper = "1.5708" velocity = "0"/> -->
+        <limit effort="1000.0" lower="-3.14159" upper="3.14159" velocity="0" />
+        <parent link="link1" />
+        <child link="link2" />
+        <origin xyz="0 0  0" rpy="1.5708 -1.5708 0" />
+        <!-- <origin xyz= "0 0  0" rpy = "1.5708 0 0"/> -->
+    </joint>
+    <joint name="joint4_to_joint3" type="revolute">
+        <axis xyz=" 0 0 -1" />
+        <limit effort="1000.0" lower="-2.61" upper="2.618" velocity="0" />
+        <parent link="link2" />
+        <child link="link3" />
+        <origin xyz="0.25 0 0   " rpy="0 0 0" />
+    </joint>
+    <joint name="joint5_to_joint4" type="revolute">
+        <axis xyz=" 0 0 -1" />
+        <!-- <limit effort = "1000.0" lower = "-4.53" upper = "1.3962" velocity = "0"/> -->
+        <limit effort="1000.0" lower="-2.9670" upper="2.9670" velocity="0" />
+        <parent link="link3" />
+        <child link="link4" />
+        <origin xyz="0.25 0  -0.1091" rpy="0 0 1.5708" />
+        <!-- <origin xyz= "0.25 0  -0.1091" rpy = "0 0 0"/>   -->
+    </joint>
+    <joint name="joint6_to_joint5" type="revolute">
+        <axis xyz="0 0 1" />
+        <limit effort="1000.0" lower="-2.93" upper="2.9321" velocity="0" />
+        <parent link="link4" />
+        <child link="link5" />
+        <origin xyz="0 -0.108 0" rpy="1.57080 -1.57080 0" />
+    </joint>
+    <joint name="joint6output_to_joint6" type="revolute">
+        <axis xyz="-1 0 0" />
+        <limit effort="1000.0" lower="-3.03" upper="3.0368" velocity="0" />
+        <parent link="link5" />
+        <child link="link6" />
+        <origin xyz="-0.07586 0 0" rpy="-1.57080 0 0 " />
+    </joint>
+    <transmission name="trans_joint2_to_joint1">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="joint2_to_joint1">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="joint2_to_joint1_motor">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+    </transmission>
+    <transmission name="trans_joint3_to_joint2">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="joint3_to_joint2">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="joint3_to_joint2_motor">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+    </transmission>
+    <transmission name="trans_joint4_to_joint3">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="joint4_to_joint3">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="joint4_to_joint3_motor">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+    </transmission>
+    <transmission name="trans_joint5_to_joint4">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="joint5_to_joint4">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="joint5_to_joint4_motor">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+    </transmission>
+    <transmission name="trans_joint6_to_joint5">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="joint6_to_joint5">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="joint6_to_joint5_motor">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+    </transmission>
+    <transmission name="trans_joint6output_to_joint6">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="joint6output_to_joint6">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="joint6output_to_joint6_motor">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+    </transmission>
+    <gazebo>
+        <plugin name="gazebo_ros_control">
+            <robotNamespace>/</robotNamespace>
+        </plugin>
+    </gazebo>
+</robot>
+
diff --git a/mycobot_pro/mycobot_600_moveit/config/joint_limits.yaml b/mycobot_pro/mycobot_600_moveit/config/joint_limits.yaml
index a99e764..964c16b 100644
--- a/mycobot_pro/mycobot_600_moveit/config/joint_limits.yaml
+++ b/mycobot_pro/mycobot_600_moveit/config/joint_limits.yaml
@@ -1,34 +1,40 @@
 # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
+
+# For beginners, we downscale velocity and acceleration limits.
+# You can always specify higher scaling factors (<= 1.0) in your motion requests.  # Increase the values below to 1.0 to always move at maximum speed.
+default_velocity_scaling_factor: 0.1
+default_acceleration_scaling_factor: 0.1
+
 # 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: true
-    max_velocity: 3.14
+    has_velocity_limits: false
+    max_velocity: 0
     has_acceleration_limits: false
-    max_acceleration: 30
+    max_acceleration: 0
   joint3_to_joint2:
-    has_velocity_limits: true
-    max_velocity: 3.14
+    has_velocity_limits: false
+    max_velocity: 0
     has_acceleration_limits: false
-    max_acceleration: 30
+    max_acceleration: 0
   joint4_to_joint3:
-    has_velocity_limits: true
-    max_velocity: 3.14
+    has_velocity_limits: false
+    max_velocity: 0
     has_acceleration_limits: false
-    max_acceleration: 30
+    max_acceleration: 0
   joint5_to_joint4:
-    has_velocity_limits: true
-    max_velocity: 3.14
+    has_velocity_limits: false
+    max_velocity: 0
     has_acceleration_limits: false
-    max_acceleration: 30
+    max_acceleration: 0
   joint6_to_joint5:
-    has_velocity_limits: true
-    max_velocity: 3.14
+    has_velocity_limits: false
+    max_velocity: 0
     has_acceleration_limits: false
-    max_acceleration: 30
+    max_acceleration: 0
   joint6output_to_joint6:
-    has_velocity_limits: true
-    max_velocity: 3.14
+    has_velocity_limits: false
+    max_velocity: 0
     has_acceleration_limits: false
-    max_acceleration: 30
\ No newline at end of file
+    max_acceleration: 0
\ No newline at end of file
diff --git a/mycobot_pro/mycobot_600_moveit/config/kinematics.yaml b/mycobot_pro/mycobot_600_moveit/config/kinematics.yaml
index 3c16bbc..2f06d6e 100644
--- a/mycobot_pro/mycobot_600_moveit/config/kinematics.yaml
+++ b/mycobot_pro/mycobot_600_moveit/config/kinematics.yaml
@@ -2,4 +2,6 @@ arm_group:
   kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
   kinematics_solver_search_resolution: 0.005
   kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3
+  goal_joint_tolerance: 0.0001
+  goal_position_tolerance: 0.0001
+  goal_orientation_tolerance: 0.001
\ No newline at end of file
diff --git a/mycobot_pro/mycobot_600_moveit/config/ompl_planning.yaml b/mycobot_pro/mycobot_600_moveit/config/ompl_planning.yaml
index 82f7d9d..17c2ccb 100644
--- a/mycobot_pro/mycobot_600_moveit/config/ompl_planning.yaml
+++ b/mycobot_pro/mycobot_600_moveit/config/ompl_planning.yaml
@@ -1,4 +1,11 @@
 planner_configs:
+  AnytimePathShortening:
+    type: geometric::AnytimePathShortening
+    shortcut: true  # Attempt to shortcut all new solution paths
+    hybridize: true  # Compute hybrid solution trajectories
+    max_hybrid_paths: 24  # Number of hybrid paths generated per iteration
+    num_planners: 4  # The number of default planners to use for planning
+    planners: ""  # A comma-separated list of planner types (e.g., "PRM,EST,RRTConnect"Optionally, planner parameters can be passed to change the default:"PRM[max_nearest_neighbors=5],EST[goal_bias=.5],RRT[range=10. goal_bias=.1]"
   SBL:
     type: geometric::SBL
     range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
@@ -44,8 +51,8 @@ planner_configs:
     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
+    frontier_threshold: 0.0  # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
+    frontier_node_ratio: 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
@@ -88,8 +95,8 @@ planner_configs:
     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
+    frontier_threshold: 0.0  # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
+    frontier_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
@@ -120,9 +127,47 @@ planner_configs:
     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
+  AITstar:
+    type: geometric::AITstar
+    use_k_nearest: 1  # whether to use a k-nearest RGG connection model (1) or an r-disc model (0). Default: 1
+    rewire_factor: 1.001  # rewire factor of the RGG. Valid values: [1.0:0.01:3.0]. Default: 1.001
+    samples_per_batch: 100  # batch size. Valid values: [1:1:1000]. Default: 100
+    use_graph_pruning: 1  # enable graph pruning (1) or not (0). Default: 1
+    find_approximate_solutions: 0  # track approximate solutions (1) or not (0). Default: 0
+    set_max_num_goals: 1  # maximum number of goals sampled from sampleable goal regions. Valid values: [1:1:1000]. Default: 1
