From 4ebcf02d6e2175af85b2b949bbd51b340f7c099b Mon Sep 17 00:00:00 2001
From: Tenero-Jz <2316126650@qq.com>
Date: Wed, 18 Sep 2024 19:06:49 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BC=98=E5=8C=96600=E5=B8=A6=E5=A4=B9?=
 =?UTF-8?q?=E7=88=AA=E5=AE=9E=E7=8E=B0moveit?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../urdf/mycobot_pro_600/J1-W.dae             | 249 +++++++++++++++
 .../urdf/mycobot_pro_600/J2-W.dae             | 188 +++++++++++
 .../urdf/mycobot_pro_600/J3-W.dae             | 188 +++++++++++
 .../urdf/mycobot_pro_600/J4-W.dae             | 193 ++++++++++++
 .../urdf/mycobot_pro_600/J5-W.dae             | 188 +++++++++++
 .../urdf/mycobot_pro_600/J6-W.dae             | 298 ++++++++++++++++++
 .../urdf/mycobot_pro_600/J7-W.dae             | 193 ++++++++++++
 .../mycobot_pro_600_gripper.urdf              |  91 +++---
 .../new_mycobot_pro_600_moveit.urdf           | 192 +++++++++++
 .../mycobot_600/config/mycobot_600.rviz       |  52 ++-
 mycobot_pro/mycobot_600/launch/test.launch    |   1 +
 .../config/firefighter.srdf                   |  71 +++--
 .../launch/moveit.rviz                        |  54 ++--
 .../scripts/sync_plan.py                      |   2 -
 .../config/firefighter.srdf                   |  27 +-
 .../launch/planning_context.launch            |   3 +-
 16 files changed, 1846 insertions(+), 144 deletions(-)
 create mode 100755 mycobot_description/urdf/mycobot_pro_600/J1-W.dae
 create mode 100755 mycobot_description/urdf/mycobot_pro_600/J2-W.dae
 create mode 100755 mycobot_description/urdf/mycobot_pro_600/J3-W.dae
 create mode 100755 mycobot_description/urdf/mycobot_pro_600/J4-W.dae
 create mode 100755 mycobot_description/urdf/mycobot_pro_600/J5-W.dae
 create mode 100755 mycobot_description/urdf/mycobot_pro_600/J6-W.dae
 create mode 100755 mycobot_description/urdf/mycobot_pro_600/J7-W.dae
 create mode 100644 mycobot_description/urdf/mycobot_pro_600/new_mycobot_pro_600_moveit.urdf

diff --git a/mycobot_description/urdf/mycobot_pro_600/J1-W.dae b/mycobot_description/urdf/mycobot_pro_600/J1-W.dae
new file mode 100755
index 0000000..86b98a4
--- /dev/null
+++ b/mycobot_description/urdf/mycobot_pro_600/J1-W.dae
@@ -0,0 +1,249 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+
+      <authoring_tool>Rhinoceros 7.0.20314.3001</authoring_tool>
+      <comments>Output from Rhinoceros COLLADA Exporter</comments>
+      
+    </contributor>
+    <created>2024-09-14T06:36:53Z</created>
+    <modified>2024-09-14T06:36:53Z</modified>
+    <unit meter="0.001" name="Millimeters" />
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-Perspective" name="Camera-Perspective">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov>56.189974</xfov>
+            <aspect_ratio>2.224324</aspect_ratio>
+            <znear>447.956364</znear>
+            <zfar>726.162769</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+    </camera>
+    <camera id="Camera-Top" name="Camera-Top">
+      <optics>
+        <technique_common>
+          <orthographic>
+            <xmag>1.0</xmag>
+            <aspect_ratio>2.224324</aspect_ratio>
+            <znear>0.005000</znear>
+            <zfar>159.721979</zfar>
+          </orthographic>
+        </technique_common>
+      </optics>
+    </camera>
+    <camera id="Camera-Front" name="Camera-Front">
+      <optics>
+        <technique_common>
+          <orthographic>
+            <xmag>1.0</xmag>
+            <aspect_ratio>2.224324</aspect_ratio>
+            <znear>13.517900</znear>
+            <zfar>201.196235</zfar>
+          </orthographic>
+        </technique_common>
+      </optics>
+    </camera>
+    <camera id="Camera-Right" name="Camera-Right">
+      <optics>
+        <technique_common>
+          <orthographic>
+            <xmag>1.0</xmag>
+            <aspect_ratio>2.224324</aspect_ratio>
+            <znear>9.555481</znear>
+            <zfar>177.042949</zfar>
+          </orthographic>
+        </technique_common>
+      </optics>
+    </camera>
+  </library_cameras>
+  <library_materials>
+    <material id="a0000000-0000-0000-0000-000000000000">
+      <instance_effect url="#fx-a0000000-0000-0000-0000-000000000000" />
+    </material>
+  </library_materials>
+  <library_effects>
+    <effect id="fx-a0000000-0000-0000-0000-000000000000">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color>0.000000 0.000000 0.000000 1.000000</color>
+            </emission>
+            <ambient>
+              <color>0.000000 0.000000 0.000000 1.000000</color>
+            </ambient>
+            <diffuse>
+              <color>0.980392 0.980392 0.980392 1.000000</color>
+            </diffuse>
+            <specular>
+              <color>1.000000 1.000000 1.000000 1.000000</color>
+            </specular>
+            <reflective>
+              <color>1.000000 1.000000 1.000000 1.000000</color>
