diff --git a/mycobot_280/mycobot_280/scripts/follow_display.py b/mycobot_280/mycobot_280/scripts/follow_display.py
index d661974..27aaa2f 100755
--- a/mycobot_280/mycobot_280/scripts/follow_display.py
+++ b/mycobot_280/mycobot_280/scripts/follow_display.py
@@ -13,7 +13,7 @@ def talker():
     rospy.init_node("display", anonymous=True)
 
     print("Try connect real mycobot...")
-    port = rospy.get_param("~port", "/dev/ttyUSB0")
+    port = rospy.get_param("~port", "/dev/ttyACM0")
     baud = rospy.get_param("~baud", 115200)
     print("port: {}, baud: {}\n".format(port, baud))
     try:
@@ -41,6 +41,7 @@ def talker():
     joint_state_send.header = Header()
 
     joint_state_send.name = [
+        
         "joint2_to_joint1",
         "joint3_to_joint2",
         "joint4_to_joint3",
diff --git a/mycobot_320/mycobot_320_gripper_moveit/.setup_assistant b/mycobot_320/mycobot_320_gripper_moveit/.setup_assistant
index 6c5202e..799978e 100644
--- a/mycobot_320/mycobot_320_gripper_moveit/.setup_assistant
+++ b/mycobot_320/mycobot_320_gripper_moveit/.setup_assistant
@@ -6,6 +6,6 @@ moveit_setup_assistant_config:
   SRDF:
     relative_path: config/firefighter.srdf
   CONFIG:
-    author_name: wwj
-    author_email: wwj@elephantrobot.com
+    author_name: Jz
+    author_email: Jz@elephantrobot.com
     generated_timestamp: 1683628879
\ No newline at end of file
diff --git a/mycobot_320/mycobot_320_gripper_moveit/config/fake_controllers.yaml b/mycobot_320/mycobot_320_gripper_moveit/config/fake_controllers.yaml
index 8b0dde7..4d8a414 100644
--- a/mycobot_320/mycobot_320_gripper_moveit/config/fake_controllers.yaml
+++ b/mycobot_320/mycobot_320_gripper_moveit/config/fake_controllers.yaml
@@ -2,18 +2,25 @@ 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
+      - joint1_to_base
       - joint2_to_joint1
       - joint3_to_joint2
       - joint4_to_joint3
       - joint5_to_joint4
       - joint6_to_joint5
-      - joint6output_to_joint6
+      - joint6output_to_tool1
   - name: fake_gripper_group_controller
     type: $(arg fake_execution_type)
     joints:
       - gripper_controller
-initial:  # Define initial robot poses per group
-  - group: arm_group
-    pose: init_pose
-  - group: gripper_group
-    pose: init_gripper
\ No newline at end of file
+# initial:  # Define initial robot poses per group
+#   - group: arm_group
+#     pose: init_pose
+#   - group: gripper_group
+#     pose: init_gripper
\ No newline at end of file
diff --git a/mycobot_320/mycobot_320_gripper_moveit/launch/moveit.rviz b/mycobot_320/mycobot_320_gripper_moveit/launch/moveit.rviz
index df0f653..90bbe8a 100644
--- a/mycobot_320/mycobot_320_gripper_moveit/launch/moveit.rviz
+++ b/mycobot_320/mycobot_320_gripper_moveit/launch/moveit.rviz
@@ -1,6 +1,6 @@
 Panels:
   - Class: rviz/Displays
-    Help Height: 84
+    Help Height: 0
     Name: Displays
     Property Tree Widget:
       Expanded:
@@ -9,7 +9,7 @@ Panels:
         - /MotionPlanning1/Planning Request1
         - /MotionPlanning1/Planned Path1
       Splitter Ratio: 0.5
-    Tree Height: 109
+    Tree Height: 200
   - Class: rviz/Help
     Name: Help
   - Class: rviz/Views
@@ -45,6 +45,7 @@ Visualization Manager:
     - Acceleration_Scaling_Factor: 0.1
       Class: moveit_rviz_plugin/MotionPlanning
       Enabled: true
+      JointsTab_Use_Radians: true
       Move Group Namespace: ""
       MoveIt_Allow_Approximate_IK: true
       MoveIt_Allow_External_Program: false
@@ -52,7 +53,7 @@ Visualization Manager:
       MoveIt_Allow_Sensor_Positioning: false
       MoveIt_Planning_Attempts: 10
       MoveIt_Planning_Time: 5
-      MoveIt_Use_Cartesian_Path: false
+      MoveIt_Use_Cartesian_Path: true
       MoveIt_Use_Constraint_Aware_IK: true
       MoveIt_Workspace:
         Center:
@@ -78,10 +79,6 @@ Visualization Manager:
             Show Axes: false
             Show Trail: false
             Value: true
-          base_footprint:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
           gripper_base:
             Alpha: 1
             Show Axes: false
@@ -117,32 +114,42 @@ Visualization Manager:
             Show Axes: false
             Show Trail: false
             Value: true
-          link1:
+          joint1:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link2:
+          joint2:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link3:
+          joint3:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link4:
+          joint4:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link5:
+          joint5:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link6:
+          joint6:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          tool1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          tool2:
             Alpha: 1
             Show Axes: false
             Show Trail: false
@@ -168,11 +175,11 @@ Visualization Manager:
         Colliding Link Color: 255; 0; 0
         Goal State Alpha: 1
         Goal State Color: 250; 128; 0
-        Interactive Marker Size: 0.15000000596046448
+        Interactive Marker Size: 0.20000000298023224
         Joint Violation Color: 255; 0; 255
         Planning Group: arm_group
         Query Goal State: true
-        Query Start State: false
+        Query Start State: true
         Show Workspace: false
         Start State Alpha: 1
         Start State Color: 0; 255; 0
@@ -198,10 +205,6 @@ Visualization Manager:
             Show Axes: false
             Show Trail: false
             Value: true
-          base_footprint:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
           gripper_base:
             Alpha: 1
             Show Axes: false
@@ -237,32 +240,42 @@ Visualization Manager:
             Show Axes: false
             Show Trail: false
             Value: true
-          link1:
+          joint1:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link2:
+          joint2:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link3:
+          joint3:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link4:
+          joint4:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link5:
+          joint5:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          link6:
+          joint6:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          tool1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          tool2:
             Alpha: 1
             Show Axes: false
             Show Trail: false
@@ -314,7 +327,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 2
+      Distance: 1.4812843799591064
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -322,17 +335,17 @@ Visualization Manager:
         Value: false
       Field of View: 0.75
       Focal Point:
-        X: -0.10000000149011612
-        Y: 0.25
-        Z: 0.30000001192092896
+        X: -0.07944566011428833
+        Y: 0.29104751348495483
+        Z: 0.29134249687194824
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.3399999737739563
+      Pitch: 1.0449998378753662
       Target Frame: base
-      Yaw: 2.9449498653411865
+      Yaw: 6.149951934814453
     Saved:
       - Class: rviz/Orbit
         Distance: 2
@@ -357,7 +370,7 @@ Visualization Manager:
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 919
+  Height: 820
   Help:
     collapsed: false
   Hide Left Dock: false
@@ -366,9 +379,9 @@ Window Geometry:
     collapsed: false
   MotionPlanning - Trajectory Slider:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd0000000100000000000001f30000033dfc0200000007fb000000100044006900730070006c006100790073010000003d000000fe000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720100000141000000520000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000199000001e10000017d00ffffff000003120000033d00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000100000000000001f3000002dafc0200000007fb000000100044006900730070006c006100790073010000003d00000105000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720100000148000000410000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000018f000001880000017d00ffffff00000539000002da00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Views:
     collapsed: false
-  Width: 1291
-  X: 454
+  Width: 1842
+  X: 72
   Y: 27
diff --git a/mycobot_320/mycobot_320_gripper_moveit/launch/planning_context.launch b/mycobot_320/mycobot_320_gripper_moveit/launch/planning_context.launch
index f8c672f..8da3d8a 100644
--- a/mycobot_320/mycobot_320_gripper_moveit/launch/planning_context.launch
+++ b/mycobot_320/mycobot_320_gripper_moveit/launch/planning_context.launch
@@ -6,10 +6,12 @@
   <arg name="robot_description" default="robot_description"/>
 
   <!-- Load universal robot description format (URDF) -->
-  <param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/mycobot_320_m5_2020/mycobot_pro_320_m5_2020_gripper.urdf"/>
+  <!-- <param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/mycobot_320_m5_2020/mycobot_pro_320_m5_2020_gripper.urdf"/> -->
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/mycobot_pro_630/mycobot_630_gripper.urdf"/>
 
   <!-- The semantic description that corresponds to the URDF -->
-  <param name="$(arg robot_description)_semantic" textfile="$(find mycobot_320_gripper_moveit)/config/firefighter.srdf" />
+  <!-- <param name="$(arg robot_description)_semantic" textfile="$(find mycobot_320_gripper_moveit)/config/firefighter.srdf" /> -->
+  <param name="$(arg robot_description)_semantic" textfile="$(find new_mycobot_630_gripper_moveit)/config/firefighter.srdf" />
 
   <!-- Load updated joint limits (override information from URDF) -->
   <group ns="$(arg robot_description)_planning">
diff --git a/mycobot_320/mycobot_320_gripper_moveit/scripts/sync_plan.py b/mycobot_320/mycobot_320_gripper_moveit/scripts/sync_plan.py
index 953196a..c5d83fa 100755
--- a/mycobot_320/mycobot_320_gripper_moveit/scripts/sync_plan.py
+++ b/mycobot_320/mycobot_320_gripper_moveit/scripts/sync_plan.py
@@ -8,7 +8,16 @@ Passable parameters:
     port: serial prot string. Defaults is '/dev/ttyUSB0'
     baud: serial prot baudrate. Defaults is 115200.
 """
+from socket import *
+import math
+import sys
+import time
+from multiprocessing import Lock
 
+import rospy
+from sensor_msgs.msg import JointState
+
+from pymycobot.elephantrobot import ElephantRobot
 import rospy
 import time
 from sensor_msgs.msg import JointState
@@ -38,17 +47,24 @@ def callback(data):
 def listener():
     global mc
     global gripper_value
-   
     rospy.init_node("control_slider", anonymous=True)
 
+    ip = rospy.get_param("~ip", "192.168.1.161")
+    port = rospy.get_param("~port", 5001)
+    print (ip, port)
+    mc = ElephantRobot(ip, int(port))
+    # START CLIENT,启动客户端
+    res = mc.start_client()
+    if res != "":
+        sys.exit(1)
+
+    mc.set_speed(90)
+
     rospy.Subscriber("joint_states", JointState, callback)
-    port = rospy.get_param("~port", "/dev/ttyUSB0")
-    baud = rospy.get_param("~baud", 115200)
-    print(port, baud)
-    mc = MyCobot(port, baud)
- 
+
     # spin() simply keeps python from exiting until this node is stopped
-    print("spin ...")
+    # spin()只是阻止python退出，直到该节点停止
+    print ("sping ...")
     rospy.spin()
 
 
diff --git a/mycobot_320/mycobot_320_gripper_moveit/scripts/sync_plan_630.py b/mycobot_320/mycobot_320_gripper_moveit/scripts/sync_plan_630.py
new file mode 100755
index 0000000..0aef4bc
--- /dev/null
+++ b/mycobot_320/mycobot_320_gripper_moveit/scripts/sync_plan_630.py
@@ -0,0 +1,102 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+from socket import *
+import math
+import sys
+import time
+from multiprocessing import Lock
+import numpy as np
+import rospy
+from sensor_msgs.msg import JointState
+
+from pymycobot.elephantrobot import ElephantRobot
+
+global mc
+gripper_value = []
+
+
+
+def linear_mapping(value, input_start, input_end, output_start, output_end):
+    """
+    Maps a value from one range to another using a linear transformation.
+
+    Args:
+        value (float): The input value to be mapped.
+        input_start (float): The start of the input range.
+        input_end (float): The end of the input range.
+        output_start (float): The start of the output range.
+        output_end (float): The end of the output range.
+
+    Returns:
+        float: The mapped value in the output range.
+    """
+    # Calculate the slope of the linear function
+    slope = (output_end - output_start) / (input_end - input_start)
+    # Calculate the mapped value
+    mapped_value = output_start + slope * (value - input_start)
+    return mapped_value
+
+
+def callback(data):
+    """callback function,回调函数"""
+    # rospy.loginfo(rospy.get_caller_id() + "%s", data.position)
+
+    data_list = []
+    for index, value in enumerate(data.position):
+        radians_to_angles = round(math.degrees(value), 2)
+        data_list.append(radians_to_angles)
+
+    rospy.loginfo(rospy.get_caller_id() + "%s", data_list)
+    # mc.write_angles(data_list, 800)
+    
+    list_i = []
+    for i in data_list[:6]:
+        list_i.append(i)
+    mc.write_angles(list_i,800)
+    
+    list_j = []
+    for j in data_list[6:]:
+        list_j.append(j)
+    # list_j = [int(a) for a in list_j]
+    
+    mc.set_gripper_mode(0)
+    # Define the input and output ranges
+    input_start = 17
+    input_end = -40
+    output_start = 100
+    output_end = 0
+    num = [linear_mapping(value, input_start, input_end, output_start, output_end) for value in list_j]
+    num2 = [int(i) for i in num]
+    num2 = num2[1]
+    mc.set_gripper_value(num2,100)
+    rospy.loginfo(num2)
+    
+
+
+
+def listener():
+    global mc
+    global gripper_value
+    rospy.init_node("control_slider", anonymous=True)
+
+    ip = rospy.get_param("~ip", "192.168.1.161")
+    port = rospy.get_param("~port", 5001)
+    print (ip, port)
+    mc = ElephantRobot(ip, int(port))
+    # START CLIENT,启动客户端
+    res = mc.start_client()
+    if res != "":
+        sys.exit(1)
+
+    mc.set_speed(90)
+
+    rospy.Subscriber("joint_states", JointState, callback)
+
+    # spin() simply keeps python from exiting until this node is stopped
+    # spin()只是阻止python退出，直到该节点停止
+    print ("sping ...")
+    rospy.spin()
+
+
+if __name__ == "__main__":
+    listener()
diff --git a/mycobot_320/mycobot_320_gripper_moveit/scripts/test.py b/mycobot_320/mycobot_320_gripper_moveit/scripts/test.py
new file mode 100644
index 0000000..74686bb
--- /dev/null
+++ b/mycobot_320/mycobot_320_gripper_moveit/scripts/test.py
@@ -0,0 +1,35 @@
+from pymycobot.elephantrobot import ElephantRobot
+import time
+
+global mc
+
+mc = ElephantRobot("192.168.1.161",5001)
+
+
+
+
+# 启动机器人必要指令
+mc.start_client()
+time.sleep(1)
+mc.set_gripper_mode(0)
+time.sleep(1)
+
+
+
+# mc.power_off()#夹爪透传换IO模式时需要先关闭机器再重启机器人一次，仅使用夹爪透传模式不必关闭机器人
+# mc.state_off()
+# time.sleep(3)
+# mc.power_on()
+# time.sleep(3)
+# mc.state_on()
+# time.sleep(3)
+# mc.set_gripper_mode(0)
+mc.set_gripper_calibrate()
+
+# #透传模式
+
+# for i in range(3):
+#     mc.set_gripper_value(46, 20)
+#     time.sleep(1)
+#     mc.set_gripper_value(96, 20)
+#     time.sleep(1)
\ No newline at end of file
diff --git a/mycobot_description/urdf/mycobot_pro_600/mycobot_pro_600_gripper.urdf b/mycobot_description/urdf/mycobot_pro_600/mycobot_pro_600_gripper.urdf
index 384e64e..c95ff40 100644
--- a/mycobot_description/urdf/mycobot_pro_600/mycobot_pro_600_gripper.urdf
+++ b/mycobot_description/urdf/mycobot_pro_600/mycobot_pro_600_gripper.urdf
@@ -291,8 +291,8 @@
     <limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
     <parent link="link1"/>
     <child link="link2"/>
-    <!-- <origin xyz= "0 0  0" rpy = "1.5708 -1.5708 0"/>   -->
-    <origin xyz= "0 0.04  0.085" rpy = "1.5708 0 0"/>
+    <!-- <origin xyz= "0 0  0" rpy = "1.5708 0 0"/>   -->
+    <origin xyz= "0 0.04  0.085" rpy = "1.5706 1.5706 0"/>
   </joint>
 
 
@@ -310,8 +310,8 @@
     <limit effort = "1000.0" lower = "-2.97" upper = "2.97" velocity = "0"/>
     <parent link="link3"/>
     <child link="link4"/>
-    <!-- <origin xyz= "0.25 0  -0.1091" rpy = "0 0 1.5708"/>   -->
-    <origin xyz= "0 0.25  0.025" rpy = "0 0 0"/>  
+    <!-- <origin xyz= "0.25 0  -0.1091" rpy = "0 0 0"/>   -->
+    <origin xyz= "0 0.25  0.025" rpy = "0 0 -1.5706"/>  
   </joint>
 
   <joint name="joint6_to_joint5" type="revolute">
@@ -330,7 +330,7 @@
     <origin xyz= "-0.076 0 0.05" rpy = "-1.57080 0 0 "/>  
   </joint>
 
-  <joint name="joint6output_to_tool1" type="revolute">
+  <joint name="joint6output_to_tool1" type="fixed">
     <axis xyz="0 1 0"/>
     <limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
     <parent link="link6" />
diff --git a/mycobot_description/urdf/mycobot_pro_630/mycobot_630_gripper.urdf b/mycobot_description/urdf/mycobot_pro_630/mycobot_630_gripper.urdf
index bed60e5..b42144b 100644
--- a/mycobot_description/urdf/mycobot_pro_630/mycobot_630_gripper.urdf
+++ b/mycobot_description/urdf/mycobot_pro_630/mycobot_630_gripper.urdf
@@ -378,39 +378,39 @@
 
 
     <joint name="joint1_to_base" type="revolute">
-        <axis xyz="0 0 -1" />
+        <axis xyz="0 0 1" />
         <limit effort="1000.0" lower="-3.14" upper="3.14159" velocity="0" />
         <parent link="base" />
         <child link="joint1" />
         <origin xyz="0 0 0.16034" rpy="0 0 0" />
     </joint>
     <joint name="joint2_to_joint1" type="revolute">
-        <axis xyz="0 0 -1" />
+        <axis xyz="0 0 1" />
         <limit effort="1000.0" lower="-3.14" upper="3.14" velocity="0" />
         <parent link="joint1" />
         <child link="joint2" />
-        <origin xyz="0 0.06  0.038" rpy="1.5707 0 3.14159" />
+        <origin xyz="0 0.06  0.038" rpy="1.5707 -1.5706 3.14159" />
     </joint>
     <joint name="joint3_to_joint2" type="revolute">
-        <axis xyz=" 0 0 -1" />
+        <axis xyz=" 0 0 1" />
         <limit effort="1000.0" lower="-3.14" upper="3.14" velocity="0" />
         <parent link="joint2" />
         <child link="joint3" />
         <origin xyz="0 0.2685 0   " rpy="0 0 0" />
     </joint>
     <joint name="joint4_to_joint3" type="revolute">
-        <axis xyz=" 0 0 -1" />
+        <axis xyz=" 0 0 1" />
         <limit effort="1000.0" lower="-3.14" upper="3.14" velocity="0" />
         <parent link="joint3" />
         <child link="joint4" />
-        <origin xyz="0 0.2663 0   " rpy="0 0 0" />
+        <origin xyz="0 0.2663 0   " rpy="0 0 1.5706" />
     </joint>
     <joint name="joint5_to_joint4" type="revolute">
         <axis xyz="0 0 1" />
         <limit effort="1000.0" lower="-2.99" upper="2.99" velocity="0" />
         <parent link="joint4" />
         <child link="joint5" />
-        <origin xyz="0 0.055 0.039" rpy="1.5707 -1.5707 0" />
+        <origin xyz="0 0.055 0.039" rpy="1.5707 0 0" />
     </joint>
     <joint name="joint6_to_joint5" type="revolute">
         <axis xyz="1 0 0" />
@@ -420,7 +420,7 @@
         <origin xyz="0 0.04 -0.0385" rpy="-1.5707 0 1.5706 " />
     </joint>
 