+  ABITstar:
+    type: geometric::ABITstar
+    use_k_nearest: 1  # whether to use a k-nearest RGG connection model (1) or an r-disc model (0). Default: 1
+    rewire_factor: 1.001  # rewire factor of the RGG. Valid values: [1.0:0.01:3.0]. Default: 1.001
+    samples_per_batch: 100  # batch size. Valid values: [1:1:1000]. Default: 100
+    use_graph_pruning: 1  # enable graph pruning (1) or not (0). Default: 1
+    prune_threshold_as_fractional_cost_change: 0.1  # fractional change in the solution cost AND problem measure necessary for pruning to occur. Default: 0.1
+    delay_rewiring_to_first_solution: 0  # delay (1) or not (0) rewiring until a solution is found. Default: 0
+    use_just_in_time_sampling: 0  # delay the generation of samples until they are * necessary. Only works with r-disc connection and path length minimization. Default: 0
+    drop_unconnected_samples_on_prune: 0  # drop unconnected samples when pruning, regardless of their heuristic value. Default: 0
+    stop_on_each_solution_improvement: 0  # stop the planner each time a solution improvement is found. Useful for debugging. Default: 0
+    use_strict_queue_ordering: 0  # sort edges in the queue at the end of the batch (0) or after each rewiring (1). Default: 0
+    find_approximate_solutions: 0  # track approximate solutions (1) or not (0). Default: 0
+    initial_inflation_factor: 1000000  # inflation factor for the initial search. Valid values: [1.0:0.01:1000000.0]. Default: 1000000
+    inflation_scaling_parameter: 10  # scaling parameter for the inflation factor update policy. Valid values: [1.0:0.01:1000000.0]. Default: 0
+    truncation_scaling_parameter: 5.0  # scaling parameter for the truncation factor update policy. Valid values: [1.0:0.01:1000000.0]. Default: 0
+  BITstar:
+    type: geometric::BITstar
+    use_k_nearest: 1  # whether to use a k-nearest RGG connection model (1) or an r-disc model (0). Default: 1
+    rewire_factor: 1.001  # rewire factor of the RGG. Valid values: [1.0:0.01:3.0]. Default: 1.001
+    samples_per_batch: 100  # batch size. Valid values: [1:1:1000]. Default: 100
+    use_graph_pruning: 1  # enable graph pruning (1) or not (0). Default: 1
+    prune_threshold_as_fractional_cost_change: 0.1  # fractional change in the solution cost AND problem measure necessary for pruning to occur. Default: 0.1
+    delay_rewiring_to_first_solution: 0  # delay (1) or not (0) rewiring until a solution is found. Default: 0
+    use_just_in_time_sampling: 0  # delay the generation of samples until they are * necessary. Only works with r-disc connection and path length minimization. Default: 0
+    drop_unconnected_samples_on_prune: 0  # drop unconnected samples when pruning, regardless of their heuristic value. Default: 0
+    stop_on_each_solution_improvement: 0  # stop the planner each time a solution improvement is found. Useful for debugging. Default: 0
+    use_strict_queue_ordering: 0  # sort edges in the queue at the end of the batch (0) or after each rewiring (1). Default: 0
+    find_approximate_solutions: 0  # track approximate solutions (1) or not (0). Default: 0
 arm_group:
   default_planner_config: RRTConnect
   planner_configs:
+    - AnytimePathShortening
     - SBL
     - EST
     - LBKPIECE
@@ -146,5 +191,8 @@ arm_group:
     - LazyPRMstar
     - SPARS
     - SPARStwo
+    - AITstar
+    - ABITstar
+    - BITstar
   projection_evaluator: joints(joint2_to_joint1,joint3_to_joint2)
-  longest_valid_segment_fraction: 0.005
\ No newline at end of file
+  longest_valid_segment_fraction: 0.005
diff --git a/mycobot_pro/mycobot_600_moveit/config/ros_controllers.yaml b/mycobot_pro/mycobot_600_moveit/config/ros_controllers.yaml
index 6b814df..6f1eab5 100644
--- a/mycobot_pro/mycobot_600_moveit/config/ros_controllers.yaml
+++ b/mycobot_pro/mycobot_600_moveit/config/ros_controllers.yaml
@@ -1,26 +1,40 @@
-# 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:
+arm_group_controller:
+  type: effort_controllers/JointTrajectoryController
   joints:
-    - vitual_joint
     - 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
+  gains:
+    joint2_to_joint1:
+      p: 100
+      d: 1
+      i: 1
+      i_clamp: 1
+    joint3_to_joint2:
+      p: 100
+      d: 1
+      i: 1
+      i_clamp: 1
+    joint4_to_joint3:
+      p: 100
+      d: 1
+      i: 1
+      i_clamp: 1
+    joint5_to_joint4:
+      p: 100
+      d: 1
+      i: 1
+      i_clamp: 1
+    joint6_to_joint5:
+      p: 100
+      d: 1
+      i: 1
+      i_clamp: 1
+    joint6output_to_joint6:
+      p: 100
+      d: 1
+      i: 1
+      i_clamp: 1
\ No newline at end of file
diff --git a/mycobot_pro/mycobot_600_moveit/config/sensors_3d.yaml b/mycobot_pro/mycobot_600_moveit/config/sensors_3d.yaml
index a4bb13e..01538cc 100644
--- a/mycobot_pro/mycobot_600_moveit/config/sensors_3d.yaml
+++ b/mycobot_pro/mycobot_600_moveit/config/sensors_3d.yaml
@@ -1,4 +1,3 @@
-# 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
diff --git a/mycobot_pro/mycobot_600_moveit/config/simple_moveit_controllers.yaml b/mycobot_pro/mycobot_600_moveit/config/simple_moveit_controllers.yaml
new file mode 100644
index 0000000..44f4a50
--- /dev/null
+++ b/mycobot_pro/mycobot_600_moveit/config/simple_moveit_controllers.yaml
@@ -0,0 +1,12 @@
+controller_list:
+  - name: arm_group_controller
+    action_ns: follow_joint_trajectory
+    type: FollowJointTrajectory
+    default: True
+    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_pro/mycobot_600_moveit/config/stomp_planning.yaml b/mycobot_pro/mycobot_600_moveit/config/stomp_planning.yaml
new file mode 100644
index 0000000..fa999a9
--- /dev/null
+++ b/mycobot_pro/mycobot_600_moveit/config/stomp_planning.yaml
@@ -0,0 +1,39 @@
+stomp/arm_group:
+  group_name: arm_group
+  optimization:
+    num_timesteps: 60
+    num_iterations: 40
+    num_iterations_after_valid: 0
+    num_rollouts: 30
+    max_rollouts: 30
+    initialization_method: 1  # [1 : LINEAR_INTERPOLATION, 2 : CUBIC_POLYNOMIAL, 3 : MININUM_CONTROL_COST]
+    control_cost_weight: 0.0
+  task:
+    noise_generator:
+      - class: stomp_moveit/NormalDistributionSampling
+        stddev: [0.05, 0.05, 0.05, 0.05, 0.05, 0.05]
+    cost_functions:
+      - class: stomp_moveit/CollisionCheck
+        collision_penalty: 1.0
+        cost_weight: 1.0
+        kernel_window_percentage: 0.2
+        longest_valid_joint_move: 0.05
+    noisy_filters:
+      - class: stomp_moveit/JointLimits
+        lock_start: True
+        lock_goal: True
+      - class: stomp_moveit/MultiTrajectoryVisualization
+        line_width: 0.02
+        rgb: [255, 255, 0]
+        marker_array_topic: stomp_trajectories
+        marker_namespace: noisy
+    update_filters:
+      - class: stomp_moveit/PolynomialSmoother
+        poly_order: 6
+      - class: stomp_moveit/TrajectoryVisualization
+        line_width: 0.05
+        rgb: [0, 191, 255]
+        error_rgb: [255, 0, 0]
+        publish_intermediate: True
+        marker_topic: stomp_trajectory
+        marker_namespace: optimized
\ No newline at end of file
diff --git a/mycobot_pro/mycobot_600_moveit/launch/chomp_planning_pipeline.launch.xml b/mycobot_pro/mycobot_600_moveit/launch/chomp_planning_pipeline.launch.xml
index 03d4520..e96d2c9 100644
--- a/mycobot_pro/mycobot_600_moveit/launch/chomp_planning_pipeline.launch.xml
+++ b/mycobot_pro/mycobot_600_moveit/launch/chomp_planning_pipeline.launch.xml
@@ -1,10 +1,21 @@
 <launch>
-   <!-- CHOMP Plugin for MoveIt! -->
-   <arg name="planning_plugin" value="chomp_interface/CHOMPPlanner" />
-   <arg name="start_state_max_bounds_error" value="0.1" />
+  <arg name="start_state_max_bounds_error" default="0.1" />
+  <arg name="jiggle_fraction" default="0.05" />
+  <!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
+  <arg name="planning_adapters"
+       default="default_planner_request_adapters/LimitMaxCartesianLinkSpeed
+                default_planner_request_adapters/AddTimeParameterization
+                default_planner_request_adapters/ResolveConstraintFrames
+                default_planner_request_adapters/FixWorkspaceBounds
+                default_planner_request_adapters/FixStartStateBounds
+                default_planner_request_adapters/FixStartStateCollision
+                default_planner_request_adapters/FixStartStatePathConstraints"
+                />
 