+            </reflective>
+            <reflectivity>
+              <float>1.000000</float>
+            </reflectivity>
+            <transparent>
+              <color>1.000000 1.000000 1.000000 1.000000</color>
+            </transparent>
+            <transparency>
+              <float>1.000000</float>
+            </transparency>
+            <index_of_refraction>
+              <float>0.000000</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+      <extra>
+        <technique profile="Rhino">
+          <appearance_hash>2978268964</appearance_hash>
+        </technique>
+      </extra>
+    </effect>
+  </library_effects>
+  <library_geometries>
+    <geometry id="mesh-bc57fe88-dd83-4ba5-95ba-f2a4e5138f76" name="NONE">
+      <mesh>
+        <source id="lib-position-bc57fe88-dd83-4ba5-95ba-f2a4e5138f76" name="position">
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+        </triangles>
+      </mesh>
+      <extra>
+        <technique profile="Rhino">
+          <double_sided>1</double_sided>
+        </technique>
+      </extra>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="VisualSceneNode">
+      <node id="View-Perspective" name="View-Perspective">
+        <matrix>0.866032 -0.249996 0.433002 241.450953 0.499989 0.433018 -0.750004 -366.728631 0.000000 0.866024 0.500003 293.041768 0.000000 0.000000 0.000000 1.000000</matrix>
+        <instance_camera url="#Camera-Perspective" />
+      </node>
+      <node id="View-Top" name="View-Top">
+        <matrix>1.000000 0.000000 0.000000 -12.323218 0.000000 1.000000 0.000000 72.834021 0.000000 0.000000 1.000000 79.986025 0.000000 0.000000 0.000000 1.000000</matrix>
+        <instance_camera url="#Camera-Top" />
+      </node>
+      <node id="View-Front" name="View-Front">
+        <matrix>1.000000 0.000000 0.000000 -12.323218 0.000000 0.000000 -1.000000 -34.246141 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix>
+        <instance_camera url="#Camera-Front" />
+      </node>
+      <node id="View-Right" name="View-Right">
+        <matrix>0.000000 0.000000 1.000000 82.129947 1.000000 0.000000 0.000000 72.834021 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix>
+        <instance_camera url="#Camera-Right" />
+      </node>
+      <node id="a446d23c-1ea3-4f7f-989c-3db6a22ccdab" name="NONE">
+        <instance_geometry url="#mesh-bc57fe88-dd83-4ba5-95ba-f2a4e5138f76">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="material-a0000000-0000-0000-0000-000000000000" target="#a0000000-0000-0000-0000-000000000000" />
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+      <node id="a22a5795-297c-4bb0-b9d7-d73d0dd6d188" name="NONE">
+        <instance_geometry url="#mesh-a1609600-2c3e-465a-94f9-dd52049a9a99">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="material-a0000000-0000-0000-0000-000000000000" target="#a0000000-0000-0000-0000-000000000000" />
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#VisualSceneNode" />
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/mycobot_description/urdf/mycobot_pro_600/J2-W.dae b/mycobot_description/urdf/mycobot_pro_600/J2-W.dae
new file mode 100755
index 0000000..6928345
--- /dev/null
+++ b/mycobot_description/urdf/mycobot_pro_600/J2-W.dae
@@ -0,0 +1,188 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      
+      <authoring_tool>Rhinoceros 7.0.20314.3001</authoring_tool>
+      <comments>Output from Rhinoceros COLLADA Exporter</comments>
+      
+    </contributor>
+    <created>2024-09-14T06:37:10Z</created>
+    <modified>2024-09-14T06:37:10Z</modified>
+    <unit meter="0.001" name="Millimeters" />
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-Perspective" name="Camera-Perspective">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov>56.189974</xfov>
+            <aspect_ratio>2.224324</aspect_ratio>
+            <znear>331.850272</znear>
+            <zfar>494.316155</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+    </camera>
+    <camera id="Camera-Top" name="Camera-Top">
+      <optics>
+        <technique_common>
+          <orthographic>
+            <xmag>1.0</xmag>
+            <aspect_ratio>2.224324</aspect_ratio>
+            <znear>9.904427</znear>
+            <zfar>146.305682</zfar>
+          </orthographic>
+        </technique_common>
+      </optics>
+    </camera>
+    <camera id="Camera-Front" name="Camera-Front">
+      <optics>
+        <technique_common>
+          <orthographic>
+            <xmag>1.0</xmag>
+            <aspect_ratio>2.224324</aspect_ratio>
+            <znear>6.589792</znear>
+            <zfar>97.353724</zfar>
+          </orthographic>
+        </technique_common>
+      </optics>
+    </camera>
+    <camera id="Camera-Right" name="Camera-Right">
+      <optics>
+        <technique_common>
+          <orthographic>
+            <xmag>1.0</xmag>
+            <aspect_ratio>2.224324</aspect_ratio>