-    <joint name="joint6output_to_tool1" type="revolute">
+    <joint name="joint6output_to_tool1" type="fixed">
         <axis xyz="0 1 0"/>
         <limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
         <parent link="joint6" />
diff --git a/mycobot_pro/mycobot_600/config/mycobot_600.rviz b/mycobot_pro/mycobot_600/config/mycobot_600.rviz
index 59f0ae5..6ac6713 100644
--- a/mycobot_pro/mycobot_600/config/mycobot_600.rviz
+++ b/mycobot_pro/mycobot_600/config/mycobot_600.rviz
@@ -246,7 +246,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 0.6429708003997803
+      Distance: 1.742307186126709
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -254,17 +254,17 @@ Visualization Manager:
         Value: false
       Field of View: 0.7853981852531433
       Focal Point:
-        X: 0.05385429784655571
-        Y: 0.09180382639169693
-        Z: 0.726940929889679
+        X: -0.07060671597719193
+        Y: 0.09759367257356644
+        Z: 0.5344932079315186
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.2553977966308594
+      Pitch: 0.4803977310657501
       Target Frame: <Fixed Frame>
-      Yaw: 2.845386028289795
+      Yaw: 3.7303872108459473
     Saved: ~
 Window Geometry:
   Displays:
diff --git a/mycobot_pro/mycobot_600/launch/mycobot_600_follow_display.launch b/mycobot_pro/mycobot_600/launch/mycobot_600_follow_display.launch
new file mode 100644
index 0000000..fefafc8
--- /dev/null
+++ b/mycobot_pro/mycobot_600/launch/mycobot_600_follow_display.launch
@@ -0,0 +1,11 @@
+<launch>
+	<arg name="model" default="$(find mycobot_description)/urdf/mycobot_pro_600/mycobot_pro_600_moveit.urdf"/>
+	<arg name="rvizconfig" default="$(find mycobot_600)/config/mycobot_600.rviz" />
+
+	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
+
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" >
+		<rosparam param="source_list" subst_value="true">["joint_states"]</rosparam>
+	</node>
+	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
+</launch>
\ No newline at end of file
diff --git a/mycobot_pro/mycobot_600/launch/mycobot_600_gripper_follow_display.launch b/mycobot_pro/mycobot_600/launch/mycobot_600_gripper_follow_display.launch
new file mode 100644
index 0000000..e69de29
diff --git a/mycobot_pro/mycobot_600/scripts/mycobot_600_follow_display.py b/mycobot_pro/mycobot_600/scripts/mycobot_600_follow_display.py
new file mode 100644
index 0000000..fdd5423
--- /dev/null
+++ b/mycobot_pro/mycobot_600/scripts/mycobot_600_follow_display.py
@@ -0,0 +1,105 @@
+#!/usr/bin/env python2
+# -*- coding:utf-8 -*-
+from cgi import print_environ
+import time
+
+import rospy
+from sensor_msgs.msg import JointState
+from std_msgs.msg import Header
+from visualization_msgs.msg import Marker
+
+from pymycobot.mycobot import MyCobot
+
+
+def talker():
+    rospy.init_node("display", anonymous=True)
+
+    print("Try connect real mycobot...")
+    port = rospy.get_param("~port", "/dev/ttyUSB0")
+    baud = rospy.get_param("~baud", 115200)
+    print("port: {}, baud: {}\n".format(port, baud))
+    try:
+        mycobot = MyCobot(port, baud)
+    except Exception as e:
+        print(e)
+        print(
+            """\
+            \rTry connect mycobot failed!
+            \rPlease check wether connected with mycobot.
+            \rPlease chckt wether the port or baud is right.
+        """
+        )
+        exit(1)
+    mycobot.release_all_servos()
+    time.sleep(0.1)
+    print("Rlease all servos over.\n")
+
+    pub = rospy.Publisher("joint_states", JointState, queue_size=10)
+    pub_marker = rospy.Publisher("visualization_marker", Marker, queue_size=10)
+    rate = rospy.Rate(30)  # 30hz
+
+    # pub joint state
+    joint_state_send = JointState()
+    joint_state_send.header = Header()
+
+    joint_state_send.name = [
+        "joint2_to_joint1",
+        "joint3_to_joint2",
+        "joint4_to_joint3",
+        "joint5_to_joint4",
+        "joint6_to_joint5",
+        "joint6output_to_joint6",
+    ]
+    joint_state_send.velocity = [0]
+    joint_state_send.effort = []
+
+    marker_ = Marker()
+    marker_.header.frame_id = "/joint1"
+    marker_.ns = "my_namespace"
+
+    print("publishing ...")
+    while not rospy.is_shutdown():
+        joint_state_send.header.stamp = rospy.Time.now()
+
+        angles = mycobot.get_radians()
+        data_list = []
+        for index, value in enumerate(angles):
+            data_list.append(value)
+
+        # rospy.loginfo('{}'.format(data_list))
+        joint_state_send.position = data_list
+
+        pub.publish(joint_state_send)
+
+        coords = mycobot.get_coords()
+
+        # marker
+        marker_.header.stamp = rospy.Time.now()
+        marker_.type = marker_.SPHERE
+        marker_.action = marker_.ADD
+        marker_.scale.x = 0.04
+        marker_.scale.y = 0.04
+        marker_.scale.z = 0.04
+
+        # marker position initial
+        if not coords:
+            coords = [0, 0, 0, 0, 0, 0]
+
+            rospy.loginfo("error [101]: can not get coord values")
+
+        marker_.pose.position.x = coords[1] / 1000 * -1
+        marker_.pose.position.y = coords[0] / 1000
+        marker_.pose.position.z = coords[2] / 1000
+
+        marker_.color.a = 1.0
+        marker_.color.g = 1.0
+        pub_marker.publish(marker_)
+
+        rate.sleep()
+
+
+if __name__ == "__main__":
+    try:
+        talker()
+    except rospy.ROSInterruptException:
+        pass
diff --git a/mycobot_pro/mycobot_600/scripts/mycobot_600_gripper_follow_diplay.py b/mycobot_pro/mycobot_600/scripts/mycobot_600_gripper_follow_diplay.py
new file mode 100644
index 0000000..e69de29
diff --git a/mycobot_pro/mycobot_600/scripts/test.py b/mycobot_pro/mycobot_600/scripts/test.py
new file mode 100644
index 0000000..0996b45
--- /dev/null
+++ b/mycobot_pro/mycobot_600/scripts/test.py
@@ -0,0 +1,23 @@
+from pymycobot import ElephantRobot
+import time
+if __name__=='__main__':
+    # "Connect to robot server"
+    elephant_client = ElephantRobot("192.168.1.6", 5001)
+
+    # "Enable TCP communication"
+    elephant_client.start_client()
+
+    # "Setting"
+    # elephant_client.set_speed(20)   # set speed(20%)
+    # elephant_client.set_payload(2.0)   # set payload(2.0Kg)
+
+    # "Power on the robot"
+    # elephant_client.power_on()
+    
+    # "Start the system"
+    # elephant_client.state_on()
+
+    # "test move"
+    elephant_client.write_coords([-108, -140, 620, 88, -2, -37], 3000)
+    elephant_client.wait(3)
+    elephant_client.command_wait_done()
diff --git a/mycobot_pro/mycobot_600_gripper_moveit/CMakeLists.txt b/mycobot_pro/mycobot_600_gripper_moveit/CMakeLists.txt
old mode 100644
new mode 100755
diff --git a/mycobot_pro/mycobot_600_gripper_moveit/config/cartesian_limits.yaml b/mycobot_pro/mycobot_600_gripper_moveit/config/cartesian_limits.yaml
old mode 100644
new mode 100755
diff --git a/mycobot_pro/mycobot_600_gripper_moveit/config/chomp_planning.yaml b/mycobot_pro/mycobot_600_gripper_moveit/config/chomp_planning.yaml
old mode 100644
new mode 100755
diff --git a/mycobot_pro/mycobot_600_gripper_moveit/config/fake_controllers.yaml b/mycobot_pro/mycobot_600_gripper_moveit/config/fake_controllers.yaml
old mode 100644
new mode 100755
index 2151852..19e76bf
--- a/mycobot_pro/mycobot_600_gripper_moveit/config/fake_controllers.yaml
+++ b/mycobot_pro/mycobot_600_gripper_moveit/config/fake_controllers.yaml
@@ -1,7 +1,14 @@
 controller_list:
-  - name: fake_arm_controller
+  - 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
+      
       - joint2_to_joint1
       - joint3_to_joint2
       - joint4_to_joint3
@@ -9,12 +16,12 @@ controller_list:
       - joint6_to_joint5
       - joint6output_to_joint6
       - joint6output_to_tool1
-  - name: fake_gripper_controller
+  - name: fake_gripper_group_controller
     type: $(arg fake_execution_type)
     joints:
       - gripper_controller
-initial:  # Define initial robot poses per group
-#  - group: arm
-#    pose: home
-
-  []
\ No newline at end of file
+# initial:  # Define initial robot poses per group
+#   - group: arm_group
+#     pose: init_pose
+#   - group: gripper_group
+#     pose: init_gripper
\ No newline at end of file
diff --git a/mycobot_pro/mycobot_600_gripper_moveit/config/firefighter.srdf b/mycobot_pro/mycobot_600_gripper_moveit/config/firefighter.srdf
old mode 100644
new mode 100755
index ff6cd02..bf4dda5
--- a/mycobot_pro/mycobot_600_gripper_moveit/config/firefighter.srdf
+++ b/mycobot_pro/mycobot_600_gripper_moveit/config/firefighter.srdf
@@ -9,30 +9,136 @@
     <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
     <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
     <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
-    <group name="arm">
-        <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="joint6output_to_tool1"/>
-        <joint name="tool1_to_tool2"/>
+    <group name="arm_group">
+        <chain base_link="base" tip_link="link6"/>
     </group>
-    <group name="gripper">
-        <joint name="tool2_to_gripper_base"/>
-        <joint name="gripper_base_to_gripper_left2"/>
-        <joint name="gripper_base_to_gripper_right2"/>
-        <joint name="gripper_base_to_gripper_right3"/>
-        <joint name="gripper_right3_to_gripper_right1"/>
-        <joint name="gripper_controller"/>
-        <joint name="gripper_left3_to_gripper_left1"/>
+    <group name="gripper_group">
+        <chain base_link="gripper_base" tip_link="gripper_left3"/>
     </group>
+    <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
+    <group_state name="init_pose" group="arm_group">
+        <joint name="joint2_to_joint1" value="0"/>
+        <joint name="joint3_to_joint2" value="0"/>
+        <joint name="joint4_to_joint3" value="0"/>
+        <joint name="joint5_to_joint4" value="0"/>
+        <joint name="joint6_to_joint5" value="0"/>
+        <joint name="joint6output_to_joint6" value="0"/>
+    </group_state>
+    <!-- <group_state name="init_gripper" group="gripper_group">
+        <joint name="gripper_controller" value="0"/>
+    </group_state> -->
     <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
-    <end_effector name="hand" parent_link="tool2" group="gripper"/>
+    <end_effector name="gripper" parent_link="link6" group="gripper_group" parent_group="arm_group"/>
+    <!--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="virtual_joint" type="fixed" parent_frame="world" child_link="base"/>
+    <!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->
+    <passive_joint name="gripper_base_to_gripper_left2"/>
+    <passive_joint name="gripper_base_to_gripper_right2"/>
+    <passive_joint name="gripper_base_to_gripper_right3"/>
+    <passive_joint name="gripper_right3_to_gripper_right1"/>
+    <passive_joint name="gripper_left3_to_gripper_left1"/>
     <!--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="gripper_base" reason="Default"/>
+    <disable_collisions link1="base" link2="gripper_left1" reason="Default"/>
+    <disable_collisions link1="base" link2="gripper_left2" reason="Default"/>
+    <disable_collisions link1="base" link2="gripper_left3" reason="Default"/>
+    <disable_collisions link1="base" link2="gripper_right1" reason="Default"/>
+    <disable_collisions link1="base" link2="gripper_right2" reason="Default"/>
+    <disable_collisions link1="base" link2="gripper_right3" reason="Default"/>
     <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="gripper_base" link2="gripper_left1" reason="Never"/>
+    <disable_collisions link1="gripper_base" link2="gripper_left2" reason="Adjacent"/>
+    <disable_collisions link1="gripper_base" link2="gripper_left3" reason="Adjacent"/>
+    <disable_collisions link1="gripper_base" link2="gripper_right1" reason="Never"/>
+    <disable_collisions link1="gripper_base" link2="gripper_right2" reason="Adjacent"/>
+    <disable_collisions link1="gripper_base" link2="gripper_right3" reason="Adjacent"/>
+    <disable_collisions link1="gripper_base" link2="link1" reason="Never"/>
+    <disable_collisions link1="gripper_base" link2="link2" reason="Never"/>
+    <disable_collisions link1="gripper_base" link2="link3" reason="Never"/>
+    <disable_collisions link1="gripper_base" link2="link4" reason="Never"/>
+    <disable_collisions link1="gripper_base" link2="link5" reason="Never"/>
+    <disable_collisions link1="gripper_base" link2="link6" reason="Adjacent"/>
+    <disable_collisions link1="gripper_left1" link2="gripper_left2" reason="Default"/>
+    <disable_collisions link1="gripper_left1" link2="gripper_left3" reason="Adjacent"/>
+    <disable_collisions link1="gripper_left1" link2="gripper_right1" reason="Never"/>
+    <disable_collisions link1="gripper_left1" link2="gripper_right2" reason="Never"/>
+    <disable_collisions link1="gripper_left1" link2="gripper_right3" reason="Never"/>
+    <disable_collisions link1="gripper_left1" link2="link1" reason="Never"/>
+    <disable_collisions link1="gripper_left1" link2="link2" reason="Never"/>
+    <disable_collisions link1="gripper_left1" link2="link3" reason="Never"/>
+    <disable_collisions link1="gripper_left1" link2="link4" reason="Never"/>
+    <disable_collisions link1="gripper_left1" link2="link5" reason="Never"/>
+    <disable_collisions link1="gripper_left1" link2="link6" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="gripper_left3" reason="Default"/>
+    <disable_collisions link1="gripper_left2" link2="gripper_right1" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="gripper_right2" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="gripper_right3" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="link1" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="link2" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="link3" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="link4" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="link5" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="link6" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="gripper_right1" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="gripper_right2" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="gripper_right3" reason="Default"/>
+    <disable_collisions link1="gripper_left3" link2="link1" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="link2" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="link3" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="link4" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="link5" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="link6" reason="Never"/>
+    <disable_collisions link1="gripper_right1" link2="gripper_right2" reason="Default"/>
+    <disable_collisions link1="gripper_right1" link2="gripper_right3" reason="Adjacent"/>
+    <disable_collisions link1="gripper_right1" link2="link1" reason="Never"/>
+    <disable_collisions link1="gripper_right1" link2="link2" reason="Never"/>
+    <disable_collisions link1="gripper_right1" link2="link3" reason="Never"/>
+    <disable_collisions link1="gripper_right1" link2="link4" reason="Never"/>
+    <disable_collisions link1="gripper_right1" link2="link5" reason="Never"/>
+    <disable_collisions link1="gripper_right1" link2="link6" reason="Never"/>
+    <disable_collisions link1="gripper_right2" link2="gripper_right3" reason="Never"/>
+    <disable_collisions link1="gripper_right2" link2="link1" reason="Never"/>
+    <disable_collisions link1="gripper_right2" link2="link2" reason="Never"/>
+    <disable_collisions link1="gripper_right2" link2="link3" reason="Never"/>
+    <disable_collisions link1="gripper_right2" link2="link4" reason="Never"/>
+    <disable_collisions link1="gripper_right2" link2="link5" reason="Never"/>
+    <disable_collisions link1="gripper_right2" link2="link6" reason="Never"/>
+    <disable_collisions link1="gripper_right3" link2="link1" reason="Never"/>
+    <disable_collisions link1="gripper_right3" link2="link2" reason="Never"/>
+    <disable_collisions link1="gripper_right3" link2="link3" reason="Never"/>
+    <disable_collisions link1="gripper_right3" link2="link4" reason="Never"/>
+    <disable_collisions link1="gripper_right3" link2="link5" reason="Never"/>
+    <disable_collisions link1="gripper_right3" 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="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="gripper_base" reason="Never"/>
+    <disable_collisions link1="base" link2="gripper_left3" reason="Never"/>
+    <disable_collisions link1="base" link2="gripper_right3" reason="Never"/>
+    <!-- <disable_collisions link1="base" link2="gripper_base" reason="Default"/>
+    <disable_collisions link1="base" link2="gripper_base" reason="Default"/>
+    <disable_collisions link1="base" link2="gripper_base" reason="Default"/>
+    <disable_collisions link1="base" link2="gripper_base" reason="Default"/> -->
     <disable_collisions link1="gripper_base" link2="gripper_left1" reason="Never"/>
     <disable_collisions link1="gripper_base" link2="gripper_left2" reason="Adjacent"/>
     <disable_collisions link1="gripper_base" link2="gripper_left3" reason="Adjacent"/>
diff --git a/mycobot_pro/mycobot_600_gripper_moveit/config/gazebo_controllers.yaml b/mycobot_pro/mycobot_600_gripper_moveit/config/gazebo_controllers.yaml
old mode 100644
new mode 100755
diff --git a/mycobot_pro/mycobot_600_gripper_moveit/config/gazebo_firefighter.urdf b/mycobot_pro/mycobot_600_gripper_moveit/config/gazebo_firefighter.urdf
deleted file mode 100644
index 98795b3..0000000
--- a/mycobot_pro/mycobot_600_gripper_moveit/config/gazebo_firefighter.urdf
+++ /dev/null
@@ -1,579 +0,0 @@
-<?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/J1-mm.dae" />
-            </geometry>
-            <origin xyz="0 0 0 " rpy=" 0 0 0" />
-        </visual>
-        <collision>
-            <geometry>
-                <!--- 0.0 0 -0.04  1.5708 3.14159-->
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J1-mm.dae" />
-            </geometry>
-            <origin xyz="0 0 0 " rpy=" 0 0 0" />
-        </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/J2-mm.dae" />
-            </geometry>
-            <origin xyz="0 0 0 " rpy="0 0 0" />
-        </visual>
-        <collision>
-            <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J2-mm.dae" />
-            </geometry>
-            <origin xyz="0 0 0 " rpy=" 0 0 0" />
-        </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/J3-mm.dae" />
-            </geometry>
-            <origin xyz="0 0.0 0.0 " rpy=" 3.1415926 0 3.1415926" />
-        </visual>
-        <collision>
-            <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J3-mm.dae" />
-            </geometry>
-            <origin xyz="0 0.0 0.0 " rpy=" 3.1415926 0 3.1415926" />
-        </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/J4-mm.dae" />
-            </geometry>
-            <origin xyz="0 0 0.0 " rpy=" 3.1415926 3.14159 3.1415926" />
-        </visual>
-        <collision>
-            <geometry>
-                <!--- 0.0 0 -0.04 -->
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J4-mm.dae" />
-            </geometry>
-            <origin xyz="0 0 0.0 " rpy="3.1415926 03.14159 3.1415926" />
-        </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/J5-mm.dae" />
-            </geometry>
-            <origin xyz="0 0 0 " rpy=" 0 3.1415926 0" />
-        </visual>
-        <collision>
-            <geometry>
-                <!--- 0.0 0 -0.04 -->
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J5-mm.dae" />
-            </geometry>
-            <origin xyz="0 0 0 " rpy=" 0 3.1415926 0" />
-        </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/J6-mm.dae" />
-            </geometry>
-            <origin xyz="0 0  0 " rpy=" 0  0 -1.5706" />
-        </visual>
-        <collision>
-            <geometry>
-                <!--- 0.0 0 -0.04 -->
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J6-mm.dae" />
-            </geometry>
-            <origin xyz="0 0  0 " rpy=" 0  0 -1.5706" />
-        </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/J6-tool-mm.dae" />
-            </geometry>
-            <material name="grey">
-                <color rgba="0.5 0.5 0.5 1" />
-            </material>
-            <origin xyz="0.02 0 0" rpy=" 0 -1.5707  0" />
-        </visual>
-        <collision>
-            <geometry>
-                <!--- 0.0 0 -0.04 -->
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J6-tool-mm.dae" />
-            </geometry>
-            <material name="grey">
-                <color rgba="0.5 0.5 0.5 1" />
-            </material>
-            <origin xyz="0.02 0 0" rpy=" 0 -1.5707  0" />
-        </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="tool1">
-        <visual>
-            <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/tool1-mm.dae" />
-            </geometry>
-            <origin xyz="0.0 0 0" rpy=" -1.5706 0  0" />
-        </visual>
-        <collision>
-            <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/tool1-mm.dae" />
-            </geometry>
-            <origin xyz="0.0 0 0" rpy=" -1.5706 0  0" />
-        </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="tool2">
-        <visual>
-            <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/tool2-mm.dae" />
-            </geometry>
-            <origin xyz="0.0 0 0" rpy=" 0 0  -1.5706" />
-        </visual>
-        <collision>
-            <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/tool2-mm.dae" />
-            </geometry>
-            <origin xyz="0.0 0 0" rpy=" 0 0  -1.5706" />
-        </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="gripper_base">
-        <visual>
-            <geometry>
-                <!--- 0.0 0 -0.04 -->
-                <mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_base.dae" />
-            </geometry>
-            <origin xyz="-0.02 0.012 -0.018 " rpy=" 0 0 1.5708" />
-        </visual>
-        <collision>
-            <geometry>
-                <!--- 0.0 0 -0.04 -->
-                <mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_base.dae" />
-            </geometry>
-            <origin xyz="-0.02 0.012 -0.018 " rpy=" 0 0 1.5708" />
-        </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="gripper_left1">
-        <visual>
-            <geometry>
-                <!--- 0.0 0 -0.04 -->
-                <mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_left1.dae" />
-            </geometry>
-            <origin xyz="0.036 -0.052 0.0 " rpy=" 0 0 1.5708" />
-        </visual>
-        <collision>
-            <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_left1.dae" />
-            </geometry>
-            <origin xyz="0.036 -0.052 0.0 " rpy=" 0 0 1.5708" />
-        </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="gripper_left2">
-        <visual>
-            <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_left2.dae" />
-            </geometry>
-            <origin xyz="0.03 0.024 -0.018 " rpy=" 0 0 1.5708" />
-        </visual>
-        <collision>
-            <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_left2.dae" />
-            </geometry>
-            <origin xyz="0.03 0.024 -0.018 " rpy=" 0 0 1.5708" />
-        </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="gripper_left3">
-        <visual>
-            <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_left3.dae" />
-            </geometry>
-            <origin xyz="0.034 0.0 -0.012 " rpy=" 0 3.14159 -1.5708" />
-            <!-- <origin xyz = "0.0 0 0 " rpy = " 0 0 0"/> -->
-        </visual>
-        <collision>
-            <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_left3.dae" />
-            </geometry>
-            <origin xyz="0.034 0.0 -0.012 " rpy=" 0 3.14159 -1.5708" />
-        </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="gripper_right1">
-        <visual>
-            <geometry>
-                <!--- 0.0 0 -0.04 -->
-                <mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right1.dae" />
-            </geometry>
-            <origin xyz="-0.072 -0.05 0.0 " rpy=" 0 0 1.5708" />
-        </visual>
-        <collision>
-            <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right1.dae" />
-            </geometry>
-            <origin xyz="-0.072 -0.05 0.0 " rpy=" 0 0 1.5708" />
-        </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="gripper_right2">
-        <visual>
-            <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right2.dae" />
-            </geometry>
-            <origin xyz="-0.066 0.023 -0.018 " rpy=" 0 0 1.5708" />
-        </visual>
-        <collision>
-            <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right2.dae" />
-            </geometry>
-            <origin xyz="-0.066 0.023 -0.018 " rpy=" 0 0 1.5708" />
-        </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="gripper_right3">
-        <visual>
-            <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right3.dae" />
-            </geometry>
-            <origin xyz="0 0.0 -0.012 " rpy=" 0 3.14159 -1.5708" />
-        </visual>
-        <collision>
-            <geometry>
-                <mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right3.dae" />
-            </geometry>
-            <origin xyz="0.0 0.0 -0.012 " rpy=" 0 3.14159 -1.5708" />
-        </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 0.1655" 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="-3.14" upper="3.14" velocity="0" />
-        <parent link="link1" />
-        <child link="link2" />
-        <!-- <origin xyz= "0 0  0" rpy = "1.5708 -1.5708 0"/>   -->
-        <origin xyz="0 0.04  0.085" 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="0.0 0.25 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="-2.97" upper="2.97" velocity="0" />
-        <parent link="link3" />
-        <child link="link4" />
-        <!-- <origin xyz= "0.25 0  -0.1091" rpy = "0 0 1.5708"/>   -->
-        <origin xyz="0 0.25  0.025" 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 0.058 -0.05" rpy="1.57080 -1.57080 3.14159" />
-    </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="-0.076 0 0.05" rpy="-1.57080 0 0 " />
-    </joint>
-    <joint name="joint6output_to_tool1" type="revolute">
-        <axis xyz="0 1 0" />
-        <limit effort="1000.0" lower="-3.05" upper="3.05" velocity="0" />
-        <parent link="link6" />
-        <child link="tool1" />
-        <origin xyz="0.0079 0.0 0.0" rpy="1.5708 -1.5706 0" />
-    </joint>
-    <joint name="tool1_to_tool2" type="fixed">
-        <axis xyz="0 0 1" />
-        <limit effort="1000.0" lower="-3.05" upper="3.05" velocity="0" />
-        <parent link="tool1" />
-        <child link="tool2" />
-        <origin xyz="0.0 0.008 0.00" rpy="1.5708 -1.5706 3.14159" />
-    </joint>
-    <joint name="tool2_to_gripper_base" type="fixed">
-        <axis xyz="0 0 -1" />
-        <limit effort="1000.0" lower="-3.05" upper="3.05" velocity="0" />
-        <parent link="tool2" />
-        <child link="gripper_base" />
-        <origin xyz="0.0 0.0 0.04" rpy="1.5706 0 1.5706" />
-    </joint>
-    <joint name="gripper_controller" type="revolute">
-        <axis xyz="0 0 1" />
-        <limit effort="1000.0" lower="-0.7" upper="0.3" velocity="0" />
-        <parent link="gripper_base" />
-        <child link="gripper_left3" />
-        <origin xyz="-0.018 0.016 0" rpy="0 0 0" />
-    </joint>
-    <joint name="gripper_base_to_gripper_left2" type="revolute">
-        <axis xyz="0 0 1" />
-        <limit effort="1000.0" lower="-0.8" upper="0.5" velocity="0" />
-        <parent link="gripper_base" />
-        <child link="gripper_left2" />
-        <origin xyz="-0.05 -0.01 0" rpy="0 0 0" />
-        <mimic joint="gripper_controller" multiplier="1.0" offset="0" />
-    </joint>
-    <joint name="gripper_left3_to_gripper_left1" type="revolute">
-        <axis xyz="0 0 1" />
-        <limit effort="1000.0" lower="-0.5" upper="0.5" velocity="0" />
-        <parent link="gripper_left3" />
-        <child link="gripper_left1" />
-        <origin xyz="-0.0356 0.051 -0.018" rpy="0 0 0" />
-        <mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
-    </joint>
-    <joint name="gripper_base_to_gripper_right3" type="revolute">
-        <axis xyz="0 0 1" />
-        <limit effort="1000.0" lower="-0.3" upper="0.7" velocity="0" />
-        <parent link="gripper_base" />
-        <child link="gripper_right3" />
-        <origin xyz="0.018 0.016 0" rpy="0 0 0" />
-        <mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
-    </joint>
-    <joint name="gripper_base_to_gripper_right2" type="revolute">
-        <axis xyz="0 0 1" />
-        <limit effort="1000.0" lower="-0.5" upper="0.8" velocity="0" />
-        <parent link="gripper_base" />
-        <child link="gripper_right2" />
-        <origin xyz="0.046 -0.01 0" rpy="0 0 0" />
-        <mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
-    </joint>
-    <joint name="gripper_right3_to_gripper_right1" type="revolute">
-        <axis xyz="0 0 1" />
-        <limit effort="1000.0" lower="-0.5" upper="0.5" velocity="0" />
-        <parent link="gripper_right3" />
-        <child link="gripper_right1" />
-        <origin xyz="0.033 0.051 -0.018" rpy="0 0 0" />
-        <mimic joint="gripper_controller" multiplier="1.0" offset="0" />
-    </joint>
-    <transmission name="trans_joint2_to_joint1">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="joint2_to_joint1">
-            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="joint2_to_joint1_motor">
-            <hardwareInterface>hardware_interface/PositionJointInterface</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/PositionJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="joint3_to_joint2_motor">
-            <hardwareInterface>hardware_interface/PositionJointInterface</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/PositionJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="joint4_to_joint3_motor">
-            <hardwareInterface>hardware_interface/PositionJointInterface</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/PositionJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="joint5_to_joint4_motor">
-            <hardwareInterface>hardware_interface/PositionJointInterface</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/PositionJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="joint6_to_joint5_motor">
-            <hardwareInterface>hardware_interface/PositionJointInterface</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/PositionJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="joint6output_to_joint6_motor">
-            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
-            <mechanicalReduction>1</mechanicalReduction>
-        </actuator>
-    </transmission>
-    <transmission name="trans_joint6output_to_tool1">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="joint6output_to_tool1">
-            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="joint6output_to_tool1_motor">
-            <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
-            <mechanicalReduction>1</mechanicalReduction>
-        </actuator>
-    </transmission>
-    <transmission name="trans_gripper_controller">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="gripper_controller">
-            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="gripper_controller_motor">
-            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-            <mechanicalReduction>1</mechanicalReduction>
-        </actuator>
-    </transmission>
-    <transmission name="trans_gripper_base_to_gripper_left2">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="gripper_base_to_gripper_left2">
-            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="gripper_base_to_gripper_left2_motor">
-            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-            <mechanicalReduction>1</mechanicalReduction>
-        </actuator>
-    </transmission>
-    <transmission name="trans_gripper_left3_to_gripper_left1">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="gripper_left3_to_gripper_left1">
-            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="gripper_left3_to_gripper_left1_motor">
-            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-            <mechanicalReduction>1</mechanicalReduction>
-        </actuator>
-    </transmission>
-    <transmission name="trans_gripper_base_to_gripper_right3">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="gripper_base_to_gripper_right3">
-            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="gripper_base_to_gripper_right3_motor">
-            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-            <mechanicalReduction>1</mechanicalReduction>
-        </actuator>
-    </transmission>
-    <transmission name="trans_gripper_base_to_gripper_right2">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="gripper_base_to_gripper_right2">
-            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="gripper_base_to_gripper_right2_motor">
-            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-            <mechanicalReduction>1</mechanicalReduction>
-        </actuator>
-    </transmission>
-    <transmission name="trans_gripper_right3_to_gripper_right1">
-        <type>transmission_interface/SimpleTransmission</type>
-        <joint name="gripper_right3_to_gripper_right1">
-            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-        </joint>
-        <actuator name="gripper_right3_to_gripper_right1_motor">
-            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-            <mechanicalReduction>1</mechanicalReduction>
-        </actuator>
-    </transmission>
-    <gazebo>
-        <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
-            <robotNamespace>/</robotNamespace>
-        </plugin>
-    </gazebo>
-</robot>
-
diff --git a/mycobot_pro/mycobot_600_gripper_moveit/config/joint_limits.yaml b/mycobot_pro/mycobot_600_gripper_moveit/config/joint_limits.yaml
old mode 100644
new mode 100755
index bbb8d38..17203f3
--- a/mycobot_pro/mycobot_600_gripper_moveit/config/joint_limits.yaml
+++ b/mycobot_pro/mycobot_600_gripper_moveit/config/joint_limits.yaml
@@ -8,36 +8,11 @@ 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:
-  gripper_base_to_gripper_left2:
-    has_velocity_limits: false
-    max_velocity: 0
-    has_acceleration_limits: false
-    max_acceleration: 0
-  gripper_base_to_gripper_right2:
-    has_velocity_limits: false
-    max_velocity: 0
-    has_acceleration_limits: false
-    max_acceleration: 0
-  gripper_base_to_gripper_right3:
-    has_velocity_limits: false
-    max_velocity: 0
-    has_acceleration_limits: false
-    max_acceleration: 0
   gripper_controller:
     has_velocity_limits: false
     max_velocity: 0
     has_acceleration_limits: false
     max_acceleration: 0
-  gripper_left3_to_gripper_left1:
-    has_velocity_limits: false
-    max_velocity: 0
-    has_acceleration_limits: false
-    max_acceleration: 0
-  gripper_right3_to_gripper_right1:
-    has_velocity_limits: false
-    max_velocity: 0
-    has_acceleration_limits: false
-    max_acceleration: 0
   joint2_to_joint1:
     has_velocity_limits: false
     max_velocity: 0
@@ -64,11 +39,6 @@ joint_limits:
     has_acceleration_limits: false
     max_acceleration: 0
   joint6output_to_joint6:
-    has_velocity_limits: false
-    max_velocity: 0
-    has_acceleration_limits: false
-    max_acceleration: 0
-  joint6output_to_tool1:
     has_velocity_limits: false
     max_velocity: 0
     has_acceleration_limits: false
diff --git a/mycobot_pro/mycobot_600_gripper_moveit/config/kinematics.yaml b/mycobot_pro/mycobot_600_gripper_moveit/config/kinematics.yaml
old mode 100644
new mode 100755
index d3ee3f5..05777c2
--- a/mycobot_pro/mycobot_600_gripper_moveit/config/kinematics.yaml
+++ b/mycobot_pro/mycobot_600_gripper_moveit/config/kinematics.yaml
@@ -1,7 +1,10 @@
-arm:
+arm_group:
+# arm:
   kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
   kinematics_solver_search_resolution: 0.005
   kinematics_solver_timeout: 0.005
-  goal_joint_tolerance: 0.0001
-  goal_position_tolerance: 0.0001
-  goal_orientation_tolerance: 0.001
\ No newline at end of file
+gripper_group:
+# gripper:
+  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+  kinematics_solver_search_resolution: 0.005
+  kinematics_solver_timeout: 0.005
\ No newline at end of file
diff --git a/mycobot_pro/mycobot_600_gripper_moveit/config/ompl_planning.yaml b/mycobot_pro/mycobot_600_gripper_moveit/config/ompl_planning.yaml
old mode 100644
new mode 100755
index 13ace17..59f5233
--- a/mycobot_pro/mycobot_600_gripper_moveit/config/ompl_planning.yaml
+++ b/mycobot_pro/mycobot_600_gripper_moveit/config/ompl_planning.yaml
@@ -51,8 +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
-    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
+    frountier_threshold: 0.0  # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
+    frountierNodeRatio: 0.1  # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
     k_constant: 0.0  # value used to normalize expresssion. default: 0.0 set in setup()
   PRM:
     type: geometric::PRM
@@ -95,8 +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
-    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
+    frountier_threshold: 0.0  # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
+    frountier_node_ratio: 0.1  # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
     cost_threshold: 1e300  # the cost threshold. Any motion cost that is not better will not be expanded. default: inf
   LBTRRT:
     type: geometric::LBTRRT
@@ -127,44 +127,9 @@ 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:
+arm_group:
+# arm:
+  default_planner_config: RRTConnect
   planner_configs:
     - AnytimePathShortening
     - SBL
@@ -190,12 +155,11 @@ arm:
     - LazyPRMstar
     - SPARS
     - SPARStwo
-    - AITstar
-    - ABITstar
-    - BITstar
   projection_evaluator: joints(joint2_to_joint1,joint3_to_joint2)
   longest_valid_segment_fraction: 0.005
-gripper:
+gripper_group:
+# gripper:
+  default_planner_config: RRTConnect
   planner_configs:
     - AnytimePathShortening
     - SBL
@@ -221,6 +185,3 @@ gripper:
     - LazyPRMstar
     - SPARS
     - SPARStwo
-    - AITstar
-    - ABITstar
-    - BITstar
diff --git a/mycobot_pro/mycobot_600_gripper_moveit/config/ros_controllers.yaml b/mycobot_pro/mycobot_600_gripper_moveit/config/ros_controllers.yaml
old mode 100644
new mode 100755
index d9646fd..bee9fae
--- a/mycobot_pro/mycobot_600_gripper_moveit/config/ros_controllers.yaml
+++ b/mycobot_pro/mycobot_600_gripper_moveit/config/ros_controllers.yaml
@@ -1,5 +1,6 @@
-arm_controller:
-  type: position_controllers/JointTrajectoryController
+arm_group_controller:
+# arm_controller:
+  type: effort_controllers/JointTrajectoryController
   joints:
     - joint2_to_joint1
     - joint3_to_joint2
@@ -7,7 +8,6 @@ arm_controller:
     - joint5_to_joint4
     - joint6_to_joint5
     - joint6output_to_joint6
-    - joint6output_to_tool1
   gains:
     joint2_to_joint1:
       p: 100
@@ -39,7 +39,13 @@ arm_controller:
       d: 1
       i: 1
       i_clamp: 1
-    joint6output_to_tool1:
+gripper_group_controller:
+# gripper_controller:
+  type: effort_controllers/JointTrajectoryController
+  joints:
+    - gripper_controller
+  gains:
+    gripper_controller:
       p: 100
       d: 1
       i: 1
diff --git a/mycobot_pro/mycobot_600_gripper_moveit/config/sensors_3d.yaml b/mycobot_pro/mycobot_600_gripper_moveit/config/sensors_3d.yaml
old mode 100644
new mode 100755
diff --git a/mycobot_pro/mycobot_600_gripper_moveit/config/simple_moveit_controllers.yaml b/mycobot_pro/mycobot_600_gripper_moveit/config/simple_moveit_controllers.yaml
old mode 100644
new mode 100755
index 371a176..0031f9c
--- a/mycobot_pro/mycobot_600_gripper_moveit/config/simple_moveit_controllers.yaml
+++ b/mycobot_pro/mycobot_600_gripper_moveit/config/simple_moveit_controllers.yaml
@@ -1,5 +1,6 @@
 controller_list:
-  - name: arm_controller
+  - name: arm_group_controller
+  # - name: arm_controller
     action_ns: follow_joint_trajectory
     type: FollowJointTrajectory
     default: True
@@ -10,4 +11,10 @@ controller_list:
       - joint5_to_joint4
       - joint6_to_joint5
       - joint6output_to_joint6
-      - joint6output_to_tool1
\ No newline at end of file
+  - name: gripper_group_controller
+  # - name: gripper_controller
+    action_ns: follow_joint_trajectory
+    type: FollowJointTrajectory
+    default: True
+    joints:
+      - gripper_controller
\ No newline at end of file
diff --git a/mycobot_pro/mycobot_600_gripper_moveit/config/stomp_planning.yaml b/mycobot_pro/mycobot_600_gripper_moveit/config/stomp_planning.yaml
old mode 100644
new mode 100755
index 7a95589..90716ca
--- a/mycobot_pro/mycobot_600_gripper_moveit/config/stomp_planning.yaml
+++ b/mycobot_pro/mycobot_600_gripper_moveit/config/stomp_planning.yaml
@@ -1,5 +1,5 @@
-stomp/arm:
-  group_name: arm
+stomp/arm_group:
+  group_name: arm_group
   optimization:
     num_timesteps: 60
     num_iterations: 40
@@ -11,7 +11,7 @@ stomp/arm:
   task:
     noise_generator:
       - class: stomp_moveit/NormalDistributionSampling
-        stddev: [0.05, 0.05, 0.05, 0.05, 0.05, 0.05, 0.05]
+        stddev: [0.05, 0.05, 0.05, 0.05, 0.05, 0.05]
     cost_functions:
       - class: stomp_moveit/CollisionCheck
         collision_penalty: 1.0
@@ -37,8 +37,8 @@ stomp/arm:
         publish_intermediate: True
         marker_topic: stomp_trajectory
         marker_namespace: optimized
-stomp/gripper:
-  group_name: gripper
+stomp/gripper_group:
+  group_name: gripper_group
   optimization:
     num_timesteps: 60
     num_iterations: 40
diff --git a/mycobot_pro/mycobot_600_gripper_moveit/launch/chomp_planning_pipeline.launch.xml b/mycobot_pro/mycobot_600_gripper_moveit/launch/chomp_planning_pipeline.launch.xml
old mode 100644
new mode 100755
index 8d57b35..1a44a41
--- a/mycobot_pro/mycobot_600_gripper_moveit/launch/chomp_planning_pipeline.launch.xml
+++ b/mycobot_pro/mycobot_600_gripper_moveit/launch/chomp_planning_pipeline.launch.xml
@@ -3,8 +3,7 @@
   <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="default_planner_request_adapters/AddTimeParameterization
                 default_planner_request_adapters/ResolveConstraintFrames
                 default_planner_request_adapters/FixWorkspaceBounds
                 default_planner_request_adapters/FixStartStateBounds
@@ -17,5 +16,8 @@
   <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
   <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
 