-   <param name="planning_plugin" value="$(arg planning_plugin)" />
-   <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
+  <param name="planning_plugin" value="chomp_interface/CHOMPPlanner" />
+  <param name="request_adapters" value="$(arg planning_adapters)" />
+  <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
+  <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
 
-   <rosparam command="load" file="$(find mycobot_600_moveit)/config/chomp_planning.yaml" />
+  <rosparam command="load" file="$(find mycobot_600_moveit)/config/chomp_planning.yaml" />
 </launch>
diff --git a/mycobot_pro/mycobot_600_moveit/launch/default_warehouse_db.launch b/mycobot_pro/mycobot_600_moveit/launch/default_warehouse_db.launch
index 3b82435..ffcbbd6 100644
--- a/mycobot_pro/mycobot_600_moveit/launch/default_warehouse_db.launch
+++ b/mycobot_pro/mycobot_600_moveit/launch/default_warehouse_db.launch
@@ -5,7 +5,7 @@
   <arg name="moveit_warehouse_database_path" default="$(find mycobot_600_moveit)/default_warehouse_mongo_db" />
 
   <!-- Launch the warehouse with the configured database location -->
-  <include file="$(find mycobot_600_moveit)/launch/warehouse.launch">
+  <include file="$(dirname)/warehouse.launch">
     <arg name="moveit_warehouse_database_path" value="$(arg moveit_warehouse_database_path)" />
   </include>
 
diff --git a/mycobot_pro/mycobot_600_moveit/launch/demo.launch b/mycobot_pro/mycobot_600_moveit/launch/demo.launch
index 5953d25..7128186 100644
--- a/mycobot_pro/mycobot_600_moveit/launch/demo.launch
+++ b/mycobot_pro/mycobot_600_moveit/launch/demo.launch
@@ -1,65 +1,66 @@
 <launch>
 
+  <!-- specify the planning pipeline -->
+  <arg name="pipeline" default="ompl" />
+
   <!-- By default, we do not start a database (it can be large) -->
-  <!-- 默认情况下，我们不启动数据库（它可能很大） -->
   <arg name="db" default="false" />
   <!-- Allow user to specify database location -->
-  <!-- 允许用户指定数据库位置 -->
   <arg name="db_path" default="$(find mycobot_600_moveit)/default_warehouse_mongo_db" />
 
   <!-- By default, we are not in debug mode -->
-  <!-- 默认情况下，我们不处于调试模式 -->
   <arg name="debug" default="false" />
 
-  <!--
-  By default, hide joint_state_publisher's GUI
+  <!-- By default, we will load or override the robot_description -->
+  <arg name="load_robot_description" default="true"/>
 
-  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.
-  -->
+  <!-- Choose controller manager: fake, simple, or ros_control -->
+  <arg name="moveit_controller_manager" default="fake" />
+  <!-- Set execution mode for fake execution controllers -->
+  <arg name="fake_execution_type" default="interpolate" />
+
+  <!-- By default, hide joint_state_publisher's GUI in 'fake' controller_manager mode -->
   <arg name="use_gui" default="false" />
-
-  <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
-  <!-- 加载参数服务器上的URDF、SRDF等.yaml配置文件-->
-  <include file="$(find mycobot_600_moveit)/launch/planning_context.launch">
-    <arg name="load_robot_description" value="true"/>
-  </include>
+  <arg name="use_rviz" default="true" />
 
   <!-- If needed, broadcast static tf for robot root -->
-  
+  <node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 basic base" />
 
-  <!-- We do not have a robot connected, so publish fake joint states -->
-  <!-- 我们没有连接机器人，所以发布假关节状态 -->
-  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
-    <param name="use_gui" value="$(arg use_gui)"/>
-    <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-  </node>
+  <group if="$(eval arg('moveit_controller_manager') == 'fake')">
+    <!-- We do not have a real robot connected, so publish fake joint states via a joint_state_publisher
+         MoveIt's fake controller's joint states are considered via the 'source_list' parameter -->
+    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
+      <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
+    </node>
+    <!-- If desired, a GUI version is available allowing to move the simulated robot around manually
+         This corresponds to moving around the real robot without the use of MoveIt. -->
+    <node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(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 -->
-  <!-- 给定已发布的关节状态，为机器人链接发布 tf -->
-  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
+    <!-- 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" />
+  </group>
 
-  <!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
-  <!-- 运行主MoveIt！ 没有轨迹执行的可执行文件（我们默认没有配置控制器）-->
-  <include file="$(find mycobot_600_moveit)/launch/move_group.launch">
+  <!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
+  <include file="$(dirname)/move_group.launch">
     <arg name="allow_trajectory_execution" value="true"/>
-    <arg name="fake_execution" value="true"/>
+    <arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
+    <arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
     <arg name="info" value="true"/>
     <arg name="debug" value="$(arg debug)"/>
+    <arg name="pipeline" value="$(arg pipeline)"/>
+    <arg name="load_robot_description" value="$(arg load_robot_description)"/>
   </include>
 
   <!-- Run Rviz and load the default config to see the state of the move_group node -->
-  <!-- 运行 Rviz 并加载默认配置以查看 move_group 节点的状态 -->
-  <include file="$(find mycobot_600_moveit)/launch/moveit_rviz.launch">
-    <arg name="config" value="true"/>
+  <include file="$(dirname)/moveit_rviz.launch" if="$(arg use_rviz)">
+    <arg name="rviz_config" value="$(dirname)/moveit.rviz"/>
     <arg name="debug" value="$(arg debug)"/>
   </include>
 