+  <!-- Add MoveGroup capabilities specific to this pipeline -->
+  <!-- <param name="capabilities" value="" /> -->
+
   <rosparam command="load" file="$(find mycobot_600_gripper_moveit)/config/chomp_planning.yaml" />
 </launch>
diff --git a/mycobot_pro/mycobot_600_gripper_moveit/launch/default_warehouse_db.launch b/mycobot_pro/mycobot_600_gripper_moveit/launch/default_warehouse_db.launch
old mode 100644
new mode 100755
diff --git a/mycobot_pro/mycobot_600_gripper_moveit/launch/demo.launch b/mycobot_pro/mycobot_600_gripper_moveit/launch/demo.launch
old mode 100644
new mode 100755
index 7ff39c8..6b4e7a1
--- a/mycobot_pro/mycobot_600_gripper_moveit/launch/demo.launch
+++ b/mycobot_pro/mycobot_600_gripper_moveit/launch/demo.launch
@@ -24,6 +24,9 @@
   <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 world base" />
+
+
 
   <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
diff --git a/mycobot_pro/mycobot_600_gripper_moveit/launch/demo_gazebo.launch b/mycobot_pro/mycobot_600_gripper_moveit/launch/demo_gazebo.launch
old mode 100644
new mode 100755
index 0ef8f95..a9f320c
--- a/mycobot_pro/mycobot_600_gripper_moveit/launch/demo_gazebo.launch
+++ b/mycobot_pro/mycobot_600_gripper_moveit/launch/demo_gazebo.launch
@@ -1,20 +1,20 @@
-<?xml version="1.0"?>
 <launch>
-  <!-- MoveIt options -->
-  <arg name="pipeline" default="ompl" doc="Planning pipeline to use with MoveIt"/>
 
-  <!-- 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"/>
+  <!-- specify the planning pipeline -->
+  <arg name="pipeline" default="ompl" />
 
-  <!-- Launch Gazebo and spawn the robot -->
-  <include file="$(dirname)/gazebo.launch" pass_all_args="true"/>
+  <!-- Gazebo specific options -->
+  <arg name="gazebo_gui" default="true"/>
+  <arg name="paused" default="false"/>
+
+  <!-- launch the gazebo simulator and spawn the robot -->
+  <include file="$(dirname)/gazebo.launch" >
+    <arg name="paused" value="$(arg paused)"/>
+    <arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
+  </include>
 
-  <!-- Launch MoveIt -->
   <include file="$(dirname)/demo.launch" pass_all_args="true">
-    <!-- robot_description is loaded by gazebo.launch, to enable Gazebo features -->
+    <!-- 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>
diff --git a/mycobot_pro/mycobot_600_gripper_moveit/launch/fake_moveit_controller_manager.launch.xml b/mycobot_pro/mycobot_600_gripper_moveit/launch/fake_moveit_controller_manager.launch.xml
old mode 100644
new mode 100755
diff --git a/mycobot_pro/mycobot_600_gripper_moveit/launch/firefighter_moveit_sensor_manager.launch.xml b/mycobot_pro/mycobot_600_gripper_moveit/launch/firefighter_moveit_sensor_manager.launch.xml
old mode 100644
new mode 100755
diff --git a/mycobot_pro/mycobot_600_gripper_moveit/launch/gazebo.launch b/mycobot_pro/mycobot_600_gripper_moveit/launch/gazebo.launch
old mode 100644
new mode 100755
index fc762bc..22bfac2
--- a/mycobot_pro/mycobot_600_gripper_moveit/launch/gazebo.launch
+++ b/mycobot_pro/mycobot_600_gripper_moveit/launch/gazebo.launch
@@ -1,34 +1,32 @@
 <?xml version="1.0"?>
 <launch>
-  <!-- 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="" doc="Initial joint configuration of the robot"/>
+  <arg name="paused" default="false"/>
+  <arg name="gazebo_gui" default="true"/>
+  <arg name="initial_joint_positions" doc="Initial joint configuration of the robot"
+       default=" -J gripper_controller 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 -J joint6output_to_joint6 0"/>
 
-  <!-- Start Gazebo paused to allow the controllers to pickup the initial pose -->
-  <include file="$(find gazebo_ros)/launch/empty_world.launch" pass_all_args="true">
+  <!-- startup simulated world -->
+  <include file="$(find gazebo_ros)/launch/empty_world.launch">
+    <arg name="world_name" default="worlds/empty.world"/>
     <arg name="paused" value="true"/>
+    <arg name="gui" value="$(arg gazebo_gui)"/>
   </include>
 
-  <!-- Set the robot urdf on the parameter server -->
-  <param name="robot_description" textfile="$(find mycobot_600_gripper_moveit)/config/gazebo_firefighter.urdf" />
+  <!-- send robot urdf to param server -->
+  <param name="robot_description" textfile="$(find mycobot_description)/urdf/mycobot_320_m5_2020/mycobot_pro_320_m5_2020_gripper.urdf" />
 
-  <!-- Unpause the simulation after loading the robot model -->
+  <!-- unpause only after loading robot model -->
   <arg name="unpause" value="$(eval '' if arg('paused') else '-unpause')" />
-
-  <!-- Spawn the robot in Gazebo -->
+  <!-- push robot_description to factory and spawn robot in gazebo at the origin, change x,y,z arguments to spawn in a different position -->
+  <arg name="world_pose" value="-x 0 -y 0 -z 0" />
   <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" />
 
-  <!-- Load the controller parameters onto the parameter server -->
+  <!-- Load joint controller parameters for Gazebo -->
   <rosparam file="$(find mycobot_600_gripper_moveit)/config/gazebo_controllers.yaml" />
+  <!-- Spawn Gazebo ROS controllers -->
+  <node name="gazebo_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_state_controller" />
+  <!-- Load ROS controllers -->
   <include file="$(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_gripper_moveit/launch/joystick_control.launch b/mycobot_pro/mycobot_600_gripper_moveit/launch/joystick_control.launch
old mode 100644
new mode 100755
diff --git a/mycobot_pro/mycobot_600_gripper_moveit/launch/move_group.launch b/mycobot_pro/mycobot_600_gripper_moveit/launch/move_group.launch
old mode 100644
new mode 100755
index 2330bcb..4ff2e39
--- a/mycobot_pro/mycobot_600_gripper_moveit/launch/move_group.launch
+++ b/mycobot_pro/mycobot_600_gripper_moveit/launch/move_group.launch
@@ -91,10 +91,6 @@
     <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="$(arg publish_monitored_planning_scene)" />
     <param name="planning_scene_monitor/publish_geometry_updates" value="$(arg publish_monitored_planning_scene)" />
diff --git a/mycobot_pro/mycobot_600_gripper_moveit/launch/moveit.rviz b/mycobot_pro/mycobot_600_gripper_moveit/launch/moveit.rviz
old mode 100644
new mode 100755
index 5487c94..90bbe8a
--- a/mycobot_pro/mycobot_600_gripper_moveit/launch/moveit.rviz
+++ b/mycobot_pro/mycobot_600_gripper_moveit/launch/moveit.rviz
@@ -1,12 +1,15 @@
 Panels:
   - Class: rviz/Displays
-    Help Height: 84
+    Help Height: 0
     Name: Displays
     Property Tree Widget:
       Expanded:
         - /MotionPlanning1
+        - /MotionPlanning1/Scene Robot1
+        - /MotionPlanning1/Planning Request1
+        - /MotionPlanning1/Planned Path1
       Splitter Ratio: 0.5
-    Tree Height: 226
+    Tree Height: 200
   - Class: rviz/Help
     Name: Help
   - Class: rviz/Views
@@ -14,6 +17,10 @@ Panels:
       - /Current View1
     Name: Views
     Splitter Ratio: 0.5
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
 Visualization Manager:
   Class: ""
   Displays:
@@ -23,7 +30,7 @@ Visualization Manager:
       Color: 160; 160; 164
       Enabled: true
       Line Style:
-        Line Width: 0.03
+        Line Width: 0.029999999329447746
         Value: Lines
       Name: Grid
       Normal Cell Count: 0
@@ -35,32 +42,144 @@ Visualization Manager:
       Plane Cell Count: 10
       Reference Frame: <Fixed Frame>
       Value: true
-    - Class: moveit_rviz_plugin/MotionPlanning
+    - Acceleration_Scaling_Factor: 0.1
+      Class: moveit_rviz_plugin/MotionPlanning
       Enabled: true
+      JointsTab_Use_Radians: true
+      Move Group Namespace: ""
+      MoveIt_Allow_Approximate_IK: true
+      MoveIt_Allow_External_Program: false
+      MoveIt_Allow_Replanning: false
+      MoveIt_Allow_Sensor_Positioning: false
+      MoveIt_Planning_Attempts: 10
+      MoveIt_Planning_Time: 5
+      MoveIt_Use_Cartesian_Path: true
+      MoveIt_Use_Constraint_Aware_IK: true
+      MoveIt_Workspace:
+        Center:
+          X: 0
+          Y: 0
+          Z: 0
+        Size:
+          X: 2
+          Y: 2
+          Z: 2
       Name: MotionPlanning
       Planned Path:
-        Links: ~
-        Loop Animation: true
+        Color Enabled: false
+        Interrupt Display: false
+        Links:
+          All Links Enabled: true
+          Expand Joint Details: false
+          Expand Link Details: false
+          Expand Tree: false
+          Link Tree Style: Links in Alphabetic Order
+          base:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_base:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_left1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_left2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_left3:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_right1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_right2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_right3:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          joint1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          joint2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          joint3:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          joint4:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          joint5:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          joint6:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          tool1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          tool2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+        Loop Animation: false
         Robot Alpha: 0.5
+        Robot Color: 150; 50; 150
         Show Robot Collision: false
         Show Robot Visual: true
         Show Trail: false
         State Display Time: 0.05 s
+        Trail Step Size: 1
         Trajectory Topic: move_group/display_planned_path
+        Use Sim Time: false
       Planning Metrics:
         Payload: 1
         Show Joint Torques: false
         Show Manipulability: false
         Show Manipulability Index: false
         Show Weight Limit: false
+        TextHeight: 0.07999999821186066
       Planning Request:
         Colliding Link Color: 255; 0; 0
         Goal State Alpha: 1
         Goal State Color: 250; 128; 0
-        Interactive Marker Size: 0
+        Interactive Marker Size: 0.20000000298023224
         Joint Violation Color: 255; 0; 255
+        Planning Group: arm_group
         Query Goal State: true
-        Query Start State: false
+        Query Start State: true
         Show Workspace: false
         Start State Alpha: 1
         Start State Color: 0; 255; 0
@@ -68,19 +187,136 @@ Visualization Manager:
       Robot Description: robot_description
       Scene Geometry:
         Scene Alpha: 1
+        Scene Color: 50; 230; 50
+        Scene Display Time: 0.009999999776482582
         Show Scene Geometry: true
         Voxel Coloring: Z-Axis
         Voxel Rendering: Occupied Voxels
       Scene Robot:
         Attached Body Color: 150; 50; 150
-        Links: ~
+        Links:
+          All Links Enabled: true
+          Expand Joint Details: false
+          Expand Link Details: false
+          Expand Tree: false
+          Link Tree Style: Links in Alphabetic Order
+          base:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_base:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_left1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_left2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_left3:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_right1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_right2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_right3:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          joint1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          joint2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          joint3:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          joint4:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          joint5:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          joint6:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          tool1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          tool2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
         Robot Alpha: 0.5
-        Show Scene Robot: true
+        Show Robot Collision: false
+        Show Robot Visual: true
+      Value: true
+      Velocity_Scaling_Factor: 0.1
+    - Class: rviz/Marker
+      Enabled: true
+      Marker Topic: visualization_marker
+      Name: Marker
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: true
+    - Class: rviz/InteractiveMarkers
+      Enable Transparency: true
+      Enabled: true
+      Name: InteractiveMarkers
+      Show Axes: false
+      Show Descriptions: true
+      Show Visual Aids: false
+      Update Topic: ""
+      Value: true
+    - Class: rviz/InteractiveMarkers
+      Enable Transparency: true
+      Enabled: true
+      Name: InteractiveMarkers
+      Show Axes: false
+      Show Descriptions: true
+      Show Visual Aids: false
+      Update Topic: ""
       Value: true
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
+    Default Light: true
     Fixed Frame: base
+    Frame Rate: 30
   Name: root
   Tools:
     - Class: rviz/Interact
@@ -91,30 +327,50 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 2.0
+      Distance: 1.4812843799591064
       Enable Stereo Rendering:
-        Stereo Eye Separation: 0.06
+        Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
       Field of View: 0.75
       Focal Point:
-        X: -0.1
-        Y: 0.25
-        Z: 0.30
+        X: -0.07944566011428833
+        Y: 0.29104751348495483
+        Z: 0.29134249687194824
       Focal Shape Fixed Size: true
-      Focal Shape Size: 0.05
+      Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
-      Near Clip Distance: 0.01
-      Pitch: 0.5
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 1.0449998378753662
       Target Frame: base
-      Yaw: -0.6232355833053589
-    Saved: ~
+      Yaw: 6.149951934814453
+    Saved:
+      - Class: rviz/Orbit
+        Distance: 2
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Field of View: 0.75
+        Focal Point:
+          X: -0.10000000149011612
+          Y: 0.25
+          Z: 0.30000001192092896
+        Focal Shape Fixed Size: true
+        Focal Shape Size: 0.05000000074505806
+        Invert Z Axis: false
+        Name: Orbit
+        Near Clip Distance: 0.009999999776482582
+        Pitch: 0.3399999737739563
+        Target Frame: base
+        Yaw: 2.9449498653411865
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 848
+  Height: 820
   Help:
     collapsed: false
   Hide Left Dock: false
@@ -123,9 +379,9 @@ Window Geometry:
     collapsed: false
   MotionPlanning - Trajectory Slider:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd0000000100000000000001f0000002f6fc0200000007fb000000100044006900730070006c006100790073010000003d00000173000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001b60000017d0000017d00ffffff00000315000002f600000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000100000000000001f3000002dafc0200000007fb000000100044006900730070006c006100790073010000003d00000105000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720100000148000000410000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000018f000001880000017d00ffffff00000539000002da00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Views:
     collapsed: false
-  Width: 1291
-  X: 454
-  Y: 25
+  Width: 1842
+  X: 72
+  Y: 27
diff --git a/mycobot_pro/mycobot_600_gripper_moveit/launch/moveit_rviz.launch b/mycobot_pro/mycobot_600_gripper_moveit/launch/moveit_rviz.launch
old mode 100644
new mode 100755
diff --git a/mycobot_pro/mycobot_600_gripper_moveit/launch/mycobot600_gripper_moveit.launch b/mycobot_pro/mycobot_600_gripper_moveit/launch/mycobot600_gripper_moveit.launch
new file mode 100755
index 0000000..6b4e7a1
--- /dev/null
+++ b/mycobot_pro/mycobot_600_gripper_moveit/launch/mycobot600_gripper_moveit.launch
@@ -0,0 +1,69 @@
+<launch>
+
+  <!-- specify the planning pipeline -->
+  <arg name="pipeline" default="ompl" />
+
+  <!-- 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="$(find mycobot_600_gripper_moveit)/default_warehouse_mongo_db" />
+
+  <!-- By default, we are not in debug mode -->
+  <arg name="debug" default="false" />
+
+  <!-- By default, we will load or override the robot_description -->
+  <arg name="load_robot_description" default="true"/>
+
+  <!-- Choose controller manager: fake, simple, or ros_control -->
+  <arg name="moveit_controller_manager" default="fake" />
+  <!-- Set execution mode for fake execution controllers -->
+  <arg name="fake_execution_type" default="interpolate" />
+
+  <!-- By default, hide joint_state_publisher's GUI in 'fake' controller_manager mode -->
+  <arg name="use_gui" default="false" />
+  <arg name="use_rviz" default="true" />
+
+  <!-- If needed, broadcast static tf for robot root -->
+  <node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world base" />
+
+
+
+  <group if="$(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 -->
+    <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) -->
+  <include file="$(dirname)/move_group.launch">
+    <arg name="allow_trajectory_execution" value="true"/>
+    <arg name="moveit_controller_manager" value="$(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 -->
+  <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 -->
+  <include file="$(dirname)/default_warehouse_db.launch" if="$(arg db)">
+    <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
+  </include>
+
+</launch>
diff --git a/mycobot_pro/mycobot_600_gripper_moveit/launch/ompl-chomp_planning_pipeline.launch.xml b/mycobot_pro/mycobot_600_gripper_moveit/launch/ompl-chomp_planning_pipeline.launch.xml
old mode 100644
new mode 100755
index 072eab0..b078992
--- a/mycobot_pro/mycobot_600_gripper_moveit/launch/ompl-chomp_planning_pipeline.launch.xml
+++ b/mycobot_pro/mycobot_600_gripper_moveit/launch/ompl-chomp_planning_pipeline.launch.xml
@@ -1,19 +1,18 @@
 <launch>
   <!-- load OMPL planning pipeline, but add the CHOMP planning adapter. -->
-  <include file="$(find mycobot_600_gripper_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 file="$(find panda_moveit_config)/launch/ompl_planning_pipeline.launch.xml">
+    <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
+       chomp/OptimizerAdapter"
+       />
   </include>
 
   <!-- load chomp config -->
-  <rosparam command="load" file="$(find mycobot_600_gripper_moveit)/config/chomp_planning.yaml" />
+  <rosparam command="load" file="$(find panda_moveit_config)/config/chomp_planning.yaml"/>
 
   <!-- override trajectory_initialization_method: Use OMPL-generated trajectory -->
   <param name="trajectory_initialization_method" value="fillTrajectory"/>
diff --git a/mycobot_pro/mycobot_600_gripper_moveit/launch/ompl_planning_pipeline.launch.xml b/mycobot_pro/mycobot_600_gripper_moveit/launch/ompl_planning_pipeline.launch.xml
old mode 100644
new mode 100755
index e115c25..a976cbb
--- a/mycobot_pro/mycobot_600_gripper_moveit/launch/ompl_planning_pipeline.launch.xml
+++ b/mycobot_pro/mycobot_600_gripper_moveit/launch/ompl_planning_pipeline.launch.xml
@@ -2,8 +2,7 @@
 
   <!-- 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="default_planner_request_adapters/AddTimeParameterization
                 default_planner_request_adapters/ResolveConstraintFrames
                 default_planner_request_adapters/FixWorkspaceBounds
                 default_planner_request_adapters/FixStartStateBounds
@@ -19,6 +18,9 @@
   <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
   <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
 
+  <!-- Add MoveGroup capabilities specific to this pipeline -->
+  <!-- <param name="capabilities" value="" /> -->
+
   <rosparam command="load" file="$(find mycobot_600_gripper_moveit)/config/ompl_planning.yaml"/>
 
 </launch>
diff --git a/mycobot_pro/mycobot_600_gripper_moveit/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml b/mycobot_pro/mycobot_600_gripper_moveit/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml
old mode 100644
new mode 100755
diff --git a/mycobot_pro/mycobot_600_gripper_moveit/launch/planning_context.launch b/mycobot_pro/mycobot_600_gripper_moveit/launch/planning_context.launch
old mode 100644
new mode 100755
index 6c1419f..3adf296
--- a/mycobot_pro/mycobot_600_gripper_moveit/launch/planning_context.launch
+++ b/mycobot_pro/mycobot_600_gripper_moveit/launch/planning_context.launch
@@ -6,9 +6,11 @@
   <arg name="robot_description" default="robot_description"/>
 
   <!-- Load universal robot description format (URDF) -->
+  <!-- <param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/mycobot_320_m5_2020/mycobot_pro_320_m5_2020_gripper.urdf"/> -->
   <param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/mycobot_pro_600/mycobot_pro_600_gripper.urdf"/>
 
-  <!-- The semantic description that corresponds to the URDF -->
+  <!-- The semantic description that corresponds to the SRDF -->
+  <!-- <param name="$(arg robot_description)_semantic" textfile="$(find mycobot_600_gripper_moveit)/config/firefighter.srdf" /> -->
   <param name="$(arg robot_description)_semantic" textfile="$(find mycobot_600_gripper_moveit)/config/firefighter.srdf" />
 
   <!-- Load updated joint limits (override information from URDF) -->
diff --git a/mycobot_pro/mycobot_600_gripper_moveit/launch/planning_pipeline.launch.xml b/mycobot_pro/mycobot_600_gripper_moveit/launch/planning_pipeline.launch.xml
old mode 100644
new mode 100755
diff --git a/mycobot_pro/mycobot_600_gripper_moveit/launch/ros_control_moveit_controller_manager.launch.xml b/mycobot_pro/mycobot_600_gripper_moveit/launch/ros_control_moveit_controller_manager.launch.xml
old mode 100644
new mode 100755
diff --git a/mycobot_pro/mycobot_600_gripper_moveit/launch/ros_controllers.launch b/mycobot_pro/mycobot_600_gripper_moveit/launch/ros_controllers.launch
old mode 100644
new mode 100755
index f7fb9f9..fcbfb0d
--- a/mycobot_pro/mycobot_600_gripper_moveit/launch/ros_controllers.launch
+++ b/mycobot_pro/mycobot_600_gripper_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="arm_controller "/>
+    output="screen" args="arm_group_controller gripper_group_controller "/>
 
 </launch>
diff --git a/mycobot_pro/mycobot_600_gripper_moveit/launch/run_benchmark_ompl.launch b/mycobot_pro/mycobot_600_gripper_moveit/launch/run_benchmark_ompl.launch
old mode 100644
new mode 100755
diff --git a/mycobot_pro/mycobot_600_gripper_moveit/launch/sensor_manager.launch.xml b/mycobot_pro/mycobot_600_gripper_moveit/launch/sensor_manager.launch.xml
old mode 100644
new mode 100755
diff --git a/mycobot_pro/mycobot_600_gripper_moveit/launch/setup_assistant.launch b/mycobot_pro/mycobot_600_gripper_moveit/launch/setup_assistant.launch
old mode 100644
new mode 100755
diff --git a/mycobot_pro/mycobot_600_gripper_moveit/launch/simple_moveit_controller_manager.launch.xml b/mycobot_pro/mycobot_600_gripper_moveit/launch/simple_moveit_controller_manager.launch.xml
old mode 100644
new mode 100755
diff --git a/mycobot_pro/mycobot_600_gripper_moveit/launch/stomp_planning_pipeline.launch.xml b/mycobot_pro/mycobot_600_gripper_moveit/launch/stomp_planning_pipeline.launch.xml
old mode 100644
new mode 100755
index 4b88c85..e4f9a06
--- a/mycobot_pro/mycobot_600_gripper_moveit/launch/stomp_planning_pipeline.launch.xml
+++ b/mycobot_pro/mycobot_600_gripper_moveit/launch/stomp_planning_pipeline.launch.xml
@@ -6,8 +6,7 @@
   <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="default_planner_request_adapters/AddTimeParameterization
                 default_planner_request_adapters/FixWorkspaceBounds
                 default_planner_request_adapters/FixStartStateBounds
                 default_planner_request_adapters/FixStartStateCollision
@@ -19,5 +18,8 @@
   <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
   <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
 
+  <!-- Add MoveGroup capabilities specific to this pipeline -->
+  <!-- <param name="capabilities" value="" /> -->
+
   <rosparam command="load" file="$(find mycobot_600_gripper_moveit)/config/stomp_planning.yaml"/>
 </launch>
diff --git a/mycobot_pro/mycobot_600_gripper_moveit/launch/trajectory_execution.launch.xml b/mycobot_pro/mycobot_600_gripper_moveit/launch/trajectory_execution.launch.xml
old mode 100644
new mode 100755
diff --git a/mycobot_pro/mycobot_600_gripper_moveit/launch/warehouse.launch b/mycobot_pro/mycobot_600_gripper_moveit/launch/warehouse.launch
old mode 100644
new mode 100755
diff --git a/mycobot_pro/mycobot_600_gripper_moveit/launch/warehouse_settings.launch.xml b/mycobot_pro/mycobot_600_gripper_moveit/launch/warehouse_settings.launch.xml
old mode 100644
new mode 100755
diff --git a/mycobot_pro/mycobot_600_gripper_moveit/package.xml b/mycobot_pro/mycobot_600_gripper_moveit/package.xml
old mode 100644
new mode 100755
index cbb4c83..f28df63
--- a/mycobot_pro/mycobot_600_gripper_moveit/package.xml
+++ b/mycobot_pro/mycobot_600_gripper_moveit/package.xml
@@ -5,21 +5,21 @@
   <description>
      An automatically generated package with all the configuration and launch files for using the firefighter with the MoveIt Motion Planning Framework
   </description>
-  <author email="aa@123.com">aa</author>
-  <maintainer email="aa@123.com">aa</maintainer>
+  <author email="jz@elephantrobot.com">jz</author>
+  <maintainer email="jz@elephantrobot.com">jz</maintainer>
 
   <license>BSD</license>
 
   <url type="website">http://moveit.ros.org/</url>
-  <url type="bugtracker">https://github.com/moveit/moveit/issues</url>
-  <url type="repository">https://github.com/moveit/moveit</url>
+  <url type="bugtracker">https://github.com/ros-planning/moveit/issues</url>
+  <url type="repository">https://github.com/ros-planning/moveit</url>
 