   <!-- If database loading was enabled, start mongodb as well -->
-  <!-- 如果启用了数据库加载，也启动 mongodb -->
-  <include file="$(find mycobot_600_moveit)/launch/default_warehouse_db.launch" if="$(arg db)">
+  <include file="$(dirname)/default_warehouse_db.launch" if="$(arg db)">
     <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
   </include>
 
diff --git a/mycobot_pro/mycobot_600_moveit/launch/demo_gazebo.launch b/mycobot_pro/mycobot_600_moveit/launch/demo_gazebo.launch
index 4004d05..0ef8f95 100644
--- a/mycobot_pro/mycobot_600_moveit/launch/demo_gazebo.launch
+++ b/mycobot_pro/mycobot_600_moveit/launch/demo_gazebo.launch
@@ -1,70 +1,21 @@
+<?xml version="1.0"?>
 <launch>
+  <!-- MoveIt options -->
+  <arg name="pipeline" default="ompl" doc="Planning pipeline to use with MoveIt"/>
 
-  <!-- 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 mycobot_600_moveit)/default_warehouse_mongo_db" />
+  <!-- Gazebo options -->
+  <arg name="gazebo_gui" default="true" doc="Start Gazebo GUI"/>
+  <arg name="paused" default="false" doc="Start Gazebo paused"/>
+  <arg name="world_name" default="worlds/empty.world" doc="Gazebo world file"/>
+  <arg name="world_pose" default="-x 0 -y 0 -z 0 -R 0 -P 0 -Y 0" doc="Pose to spawn the robot at"/>
 
-  <!-- By default, we are not in debug mode -->
-  <arg name="debug" default="false" />
+  <!-- Launch Gazebo and spawn the robot -->
+  <include file="$(dirname)/gazebo.launch" pass_all_args="true"/>
 
-  <!--
-  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="$(find mycobot_description)/urdf/mycobot_pro_600/mycobot_pro_600.urdf"/>
-
-  <!-- launch the gazebo simulator and spawn the robot -->
-  <include file="$(find mycobot_600_moveit)/launch/gazebo.launch" >
-    <arg name="paused" value="$(arg paused)"/>
-    <arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
-    <arg name="urdf_path" value="$(arg urdf_path)"/>
+  <!-- Launch MoveIt -->
+  <include file="$(dirname)/demo.launch" pass_all_args="true">
+    <!-- robot_description is loaded by gazebo.launch, to enable Gazebo features -->
+    <arg name="load_robot_description" value="false" />
+    <arg name="moveit_controller_manager" value="ros_control" />
   </include>
-
-  <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
-  <include file="$(find mycobot_600_moveit)/launch/planning_context.launch">
-    <arg name="load_robot_description" value="false"/>
-  </include>
-
-  <!-- If needed, broadcast static tf for robot root -->
-  
-
-  <!-- We do not have a robot connected, so publish fake joint states -->
-  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
-    <param name="use_gui" value="$(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="$(find mycobot_600_moveit)/launch/move_group.launch">
-    <arg name="allow_trajectory_execution" value="true"/>
-    <arg name="fake_execution" value="false"/>
-    <arg name="info" value="true"/>
-    <arg name="debug" value="$(arg debug)"/>
-  </include>  
-
-  <!-- Run Rviz and load the default config to see the state of the move_group node -->
-  <include file="$(find mycobot_600_moveit)/launch/moveit_rviz.launch">
-    <arg name="config" value="true"/>
-    <arg name="debug" value="$(arg debug)"/>
-  </include>
-
-  <!-- If database loading was enabled, start mongodb as well -->
-  <include file="$(find mycobot_600_moveit)/launch/default_warehouse_db.launch" if="$(arg db)">
-    <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
-  </include>
-
 </launch>
diff --git a/mycobot_pro/mycobot_600_moveit/launch/fake_moveit_controller_manager.launch.xml b/mycobot_pro/mycobot_600_moveit/launch/fake_moveit_controller_manager.launch.xml
index e572f2d..c68fc20 100644
--- a/mycobot_pro/mycobot_600_moveit/launch/fake_moveit_controller_manager.launch.xml
+++ b/mycobot_pro/mycobot_600_moveit/launch/fake_moveit_controller_manager.launch.xml
@@ -1,9 +1,12 @@
 <launch>
 
+  <!-- execute the trajectory in 'interpolate' mode or jump to goal position in 'last point' mode -->
+  <arg name="fake_execution_type" default="interpolate" />
+
   <!-- 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="$(find mycobot_600_moveit)/config/fake_controllers.yaml"/>
+  <rosparam subst_value="true" file="$(find mycobot_600_moveit)/config/fake_controllers.yaml"/>
 
 </launch>
diff --git a/mycobot_pro/mycobot_600_moveit/launch/gazebo.launch b/mycobot_pro/mycobot_600_moveit/launch/gazebo.launch
index 1b61334..7829fef 100644
--- a/mycobot_pro/mycobot_600_moveit/launch/gazebo.launch
+++ b/mycobot_pro/mycobot_600_moveit/launch/gazebo.launch
@@ -1,23 +1,34 @@
 <?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/mycobot_pro_600/mycobot_pro_600.urdf"/>
+  <!-- Gazebo options -->
+  <arg name="gazebo_gui" default="true" doc="Start Gazebo GUI"/>
+  <arg name="paused" default="false" doc="Start Gazebo paused"/>
+  <arg name="world_name" default="worlds/empty.world" doc="Gazebo world file"/>
+  <arg name="world_pose" default="-x 0 -y 0 -z 0 -R 0 -P 0 -Y 0" doc="Pose to spawn the robot at"/>
+  <arg name="initial_joint_positions" default=" -J joint2_to_joint1 0 -J joint3_to_joint2 -1.5708 -J joint4_to_joint3 0 -J joint5_to_joint4 -1.5708 -J joint6_to_joint5 0 -J joint6output_to_joint6 0" doc="Initial joint configuration of the robot"/>
 
-  <!-- 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="$(arg gazebo_gui)"/>
+  <!-- Start Gazebo paused to allow the controllers to pickup the initial pose -->
+  <include file="$(find gazebo_ros)/launch/empty_world.launch" pass_all_args="true">
+    <arg name="paused" value="true"/>
   </include>
 
-  <!-- send robot urdf to param server -->
-  <param name="robot_description" textfile="$(arg urdf_path)" />
+  <!-- Set the robot urdf on the parameter server -->
+  <param name="robot_description" textfile="$(find mycobot_600_moveit)/config/gazebo_firefighter.urdf" />
 
-  <!-- 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"
+  <!-- Unpause the simulation after loading the robot model -->
+  <arg name="unpause" value="$(eval '' if arg('paused') else '-unpause')" />
+
+  <!-- Spawn the robot in Gazebo -->
+  <node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot $(arg unpause) $(arg world_pose) $(arg initial_joint_positions)"
     respawn="false" output="screen" />
 
-  <include file="$(find mycobot_600_moveit)/launch/ros_controllers.launch"/>
+  <!-- Load the controller parameters onto the parameter server -->
+  <rosparam file="$(find mycobot_600_moveit)/config/gazebo_controllers.yaml" />
+  <include file="$(dirname)/ros_controllers.launch"/>
 
+  <!-- Spawn the Gazebo ROS controllers -->
+  <node name="gazebo_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_state_controller" />
+
+  <!-- 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" />
 </launch>
diff --git a/mycobot_pro/mycobot_600_moveit/launch/move_group.launch b/mycobot_pro/mycobot_600_moveit/launch/move_group.launch
index 3457e11..2330bcb 100644
--- a/mycobot_pro/mycobot_600_moveit/launch/move_group.launch
+++ b/mycobot_pro/mycobot_600_moveit/launch/move_group.launch
@@ -1,12 +1,10 @@
 <launch>
 
-  <include file="$(find mycobot_600_moveit)/launch/planning_context.launch" />
-
   <!-- GDB Debug Option -->
   <arg name="debug" default="false" />
   <arg unless="$(arg debug)" name="launch_prefix" value="" />
   <arg     if="$(arg debug)" name="launch_prefix"
-	   value="gdb -x $(find mycobot_600_moveit)/launch/gdb_settings.gdb --ex run --args" />
+           value="gdb -x $(dirname)/gdb_settings.gdb --ex run --args" />
 
   <!-- Verbose Mode Option -->
   <arg name="info" default="$(arg debug)" />
@@ -14,10 +12,11 @@
   <arg     if="$(arg info)" name="command_args" value="--debug" />
 
   <!-- move_group settings -->
+  <arg name="pipeline" default="ompl" />
   <arg name="allow_trajectory_execution" default="true"/>
-  <arg name="fake_execution" default="false"/>
+  <arg name="moveit_controller_manager" default="simple" />
+  <arg name="fake_execution_type" default="interpolate"/>
   <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=""/>
@@ -38,20 +37,46 @@
                 " />
   -->
 
-  <!-- Planning Functionality -->
-  <include ns="move_group" file="$(find mycobot_600_moveit)/launch/planning_pipeline.launch.xml">
-    <arg name="pipeline" value="ompl" />
+  <arg name="load_robot_description" default="false" />
+  <!-- load URDF, SRDF and joint_limits configuration -->
+  <include file="$(dirname)/planning_context.launch">
+    <arg name="load_robot_description" value="$(arg load_robot_description)" />
   </include>
 
+  <!-- Planning Pipelines -->
+  <group ns="move_group/planning_pipelines">
+
+    <!-- OMPL -->
+    <include file="$(dirname)/planning_pipeline.launch.xml">
+      <arg name="pipeline" value="ompl" />
+    </include>
+
+    <!-- CHOMP -->
+    <include file="$(dirname)/planning_pipeline.launch.xml">
+      <arg name="pipeline" value="chomp" />
+    </include>
+
+    <!-- Pilz Industrial Motion -->
+    <include file="$(dirname)/planning_pipeline.launch.xml">
+      <arg name="pipeline" value="pilz_industrial_motion_planner" />
+    </include>
+
+    <!-- Support custom planning pipeline -->
+    <include if="$(eval arg('pipeline') not in ['ompl', 'chomp', 'pilz_industrial_motion_planner'])"
+             file="$(dirname)/planning_pipeline.launch.xml">
+      <arg name="pipeline" value="$(arg pipeline)" />
+    </include>
+  </group>
+
   <!-- Trajectory Execution Functionality -->
-  <include ns="move_group" file="$(find mycobot_600_moveit)/launch/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
+  <include ns="move_group" file="$(dirname)/trajectory_execution.launch.xml" if="$(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)"/>
+    <arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
+    <arg name="fake_execution_type" value="$(arg fake_execution_type)" />
   </include>
 
   <!-- Sensors Functionality -->
-  <include ns="move_group" file="$(find mycobot_600_moveit)/launch/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
+  <include ns="move_group" file="$(dirname)/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
     <arg name="moveit_sensor_manager" value="firefighter" />
   </include>
 
@@ -61,11 +86,14 @@
     <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="$(arg disable_capabilities)"/>
+    <param name="sense_for_plan/max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
+    <param name="default_planning_pipeline" value="$(arg pipeline)" />
+    <param name="capabilities" value="$(arg capabilities)" />
+    <param name="disable_capabilities" value="$(arg disable_capabilities)" />
 
+    <!-- do not copy dynamics information from /joint_states to internal robot monitoring
+         default to false, because almost nothing in move_group relies on this information -->
+    <param name="monitor_dynamics" value="false" />
 
     <!-- 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)" />
diff --git a/mycobot_pro/mycobot_600_moveit/launch/moveit.rviz b/mycobot_pro/mycobot_600_moveit/launch/moveit.rviz
index 4292ffe..f9c1318 100644
--- a/mycobot_pro/mycobot_600_moveit/launch/moveit.rviz
+++ b/mycobot_pro/mycobot_600_moveit/launch/moveit.rviz
@@ -9,8 +9,8 @@ Panels:
         - /MotionPlanning1/Scene Robot1
         - /MotionPlanning1/Planning Request1
         - /MotionPlanning1/Planned Path1
-      Splitter Ratio: 0.742560029
-    Tree Height: 195
+      Splitter Ratio: 0.7425600290298462
+    Tree Height: 197
   - Class: rviz/Help
     Name: Help
   - Class: rviz/Views
@@ -18,6 +18,8 @@ Panels:
       - /Current View1
     Name: Views
     Splitter Ratio: 0.5
+Preferences:
+  PromptSaveOnExit: true
 Toolbars:
   toolButtonStyle: 2
 Visualization Manager:
@@ -29,7 +31,7 @@ Visualization Manager:
       Color: 160; 160; 164
       Enabled: true
       Line Style:
-        Line Width: 0.0299999993
+        Line Width: 0.029999999329447746
         Value: Lines
       Name: Grid
       Normal Cell Count: 0
@@ -49,12 +51,10 @@ Visualization Manager:
       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_Cartesian_Path: false
       MoveIt_Use_Constraint_Aware_IK: true
-      MoveIt_Warehouse_Host: 127.0.0.1
-      MoveIt_Warehouse_Port: 33829
       MoveIt_Workspace:
         Center:
           X: 0
@@ -118,18 +118,19 @@ Visualization Manager:
         State Display Time: 0.05 s
         Trail Step Size: 1
         Trajectory Topic: move_group/display_planned_path
+        Use Sim Time: false
       Planning Metrics:
         Payload: 1
         Show Joint Torques: false
         Show Manipulability: false
         Show Manipulability Index: false
         Show Weight Limit: false
-        TextHeight: 0.0799999982
+        TextHeight: 0.07999999821186066
       Planning Request:
         Colliding Link Color: 255; 0; 0
         Goal State Alpha: 1
         Goal State Color: 250; 128; 0
-        Interactive Marker Size: 0.109999999
+        Interactive Marker Size: 0.10999999940395355
         Joint Violation Color: 255; 0; 255
         Planning Group: arm_group
         Query Goal State: true
@@ -142,7 +143,7 @@ Visualization Manager:
       Scene Geometry:
         Scene Alpha: 1
         Scene Color: 50; 230; 50
-        Scene Display Time: 0.200000003
+        Scene Display Time: 0.20000000298023224
         Show Scene Geometry: true
         Voxel Coloring: Z-Axis
         Voxel Rendering: Occupied Voxels
@@ -210,30 +211,30 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/XYOrbit
-      Distance: 1.39158678
+      Distance: 1.8773764371871948
       Enable Stereo Rendering:
-        Stereo Eye Separation: 0.0599999987
+        Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
+      Field of View: 0.7853981852531433
       Focal Point:
-        X: 0.113567002
-        Y: 0.105920002
-        Z: 2.23518001e-07
+        X: 0.11356700211763382
+        Y: 0.10592000186443329
+        Z: 2.2351800055275817e-07
       Focal Shape Fixed Size: true
-      Focal Shape Size: 0.0500000007
+      Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
-      Near Clip Distance: 0.00999999978
-      Pitch: 0.354796648
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.3547966778278351
       Target Frame: base
-      Value: XYOrbit (rviz)
-      Yaw: 2.02676558
+      Yaw: 2.836765766143799
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 898
+  Height: 906
   Help:
     collapsed: false
   Hide Left Dock: false
@@ -242,9 +243,9 @@ Window Geometry:
     collapsed: false
   MotionPlanning - Trajectory Slider:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd0000000100000000000002ad0000033cfc0200000007fb000000100044006900730070006c006100790073010000002800000158000000d700fffffffb0000000800480065006c00700000000342000000bb0000007300fffffffb0000000a0056006900650077007300000003b0000000b0000000ad00fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c006900640065007201000001860000004a0000004a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001d60000018e0000018300ffffff000004710000033c00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000100000000000001f300000330fc0200000007fb000000100044006900730070006c006100790073010000003d00000156000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720100000199000000420000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001e10000018c0000017d00ffffff0000053f0000033000000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Views:
     collapsed: false
-  Width: 1828
-  X: 60
-  Y: 15
+  Width: 1848
+  X: 72
+  Y: 27
diff --git a/mycobot_pro/mycobot_600_moveit/launch/moveit_rviz.launch b/mycobot_pro/mycobot_600_moveit/launch/moveit_rviz.launch
index c9ea170..a4605c0 100644
--- a/mycobot_pro/mycobot_600_moveit/launch/moveit_rviz.launch
+++ b/mycobot_pro/mycobot_600_moveit/launch/moveit_rviz.launch
@@ -4,13 +4,12 @@
   <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 $(find mycobot_600_moveit)/launch/moveit.rviz" />
+  <arg name="rviz_config" default="" />
+  <arg     if="$(eval rviz_config=='')" name="command_args" value="" />
+  <arg unless="$(eval rviz_config=='')" name="command_args" value="-d $(arg rviz_config)" />
 