   <buildtool_depend>catkin</buildtool_depend>
 
   <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</run_depend>
+  <run_depend>moveit_planners_ompl</run_depend>
   <run_depend>moveit_ros_visualization</run_depend>
   <run_depend>moveit_setup_assistant</run_depend>
   <run_depend>moveit_simple_controller_manager</run_depend>
diff --git a/mycobot_pro/mycobot_600_gripper_moveit/scripts/sync_plan.py b/mycobot_pro/mycobot_600_gripper_moveit/scripts/sync_plan.py
new file mode 100755
index 0000000..0aef4bc
--- /dev/null
+++ b/mycobot_pro/mycobot_600_gripper_moveit/scripts/sync_plan.py
@@ -0,0 +1,102 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+from socket import *
+import math
+import sys
+import time
+from multiprocessing import Lock
+import numpy as np
+import rospy
+from sensor_msgs.msg import JointState
+
+from pymycobot.elephantrobot import ElephantRobot
+
+global mc
+gripper_value = []
+
+
+
+def linear_mapping(value, input_start, input_end, output_start, output_end):
+    """
+    Maps a value from one range to another using a linear transformation.
+
+    Args:
+        value (float): The input value to be mapped.
+        input_start (float): The start of the input range.
+        input_end (float): The end of the input range.
+        output_start (float): The start of the output range.
+        output_end (float): The end of the output range.
+
+    Returns:
+        float: The mapped value in the output range.
+    """
+    # Calculate the slope of the linear function
+    slope = (output_end - output_start) / (input_end - input_start)
+    # Calculate the mapped value
+    mapped_value = output_start + slope * (value - input_start)
+    return mapped_value
+
+
+def callback(data):
+    """callback function,回调函数"""
+    # rospy.loginfo(rospy.get_caller_id() + "%s", data.position)
+
+    data_list = []
+    for index, value in enumerate(data.position):
+        radians_to_angles = round(math.degrees(value), 2)
+        data_list.append(radians_to_angles)
+
+    rospy.loginfo(rospy.get_caller_id() + "%s", data_list)
+    # mc.write_angles(data_list, 800)
+    
+    list_i = []
+    for i in data_list[:6]:
+        list_i.append(i)
+    mc.write_angles(list_i,800)
+    
+    list_j = []
+    for j in data_list[6:]:
+        list_j.append(j)
+    # list_j = [int(a) for a in list_j]
+    
+    mc.set_gripper_mode(0)
+    # Define the input and output ranges
+    input_start = 17
+    input_end = -40
+    output_start = 100
+    output_end = 0
+    num = [linear_mapping(value, input_start, input_end, output_start, output_end) for value in list_j]
+    num2 = [int(i) for i in num]
+    num2 = num2[1]
+    mc.set_gripper_value(num2,100)
+    rospy.loginfo(num2)
+    
+
+
+
+def listener():
+    global mc
+    global gripper_value
+    rospy.init_node("control_slider", anonymous=True)
+
+    ip = rospy.get_param("~ip", "192.168.1.161")
+    port = rospy.get_param("~port", 5001)
+    print (ip, port)
+    mc = ElephantRobot(ip, int(port))
+    # START CLIENT,启动客户端
+    res = mc.start_client()
+    if res != "":
+        sys.exit(1)
+
+    mc.set_speed(90)
+
+    rospy.Subscriber("joint_states", JointState, callback)
+
+    # spin() simply keeps python from exiting until this node is stopped
+    # spin()只是阻止python退出，直到该节点停止
+    print ("sping ...")
+    rospy.spin()
+
+
+if __name__ == "__main__":
+    listener()
diff --git a/mycobot_pro/mycobot_600_gripper_moveit/scripts/sync_plan_320.py b/mycobot_pro/mycobot_600_gripper_moveit/scripts/sync_plan_320.py
new file mode 100755
index 0000000..c9783de
--- /dev/null
+++ b/mycobot_pro/mycobot_600_gripper_moveit/scripts/sync_plan_320.py
@@ -0,0 +1,88 @@
+#!/usr/bin/env python3
+# -*- coding:utf-8 -*-
+"""[summary]
+This file obtains the joint angle of the manipulator in ROS,
+and then sends it directly to the real manipulator using `pymycobot` API.
+This file is [slider_control.launch] related script.
+Passable parameters:
+    port: serial prot string. Defaults is '/dev/ttyUSB0'
+    baud: serial prot baudrate. Defaults is 115200.
+"""
+from socket import *
+import math
+import sys
+import time
+from multiprocessing import Lock
+
+import rospy
+from sensor_msgs.msg import JointState
+
+from pymycobot.elephantrobot import ElephantRobot
+import rospy
+import time
+from sensor_msgs.msg import JointState
+
+from pymycobot.mycobot import MyCobot
+
+
+mc = None
+gripper_value = []
+
+def callback(data):
+    global mc
+    # rospy.loginfo(rospy.get_caller_id() + "%s", data.position)
+    data_list = []
+    for index, value in enumerate(data.position):
+        data_list.append(round(value, 3))
+
+    data_list = data_list[:7]
+    print("radians:%s"%data_list[:6])
+    mc.send_radians(data_list[:6], 80)
+    gripper_value = int(abs(-0.7-data_list[6])* 117)
+    print("gripper_value:%s"%gripper_value)
+    # mc.set_gripper_mode(0)
+    # time.sleep(1)
+    mc.set_gripper_value(gripper_value, 100)
+    
+def listener():
+    # global mc
+    # global gripper_value
+   
+    # rospy.init_node("control_slider", anonymous=True)
+
+    # rospy.Subscriber("joint_states", JointState, callback)
+    # port = rospy.get_param("~port", "/dev/ttyUSB0")
+    # baud = rospy.get_param("~baud", 115200)
+    # print(port, baud)
+    # mc = MyCobot(port, baud)
+ 
+    # # spin() simply keeps python from exiting until this node is stopped
+    # print("spin ...")
+    # rospy.spin()
+    
+    
+    global mc
+    global gripper_value
+    rospy.init_node("control_slider", anonymous=True)
+
+    ip = rospy.get_param("~ip", "192.168.1.161")
+    port = rospy.get_param("~port", 5001)
+    print (ip, port)
+    mc = ElephantRobot(ip, int(port))
+    # START CLIENT,启动客户端
+    res = mc.start_client()
+    if res != "":
+        sys.exit(1)
+
+    mc.set_speed(90)
+
+    rospy.Subscriber("joint_states", JointState, callback)
+
+    # spin() simply keeps python from exiting until this node is stopped
+    # spin()只是阻止python退出，直到该节点停止
+    print ("sping ...")
+    rospy.spin()
+
+
+if __name__ == "__main__":
+    listener()
\ No newline at end of file
diff --git a/mycobot_pro/mycobot_600_gripper_moveit/scripts/test.py b/mycobot_pro/mycobot_600_gripper_moveit/scripts/test.py
new file mode 100755
index 0000000..25f6c40
--- /dev/null
+++ b/mycobot_pro/mycobot_600_gripper_moveit/scripts/test.py
@@ -0,0 +1,37 @@
+from pymycobot import ElephantRobot
+import time
+
+global mc
+
+mc = ElephantRobot("192.168.1.6",5001)
+
+
+
+
+
+# 启动机器人必要指令
+mc.start_client()
+time.sleep(1)
+# mc.set_gripper_calibrate()
+# time.sleep(1)
+# mc.set_gripper_mode(0)
+# time.sleep(1)
+
+
+
+# mc.power_off()#夹爪透传换IO模式时需要先关闭机器再重启机器人一次，仅使用夹爪透传模式不必关闭机器人
+mc.state_off()
+time.sleep(3)
+mc.power_on()
+time.sleep(3)
+mc.state_on()
+time.sleep(3)
+mc.set_gripper_mode(0)
+
+#透传模式
+
+for i in range(3):
+    mc.set_gripper_value(10, 20)
+    time.sleep(1)
+    mc.set_gripper_value(96, 20)
+    time.sleep(1)
\ No newline at end of file
diff --git a/mycobot_pro/mycobot_630/launch/mycobot_630_follow_display.launch b/mycobot_pro/mycobot_630/launch/mycobot_630_follow_display.launch
new file mode 100644
index 0000000..2a336fd
--- /dev/null
+++ b/mycobot_pro/mycobot_630/launch/mycobot_630_follow_display.launch
@@ -0,0 +1,11 @@
+<launch>
+	<arg name="model" default="$(find mycobot_description)/urdf/mycobot_pro_630/mycobot_pro_630.urdf"/>
+	<arg name="rvizconfig" default="$(find mycobot_630)/config/mycobot_630.rviz" />
+
+	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
+
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" >
+		<rosparam param="source_list" subst_value="true">["joint_states"]</rosparam>
+	</node>
+	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
+</launch>
\ No newline at end of file
diff --git a/mycobot_pro/mycobot_630/scripts/mycobot_630_follow_display.py b/mycobot_pro/mycobot_630/scripts/mycobot_630_follow_display.py
new file mode 100644
index 0000000..7044f1d
--- /dev/null
+++ b/mycobot_pro/mycobot_630/scripts/mycobot_630_follow_display.py
@@ -0,0 +1,105 @@
+#!/usr/bin/env python2
+# -*- coding:utf-8 -*-
+from cgi import print_environ
+import time
+
+import rospy
+from sensor_msgs.msg import JointState
+from std_msgs.msg import Header
+from visualization_msgs.msg import Marker
+
+from pymycobot.mycobot import MyCobot
+
+
+def talker():
+    rospy.init_node("display", anonymous=True)
+
+    print("Try connect real mycobot...")
+    port = rospy.get_param("~port", "/dev/ttyUSB0")
+    baud = rospy.get_param("~baud", 115200)
+    print("port: {}, baud: {}\n".format(port, baud))
+    try:
+        mycobot = MyCobot(port, baud)
+    except Exception as e:
+        print(e)
+        print(
+            """\
+            \rTry connect mycobot failed!
+            \rPlease check wether connected with mycobot.
+            \rPlease chckt wether the port or baud is right.
+        """
+        )
+        exit(1)
+    mycobot.release_all_servos()
+    time.sleep(0.1)
+    print("Rlease all servos over.\n")
+
+    pub = rospy.Publisher("joint_states", JointState, queue_size=10)
+    pub_marker = rospy.Publisher("visualization_marker", Marker, queue_size=10)
+    rate = rospy.Rate(30)  # 30hz
+
+    # pub joint state
+    joint_state_send = JointState()
+    joint_state_send.header = Header()
+
+    joint_state_send.name = [
+        "joint1_to_base",
+        "joint2_to_joint1",
+        "joint3_to_joint2",
+        "joint4_to_joint3",
+        "joint5_to_joint4",
+        "joint6_to_joint5",
+    ]
+    joint_state_send.velocity = [0]
+    joint_state_send.effort = []
+
+    marker_ = Marker()
+    marker_.header.frame_id = "/joint1"
+    marker_.ns = "my_namespace"
+
+    print("publishing ...")
+    while not rospy.is_shutdown():
+        joint_state_send.header.stamp = rospy.Time.now()
+
+        angles = mycobot.get_radians()
+        data_list = []
+        for index, value in enumerate(angles):
+            data_list.append(value)
+
+        # rospy.loginfo('{}'.format(data_list))
+        joint_state_send.position = data_list
+
+        pub.publish(joint_state_send)
+
+        coords = mycobot.get_coords()
+
+        # marker
+        marker_.header.stamp = rospy.Time.now()
+        marker_.type = marker_.SPHERE
+        marker_.action = marker_.ADD
+        marker_.scale.x = 0.04
+        marker_.scale.y = 0.04
+        marker_.scale.z = 0.04
+
+        # marker position initial
+        if not coords:
+            coords = [0, 0, 0, 0, 0, 0]
+
+            rospy.loginfo("error [101]: can not get coord values")
+
+        marker_.pose.position.x = coords[1] / 1000 * -1
+        marker_.pose.position.y = coords[0] / 1000
+        marker_.pose.position.z = coords[2] / 1000
+
+        marker_.color.a = 1.0
+        marker_.color.g = 1.0
+        pub_marker.publish(marker_)
+
+        rate.sleep()
+
+
+if __name__ == "__main__":
+    try:
+        talker()
+    except rospy.ROSInterruptException:
+        pass
diff --git a/mycobot_pro/mycobot_630_gripper_moveit/config/fake_controllers.yaml b/mycobot_pro/mycobot_630_gripper_moveit/config/fake_controllers.yaml
index b74c668..e957dff 100644
--- a/mycobot_pro/mycobot_630_gripper_moveit/config/fake_controllers.yaml
+++ b/mycobot_pro/mycobot_630_gripper_moveit/config/fake_controllers.yaml
@@ -1,6 +1,6 @@
 controller_list:
   - name: fake_arm_controller
-    type: $(arg fake_execution_type)
+    # type: $(arg fake_execution_type)
     joints:
       - joint1_to_base
       - joint2_to_joint1
@@ -10,7 +10,7 @@ controller_list:
       - joint6_to_joint5
       - joint6output_to_tool1
   - name: fake_gripper_controller
-    type: $(arg fake_execution_type)
+    # type: $(arg fake_execution_type)
     joints:
       - gripper_controller
 initial:  # Define initial robot poses per group
diff --git a/mycobot_pro/mycobot_630_gripper_moveit/config/firefighter.srdf b/mycobot_pro/mycobot_630_gripper_moveit/config/firefighter.srdf
index 21d516a..7f01618 100644
--- a/mycobot_pro/mycobot_630_gripper_moveit/config/firefighter.srdf
+++ b/mycobot_pro/mycobot_630_gripper_moveit/config/firefighter.srdf
@@ -9,7 +9,7 @@
     <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
     <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
     <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
-    <group name="arm">
+    <!-- <group name="arm">
         <joint name="joint1_to_base"/>
         <joint name="joint2_to_joint1"/>
         <joint name="joint3_to_joint2"/>
@@ -27,9 +27,32 @@
         <joint name="gripper_right3_to_gripper_right1"/>
         <joint name="gripper_controller"/>
         <joint name="gripper_left3_to_gripper_left1"/>
+    </group> -->
+    <group name="arm_group">
+        <chain base_link="base" tip_link="joint6"/>
     </group>
+    <group name="gripper_group">
+        <chain base_link="gripper_base" tip_link="gripper_left3"/>
+    </group>
+    <group_state name="init_pose" group="arm_group">
+        <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"/>
+        <!-- <joint name="joint6output_to_joint6" value="0"/> -->
+    </group_state>
+
+    
     <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
-    <end_effector name="gripper_end" parent_link="tool2" group="gripper"/>
+    <end_effector name="gripper" parent_link="joint6" group="gripper_group" parent_group="arm_group"/>
+    <!--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="virtual_joint" type="fixed" parent_frame="world" child_link="base"/>
+
+    <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
+    <!-- <end_effector name="gripper_end" parent_link="tool2" group="gripper"/> -->
+
     <!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->
     <passive_joint name="gripper_base_to_gripper_left2"/>
     <passive_joint name="gripper_base_to_gripper_right2"/>
diff --git a/mycobot_pro/mycobot_630_gripper_moveit/config/kinematics.yaml b/mycobot_pro/mycobot_630_gripper_moveit/config/kinematics.yaml
index d3ee3f5..0417636 100644
--- a/mycobot_pro/mycobot_630_gripper_moveit/config/kinematics.yaml
+++ b/mycobot_pro/mycobot_630_gripper_moveit/config/kinematics.yaml
@@ -2,6 +2,7 @@ arm:
   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_gripper_moveit/config/ompl_planning.yaml b/mycobot_pro/mycobot_630_gripper_moveit/config/ompl_planning.yaml
index a5b6be6..be72f98 100644
--- a/mycobot_pro/mycobot_630_gripper_moveit/config/ompl_planning.yaml
+++ b/mycobot_pro/mycobot_630_gripper_moveit/config/ompl_planning.yaml
@@ -43,6 +43,7 @@ planner_configs:
     range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
     goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
     delay_collision_checking: 1  # Stop collision checking as soon as C-free parent found. default 1
+    planning_attempts: 3
   TRRT:
     type: geometric::TRRT
     range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
diff --git a/mycobot_pro/mycobot_630_gripper_moveit/launch/moveit.rviz b/mycobot_pro/mycobot_630_gripper_moveit/launch/moveit.rviz
index e81e37f..a7e44e5 100644
--- a/mycobot_pro/mycobot_630_gripper_moveit/launch/moveit.rviz
+++ b/mycobot_pro/mycobot_630_gripper_moveit/launch/moveit.rviz
@@ -7,7 +7,7 @@ Panels:
         - /MotionPlanning1
         - /MotionPlanning1/Planning Request1
       Splitter Ratio: 0.5
-    Tree Height: 388
+    Tree Height: 200
   - Class: rviz/Help
     Name: Help
   - Class: rviz/Views
@@ -40,18 +40,18 @@ Visualization Manager:
       Plane Cell Count: 10
       Reference Frame: <Fixed Frame>
       Value: true
-    - Acceleration_Scaling_Factor: 0.1
+    - Acceleration_Scaling_Factor: 1
       Class: moveit_rviz_plugin/MotionPlanning
       Enabled: true
       JointsTab_Use_Radians: true
       Move Group Namespace: ""
-      MoveIt_Allow_Approximate_IK: false
+      MoveIt_Allow_Approximate_IK: true
       MoveIt_Allow_External_Program: false
       MoveIt_Allow_Replanning: false
       MoveIt_Allow_Sensor_Positioning: false
       MoveIt_Planning_Attempts: 10
       MoveIt_Planning_Time: 5
-      MoveIt_Use_Cartesian_Path: true
+      MoveIt_Use_Cartesian_Path: false
       MoveIt_Use_Constraint_Aware_IK: true
       MoveIt_Workspace:
         Center:
@@ -177,10 +177,10 @@ Visualization Manager:
         Joint Violation Color: 255; 0; 255
         Planning Group: arm
         Query Goal State: true
-        Query Start State: false
+        Query Start State: true
         Show Workspace: false
         Start State Alpha: 1
-        Start State Color: 0; 255; 0
+        Start State Color: 115; 210; 22
       Planning Scene Topic: move_group/monitored_planning_scene
       Robot Description: robot_description
       Scene Geometry:
@@ -280,9 +280,9 @@ Visualization Manager:
             Value: true
         Robot Alpha: 0.5
         Show Robot Collision: false
-        Show Robot Visual: true
+        Show Robot Visual: false
       Value: true
-      Velocity_Scaling_Factor: 0.1
+      Velocity_Scaling_Factor: 1
     - Alpha: 1
       Class: rviz/RobotModel
       Collision Enabled: false
@@ -411,14 +411,14 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.5400000810623169
+      Pitch: 0.4850001335144043
       Target Frame: base
-      Yaw: 4.9563188552856445
+      Yaw: 6.006320953369141
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 1016
+  Height: 820
   Help:
     collapsed: false
   Hide Left Dock: false
@@ -427,9 +427,9 @@ Window Geometry:
     collapsed: false
   MotionPlanning - Trajectory Slider:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd0000000100000000000001f30000039efc0200000007fb000000100044006900730070006c006100790073010000003d000001c1000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000204000001d70000017d00ffffff0000053f0000039e00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000100000000000001f3000002dafc0200000007fb000000100044006900730070006c006100790073010000003d00000105000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720100000148000000410000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000018f000001880000017d00ffffff00000539000002da00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Views:
     collapsed: false
-  Width: 1848
+  Width: 1842
   X: 72
   Y: 27
diff --git a/mycobot_pro/mycobot_630_gripper_moveit/launch/ompl_planning_pipeline.launch.xml b/mycobot_pro/mycobot_630_gripper_moveit/launch/ompl_planning_pipeline.launch.xml
index 7ff49cf..8204a1b 100644
--- a/mycobot_pro/mycobot_630_gripper_moveit/launch/ompl_planning_pipeline.launch.xml
+++ b/mycobot_pro/mycobot_630_gripper_moveit/launch/ompl_planning_pipeline.launch.xml
@@ -20,5 +20,7 @@
   <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
 
   <rosparam command="load" file="$(find mycobot_630_gripper_moveit)/config/ompl_planning.yaml"/>
+  <!-- <rosparam command="load" file="$(find mycobot_630_moveit)/config/ompl_planning.yaml"/> -->
+
 
 </launch>
diff --git a/mycobot_pro/mycobot_630_gripper_moveit/launch/run_benchmark_ompl.launch b/mycobot_pro/mycobot_630_gripper_moveit/launch/run_benchmark_ompl.launch
index 891dff4..1490088 100644
--- a/mycobot_pro/mycobot_630_gripper_moveit/launch/run_benchmark_ompl.launch
+++ b/mycobot_pro/mycobot_630_gripper_moveit/launch/run_benchmark_ompl.launch
@@ -16,6 +16,8 @@
   <!-- 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="$(find mycobot_630_gripper_moveit)/config/ompl_planning.yaml"/>
+    <!-- <rosparam command="load" file="$(find mycobot_630_moveit)/config/ompl_planning.yaml"/> -->
+    <rosparam command="load" file="$(find mycobot_630_gripper_moveit)/config/kinematics.yaml"/>
   </node>
 
 </launch>
diff --git a/mycobot_pro/mycobot_630_gripper_moveit/scripts/sync_plan.py b/mycobot_pro/mycobot_630_gripper_moveit/scripts/sync_plan.py
new file mode 100755
index 0000000..d376b72
--- /dev/null
+++ b/mycobot_pro/mycobot_630_gripper_moveit/scripts/sync_plan.py
@@ -0,0 +1,68 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+from socket import *
+import math
+import sys
+import time
+from multiprocessing import Lock
+
+import rospy
+from sensor_msgs.msg import JointState
+
+from pymycobot.elephantrobot import ElephantRobot
+
+global mc
+
+
+def callback(data):
+    """callback function,回调函数"""
+    # rospy.loginfo(rospy.get_caller_id() + "%s", data.position)
+
+    data_list = []
+    for index, value in enumerate(data.position):
+        radians_to_angles = round(math.degrees(value), 2)
+        data_list.append(radians_to_angles)
+        
+    rospy.loginfo(rospy.get_caller_id() + "%s", data_list)
+    # mc.write_angles(data_list, 800)
+    
+    for joint,angle in enumerate(data_list[:6]):
+        mc.write_angle(joint,angle,800)
+        
+    for gripper_angle in data_list[6:]:
+        mc.set_cag_gripper_value(gripper_angle,800)
+    
+
+    
+    # excepted_joint_count = 13
+    # if len(data_list) == excepted_joint_count:
+    #     mc.write_angles(data_list, 800)
+    # else:
+    #     rospy.logwarn("关节数量不匹配，期望数量是%d,实际数量是%d",excepted_joint_count,len(data_list))
+
+
+def listener():
+    global mc
+    rospy.init_node("control_slider", anonymous=True)
+
+    ip = rospy.get_param("~ip", "192.168.1.161")
+    port = rospy.get_param("~port", 5001)
+    print (ip, port)
+    mc = ElephantRobot(ip, int(port))
+    # START CLIENT,启动客户端
+    res = mc.start_client()
+    if res != "":
+        sys.exit(1)
+
+    mc.set_speed(90)
+
+    rospy.Subscriber("joint_states", JointState, callback)
+
+    # spin() simply keeps python from exiting until this node is stopped
+    # spin()只是阻止python退出，直到该节点停止
+    print ("sping ...")
+    rospy.spin()
+
+
+if __name__ == "__main__":
+    listener()
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..3280efc 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>
+  <!-- <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_gripper_moveit)/config/fake_controllers.yaml"/> -->
+
 
 </launch>
diff --git a/mycobot_pro/mycobot_630_moveit/launch/firefighter_moveit_controller_manager.launch.xml b/mycobot_pro/mycobot_630_moveit/launch/firefighter_moveit_controller_manager.launch.xml
index f8e427e..ebfd8c9 100644
--- a/mycobot_pro/mycobot_630_moveit/launch/firefighter_moveit_controller_manager.launch.xml
+++ b/mycobot_pro/mycobot_630_moveit/launch/firefighter_moveit_controller_manager.launch.xml
@@ -7,4 +7,5 @@
 
   <!-- loads ros_controllers to the param server -->
   <rosparam file="$(find mycobot_630_moveit)/config/ros_controllers.yaml"/>
+
 </launch>
diff --git a/mycobot_pro/mycobot_630_moveit/launch/moveit.rviz b/mycobot_pro/mycobot_630_moveit/launch/moveit.rviz
index aa25b44..e33f20e 100644
--- a/mycobot_pro/mycobot_630_moveit/launch/moveit.rviz
+++ b/mycobot_pro/mycobot_630_moveit/launch/moveit.rviz
@@ -5,14 +5,13 @@ Panels:
     Property Tree Widget:
       Expanded:
         - /MotionPlanning1
-        - /MotionPlanning1/Status1
         - /MotionPlanning1/Scene Geometry1
         - /MotionPlanning1/Scene Robot1
         - /MotionPlanning1/Planning Request1
         - /MotionPlanning1/Planned Path1
         - /RobotModel1
       Splitter Ratio: 0.4869215190410614
-    Tree Height: 274
+    Tree Height: 396
   - Class: rviz/Help
     Name: Help
   - Class: rviz/Views
@@ -82,6 +81,41 @@ Visualization Manager:
             Show Axes: false
             Show Trail: false
             Value: true
+          gripper_base:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_left1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_left2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_left3:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_right1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_right2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_right3:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
           joint1:
             Alpha: 1
             Show Axes: false
@@ -112,6 +146,16 @@ Visualization Manager:
             Show Axes: false
             Show Trail: false
             Value: true
+          tool1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          tool2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
         Loop Animation: false
         Robot Alpha: 0.5
         Robot Color: 150; 50; 150
@@ -133,9 +177,9 @@ Visualization Manager:
         Colliding Link Color: 255; 0; 0
         Goal State Alpha: 1
         Goal State Color: 250; 128; 0
-        Interactive Marker Size: 0.10000000149011612
+        Interactive Marker Size: 0.20000000298023224
         Joint Violation Color: 255; 0; 255
-        Planning Group: arm_group
+        Planning Group: arm
         Query Goal State: true
         Query Start State: true
         Show Workspace: false
@@ -163,6 +207,41 @@ Visualization Manager:
             Show Axes: false
             Show Trail: false
             Value: true
+          gripper_base:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_left1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_left2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_left3:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_right1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_right2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_right3:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
           joint1:
             Alpha: 1
             Show Axes: false
@@ -193,6 +272,16 @@ Visualization Manager:
             Show Axes: false
             Show Trail: false
             Value: true
+          tool1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          tool2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
         Robot Alpha: 0.5
         Show Robot Collision: false
         Show Robot Visual: false
@@ -224,6 +313,41 @@ Visualization Manager:
             Show Axes: false
             Show Trail: false
             Value: true
+          gripper_base:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_left1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_left2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_left3:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_right1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_right2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_right3:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
           joint1:
             Alpha: 1
             Show Axes: false
@@ -254,6 +378,16 @@ Visualization Manager:
             Show Axes: false
             Show Trail: false
             Value: true
+          tool1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          tool2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
         Robot Alpha: 1
         Show Robot Collision: false
         Show Robot Visual: true
@@ -273,6 +407,41 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
+        gripper_base:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        gripper_left1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        gripper_left2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        gripper_left3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        gripper_right1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        gripper_right2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        gripper_right3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
         joint1:
           Alpha: 1
           Show Axes: false
@@ -303,6 +472,16 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
+        tool1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        tool2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
       Name: RobotModel
       Robot Description: robot_description
       TF Prefix: ""
@@ -333,17 +512,17 @@ Visualization Manager:
         Value: false
       Field of View: 0.7853981852531433
       Focal Point:
-        X: -0.06067162752151489
-        Y: 0.045795738697052
+        X: 0.041976600885391235
+        Y: -0.019326984882354736
         Z: 1.490174383889098e-08
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.25979647040367126
+      Pitch: 0.5597964525222778
       Target Frame: base
-      Yaw: 3.2899534702301025
+      Yaw: 6.1299567222595215
     Saved: ~
 Window Geometry:
   Displays:
@@ -357,7 +536,7 @@ Window Geometry:
     collapsed: false
   MotionPlanning - Trajectory Slider:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd0000000100000000000001f30000039efc0200000007fb000000100044006900730070006c006100790073010000003d0000014f000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720100000192000000530000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001eb000001f00000018800ffffff0000053f0000039e00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000100000000000001f30000039efc0200000007fb000000100044006900730070006c006100790073010000003d000001c9000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c0069006400650072010000020c000000410000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000253000001880000018800ffffff0000053f0000039e00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Views:
     collapsed: false
   Width: 1848
diff --git a/mycobot_pro/mycobot_630_moveit/launch/planning_context.launch b/mycobot_pro/mycobot_630_moveit/launch/planning_context.launch
index 027d56a..99bf987 100644
--- a/mycobot_pro/mycobot_630_moveit/launch/planning_context.launch
+++ b/mycobot_pro/mycobot_630_moveit/launch/planning_context.launch
@@ -6,24 +6,28 @@
   <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_630.urdf"/>
+  <!-- <param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/mycobot_pro_630/mycobot_630_gripper.urdf"/> -->
 
 
 
   <!-- The semantic description that corresponds to the URDF -->
   <param name="$(arg robot_description)_semantic" textfile="$(find mycobot_630_moveit)/config/firefighter.srdf" />
-  <!-- <param name="$(arg robot_description)_semantic" textfile="$(find mycobot_280_moveit)/config/firefighter.srdf" /> -->
+  <!-- <param name="$(arg robot_description)_semantic" textfile="$(find mycobot_630_gripper_moveit)/config/firefighter.srdf" /> -->
 
 
   <!-- 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="$(find mycobot_630_gripper_moveit)/config/joint_limits.yaml"/>
+    <rosparam command="load" file="$(find mycobot_630_gripper_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"/>
+    <!-- <rosparam command="load" file="$(find mycobot_630_gripper_moveit)/config/kinematics.yaml"/> -->
+
   </group>
 
 </launch>
diff --git a/mycobot_pro/mycobot_630_moveit/scripts/sync_plan.py b/mycobot_pro/mycobot_630_moveit/scripts/sync_plan.py
index 2b918e7..c9c7f13 100755
--- a/mycobot_pro/mycobot_630_moveit/scripts/sync_plan.py
+++ b/mycobot_pro/mycobot_630_moveit/scripts/sync_plan.py
@@ -31,7 +31,7 @@ def listener():
     global mc
     rospy.init_node("control_slider", anonymous=True)
 