   <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 mycobot_600_moveit)/config/kinematics.yaml"/>
+        args="$(arg command_args)" output="screen">
   </node>
 
 </launch>
diff --git a/mycobot_pro/mycobot_600_moveit/launch/mycobot600_moveit.launch b/mycobot_pro/mycobot_600_moveit/launch/mycobot600_moveit.launch
index a5395fc..7128186 100644
--- a/mycobot_pro/mycobot_600_moveit/launch/mycobot600_moveit.launch
+++ b/mycobot_pro/mycobot_600_moveit/launch/mycobot600_moveit.launch
@@ -1,64 +1,66 @@
 <launch>
 
+  <!-- specify the planning pipeline -->
+  <arg name="pipeline" default="ompl" />
+
   <!-- By default, we do not start a database (it can be large) -->
-   <!-- 默认情况下，我们不启动数据库（它可能很大） -->
   <arg name="db" default="false" />
   <!-- Allow user to specify database location -->
-   <!-- 允许用户指定数据库位置 -->
   <arg name="db_path" default="$(find mycobot_600_moveit)/default_warehouse_mongo_db" />
 
-  <!-- By default, we are not in debug mode -->  <!-- 默认情况下，我们不处于调试模式 -->
+  <!-- By default, we are not in debug mode -->
   <arg name="debug" default="false" />
 
-  <!--
-  By default, hide joint_state_publisher's GUI
+  <!-- By default, we will load or override the robot_description -->
+  <arg name="load_robot_description" default="true"/>
 
-  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.
-  -->
+  <!-- Choose controller manager: fake, simple, or ros_control -->
+  <arg name="moveit_controller_manager" default="fake" />
+  <!-- Set execution mode for fake execution controllers -->
+  <arg name="fake_execution_type" default="interpolate" />
+
+  <!-- By default, hide joint_state_publisher's GUI in 'fake' controller_manager mode -->
   <arg name="use_gui" default="false" />
-
-  <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
-   <!-- 加载参数服务器上的URDF、SRDF等.yaml配置文件-->
-  <include file="$(find mycobot_600_moveit)/launch/planning_context.launch">
-    <arg name="load_robot_description" value="true"/>
-  </include>
+  <arg name="use_rviz" default="true" />
 
   <!-- If needed, broadcast static tf for robot root -->
-  
+  <node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 basic base" />
 
-  <!-- We do not have a robot connected, so publish fake joint states -->
-   <!-- 我们没有连接机器人，所以发布假关节状态 -->
-  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
-    <param name="use_gui" value="$(arg use_gui)"/>
-    <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-  </node>
+  <group if="$(eval arg('moveit_controller_manager') == 'fake')">
+    <!-- We do not have a real robot connected, so publish fake joint states via a joint_state_publisher
+         MoveIt's fake controller's joint states are considered via the 'source_list' parameter -->
+    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
+      <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
+    </node>
+    <!-- If desired, a GUI version is available allowing to move the simulated robot around manually
+         This corresponds to moving around the real robot without the use of MoveIt. -->
+    <node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(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 -->
-   <!-- 给定已发布的关节状态，为机器人链接发布 tf -->
-  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
+    <!-- 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" />
+  </group>
 
-  <!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
-    <!-- 运行主MoveIt！ 没有轨迹执行的可执行文件（我们默认没有配置控制器）-->
-  <include file="$(find mycobot_600_moveit)/launch/move_group.launch">
+  <!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
+  <include file="$(dirname)/move_group.launch">
     <arg name="allow_trajectory_execution" value="true"/>
-    <arg name="fake_execution" value="true"/>
+    <arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
+    <arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
     <arg name="info" value="true"/>
     <arg name="debug" value="$(arg debug)"/>
+    <arg name="pipeline" value="$(arg pipeline)"/>
+    <arg name="load_robot_description" value="$(arg load_robot_description)"/>
   </include>
 
   <!-- Run Rviz and load the default config to see the state of the move_group node -->
-   <!-- 运行 Rviz 并加载默认配置以查看 move_group 节点的状态 -->
-  <include file="$(find mycobot_600_moveit)/launch/moveit_rviz.launch">
-    <arg name="config" value="true"/>
+  <include file="$(dirname)/moveit_rviz.launch" if="$(arg use_rviz)">
+    <arg name="rviz_config" value="$(dirname)/moveit.rviz"/>
     <arg name="debug" value="$(arg debug)"/>
   </include>
 
   <!-- If database loading was enabled, start mongodb as well -->
-  <!-- 如果启用了数据库加载，也启动 mongodb -->
-  <include file="$(find mycobot_600_moveit)/launch/default_warehouse_db.launch" if="$(arg db)">
+  <include file="$(dirname)/default_warehouse_db.launch" if="$(arg db)">
     <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
   </include>
 
diff --git a/mycobot_pro/mycobot_600_moveit/launch/ompl-chomp_planning_pipeline.launch.xml b/mycobot_pro/mycobot_600_moveit/launch/ompl-chomp_planning_pipeline.launch.xml
new file mode 100644
index 0000000..5aa7b4e
--- /dev/null
+++ b/mycobot_pro/mycobot_600_moveit/launch/ompl-chomp_planning_pipeline.launch.xml
@@ -0,0 +1,20 @@
+<launch>
+  <!-- load OMPL planning pipeline, but add the CHOMP planning adapter. -->
+  <include file="$(find mycobot_600_moveit)/launch/ompl_planning_pipeline.launch.xml">
+    <arg name="planning_adapters"
+         default="default_planner_request_adapters/LimitMaxCartesianLinkSpeed
+                  default_planner_request_adapters/AddTimeParameterization
+                  default_planner_request_adapters/FixWorkspaceBounds
+                  default_planner_request_adapters/FixStartStateBounds
+                  default_planner_request_adapters/FixStartStateCollision
+                  default_planner_request_adapters/FixStartStatePathConstraints
+                  chomp/OptimizerAdapter"
+                  />
+  </include>
+
+  <!-- load chomp config -->
+  <rosparam command="load" file="$(find mycobot_600_moveit)/config/chomp_planning.yaml" />
+
+  <!-- override trajectory_initialization_method: Use OMPL-generated trajectory -->
+  <param name="trajectory_initialization_method" value="fillTrajectory"/>
+</launch>
diff --git a/mycobot_pro/mycobot_600_moveit/launch/ompl_planning_pipeline.launch.xml b/mycobot_pro/mycobot_600_moveit/launch/ompl_planning_pipeline.launch.xml
index 47c5f82..7b31555 100644
--- a/mycobot_pro/mycobot_600_moveit/launch/ompl_planning_pipeline.launch.xml
+++ b/mycobot_pro/mycobot_600_moveit/launch/ompl_planning_pipeline.launch.xml
@@ -1,21 +1,23 @@
 <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"
+       default="default_planner_request_adapters/LimitMaxCartesianLinkSpeed
+                default_planner_request_adapters/AddTimeParameterization
+                default_planner_request_adapters/ResolveConstraintFrames
+                default_planner_request_adapters/FixWorkspaceBounds
+                default_planner_request_adapters/FixStartStateBounds
+                default_planner_request_adapters/FixStartStateCollision
+                default_planner_request_adapters/FixStartStatePathConstraints"
+                />
 
-  <!-- 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" default="0.1" />
+  <arg name="jiggle_fraction" default="0.05" />
 
-  <arg name="start_state_max_bounds_error" value="0.1" />
-
-  <param name="planning_plugin" value="$(arg planning_plugin)" />
+  <param name="planning_plugin" value="ompl_interface/OMPLPlanner" />
   <param name="request_adapters" value="$(arg planning_adapters)" />
   <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
+  <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
 
   <rosparam command="load" file="$(find mycobot_600_moveit)/config/ompl_planning.yaml"/>
 
diff --git a/mycobot_pro/mycobot_600_moveit/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml b/mycobot_pro/mycobot_600_moveit/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml
new file mode 100644
index 0000000..c7c4cf5
--- /dev/null
+++ b/mycobot_pro/mycobot_600_moveit/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml
@@ -0,0 +1,15 @@
+<launch>
+
+  <!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
+  <arg name="planning_adapters" default="" />
+
+  <param name="planning_plugin" value="pilz_industrial_motion_planner::CommandPlanner" />
+  <param name="request_adapters" value="$(arg planning_adapters)" />
+
+  <!-- Define default planner (for all groups) -->
+  <param name="default_planner_config" value="PTP" />
+
+  <!-- MoveGroup capabilities to load for this pipeline, append sequence capability -->
+  <param name="capabilities" value="pilz_industrial_motion_planner/MoveGroupSequenceAction
+                                    pilz_industrial_motion_planner/MoveGroupSequenceService" />
+</launch>
diff --git a/mycobot_pro/mycobot_600_moveit/launch/planning_context.launch b/mycobot_pro/mycobot_600_moveit/launch/planning_context.launch
index 28dd1fc..46db7b0 100644
--- a/mycobot_pro/mycobot_600_moveit/launch/planning_context.launch
+++ b/mycobot_pro/mycobot_600_moveit/launch/planning_context.launch
@@ -6,7 +6,7 @@
   <arg name="robot_description" default="robot_description"/>
 
   <!-- Load universal robot description format (URDF) -->
-  <param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/mycobot_pro_600/mycobot_pro_600.urdf"/>
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/mycobot_pro_600/mycobot_pro_600_moveit.urdf"/>
 
   <!-- The semantic description that corresponds to the URDF -->
   <param name="$(arg robot_description)_semantic" textfile="$(find mycobot_600_moveit)/config/firefighter.srdf" />
@@ -14,11 +14,13 @@
   <!-- Load updated joint limits (override information from URDF) -->
   <group ns="$(arg robot_description)_planning">
     <rosparam command="load" file="$(find mycobot_600_moveit)/config/joint_limits.yaml"/>
+    <rosparam command="load" file="$(find mycobot_600_moveit)/config/cartesian_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 mycobot_600_moveit)/config/kinematics.yaml"/>
+
   </group>
 
 </launch>
diff --git a/mycobot_pro/mycobot_600_moveit/launch/planning_pipeline.launch.xml b/mycobot_pro/mycobot_600_moveit/launch/planning_pipeline.launch.xml
index fe2cf4d..4b4d0d6 100644
--- a/mycobot_pro/mycobot_600_moveit/launch/planning_pipeline.launch.xml
+++ b/mycobot_pro/mycobot_600_moveit/launch/planning_pipeline.launch.xml
@@ -5,6 +5,6 @@
 
   <arg name="pipeline" default="ompl" />
 
-  <include file="$(find mycobot_600_moveit)/launch/$(arg pipeline)_planning_pipeline.launch.xml" />
+  <include ns="$(arg pipeline)" file="$(dirname)/$(arg pipeline)_planning_pipeline.launch.xml" />
 
 </launch>
diff --git a/mycobot_pro/mycobot_600_moveit/launch/ros_control_moveit_controller_manager.launch.xml b/mycobot_pro/mycobot_600_moveit/launch/ros_control_moveit_controller_manager.launch.xml
new file mode 100644
index 0000000..9ebc91c
--- /dev/null
+++ b/mycobot_pro/mycobot_600_moveit/launch/ros_control_moveit_controller_manager.launch.xml
@@ -0,0 +1,4 @@
+<launch>
+	<!-- Define MoveIt controller manager plugin -->
+	<param name="moveit_controller_manager" value="moveit_ros_control_interface::MoveItControllerManager" />
+</launch>
diff --git a/mycobot_pro/mycobot_600_moveit/launch/ros_controllers.launch b/mycobot_pro/mycobot_600_moveit/launch/ros_controllers.launch
index 03de6bf..f3a08eb 100644
--- a/mycobot_pro/mycobot_600_moveit/launch/ros_controllers.launch
+++ b/mycobot_pro/mycobot_600_moveit/launch/ros_controllers.launch
@@ -6,6 +6,6 @@
 
   <!-- Load the controllers -->
   <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
-    output="screen" args=""/>
+    output="screen" args="arm_group_controller "/>
 
 </launch>
diff --git a/mycobot_pro/mycobot_600_moveit/launch/run_benchmark_ompl.launch b/mycobot_pro/mycobot_600_moveit/launch/run_benchmark_ompl.launch
index 94e8fc3..040b6e6 100644
--- a/mycobot_pro/mycobot_600_moveit/launch/run_benchmark_ompl.launch
+++ b/mycobot_pro/mycobot_600_moveit/launch/run_benchmark_ompl.launch
@@ -4,18 +4,17 @@
   <arg name="cfg" />
 
   <!-- Load URDF -->
-  <include file="$(find mycobot_600_moveit)/launch/planning_context.launch">
+  <include file="$(dirname)/planning_context.launch">
     <arg name="load_robot_description" value="true"/>
   </include>
 
   <!-- Start the database -->
-  <include file="$(find mycobot_600_moveit)/launch/warehouse.launch">
+  <include file="$(dirname)/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="$(find mycobot_600_moveit)/config/kinematics.yaml"/>
     <rosparam command="load" file="$(find mycobot_600_moveit)/config/ompl_planning.yaml"/>
   </node>
 
diff --git a/mycobot_pro/mycobot_600_moveit/launch/sensor_manager.launch.xml b/mycobot_pro/mycobot_600_moveit/launch/sensor_manager.launch.xml
index d7c9ca8..e7115c1 100644
--- a/mycobot_pro/mycobot_600_moveit/launch/sensor_manager.launch.xml
+++ b/mycobot_pro/mycobot_600_moveit/launch/sensor_manager.launch.xml
@@ -12,6 +12,6 @@
 
   <!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
   <arg name="moveit_sensor_manager" default="firefighter" />
-  <include file="$(find mycobot_600_moveit)/launch/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
+  <include file="$(dirname)/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
 
 </launch>
diff --git a/mycobot_pro/mycobot_600_moveit/launch/setup_assistant.launch b/mycobot_pro/mycobot_600_moveit/launch/setup_assistant.launch
index 040d4f6..62bfd85 100644
--- a/mycobot_pro/mycobot_600_moveit/launch/setup_assistant.launch
+++ b/mycobot_pro/mycobot_600_moveit/launch/setup_assistant.launch
@@ -1,4 +1,4 @@
-<!-- Re-launch the MoveIt! Setup Assistant with this configuration package already loaded -->
+<!-- Re-launch the MoveIt Setup Assistant with this configuration package already loaded -->
 <launch>
 