-    ip = rospy.get_param("~ip", "192.168.1.159")
+    ip = rospy.get_param("~ip", "192.168.1.161")
     port = rospy.get_param("~port", 5001)
     print (ip, port)
     mc = ElephantRobot(ip, int(port))
diff --git a/mycobot_pro/new_mycobot_630_gripper_moveit/CMakeLists.txt b/mycobot_pro/new_mycobot_630_gripper_moveit/CMakeLists.txt
new file mode 100755
index 0000000..0138f48
--- /dev/null
+++ b/mycobot_pro/new_mycobot_630_gripper_moveit/CMakeLists.txt
@@ -0,0 +1,10 @@
+cmake_minimum_required(VERSION 3.1.3)
+project(new_mycobot_630_gripper_moveit)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  PATTERN "setup_assistant.launch" EXCLUDE)
+install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/mycobot_pro/new_mycobot_630_gripper_moveit/config/cartesian_limits.yaml b/mycobot_pro/new_mycobot_630_gripper_moveit/config/cartesian_limits.yaml
new file mode 100755
index 0000000..7df72f6
--- /dev/null
+++ b/mycobot_pro/new_mycobot_630_gripper_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/new_mycobot_630_gripper_moveit/config/chomp_planning.yaml b/mycobot_pro/new_mycobot_630_gripper_moveit/config/chomp_planning.yaml
new file mode 100755
index 0000000..eb9c912
--- /dev/null
+++ b/mycobot_pro/new_mycobot_630_gripper_moveit/config/chomp_planning.yaml
@@ -0,0 +1,18 @@
+planning_time_limit: 10.0
+max_iterations: 200
+max_iterations_after_collision_free: 5
+smoothness_cost_weight: 0.1
+obstacle_cost_weight: 1.0
+learning_rate: 0.01
+smoothness_cost_velocity: 0.0
+smoothness_cost_acceleration: 1.0
+smoothness_cost_jerk: 0.0
+ridge_factor: 0.0
+use_pseudo_inverse: false
+pseudo_inverse_ridge_factor: 1e-4
+joint_update_limit: 0.1
+collision_clearance: 0.2
+collision_threshold: 0.07
+use_stochastic_descent: true
+enable_failure_recovery: false
+max_recovery_attempts: 5
diff --git a/mycobot_pro/new_mycobot_630_gripper_moveit/config/fake_controllers.yaml b/mycobot_pro/new_mycobot_630_gripper_moveit/config/fake_controllers.yaml
new file mode 100755
index 0000000..4d8a414
--- /dev/null
+++ b/mycobot_pro/new_mycobot_630_gripper_moveit/config/fake_controllers.yaml
@@ -0,0 +1,26 @@
+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
+      - joint1_to_base
+      - joint2_to_joint1
+      - joint3_to_joint2
+      - joint4_to_joint3
+      - joint5_to_joint4
+      - joint6_to_joint5
+      - joint6output_to_tool1
+  - name: fake_gripper_group_controller
+    type: $(arg fake_execution_type)
+    joints:
+      - gripper_controller
+# initial:  # Define initial robot poses per group
+#   - group: arm_group
+#     pose: init_pose
+#   - group: gripper_group
+#     pose: init_gripper
\ No newline at end of file
diff --git a/mycobot_pro/new_mycobot_630_gripper_moveit/config/firefighter.srdf b/mycobot_pro/new_mycobot_630_gripper_moveit/config/firefighter.srdf
new file mode 100644
index 0000000..7f01618
--- /dev/null
+++ b/mycobot_pro/new_mycobot_630_gripper_moveit/config/firefighter.srdf
@@ -0,0 +1,225 @@
+<?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
+-->
+<robot name="firefighter">
+    <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
+    <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
+    <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
+    <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
+    <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
+    <!-- <group name="arm">
+        <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="joint6output_to_tool1"/>
+        <joint name="tool1_to_tool2"/>
+    </group>
+    <group name="gripper">
+        <joint name="tool2_to_gripper_base"/>
+        <joint name="gripper_base_to_gripper_left2"/>
+        <joint name="gripper_base_to_gripper_right2"/>
+        <joint name="gripper_base_to_gripper_right3"/>
+        <joint name="gripper_right3_to_gripper_right1"/>
+        <joint name="gripper_controller"/>
+        <joint name="gripper_left3_to_gripper_left1"/>
+    </group> -->
+    <group name="arm_group">
+        <chain base_link="base" tip_link="joint6"/>
+    </group>
+    <group name="gripper_group">
+        <chain base_link="gripper_base" tip_link="gripper_left3"/>
+    </group>
+    <group_state name="init_pose" group="arm_group">
+        <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"/>
+        <!-- <joint name="joint6output_to_joint6" value="0"/> -->
+    </group_state>
+
+    
+    <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
+    <end_effector name="gripper" parent_link="joint6" group="gripper_group" parent_group="arm_group"/>
+    <!--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="virtual_joint" type="fixed" parent_frame="world" child_link="base"/>
+
+    <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
+    <!-- <end_effector name="gripper_end" parent_link="tool2" group="gripper"/> -->
+
+    <!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->
+    <passive_joint name="gripper_base_to_gripper_left2"/>
+    <passive_joint name="gripper_base_to_gripper_right2"/>
+    <passive_joint name="gripper_base_to_gripper_right3"/>
+    <passive_joint name="gripper_right3_to_gripper_right1"/>
+    <passive_joint name="gripper_left3_to_gripper_left1"/>
+    <!--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="gripper_base" reason="Never"/>
+    <disable_collisions link1="base" link2="gripper_left1" reason="Never"/>
+    <disable_collisions link1="base" link2="gripper_left2" reason="Never"/>
+    <disable_collisions link1="base" link2="gripper_left3" reason="Never"/>
+    <disable_collisions link1="base" link2="gripper_right1" reason="Never"/>
+    <disable_collisions link1="base" link2="gripper_right2" reason="Never"/>
+    <disable_collisions link1="base" link2="joint1" reason="Adjacent"/>
+    <disable_collisions link1="gripper_base" link2="gripper_left1" reason="Never"/>
+    <disable_collisions link1="gripper_base" link2="gripper_left2" reason="Adjacent"/>
+    <disable_collisions link1="gripper_base" link2="gripper_left3" reason="Adjacent"/>
+    <disable_collisions link1="gripper_base" link2="gripper_right1" reason="Never"/>
+    <disable_collisions link1="gripper_base" link2="gripper_right2" reason="Adjacent"/>
+    <disable_collisions link1="gripper_base" link2="gripper_right3" reason="Adjacent"/>
+    <disable_collisions link1="gripper_base" link2="joint1" reason="Never"/>
+    <disable_collisions link1="gripper_base" link2="joint2" reason="Never"/>
+    <disable_collisions link1="gripper_base" link2="joint3" reason="Never"/>
+    <disable_collisions link1="gripper_base" link2="joint4" reason="Never"/>
+    <disable_collisions link1="gripper_base" link2="joint5" reason="Never"/>
+    <disable_collisions link1="gripper_base" link2="joint6" reason="Never"/>
+    <disable_collisions link1="gripper_base" link2="tool1" reason="Never"/>
+    <disable_collisions link1="gripper_base" link2="tool2" reason="Adjacent"/>
+    <disable_collisions link1="gripper_left1" link2="gripper_left2" reason="Default"/>
+    <disable_collisions link1="gripper_left1" link2="gripper_left3" reason="Adjacent"/>
+    <disable_collisions link1="gripper_left1" link2="gripper_right1" reason="Never"/>
+    <disable_collisions link1="gripper_left1" link2="gripper_right2" reason="Never"/>
+    <disable_collisions link1="gripper_left1" link2="gripper_right3" reason="Never"/>
+    <disable_collisions link1="gripper_left1" link2="joint1" reason="Never"/>
+    <disable_collisions link1="gripper_left1" link2="joint2" reason="Never"/>
+    <disable_collisions link1="gripper_left1" link2="joint3" reason="Never"/>
+    <disable_collisions link1="gripper_left1" link2="joint4" reason="Never"/>
+    <disable_collisions link1="gripper_left1" link2="joint5" reason="Never"/>
+    <disable_collisions link1="gripper_left1" link2="joint6" reason="Never"/>
+    <disable_collisions link1="gripper_left1" link2="tool1" reason="Never"/>
+    <disable_collisions link1="gripper_left1" link2="tool2" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="gripper_left3" reason="Default"/>
+    <disable_collisions link1="gripper_left2" link2="gripper_right1" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="gripper_right2" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="gripper_right3" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="joint1" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="joint2" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="joint3" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="joint4" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="joint5" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="joint6" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="tool1" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="tool2" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="gripper_right1" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="gripper_right2" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="gripper_right3" reason="Default"/>
+    <disable_collisions link1="gripper_left3" link2="joint1" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="joint2" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="joint3" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="joint4" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="joint5" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="joint6" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="tool1" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="tool2" reason="Never"/>
+    <disable_collisions link1="gripper_right1" link2="gripper_right2" reason="Default"/>
+    <disable_collisions link1="gripper_right1" link2="gripper_right3" reason="Adjacent"/>
+    <disable_collisions link1="gripper_right1" link2="joint1" reason="Never"/>
+    <disable_collisions link1="gripper_right1" link2="joint2" reason="Never"/>
+    <disable_collisions link1="gripper_right1" link2="joint3" reason="Never"/>
+    <disable_collisions link1="gripper_right1" link2="joint4" reason="Never"/>
+    <disable_collisions link1="gripper_right1" link2="joint5" reason="Never"/>
+    <disable_collisions link1="gripper_right1" link2="joint6" reason="Never"/>
+    <disable_collisions link1="gripper_right1" link2="tool1" reason="Never"/>
+    <disable_collisions link1="gripper_right1" link2="tool2" reason="Never"/>
+    <disable_collisions link1="gripper_right2" link2="gripper_right3" reason="Never"/>
+    <disable_collisions link1="gripper_right2" link2="joint1" reason="Never"/>
+    <disable_collisions link1="gripper_right2" link2="joint2" reason="Never"/>
+    <disable_collisions link1="gripper_right2" link2="joint3" reason="Never"/>
+    <disable_collisions link1="gripper_right2" link2="joint4" reason="Never"/>
+    <disable_collisions link1="gripper_right2" link2="joint5" reason="Never"/>
+    <disable_collisions link1="gripper_right2" link2="joint6" reason="Never"/>
+    <disable_collisions link1="gripper_right2" link2="tool1" reason="Never"/>
+    <disable_collisions link1="gripper_right2" link2="tool2" reason="Never"/>
+    <disable_collisions link1="gripper_right3" link2="joint5" reason="Default"/>
+    <disable_collisions link1="gripper_right3" link2="joint6" reason="Default"/>
+    <disable_collisions link1="gripper_right3" link2="tool1" reason="Default"/>
+    <disable_collisions link1="gripper_right3" link2="tool2" reason="Default"/>
+    <disable_collisions link1="joint1" link2="joint2" reason="Adjacent"/>
+    <disable_collisions link1="joint1" link2="joint4" reason="Never"/>
+    <disable_collisions link1="joint2" link2="joint3" reason="Adjacent"/>
+    <disable_collisions link1="joint3" link2="joint4" reason="Adjacent"/>
+    <disable_collisions link1="joint3" link2="joint5" reason="Never"/>
+    <disable_collisions link1="joint3" link2="joint6" reason="Never"/>
+    <disable_collisions link1="joint4" link2="joint5" reason="Adjacent"/>
+    <disable_collisions link1="joint4" link2="joint6" reason="Never"/>
+    <disable_collisions link1="joint4" link2="tool1" reason="Never"/>
+    <disable_collisions link1="joint4" link2="tool2" reason="Never"/>
+    <disable_collisions link1="joint5" link2="joint6" reason="Adjacent"/>
+    <disable_collisions link1="joint5" link2="tool1" reason="Never"/>
+    <disable_collisions link1="joint5" link2="tool2" reason="Never"/>
+    <disable_collisions link1="joint6" link2="tool1" reason="Adjacent"/>
+    <disable_collisions link1="joint6" link2="tool2" reason="Never"/>
+    <disable_collisions link1="tool1" link2="tool2" reason="Adjacent"/> -->
+
+    <disable_collisions link1="base" link2="joint1" reason="Adjacent"/>
+    <disable_collisions link1="base" link2="joint2" reason="Never"/>
+    <disable_collisions link1="gripper_base" link2="gripper_left1" reason="Never"/>
+    <disable_collisions link1="gripper_base" link2="gripper_left2" reason="Adjacent"/>
+    <disable_collisions link1="gripper_base" link2="gripper_left3" reason="Adjacent"/>
+    <disable_collisions link1="gripper_base" link2="gripper_right1" reason="Never"/>
+    <disable_collisions link1="gripper_base" link2="gripper_right2" reason="Adjacent"/>
+    <disable_collisions link1="gripper_base" link2="gripper_right3" reason="Adjacent"/>
+    <disable_collisions link1="gripper_base" link2="joint5" reason="Never"/>
+    <disable_collisions link1="gripper_base" link2="joint6" reason="Never"/>
+    <disable_collisions link1="gripper_base" link2="tool1" reason="Never"/>
+    <disable_collisions link1="gripper_base" link2="tool2" reason="Adjacent"/>
+    <disable_collisions link1="gripper_left1" link2="gripper_left2" reason="Adjacent"/>
+    <disable_collisions link1="gripper_left1" link2="gripper_left3" reason="Adjacent"/>
+    <disable_collisions link1="gripper_left1" link2="gripper_right1" reason="Default"/>
+    <disable_collisions link1="gripper_left1" link2="gripper_right2" reason="Never"/>
+    <disable_collisions link1="gripper_left1" link2="gripper_right3" reason="Never"/>
+    <disable_collisions link1="gripper_left1" link2="joint5" reason="Never"/>
+    <disable_collisions link1="gripper_left1" link2="joint6" reason="Never"/>
+    <disable_collisions link1="gripper_left1" link2="tool1" reason="Never"/>
+    <disable_collisions link1="gripper_left1" link2="tool2" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="gripper_left3" reason="Default"/>
+    <disable_collisions link1="gripper_left2" link2="gripper_right1" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="gripper_right2" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="gripper_right3" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="joint5" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="joint6" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="tool1" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="tool2" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="gripper_right1" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="gripper_right2" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="gripper_right3" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="joint5" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="joint6" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="tool1" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="tool2" reason="Never"/>
+    <disable_collisions link1="gripper_right1" link2="gripper_right2" reason="Adjacent"/>
+    <disable_collisions link1="gripper_right1" link2="gripper_right3" reason="Adjacent"/>
+    <disable_collisions link1="gripper_right1" link2="joint5" reason="Never"/>
+    <disable_collisions link1="gripper_right1" link2="joint6" reason="Never"/>
+    <disable_collisions link1="gripper_right1" link2="tool1" reason="Never"/>
+    <disable_collisions link1="gripper_right1" link2="tool2" reason="Never"/>
+    <disable_collisions link1="gripper_right2" link2="gripper_right3" reason="Default"/>
+    <disable_collisions link1="gripper_right2" link2="joint5" reason="Never"/>
+    <disable_collisions link1="gripper_right2" link2="joint6" reason="Never"/>
+    <disable_collisions link1="gripper_right2" link2="tool1" reason="Never"/>
+    <disable_collisions link1="gripper_right2" link2="tool2" reason="Never"/>
+    <disable_collisions link1="gripper_right3" link2="joint5" reason="Never"/>
+    <disable_collisions link1="gripper_right3" link2="joint6" reason="Never"/>
+    <disable_collisions link1="gripper_right3" link2="tool1" reason="Never"/>
+    <disable_collisions link1="gripper_right3" link2="tool2" reason="Never"/>
+    <disable_collisions link1="joint1" link2="joint2" reason="Adjacent"/>
+    <disable_collisions link1="joint1" link2="tool2" reason="Never"/>
+    <disable_collisions link1="joint2" link2="joint3" reason="Adjacent"/>
+    <disable_collisions link1="joint2" link2="tool2" reason="Never"/>
+    <disable_collisions link1="joint3" link2="joint4" reason="Adjacent"/>
+    <disable_collisions link1="joint3" link2="tool2" reason="Never"/>
+    <disable_collisions link1="joint4" link2="joint5" reason="Adjacent"/>
+    <disable_collisions link1="joint4" link2="tool2" reason="Never"/>
+    <disable_collisions link1="joint5" link2="joint6" reason="Adjacent"/>
+    <disable_collisions link1="joint5" link2="tool2" reason="Never"/>
+    <disable_collisions link1="joint6" link2="tool1" reason="Adjacent"/>
+    <disable_collisions link1="joint6" link2="tool2" reason="Never"/>
+    <disable_collisions link1="tool1" link2="tool2" reason="Adjacent"/>
+</robot>
diff --git a/mycobot_pro/new_mycobot_630_gripper_moveit/config/gazebo_controllers.yaml b/mycobot_pro/new_mycobot_630_gripper_moveit/config/gazebo_controllers.yaml
new file mode 100755
index 0000000..e4d2eb0
--- /dev/null
+++ b/mycobot_pro/new_mycobot_630_gripper_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/new_mycobot_630_gripper_moveit/config/joint_limits.yaml b/mycobot_pro/new_mycobot_630_gripper_moveit/config/joint_limits.yaml
new file mode 100755
index 0000000..17203f3
--- /dev/null
+++ b/mycobot_pro/new_mycobot_630_gripper_moveit/config/joint_limits.yaml
@@ -0,0 +1,45 @@
+# 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:
+  gripper_controller:
+    has_velocity_limits: false
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  joint2_to_joint1:
+    has_velocity_limits: false
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  joint3_to_joint2:
+    has_velocity_limits: false
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  joint4_to_joint3:
+    has_velocity_limits: false
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  joint5_to_joint4:
+    has_velocity_limits: false
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  joint6_to_joint5:
+    has_velocity_limits: false
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  joint6output_to_joint6:
+    has_velocity_limits: false
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
\ No newline at end of file
diff --git a/mycobot_pro/new_mycobot_630_gripper_moveit/config/kinematics.yaml b/mycobot_pro/new_mycobot_630_gripper_moveit/config/kinematics.yaml
new file mode 100755
index 0000000..05777c2
--- /dev/null
+++ b/mycobot_pro/new_mycobot_630_gripper_moveit/config/kinematics.yaml
@@ -0,0 +1,10 @@
+arm_group:
+# arm:
+  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+  kinematics_solver_search_resolution: 0.005
+  kinematics_solver_timeout: 0.005
+gripper_group:
+# gripper:
+  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+  kinematics_solver_search_resolution: 0.005
+  kinematics_solver_timeout: 0.005
\ No newline at end of file
diff --git a/mycobot_pro/new_mycobot_630_gripper_moveit/config/ompl_planning.yaml b/mycobot_pro/new_mycobot_630_gripper_moveit/config/ompl_planning.yaml
new file mode 100755
index 0000000..59f5233
--- /dev/null
+++ b/mycobot_pro/new_mycobot_630_gripper_moveit/config/ompl_planning.yaml
@@ -0,0 +1,187 @@
+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()
+  EST:
+    type: geometric::EST
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+  LBKPIECE:
+    type: geometric::LBKPIECE
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9
+    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
+  BKPIECE:
+    type: geometric::BKPIECE
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9
+    failed_expansion_score_factor: 0.5  # When extending motion fails, scale score by factor. default: 0.5
+    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
+  KPIECE:
+    type: geometric::KPIECE
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9 (0.0,1.]
+    failed_expansion_score_factor: 0.5  # When extending motion fails, scale score by factor. default: 0.5
+    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
+  RRT:
+    type: geometric::RRT
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
+  RRTConnect:
+    type: geometric::RRTConnect
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+  RRTstar:
+    type: geometric::RRTstar
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
+    delay_collision_checking: 1  # Stop collision checking as soon as C-free parent found. default 1
+  TRRT:
+    type: geometric::TRRT
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
+    max_states_failed: 10  # when to start increasing temp. default: 10
+    temp_change_factor: 2.0  # how much to increase or decrease temp. default: 2.0
+    min_temperature: 10e-10  # lower limit of temp change. default: 10e-10
+    init_temperature: 10e-6  # initial temperature. default: 10e-6
+    frountier_threshold: 0.0  # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
+    frountierNodeRatio: 0.1  # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
+    k_constant: 0.0  # value used to normalize expresssion. default: 0.0 set in setup()
+  PRM:
+    type: geometric::PRM
+    max_nearest_neighbors: 10  # use k nearest neighbors. default: 10
+  PRMstar:
+    type: geometric::PRMstar
+  FMT:
+    type: geometric::FMT
+    num_samples: 1000  # number of states that the planner should sample. default: 1000
+    radius_multiplier: 1.1  # multiplier used for the nearest neighbors search radius. default: 1.1
+    nearest_k: 1  # use Knearest strategy. default: 1
+    cache_cc: 1  # use collision checking cache. default: 1
+    heuristics: 0  # activate cost to go heuristics. default: 0
+    extended_fmt: 1  # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1
+  BFMT:
+    type: geometric::BFMT
+    num_samples: 1000  # number of states that the planner should sample. default: 1000
+    radius_multiplier: 1.0  # multiplier used for the nearest neighbors search radius. default: 1.0
+    nearest_k: 1  # use the Knearest strategy. default: 1
+    balanced: 0  # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1
+    optimality: 1  # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1
+    heuristics: 1  # activates cost to go heuristics. default: 1
+    cache_cc: 1  # use the collision checking cache. default: 1
+    extended_fmt: 1  # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1
+  PDST:
+    type: geometric::PDST
+  STRIDE:
+    type: geometric::STRIDE
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+    use_projected_distance: 0  # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0
+    degree: 16  # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16
+    max_degree: 18  # max degree of a node in the GNAT. default: 12
+    min_degree: 12  # min degree of a node in the GNAT. default: 12
+    max_pts_per_leaf: 6  # max points per leaf in the GNAT. default: 6
+    estimated_dimension: 0.0  # estimated dimension of the free space. default: 0.0
+    min_valid_path_fraction: 0.2  # Accept partially valid moves above fraction. default: 0.2
+  BiTRRT:
+    type: geometric::BiTRRT
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    temp_change_factor: 0.1  # how much to increase or decrease temp. default: 0.1
+    init_temperature: 100  # initial temperature. default: 100
+    frountier_threshold: 0.0  # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
+    frountier_node_ratio: 0.1  # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
+    cost_threshold: 1e300  # the cost threshold. Any motion cost that is not better will not be expanded. default: inf
+  LBTRRT:
+    type: geometric::LBTRRT
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+    epsilon: 0.4  # optimality approximation factor. default: 0.4
+  BiEST:
+    type: geometric::BiEST