   <!-- Debug Info -->
@@ -8,8 +8,9 @@
 
   <!-- Run -->
   <node pkg="moveit_setup_assistant" type="moveit_setup_assistant" name="moveit_setup_assistant"
-	args="--config_pkg=mycobot_600_moveit"
-	launch-prefix="$(arg launch_prefix)"
+        args="--config_pkg=mycobot_600_moveit"
+        launch-prefix="$(arg launch_prefix)"
+        required="true"
         output="screen" />
 
 </launch>
diff --git a/mycobot_pro/mycobot_600_moveit/launch/simple_moveit_controller_manager.launch.xml b/mycobot_pro/mycobot_600_moveit/launch/simple_moveit_controller_manager.launch.xml
new file mode 100644
index 0000000..4827d50
--- /dev/null
+++ b/mycobot_pro/mycobot_600_moveit/launch/simple_moveit_controller_manager.launch.xml
@@ -0,0 +1,8 @@
+<launch>
+  <!-- Define the MoveIt controller manager plugin to use for trajectory execution -->
+  <param name="moveit_controller_manager" value="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
+
+  <!-- Load controller list to the parameter server -->
+  <rosparam file="$(find mycobot_600_moveit)/config/simple_moveit_controllers.yaml" />
+  <rosparam file="$(find mycobot_600_moveit)/config/ros_controllers.yaml" />
+</launch>
diff --git a/mycobot_pro/mycobot_600_moveit/launch/stomp_planning_pipeline.launch.xml b/mycobot_pro/mycobot_600_moveit/launch/stomp_planning_pipeline.launch.xml
new file mode 100644
index 0000000..1588cba
--- /dev/null
+++ b/mycobot_pro/mycobot_600_moveit/launch/stomp_planning_pipeline.launch.xml
@@ -0,0 +1,23 @@
+<launch>
+  <!-- Stomp Plugin for MoveIt -->
+  <arg name="planning_plugin" value="stomp_moveit/StompPlannerManager" />
+
+  <arg name="start_state_max_bounds_error" value="0.1" />
+  <arg name="jiggle_fraction" value="0.05" />
+  <!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
+  <arg name="planning_adapters"
+       default="default_planner_request_adapters/LimitMaxCartesianLinkSpeed
+                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" />
+
+
+  <param name="planning_plugin" value="$(arg planning_plugin)" />
+  <param name="request_adapters" value="$(arg planning_adapters)" />
+  <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
+  <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
+
+  <rosparam command="load" file="$(find mycobot_600_moveit)/config/stomp_planning.yaml"/>
+</launch>
diff --git a/mycobot_pro/mycobot_600_moveit/launch/trajectory_execution.launch.xml b/mycobot_pro/mycobot_600_moveit/launch/trajectory_execution.launch.xml
index 2207f7c..20c3dfc 100644
--- a/mycobot_pro/mycobot_600_moveit/launch/trajectory_execution.launch.xml
+++ b/mycobot_pro/mycobot_600_moveit/launch/trajectory_execution.launch.xml
@@ -1,8 +1,11 @@
 <launch>
+  <!-- This file summarizes all settings required for trajectory execution  -->
 
-  <!-- This file makes it easy to include the settings for trajectory execution  -->
+  <!-- Define moveit controller manager plugin: fake, simple, or ros_control -->
+  <arg name="moveit_controller_manager" />
+  <arg name="fake_execution_type" default="interpolate" />
 
-  <!-- Flag indicating whether MoveIt! is allowed to load/unload  or switch controllers -->
+  <!-- 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)"/>
 
@@ -13,8 +16,8 @@
   <!-- 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="$(find mycobot_600_moveit)/launch/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" />
+  <!-- We use pass_all_args=true here to pass fake_execution_type, which is required by fake controllers, but not by real-robot controllers.
+       As real-robot controller_manager.launch files shouldn't be required to define this argument, we use the trick of passing all args. -->
+  <include file="$(dirname)/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" pass_all_args="true" />
 
 </launch>
diff --git a/mycobot_pro/mycobot_600_moveit/launch/warehouse.launch b/mycobot_pro/mycobot_600_moveit/launch/warehouse.launch
index 827a551..0712e67 100644
--- a/mycobot_pro/mycobot_600_moveit/launch/warehouse.launch
+++ b/mycobot_pro/mycobot_600_moveit/launch/warehouse.launch
@@ -4,7 +4,7 @@
   <arg name="moveit_warehouse_database_path" />
 
   <!-- Load warehouse parameters -->
-  <include file="$(find mycobot_600_moveit)/launch/warehouse_settings.launch.xml" />
+  <include file="$(dirname)/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">
diff --git a/mycobot_pro/mycobot_600_moveit/package.xml b/mycobot_pro/mycobot_600_moveit/package.xml
index 3283fd7..477b36c 100644
--- a/mycobot_pro/mycobot_600_moveit/package.xml
+++ b/mycobot_pro/mycobot_600_moveit/package.xml
@@ -3,7 +3,7 @@
   <name>mycobot_600_moveit</name>
   <version>0.3.0</version>
   <description>
-     An automatically generated package with all the configuration and launch files for using the firefighter with the MoveIt! Motion Planning Framework
+     An automatically generated package with all the configuration and launch files for using the firefighter with the MoveIt Motion Planning Framework
   </description>
   <author email="weijian.wang@elephantrobotics.com">wangweijian</author>
   <maintainer email="weijian.wang@elephantrobotics.com">wangweijian</maintainer>
@@ -19,20 +19,22 @@
   <run_depend>moveit_ros_move_group</run_depend>
   <run_depend>moveit_fake_controller_manager</run_depend>
   <run_depend>moveit_kinematics</run_depend>
-  <run_depend>moveit_planners_ompl</run_depend>
+  <run_depend>moveit_planners</run_depend>
   <run_depend>moveit_ros_visualization</run_depend>
   <run_depend>moveit_setup_assistant</run_depend>
+  <run_depend>moveit_simple_controller_manager</run_depend>
   <run_depend>joint_state_publisher</run_depend>
+  <run_depend>joint_state_publisher_gui</run_depend>
   <run_depend>robot_state_publisher</run_depend>
+  <run_depend>rviz</run_depend>
+  <run_depend>tf2_ros</run_depend>
   <run_depend>xacro</run_depend>
+  <!-- The next 2 packages are required for the gazebo simulation.
+       We don't include them by default to prevent installing gazebo and all its dependencies. -->
+  <!-- <run_depend>joint_trajectory_controller</run_depend> -->
+  <!-- <run_depend>gazebo_ros_control</run_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. -->
   <!-- <run_depend>warehouse_ros_mongo</run_depend> -->
-  <build_depend>roscpp</build_depend>
-  <build_depend>rospy</build_depend>
-  <build_depend>std_msgs</build_depend>
-  <build_depend>actionlib</build_depend>
-  <build_depend>moveit_msgs</build_depend>
-  <build_depend>mycobot_description</build_depend>
   <run_depend>mycobot_description</run_depend>
 
 
diff --git a/mycobot_pro/mycobot_600_moveit/scripts/sync_plan.py b/mycobot_pro/mycobot_600_moveit/scripts/sync_plan.py
index 81c3abb..a35ecda 100755
--- a/mycobot_pro/mycobot_600_moveit/scripts/sync_plan.py
+++ b/mycobot_pro/mycobot_600_moveit/scripts/sync_plan.py
@@ -23,6 +23,9 @@ def callback(data):
         radians_to_angles = round(math.degrees(value), 2)
         data_list.append(radians_to_angles)
         
+    data_list[1] = data_list[1] - 90
+    data_list[3] = data_list[3] - 90
+        
     rospy.loginfo(rospy.get_caller_id() + "%s", data_list)
     mc.write_angles(data_list, 1000)