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+  ProjEST:
+    type: geometric::ProjEST
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+  LazyPRM:
+    type: geometric::LazyPRM
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+  LazyPRMstar:
+    type: geometric::LazyPRMstar
+  SPARS:
+    type: geometric::SPARS
+    stretch_factor: 3.0  # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
+    sparse_delta_fraction: 0.25  # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
+    dense_delta_fraction: 0.001  # delta fraction for interface detection. default: 0.001
+    max_failures: 1000  # maximum consecutive failure limit. default: 1000
+  SPARStwo:
+    type: geometric::SPARStwo
+    stretch_factor: 3.0  # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
+    sparse_delta_fraction: 0.25  # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
+    dense_delta_fraction: 0.001  # delta fraction for interface detection. default: 0.001
+    max_failures: 5000  # maximum consecutive failure limit. default: 5000
+arm_group:
+# arm:
+  default_planner_config: RRTConnect
+  planner_configs:
+    - AnytimePathShortening
+    - SBL
+    - EST
+    - LBKPIECE
+    - BKPIECE
+    - KPIECE
+    - RRT
+    - RRTConnect
+    - RRTstar
+    - TRRT
+    - PRM
+    - PRMstar
+    - FMT
+    - BFMT
+    - PDST
+    - STRIDE
+    - BiTRRT
+    - LBTRRT
+    - BiEST
+    - ProjEST
+    - LazyPRM
+    - LazyPRMstar
+    - SPARS
+    - SPARStwo
+  projection_evaluator: joints(joint2_to_joint1,joint3_to_joint2)
+  longest_valid_segment_fraction: 0.005
+gripper_group:
+# gripper:
+  default_planner_config: RRTConnect
+  planner_configs:
+    - AnytimePathShortening
+    - SBL
+    - EST
+    - LBKPIECE
+    - BKPIECE
+    - KPIECE
+    - RRT
+    - RRTConnect
+    - RRTstar
+    - TRRT
+    - PRM
+    - PRMstar
+    - FMT
+    - BFMT
+    - PDST
+    - STRIDE
+    - BiTRRT
+    - LBTRRT
+    - BiEST
+    - ProjEST
+    - LazyPRM
+    - LazyPRMstar
+    - SPARS
+    - SPARStwo
diff --git a/mycobot_pro/new_mycobot_630_gripper_moveit/config/ros_controllers.yaml b/mycobot_pro/new_mycobot_630_gripper_moveit/config/ros_controllers.yaml
new file mode 100755
index 0000000..bee9fae
--- /dev/null
+++ b/mycobot_pro/new_mycobot_630_gripper_moveit/config/ros_controllers.yaml
@@ -0,0 +1,52 @@
+arm_group_controller:
+# arm_controller:
+  type: effort_controllers/JointTrajectoryController
+  joints:
+    - joint2_to_joint1
+    - joint3_to_joint2
+    - joint4_to_joint3
+    - joint5_to_joint4
+    - joint6_to_joint5
+    - joint6output_to_joint6
+  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
+gripper_group_controller:
+# gripper_controller:
+  type: effort_controllers/JointTrajectoryController
+  joints:
+    - gripper_controller
+  gains:
+    gripper_controller:
+      p: 100
+      d: 1
+      i: 1
+      i_clamp: 1
\ No newline at end of file
diff --git a/mycobot_pro/new_mycobot_630_gripper_moveit/config/sensors_3d.yaml b/mycobot_pro/new_mycobot_630_gripper_moveit/config/sensors_3d.yaml
new file mode 100755
index 0000000..51010a3
--- /dev/null
+++ b/mycobot_pro/new_mycobot_630_gripper_moveit/config/sensors_3d.yaml
@@ -0,0 +1,2 @@
+sensors:
+  []
\ No newline at end of file
diff --git a/mycobot_pro/new_mycobot_630_gripper_moveit/config/simple_moveit_controllers.yaml b/mycobot_pro/new_mycobot_630_gripper_moveit/config/simple_moveit_controllers.yaml
new file mode 100755
index 0000000..0031f9c
--- /dev/null
+++ b/mycobot_pro/new_mycobot_630_gripper_moveit/config/simple_moveit_controllers.yaml
@@ -0,0 +1,20 @@
+controller_list:
+  - name: arm_group_controller
+  # - name: arm_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
+  - name: gripper_group_controller
+  # - name: gripper_controller
+    action_ns: follow_joint_trajectory
+    type: FollowJointTrajectory
+    default: True
+    joints:
+      - gripper_controller
\ No newline at end of file
diff --git a/mycobot_pro/new_mycobot_630_gripper_moveit/config/stomp_planning.yaml b/mycobot_pro/new_mycobot_630_gripper_moveit/config/stomp_planning.yaml
new file mode 100755
index 0000000..90716ca
--- /dev/null
+++ b/mycobot_pro/new_mycobot_630_gripper_moveit/config/stomp_planning.yaml
@@ -0,0 +1,78 @@
+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
+stomp/gripper_group:
+  group_name: gripper_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]
+    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/new_mycobot_630_gripper_moveit/launch/chomp_planning_pipeline.launch.xml b/mycobot_pro/new_mycobot_630_gripper_moveit/launch/chomp_planning_pipeline.launch.xml
new file mode 100755
index 0000000..1969861
--- /dev/null
+++ b/mycobot_pro/new_mycobot_630_gripper_moveit/launch/chomp_planning_pipeline.launch.xml
@@ -0,0 +1,23 @@
+<launch>
+  <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/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="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)" />
+
+  <!-- Add MoveGroup capabilities specific to this pipeline -->
+  <!-- <param name="capabilities" value="" /> -->
+
+  <rosparam command="load" file="$(find new_mycobot_630_gripper_moveit)/config/chomp_planning.yaml" />
+</launch>
diff --git a/mycobot_pro/new_mycobot_630_gripper_moveit/launch/default_warehouse_db.launch b/mycobot_pro/new_mycobot_630_gripper_moveit/launch/default_warehouse_db.launch
new file mode 100755
index 0000000..efe2b55
--- /dev/null
+++ b/mycobot_pro/new_mycobot_630_gripper_moveit/launch/default_warehouse_db.launch
@@ -0,0 +1,15 @@
+<launch>
+
+  <arg name="reset" default="false"/>
+  <!-- If not specified, we'll use a default database location -->
+  <arg name="moveit_warehouse_database_path" default="$(find new_mycobot_630_gripper_moveit)/default_warehouse_mongo_db" />
+
+  <!-- Launch the warehouse with the configured database location -->
+  <include file="$(dirname)/warehouse.launch">
+    <arg name="moveit_warehouse_database_path" value="$(arg moveit_warehouse_database_path)" />
+  </include>
+
+  <!-- If we want to reset the database, run this node -->
+  <node if="$(arg reset)" name="$(anon moveit_default_db_reset)" type="moveit_init_demo_warehouse" pkg="moveit_ros_warehouse" respawn="false" output="screen" />
+
+</launch>
diff --git a/mycobot_pro/new_mycobot_630_gripper_moveit/launch/demo.launch b/mycobot_pro/new_mycobot_630_gripper_moveit/launch/demo.launch
new file mode 100755
index 0000000..344254c
--- /dev/null
+++ b/mycobot_pro/new_mycobot_630_gripper_moveit/launch/demo.launch
@@ -0,0 +1,69 @@
+<launch>
+
+  <!-- specify the planning pipeline -->
+  <arg name="pipeline" default="ompl" />
+
+  <!-- By default, we do not start a database (it can be large) -->
+  <arg name="db" default="false" />
+  <!-- Allow user to specify database location -->
+  <arg name="db_path" default="$(find new_mycobot_630_gripper_moveit)/default_warehouse_mongo_db" />
+
+  <!-- By default, we are not in debug mode -->
+  <arg name="debug" default="false" />
+
+  <!-- By default, we will load or override the robot_description -->
+  <arg name="load_robot_description" default="true"/>
+
+  <!-- Choose controller manager: fake, simple, or ros_control -->
+  <arg name="moveit_controller_manager" default="fake" />
+  <!-- Set execution mode for fake execution controllers -->
+  <arg name="fake_execution_type" default="interpolate" />
+
+  <!-- By default, hide joint_state_publisher's GUI in 'fake' controller_manager mode -->
+  <arg name="use_gui" default="false" />
+  <arg name="use_rviz" default="true" />
+
+  <!-- If needed, broadcast static tf for robot root -->
+  <node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world base" />
+
+
+
+  <group if="$(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 -->
+    <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) -->
+  <include file="$(dirname)/move_group.launch">
+    <arg name="allow_trajectory_execution" value="true"/>
+    <arg name="moveit_controller_manager" value="$(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 -->
+  <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 -->
+  <include file="$(dirname)/default_warehouse_db.launch" if="$(arg db)">
+    <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
+  </include>
+
+</launch>
diff --git a/mycobot_pro/new_mycobot_630_gripper_moveit/launch/demo_gazebo.launch b/mycobot_pro/new_mycobot_630_gripper_moveit/launch/demo_gazebo.launch
new file mode 100755
index 0000000..a9f320c
--- /dev/null
+++ b/mycobot_pro/new_mycobot_630_gripper_moveit/launch/demo_gazebo.launch
@@ -0,0 +1,21 @@
+<launch>
+
+  <!-- specify the planning pipeline -->
+  <arg name="pipeline" default="ompl" />
+
+  <!-- Gazebo specific options -->
+  <arg name="gazebo_gui" default="true"/>
+  <arg name="paused" default="false"/>
+
+  <!-- launch the gazebo simulator and spawn the robot -->
+  <include file="$(dirname)/gazebo.launch" >
+    <arg name="paused" value="$(arg paused)"/>
+    <arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
+  </include>
+
+  <include file="$(dirname)/demo.launch" pass_all_args="true">
+    <!-- robot description is loaded by gazebo.launch, to enable Gazebo features -->
+    <arg name="load_robot_description" value="false" />
+    <arg name="moveit_controller_manager" value="ros_control" />
+  </include>
+</launch>
diff --git a/mycobot_pro/new_mycobot_630_gripper_moveit/launch/fake_moveit_controller_manager.launch.xml b/mycobot_pro/new_mycobot_630_gripper_moveit/launch/fake_moveit_controller_manager.launch.xml
new file mode 100755
index 0000000..faf051e
--- /dev/null
+++ b/mycobot_pro/new_mycobot_630_gripper_moveit/launch/fake_moveit_controller_manager.launch.xml
@@ -0,0 +1,12 @@
+<launch>
+
+  <!-- execute the trajectory in 'interpolate' mode or jump to goal position in 'last point' mode -->
+  <arg name="fake_execution_type" default="interpolate" />
+
+  <!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
+  <param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/>
+
+  <!-- The rest of the params are specific to this plugin -->
+  <rosparam subst_value="true" file="$(find new_mycobot_630_gripper_moveit)/config/fake_controllers.yaml"/>
+
+</launch>
diff --git a/mycobot_pro/new_mycobot_630_gripper_moveit/launch/firefighter_moveit_sensor_manager.launch.xml b/mycobot_pro/new_mycobot_630_gripper_moveit/launch/firefighter_moveit_sensor_manager.launch.xml
new file mode 100755
index 0000000..5d02698
--- /dev/null
+++ b/mycobot_pro/new_mycobot_630_gripper_moveit/launch/firefighter_moveit_sensor_manager.launch.xml
@@ -0,0 +1,3 @@
+<launch>
+
+</launch>
diff --git a/mycobot_pro/new_mycobot_630_gripper_moveit/launch/gazebo.launch b/mycobot_pro/new_mycobot_630_gripper_moveit/launch/gazebo.launch
new file mode 100755
index 0000000..5db1141
--- /dev/null
+++ b/mycobot_pro/new_mycobot_630_gripper_moveit/launch/gazebo.launch
@@ -0,0 +1,32 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="paused" default="false"/>
+  <arg name="gazebo_gui" default="true"/>
+  <arg name="initial_joint_positions" doc="Initial joint configuration of the robot"
+       default=" -J gripper_controller 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 -J joint6output_to_joint6 0"/>
+
+  <!-- startup simulated world -->
+  <include file="$(find gazebo_ros)/launch/empty_world.launch">
+    <arg name="world_name" default="worlds/empty.world"/>
+    <arg name="paused" value="true"/>
+    <arg name="gui" value="$(arg gazebo_gui)"/>
+  </include>
+
+  <!-- send robot urdf to param server -->
+  <param name="robot_description" textfile="$(find mycobot_description)/urdf/mycobot_320_m5_2020/mycobot_pro_320_m5_2020_gripper.urdf" />
+
+  <!-- unpause only after loading robot model -->
+  <arg name="unpause" value="$(eval '' if arg('paused') else '-unpause')" />
+  <!-- push robot_description to factory and spawn robot in gazebo at the origin, change x,y,z arguments to spawn in a different position -->
+  <arg name="world_pose" value="-x 0 -y 0 -z 0" />
+  <node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot $(arg unpause) $(arg world_pose) $(arg initial_joint_positions)"
+    respawn="false" output="screen" />
+
+  <!-- Load joint controller parameters for Gazebo -->
+  <rosparam file="$(find new_mycobot_630_gripper_moveit)/config/gazebo_controllers.yaml" />
+  <!-- Spawn Gazebo ROS controllers -->
+  <node name="gazebo_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_state_controller" />
+  <!-- Load ROS controllers -->
+  <include file="$(dirname)/ros_controllers.launch"/>
+
+</launch>
diff --git a/mycobot_pro/new_mycobot_630_gripper_moveit/launch/joystick_control.launch b/mycobot_pro/new_mycobot_630_gripper_moveit/launch/joystick_control.launch
new file mode 100755
index 0000000..9411f6e
--- /dev/null
+++ b/mycobot_pro/new_mycobot_630_gripper_moveit/launch/joystick_control.launch
@@ -0,0 +1,17 @@
+<launch>
+  <!-- See moveit_ros/visualization/doc/joystick.rst for documentation -->
+
+  <arg name="dev" default="/dev/input/js0" />
+
+  <!-- Launch joy node -->
+  <node pkg="joy" type="joy_node" name="joy">
+    <param name="dev" value="$(arg dev)" /> <!-- Customize this to match the location your joystick is plugged in on-->
+    <param name="deadzone" value="0.2" />
+    <param name="autorepeat_rate" value="40" />
+    <param name="coalesce_interval" value="0.025" />
+  </node>
+
+  <!-- Launch python interface -->
+  <node pkg="moveit_ros_visualization" type="moveit_joy.py" output="screen" name="moveit_joy"/>
+
+</launch>
diff --git a/mycobot_pro/new_mycobot_630_gripper_moveit/launch/move_group.launch b/mycobot_pro/new_mycobot_630_gripper_moveit/launch/move_group.launch
new file mode 100755
index 0000000..4ff2e39
--- /dev/null
+++ b/mycobot_pro/new_mycobot_630_gripper_moveit/launch/move_group.launch
@@ -0,0 +1,101 @@
+<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 $(dirname)/gdb_settings.gdb --ex run --args" />
+
+  <!-- Verbose Mode Option -->
+  <arg name="info" default="$(arg debug)" />
+  <arg unless="$(arg info)" name="command_args" value="" />
+  <arg     if="$(arg info)" name="command_args" value="--debug" />
+
+  <!-- move_group settings -->
+  <arg name="pipeline" default="ompl" />
+  <arg name="allow_trajectory_execution" default="true"/>
+  <arg name="moveit_controller_manager" default="simple" />
+  <arg name="fake_execution_type" default="interpolate"/>
+  <arg name="max_safe_path_cost" default="1"/>
+  <arg name="publish_monitored_planning_scene" default="true"/>
+
+  <arg name="capabilities" default=""/>
+  <arg name="disable_capabilities" default=""/>
+  <!-- load these non-default MoveGroup capabilities (space seperated) -->
+  <!--
+  <arg name="capabilities" value="
+                a_package/AwsomeMotionPlanningCapability
+                another_package/GraspPlanningPipeline
+                " />
+  -->
+
+  <!-- inhibit these default MoveGroup capabilities (space seperated) -->
+  <!--
+  <arg name="disable_capabilities" value="
+                move_group/MoveGroupKinematicsService
+                move_group/ClearOctomapService
+                " />
+  -->
+
+  <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="$(dirname)/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
+    <arg name="moveit_manage_controllers" value="true" />
+    <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="$(dirname)/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
+    <arg name="moveit_sensor_manager" value="firefighter" />
+  </include>
+
+  <!-- Start the actual move_group node/action server -->
+  <node name="move_group" launch-prefix="$(arg launch_prefix)" pkg="moveit_ros_move_group" type="move_group" respawn="false" output="screen" args="$(arg command_args)">
+    <!-- Set the display variable, in case OpenGL code is used internally -->
+    <env name="DISPLAY" value="$(optenv DISPLAY :0)" />
+
+    <param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/>
+    <param name="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)" />
+
+    <!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot -->
+    <param name="planning_scene_monitor/publish_planning_scene" value="$(arg publish_monitored_planning_scene)" />
+    <param name="planning_scene_monitor/publish_geometry_updates" value="$(arg publish_monitored_planning_scene)" />
+    <param name="planning_scene_monitor/publish_state_updates" value="$(arg publish_monitored_planning_scene)" />
+    <param name="planning_scene_monitor/publish_transforms_updates" value="$(arg publish_monitored_planning_scene)" />
+  </node>
+
+</launch>
diff --git a/mycobot_pro/new_mycobot_630_gripper_moveit/launch/moveit.rviz b/mycobot_pro/new_mycobot_630_gripper_moveit/launch/moveit.rviz
new file mode 100755
index 0000000..6fe812f
--- /dev/null
+++ b/mycobot_pro/new_mycobot_630_gripper_moveit/launch/moveit.rviz
@@ -0,0 +1,387 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 0
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /MotionPlanning1
+        - /MotionPlanning1/Scene Robot1
+        - /MotionPlanning1/Planning Request1
+        - /MotionPlanning1/Planned Path1
+      Splitter Ratio: 0.5
+    Tree Height: 200
+  - Class: rviz/Help
+    Name: Help
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Acceleration_Scaling_Factor: 0.1
+      Class: moveit_rviz_plugin/MotionPlanning
+      Enabled: true
+      JointsTab_Use_Radians: true
+      Move Group Namespace: ""
+      MoveIt_Allow_Approximate_IK: true
+      MoveIt_Allow_External_Program: false
+      MoveIt_Allow_Replanning: false
+      MoveIt_Allow_Sensor_Positioning: false
+      MoveIt_Planning_Attempts: 10
+      MoveIt_Planning_Time: 5
+      MoveIt_Use_Cartesian_Path: true
+      MoveIt_Use_Constraint_Aware_IK: true
+      MoveIt_Workspace:
+        Center:
+          X: 0
+          Y: 0
+          Z: 0
+        Size:
+          X: 2
+          Y: 2
+          Z: 2
+      Name: MotionPlanning
+      Planned Path:
+        Color Enabled: false
+        Interrupt Display: false
+        Links:
+          All Links Enabled: true
+          Expand Joint Details: false
+          Expand Link Details: false
+          Expand Tree: false
+          Link Tree Style: Links in Alphabetic Order
+          base:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_base:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_left1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_left2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_left3:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_right1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_right2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_right3:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          joint1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          joint2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          joint3:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          joint4:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          joint5:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          joint6:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          tool1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          tool2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+        Loop Animation: false
+        Robot Alpha: 0.5
+        Robot Color: 150; 50; 150
+        Show Robot Collision: false
+        Show Robot Visual: true
+        Show Trail: false
+        State Display Time: 0.05 s
+        Trail Step Size: 1
+        Trajectory Topic: move_group/display_planned_path
+        Use Sim Time: false
+      Planning Metrics:
+        Payload: 1
+        Show Joint Torques: false
+        Show Manipulability: false
+        Show Manipulability Index: false
+        Show Weight Limit: false
+        TextHeight: 0.07999999821186066
+      Planning Request:
+        Colliding Link Color: 255; 0; 0
+        Goal State Alpha: 1
+        Goal State Color: 250; 128; 0
+        Interactive Marker Size: 0.20000000298023224
+        Joint Violation Color: 255; 0; 255
+        Planning Group: arm_group
+        Query Goal State: true
+        Query Start State: true
+        Show Workspace: false
+        Start State Alpha: 1
+        Start State Color: 0; 255; 0
+      Planning Scene Topic: move_group/monitored_planning_scene
+      Robot Description: robot_description
+      Scene Geometry:
+        Scene Alpha: 1
+        Scene Color: 50; 230; 50
+        Scene Display Time: 0.009999999776482582
+        Show Scene Geometry: true
+        Voxel Coloring: Z-Axis
+        Voxel Rendering: Occupied Voxels
+      Scene Robot:
+        Attached Body Color: 150; 50; 150
+        Links:
+          All Links Enabled: true
+          Expand Joint Details: false
+          Expand Link Details: false
+          Expand Tree: false
+          Link Tree Style: Links in Alphabetic Order
+          base:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_base:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_left1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_left2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_left3:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_right1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_right2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_right3:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          joint1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          joint2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          joint3:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          joint4:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          joint5:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          joint6:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          tool1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          tool2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+        Robot Alpha: 0.5
+        Show Robot Collision: false
+        Show Robot Visual: true
+      Value: true
+      Velocity_Scaling_Factor: 0.1
+    - Class: rviz/Marker
+      Enabled: true
+      Marker Topic: visualization_marker
+      Name: Marker
+      Namespaces:
+        {}
+      Queue Size: 100
+      Value: true
+    - Class: rviz/InteractiveMarkers
+      Enable Transparency: true
+      Enabled: true
+      Name: InteractiveMarkers
+      Show Axes: false
+      Show Descriptions: true
+      Show Visual Aids: false
+      Update Topic: ""
+      Value: true
+    - Class: rviz/InteractiveMarkers
+      Enable Transparency: true
+      Enabled: true
+      Name: InteractiveMarkers
+      Show Axes: false
+      Show Descriptions: true
+      Show Visual Aids: false
+      Update Topic: ""
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: base
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 1.4812843799591064
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Field of View: 0.75
+      Focal Point:
+        X: 0.25592494010925293
+        Y: 0.2098711133003235
+        Z: 0.08102890849113464
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.5900000929832458
+      Target Frame: base
+      Yaw: 6.124949932098389
+    Saved:
+      - Class: rviz/Orbit
+        Distance: 2
+        Enable Stereo Rendering:
+          Stereo Eye Separation: 0.05999999865889549
+          Stereo Focal Distance: 1
+          Swap Stereo Eyes: false
+          Value: false
+        Field of View: 0.75
+        Focal Point:
+          X: -0.10000000149011612
+          Y: 0.25
+          Z: 0.30000001192092896
+        Focal Shape Fixed Size: true
+        Focal Shape Size: 0.05000000074505806
+        Invert Z Axis: false
+        Name: Orbit
+        Near Clip Distance: 0.009999999776482582
+        Pitch: 0.3399999737739563
+        Target Frame: base
+        Yaw: 2.9449498653411865
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 820
+  Help:
+    collapsed: false
+  Hide Left Dock: false
+  Hide Right Dock: false
+  MotionPlanning:
+    collapsed: false
+  MotionPlanning - Trajectory Slider:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd0000000100000000000001f3000002dafc0200000007fb000000100044006900730070006c006100790073010000003d00000105000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720100000148000000410000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000018f000001880000018800ffffff00000539000002da00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Views:
+    collapsed: false
+  Width: 1842
+  X: 72
+  Y: 27
diff --git a/mycobot_pro/new_mycobot_630_gripper_moveit/launch/moveit_rviz.launch b/mycobot_pro/new_mycobot_630_gripper_moveit/launch/moveit_rviz.launch
new file mode 100755
index 0000000..a4605c0
--- /dev/null
+++ b/mycobot_pro/new_mycobot_630_gripper_moveit/launch/moveit_rviz.launch
@@ -0,0 +1,15 @@
+<launch>
+
+  <arg name="debug" default="false" />
+  <arg unless="$(arg debug)" name="launch_prefix" value="" />
+  <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
+
+  <arg name="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">
+  </node>
+
+</launch>
diff --git a/mycobot_pro/new_mycobot_630_gripper_moveit/launch/mycobot630_gripper_moveit.launch b/mycobot_pro/new_mycobot_630_gripper_moveit/launch/mycobot630_gripper_moveit.launch
new file mode 100755
index 0000000..344254c
--- /dev/null
+++ b/mycobot_pro/new_mycobot_630_gripper_moveit/launch/mycobot630_gripper_moveit.launch
@@ -0,0 +1,69 @@
+<launch>
+
+  <!-- specify the planning pipeline -->
+  <arg name="pipeline" default="ompl" />
+
+  <!-- By default, we do not start a database (it can be large) -->
+  <arg name="db" default="false" />
+  <!-- Allow user to specify database location -->
+  <arg name="db_path" default="$(find new_mycobot_630_gripper_moveit)/default_warehouse_mongo_db" />
+
+  <!-- By default, we are not in debug mode -->
+  <arg name="debug" default="false" />
+
+  <!-- By default, we will load or override the robot_description -->
+  <arg name="load_robot_description" default="true"/>
+
+  <!-- Choose controller manager: fake, simple, or ros_control -->
+  <arg name="moveit_controller_manager" default="fake" />
+  <!-- Set execution mode for fake execution controllers -->
+  <arg name="fake_execution_type" default="interpolate" />
+
+  <!-- By default, hide joint_state_publisher's GUI in 'fake' controller_manager mode -->
+  <arg name="use_gui" default="false" />
+  <arg name="use_rviz" default="true" />
+
+  <!-- If needed, broadcast static tf for robot root -->
+  <node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world base" />
+
+
+
+  <group if="$(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 -->
+    <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) -->
+  <include file="$(dirname)/move_group.launch">
+    <arg name="allow_trajectory_execution" value="true"/>
+    <arg name="moveit_controller_manager" value="$(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 -->
+  <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 -->
+  <include file="$(dirname)/default_warehouse_db.launch" if="$(arg db)">
+    <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
+  </include>
+
+</launch>
diff --git a/mycobot_pro/new_mycobot_630_gripper_moveit/launch/ompl-chomp_planning_pipeline.launch.xml b/mycobot_pro/new_mycobot_630_gripper_moveit/launch/ompl-chomp_planning_pipeline.launch.xml
new file mode 100755
index 0000000..b078992
--- /dev/null
+++ b/mycobot_pro/new_mycobot_630_gripper_moveit/launch/ompl-chomp_planning_pipeline.launch.xml
@@ -0,0 +1,19 @@
+<launch>
+  <!-- load OMPL planning pipeline, but add the CHOMP planning adapter. -->
+  <include file="$(find panda_moveit_config)/launch/ompl_planning_pipeline.launch.xml">
+    <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
+       chomp/OptimizerAdapter"
+       />
+  </include>
+
+  <!-- load chomp config -->
+  <rosparam command="load" file="$(find panda_moveit_config)/config/chomp_planning.yaml"/>
+
+  <!-- override trajectory_initialization_method: Use OMPL-generated trajectory -->
+  <param name="trajectory_initialization_method" value="fillTrajectory"/>
+</launch>
diff --git a/mycobot_pro/new_mycobot_630_gripper_moveit/launch/ompl_planning_pipeline.launch.xml b/mycobot_pro/new_mycobot_630_gripper_moveit/launch/ompl_planning_pipeline.launch.xml
new file mode 100755
index 0000000..002b2d1
--- /dev/null
+++ b/mycobot_pro/new_mycobot_630_gripper_moveit/launch/ompl_planning_pipeline.launch.xml
@@ -0,0 +1,26 @@
+<launch>
+
+  <!-- The request adapters (plugins) used when planning with OMPL. ORDER MATTERS! -->
+  <arg name="planning_adapters"
+       default="default_planner_request_adapters/AddTimeParameterization
+                default_planner_request_adapters/ResolveConstraintFrames
+                default_planner_request_adapters/FixWorkspaceBounds
+                default_planner_request_adapters/FixStartStateBounds
+                default_planner_request_adapters/FixStartStateCollision
+                default_planner_request_adapters/FixStartStatePathConstraints"
+                />
+
+  <arg name="start_state_max_bounds_error" default="0.1" />
+  <arg name="jiggle_fraction" default="0.05" />
+
+  <param name="planning_plugin" value="ompl_interface/OMPLPlanner" />
+  <param name="request_adapters" value="$(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)" />
+
+  <!-- Add MoveGroup capabilities specific to this pipeline -->
+  <!-- <param name="capabilities" value="" /> -->
+
+  <rosparam command="load" file="$(find new_mycobot_630_gripper_moveit)/config/ompl_planning.yaml"/>
+
+</launch>
diff --git a/mycobot_pro/new_mycobot_630_gripper_moveit/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml b/mycobot_pro/new_mycobot_630_gripper_moveit/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml
new file mode 100755
index 0000000..c7c4cf5
--- /dev/null
+++ b/mycobot_pro/new_mycobot_630_gripper_moveit/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml
@@ -0,0 +1,15 @@
+<launch>
+
+  <!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
+  <arg name="planning_adapters" default="" />
+
+  <param name="planning_plugin" value="pilz_industrial_motion_planner::CommandPlanner" />
+  <param name="request_adapters" value="$(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/new_mycobot_630_gripper_moveit/launch/planning_context.launch b/mycobot_pro/new_mycobot_630_gripper_moveit/launch/planning_context.launch
new file mode 100755
index 0000000..f482fa9
--- /dev/null
+++ b/mycobot_pro/new_mycobot_630_gripper_moveit/launch/planning_context.launch
@@ -0,0 +1,28 @@
+<launch>
+  <!-- By default we do not overwrite the URDF. Change the following to true to change the default behavior -->
+  <arg name="load_robot_description" default="false"/>
+
+  <!-- The name of the parameter under which the URDF is loaded -->
+  <arg name="robot_description" default="robot_description"/>
+
+  <!-- Load universal robot description format (URDF) -->
+  <!-- <param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/mycobot_320_m5_2020/mycobot_pro_320_m5_2020_gripper.urdf"/> -->
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/mycobot_pro_630/mycobot_630_gripper.urdf"/>
+
+  <!-- The semantic description that corresponds to the SRDF -->
+  <!-- <param name="$(arg robot_description)_semantic" textfile="$(find new_mycobot_630_gripper_moveit)/config/firefighter.srdf" /> -->
+  <param name="$(arg robot_description)_semantic" textfile="$(find new_mycobot_630_gripper_moveit)/config/firefighter.srdf" />
+
+  <!-- Load updated joint limits (override information from URDF) -->
+  <group ns="$(arg robot_description)_planning">
+    <rosparam command="load" file="$(find new_mycobot_630_gripper_moveit)/config/joint_limits.yaml"/>
+    <rosparam command="load" file="$(find new_mycobot_630_gripper_moveit)/config/cartesian_limits.yaml"/>
+  </group>
+
+  <!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->
+  <group ns="$(arg robot_description)_kinematics">
+    <rosparam command="load" file="$(find new_mycobot_630_gripper_moveit)/config/kinematics.yaml"/>
+
+  </group>
+
+</launch>
diff --git a/mycobot_pro/new_mycobot_630_gripper_moveit/launch/planning_pipeline.launch.xml b/mycobot_pro/new_mycobot_630_gripper_moveit/launch/planning_pipeline.launch.xml
new file mode 100755
index 0000000..4b4d0d6
--- /dev/null
+++ b/mycobot_pro/new_mycobot_630_gripper_moveit/launch/planning_pipeline.launch.xml
@@ -0,0 +1,10 @@
+<launch>
+
+  <!-- This file makes it easy to include different planning pipelines;
+       It is assumed that all planning pipelines are named XXX_planning_pipeline.launch  -->
+
+  <arg name="pipeline" default="ompl" />
+
+  <include ns="$(arg pipeline)" file="$(dirname)/$(arg pipeline)_planning_pipeline.launch.xml" />
+
+</launch>
diff --git a/mycobot_pro/new_mycobot_630_gripper_moveit/launch/ros_control_moveit_controller_manager.launch.xml b/mycobot_pro/new_mycobot_630_gripper_moveit/launch/ros_control_moveit_controller_manager.launch.xml
new file mode 100755
index 0000000..9ebc91c
--- /dev/null
+++ b/mycobot_pro/new_mycobot_630_gripper_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/new_mycobot_630_gripper_moveit/launch/ros_controllers.launch b/mycobot_pro/new_mycobot_630_gripper_moveit/launch/ros_controllers.launch
new file mode 100755
index 0000000..9ea2c8f
--- /dev/null
+++ b/mycobot_pro/new_mycobot_630_gripper_moveit/launch/ros_controllers.launch
@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<launch>
+
+  <!-- Load joint controller configurations from YAML file to parameter server -->
+  <rosparam file="$(find new_mycobot_630_gripper_moveit)/config/ros_controllers.yaml" command="load"/>
+
+  <!-- Load the controllers -->
+  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
+    output="screen" args="arm_group_controller gripper_group_controller "/>
+
+</launch>
diff --git a/mycobot_pro/new_mycobot_630_gripper_moveit/launch/run_benchmark_ompl.launch b/mycobot_pro/new_mycobot_630_gripper_moveit/launch/run_benchmark_ompl.launch
new file mode 100755
index 0000000..a61f47b
--- /dev/null
+++ b/mycobot_pro/new_mycobot_630_gripper_moveit/launch/run_benchmark_ompl.launch
@@ -0,0 +1,21 @@
+<launch>
+
+  <!-- This argument must specify the list of .cfg files to process for benchmarking -->
+  <arg name="cfg" />
+
+  <!-- Load URDF -->
+  <include file="$(dirname)/planning_context.launch">
+    <arg name="load_robot_description" value="true"/>
+  </include>
+
+  <!-- Start the database -->
+  <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 new_mycobot_630_gripper_moveit)/config/ompl_planning.yaml"/>
+  </node>
+
+</launch>
diff --git a/mycobot_pro/new_mycobot_630_gripper_moveit/launch/sensor_manager.launch.xml b/mycobot_pro/new_mycobot_630_gripper_moveit/launch/sensor_manager.launch.xml
new file mode 100755
index 0000000..28bcecf
--- /dev/null
+++ b/mycobot_pro/new_mycobot_630_gripper_moveit/launch/sensor_manager.launch.xml
@@ -0,0 +1,17 @@
+<launch>
+
+  <!-- This file makes it easy to include the settings for sensor managers -->
+
+  <!-- Params for 3D sensors config -->
+  <rosparam command="load" file="$(find new_mycobot_630_gripper_moveit)/config/sensors_3d.yaml" />
+
+  <!-- Params for the octomap monitor -->
+  <!--  <param name="octomap_frame" type="string" value="some frame in which the robot moves" /> -->
+  <param name="octomap_resolution" type="double" value="0.025" />
+  <param name="max_range" type="double" value="5.0" />
+
+  <!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
+  <arg name="moveit_sensor_manager" default="firefighter" />
+  <include file="$(dirname)/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
+
+</launch>
diff --git a/mycobot_pro/new_mycobot_630_gripper_moveit/launch/setup_assistant.launch b/mycobot_pro/new_mycobot_630_gripper_moveit/launch/setup_assistant.launch
new file mode 100755
index 0000000..6c6e06a
--- /dev/null
+++ b/mycobot_pro/new_mycobot_630_gripper_moveit/launch/setup_assistant.launch
@@ -0,0 +1,16 @@
+<!-- Re-launch the MoveIt Setup Assistant with this configuration package already loaded -->
+<launch>
+
+  <!-- Debug Info -->
+  <arg name="debug" default="false" />
+  <arg unless="$(arg debug)" name="launch_prefix" value="" />
+  <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
+
+  <!-- Run -->
+  <node pkg="moveit_setup_assistant" type="moveit_setup_assistant" name="moveit_setup_assistant"
+        args="--config_pkg=new_mycobot_630_gripper_moveit"
+        launch-prefix="$(arg launch_prefix)"
+        required="true"
+        output="screen" />
+
+</launch>
diff --git a/mycobot_pro/new_mycobot_630_gripper_moveit/launch/simple_moveit_controller_manager.launch.xml b/mycobot_pro/new_mycobot_630_gripper_moveit/launch/simple_moveit_controller_manager.launch.xml
new file mode 100755
index 0000000..3e9b2b5
--- /dev/null
+++ b/mycobot_pro/new_mycobot_630_gripper_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="$(find new_mycobot_630_gripper_moveit)/config/simple_moveit_controllers.yaml" />
+  <rosparam file="$(find new_mycobot_630_gripper_moveit)/config/ros_controllers.yaml" />
+</launch>
diff --git a/mycobot_pro/new_mycobot_630_gripper_moveit/launch/stomp_planning_pipeline.launch.xml b/mycobot_pro/new_mycobot_630_gripper_moveit/launch/stomp_planning_pipeline.launch.xml
new file mode 100755
index 0000000..45e6bc5
--- /dev/null
+++ b/mycobot_pro/new_mycobot_630_gripper_moveit/launch/stomp_planning_pipeline.launch.xml
@@ -0,0 +1,25 @@
+<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/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)" />
+
+  <!-- Add MoveGroup capabilities specific to this pipeline -->
+  <!-- <param name="capabilities" value="" /> -->
+
+  <rosparam command="load" file="$(find new_mycobot_630_gripper_moveit)/config/stomp_planning.yaml"/>
+</launch>
diff --git a/mycobot_pro/new_mycobot_630_gripper_moveit/launch/trajectory_execution.launch.xml b/mycobot_pro/new_mycobot_630_gripper_moveit/launch/trajectory_execution.launch.xml
new file mode 100755
index 0000000..20c3dfc
--- /dev/null
+++ b/mycobot_pro/new_mycobot_630_gripper_moveit/launch/trajectory_execution.launch.xml
@@ -0,0 +1,23 @@
+<launch>
+  <!-- This file summarizes all settings required for trajectory execution  -->
+
+  <!-- Define moveit controller manager plugin: fake, simple, or ros_control -->
+  <arg name="moveit_controller_manager" />
+  <arg name="fake_execution_type" default="interpolate" />
+
+  <!-- Flag indicating whether MoveIt is allowed to load/unload  or switch controllers -->
+  <arg name="moveit_manage_controllers" default="true"/>
+  <param name="moveit_manage_controllers" value="$(arg moveit_manage_controllers)"/>
+
+  <!-- When determining the expected duration of a trajectory, this multiplicative factor is applied to get the allowed duration of execution -->
+  <param name="trajectory_execution/allowed_execution_duration_scaling" value="1.2"/> <!-- default 1.2 -->
+  <!-- Allow more than the expected execution time before triggering a trajectory cancel (applied after scaling) -->
+  <param name="trajectory_execution/allowed_goal_duration_margin" value="0.5"/> <!-- default 0.5 -->
+  <!-- Allowed joint-value tolerance for validation that trajectory's first point matches current robot state -->
+  <param name="trajectory_execution/allowed_start_tolerance" value="0.01"/> <!-- default 0.01 -->
+
+  <!-- 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/new_mycobot_630_gripper_moveit/launch/warehouse.launch b/mycobot_pro/new_mycobot_630_gripper_moveit/launch/warehouse.launch
new file mode 100755
index 0000000..0712e67
--- /dev/null
+++ b/mycobot_pro/new_mycobot_630_gripper_moveit/launch/warehouse.launch
@@ -0,0 +1,15 @@
+<launch>
+
+  <!-- The path to the database must be specified -->
+  <arg name="moveit_warehouse_database_path" />
+
+  <!-- Load warehouse parameters -->
+  <include file="$(dirname)/warehouse_settings.launch.xml" />
+
+  <!-- Run the DB server -->
+  <node name="$(anon mongo_wrapper_ros)" cwd="ROS_HOME" type="mongo_wrapper_ros.py" pkg="warehouse_ros_mongo">
+    <param name="overwrite" value="false"/>
+    <param name="database_path" value="$(arg moveit_warehouse_database_path)" />
+  </node>
+
+</launch>
diff --git a/mycobot_pro/new_mycobot_630_gripper_moveit/launch/warehouse_settings.launch.xml b/mycobot_pro/new_mycobot_630_gripper_moveit/launch/warehouse_settings.launch.xml
new file mode 100755
index 0000000..e473b08
--- /dev/null
+++ b/mycobot_pro/new_mycobot_630_gripper_moveit/launch/warehouse_settings.launch.xml
@@ -0,0 +1,16 @@
+<launch>
+  <!-- Set the parameters for the warehouse and run the mongodb server. -->
+
+  <!-- The default DB port for moveit (not default MongoDB port to avoid potential conflicts) -->
+  <arg name="moveit_warehouse_port" default="33829" />
+
+  <!-- The default DB host for moveit -->
+  <arg name="moveit_warehouse_host" default="localhost" />
+
+  <!-- Set parameters for the warehouse -->
+  <param name="warehouse_port" value="$(arg moveit_warehouse_port)"/>
+  <param name="warehouse_host" value="$(arg moveit_warehouse_host)"/>
+  <param name="warehouse_exec" value="mongod" />
+  <param name="warehouse_plugin" value="warehouse_ros_mongo::MongoDatabaseConnection" />
+
+</launch>
diff --git a/mycobot_pro/new_mycobot_630_gripper_moveit/package.xml b/mycobot_pro/new_mycobot_630_gripper_moveit/package.xml
new file mode 100755
index 0000000..de76c61
--- /dev/null
+++ b/mycobot_pro/new_mycobot_630_gripper_moveit/package.xml
@@ -0,0 +1,41 @@
+<package>
+
+  <name>new_mycobot_630_gripper_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
+  </description>
+  <author email="wwj@elephantrobot.com">wwj</author>
+  <maintainer email="wwj@elephantrobot.com">wwj</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">http://moveit.ros.org/</url>
+  <url type="bugtracker">https://github.com/ros-planning/moveit/issues</url>
+  <url type="repository">https://github.com/ros-planning/moveit</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <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_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> -->
+  <run_depend>mycobot_description</run_depend>
+
+
+</package>
diff --git a/mycobot_pro/new_mycobot_630_gripper_moveit/scripts/sync_plan.py b/mycobot_pro/new_mycobot_630_gripper_moveit/scripts/sync_plan.py
new file mode 100755
index 0000000..0aef4bc
--- /dev/null
+++ b/mycobot_pro/new_mycobot_630_gripper_moveit/scripts/sync_plan.py
@@ -0,0 +1,102 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+from socket import *
+import math
+import sys
+import time
+from multiprocessing import Lock
+import numpy as np
+import rospy
+from sensor_msgs.msg import JointState
+
+from pymycobot.elephantrobot import ElephantRobot
+
+global mc
+gripper_value = []
+
+
+
+def linear_mapping(value, input_start, input_end, output_start, output_end):
+    """
+    Maps a value from one range to another using a linear transformation.
+
+    Args:
+        value (float): The input value to be mapped.
+        input_start (float): The start of the input range.
+        input_end (float): The end of the input range.
+        output_start (float): The start of the output range.
+        output_end (float): The end of the output range.
+
+    Returns:
+        float: The mapped value in the output range.
+    """
+    # Calculate the slope of the linear function
+    slope = (output_end - output_start) / (input_end - input_start)
+    # Calculate the mapped value
+    mapped_value = output_start + slope * (value - input_start)
+    return mapped_value
+
+
+def callback(data):
+    """callback function,回调函数"""
+    # rospy.loginfo(rospy.get_caller_id() + "%s", data.position)
+
+    data_list = []
+    for index, value in enumerate(data.position):
+        radians_to_angles = round(math.degrees(value), 2)
+        data_list.append(radians_to_angles)
+
+    rospy.loginfo(rospy.get_caller_id() + "%s", data_list)
+    # mc.write_angles(data_list, 800)
+    
+    list_i = []
+    for i in data_list[:6]:
+        list_i.append(i)
+    mc.write_angles(list_i,800)
+    
+    list_j = []
+    for j in data_list[6:]:
+        list_j.append(j)
+    # list_j = [int(a) for a in list_j]
+    
+    mc.set_gripper_mode(0)
+    # Define the input and output ranges
+    input_start = 17
+    input_end = -40
+    output_start = 100
+    output_end = 0
+    num = [linear_mapping(value, input_start, input_end, output_start, output_end) for value in list_j]
+    num2 = [int(i) for i in num]
+    num2 = num2[1]
+    mc.set_gripper_value(num2,100)
+    rospy.loginfo(num2)
+    
+
+
+
+def listener():
+    global mc
+    global gripper_value
+    rospy.init_node("control_slider", anonymous=True)
+
+    ip = rospy.get_param("~ip", "192.168.1.161")
+    port = rospy.get_param("~port", 5001)
+    print (ip, port)
+    mc = ElephantRobot(ip, int(port))
+    # START CLIENT,启动客户端
+    res = mc.start_client()
+    if res != "":
+        sys.exit(1)
+
+    mc.set_speed(90)
+
+    rospy.Subscriber("joint_states", JointState, callback)
+
+    # spin() simply keeps python from exiting until this node is stopped
+    # spin()只是阻止python退出，直到该节点停止
+    print ("sping ...")
+    rospy.spin()
+
+
+if __name__ == "__main__":
+    listener()
diff --git a/mycobot_pro/new_mycobot_630_gripper_moveit/scripts/sync_plan_320.py b/mycobot_pro/new_mycobot_630_gripper_moveit/scripts/sync_plan_320.py
new file mode 100755
index 0000000..c9783de
--- /dev/null
+++ b/mycobot_pro/new_mycobot_630_gripper_moveit/scripts/sync_plan_320.py
@@ -0,0 +1,88 @@
+#!/usr/bin/env python3
+# -*- coding:utf-8 -*-
+"""[summary]
+This file obtains the joint angle of the manipulator in ROS,
+and then sends it directly to the real manipulator using `pymycobot` API.
+This file is [slider_control.launch] related script.
+Passable parameters:
+    port: serial prot string. Defaults is '/dev/ttyUSB0'
+    baud: serial prot baudrate. Defaults is 115200.
+"""
+from socket import *
+import math
+import sys
+import time
+from multiprocessing import Lock
+
+import rospy
+from sensor_msgs.msg import JointState
+
+from pymycobot.elephantrobot import ElephantRobot
+import rospy
+import time
+from sensor_msgs.msg import JointState
+
+from pymycobot.mycobot import MyCobot
+
+
+mc = None
+gripper_value = []
+
+def callback(data):
+    global mc
+    # rospy.loginfo(rospy.get_caller_id() + "%s", data.position)
+    data_list = []
+    for index, value in enumerate(data.position):
+        data_list.append(round(value, 3))
+
+    data_list = data_list[:7]
+    print("radians:%s"%data_list[:6])
+    mc.send_radians(data_list[:6], 80)
+    gripper_value = int(abs(-0.7-data_list[6])* 117)
+    print("gripper_value:%s"%gripper_value)
+    # mc.set_gripper_mode(0)
+    # time.sleep(1)
+    mc.set_gripper_value(gripper_value, 100)
+    
+def listener():
+    # global mc
+    # global gripper_value
+   
+    # rospy.init_node("control_slider", anonymous=True)
+
+    # rospy.Subscriber("joint_states", JointState, callback)
+    # port = rospy.get_param("~port", "/dev/ttyUSB0")
+    # baud = rospy.get_param("~baud", 115200)
+    # print(port, baud)
+    # mc = MyCobot(port, baud)
+ 
+    # # spin() simply keeps python from exiting until this node is stopped
+    # print("spin ...")
+    # rospy.spin()
+    
+    
+    global mc
+    global gripper_value
+    rospy.init_node("control_slider", anonymous=True)
+
+    ip = rospy.get_param("~ip", "192.168.1.161")
+    port = rospy.get_param("~port", 5001)
+    print (ip, port)
+    mc = ElephantRobot(ip, int(port))
+    # START CLIENT,启动客户端
+    res = mc.start_client()
+    if res != "":
+        sys.exit(1)
+
+    mc.set_speed(90)
+
+    rospy.Subscriber("joint_states", JointState, callback)
+
+    # spin() simply keeps python from exiting until this node is stopped
+    # spin()只是阻止python退出，直到该节点停止
+    print ("sping ...")
+    rospy.spin()
+
+
+if __name__ == "__main__":
+    listener()
\ No newline at end of file
diff --git a/mycobot_pro/new_mycobot_630_gripper_moveit/scripts/test.py b/mycobot_pro/new_mycobot_630_gripper_moveit/scripts/test.py
new file mode 100755
index 0000000..74686bb
--- /dev/null
+++ b/mycobot_pro/new_mycobot_630_gripper_moveit/scripts/test.py
@@ -0,0 +1,35 @@
+from pymycobot.elephantrobot import ElephantRobot
+import time
+
+global mc
+
+mc = ElephantRobot("192.168.1.161",5001)
+
+
+
+
+# 启动机器人必要指令
+mc.start_client()
+time.sleep(1)
+mc.set_gripper_mode(0)
+time.sleep(1)
+
+
+
+# mc.power_off()#夹爪透传换IO模式时需要先关闭机器再重启机器人一次，仅使用夹爪透传模式不必关闭机器人
+# mc.state_off()
+# time.sleep(3)
+# mc.power_on()
+# time.sleep(3)
+# mc.state_on()
+# time.sleep(3)
+# mc.set_gripper_mode(0)
+mc.set_gripper_calibrate()
+
+# #透传模式
+
+# for i in range(3):
+#     mc.set_gripper_value(46, 20)
+#     time.sleep(1)
+#     mc.set_gripper_value(96, 20)
+#     time.sleep(1)
\ No newline at end of file