+            <znear>5.565486</znear>
+            <zfar>82.625562</zfar>
+          </orthographic>
+        </technique_common>
+      </optics>
+    </camera>
+  </library_cameras>
+  <library_materials>
+    <material id="a0000000-0000-0000-0000-000000000000">
+      <instance_effect url="#fx-a0000000-0000-0000-0000-000000000000" />
+    </material>
+  </library_materials>
+  <library_effects>
+    <effect id="fx-a0000000-0000-0000-0000-000000000000">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color>0.000000 0.000000 0.000000 1.000000</color>
+            </emission>
+            <ambient>
+              <color>0.000000 0.000000 0.000000 1.000000</color>
+            </ambient>
+            <diffuse>
+              <color>0.980392 0.980392 0.980392 1.000000</color>
+            </diffuse>
+            <specular>
+              <color>1.000000 1.000000 1.000000 1.000000</color>
+            </specular>
+            <reflective>
+              <color>1.000000 1.000000 1.000000 1.000000</color>
+            </reflective>
+            <reflectivity>
+              <float>1.000000</float>
+            </reflectivity>
+            <transparent>
+              <color>1.000000 1.000000 1.000000 1.000000</color>
+            </transparent>
+            <transparency>
+              <float>1.000000</float>
+            </transparency>
+            <index_of_refraction>
+              <float>0.000000</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+      <extra>
+        <technique profile="Rhino">
+          <appearance_hash>2978268964</appearance_hash>
+        </technique>
+      </extra>
+    </effect>
+  </library_effects>
+  <library_geometries>
+    <geometry id="mesh-a9464d74-24c4-4030-b10e-62f7d29340e8" name="NONE">
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="VisualSceneNode">
+      <node id="View-Perspective" name="View-Perspective">
+        <matrix>0.866032 -0.249996 0.433002 178.530671 0.499989 0.433018 -0.750004 -265.611347 0.000000 0.866024 0.500003 331.600806 0.000000 0.000000 0.000000 1.000000</matrix>
+        <instance_camera url="#Camera-Perspective" />
+      </node>
+      <node id="View-Top" name="View-Top">
+        <matrix>1.000000 0.000000 0.000000 0.000013 0.000000 1.000000 0.000000 43.621894 0.000000 0.000000 1.000000 203.550894 0.000000 0.000000 0.000000 1.000000</matrix>
+        <instance_camera url="#Camera-Top" />
+      </node>
+      <node id="View-Front" name="View-Front">
+        <matrix>1.000000 0.000000 0.000000 0.000013 0.000000 0.000000 -1.000000 -8.347084 0.000000 1.000000 0.000000 125.445312 0.000000 0.000000 0.000000 1.000000</matrix>
+        <instance_camera url="#Camera-Front" />
+      </node>
+      <node id="View-Right" name="View-Right">
+        <matrix>0.000000 0.000000 1.000000 44.091950 1.000000 0.000000 0.000000 43.621894 0.000000 1.000000 0.000000 125.445312 0.000000 0.000000 0.000000 1.000000</matrix>
+        <instance_camera url="#Camera-Right" />
+      </node>
+      <node id="b001a426-9bdf-4b41-b326-be5084a85d8d" name="NONE">
+        <instance_geometry url="#mesh-a9464d74-24c4-4030-b10e-62f7d29340e8">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="material-a0000000-0000-0000-0000-000000000000" target="#a0000000-0000-0000-0000-000000000000" />
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#VisualSceneNode" />
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/mycobot_description/urdf/mycobot_pro_600/J3-W.dae b/mycobot_description/urdf/mycobot_pro_600/J3-W.dae
new file mode 100755
index 0000000..8f15e8b
--- /dev/null
+++ b/mycobot_description/urdf/mycobot_pro_600/J3-W.dae
@@ -0,0 +1,188 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      
+      <authoring_tool>Rhinoceros 7.0.20314.3001</authoring_tool>
+      <comments>Output from Rhinoceros COLLADA Exporter</comments>
+      
+    </contributor>
+    <created>2024-09-14T06:37:22Z</created>
+    <modified>2024-09-14T06:37:22Z</modified>
+    <unit meter="0.001" name="Millimeters" />
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-Perspective" name="Camera-Perspective">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov>56.189974</xfov>
+            <aspect_ratio>2.224324</aspect_ratio>
+            <znear>456.870131</znear>
+            <zfar>774.906928</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+    </camera>
+    <camera id="Camera-Top" name="Camera-Top">
+      <optics>
+        <technique_common>
+          <orthographic>
+            <xmag>1.0</xmag>
+            <aspect_ratio>2.224324</aspect_ratio>
+            <znear>5.479695</znear>
+            <zfar>82.704504</zfar>
+          </orthographic>
+        </technique_common>
+      </optics>
+    </camera>
+    <camera id="Camera-Front" name="Camera-Front">
+      <optics>
+        <technique_common>
+          <orthographic>
+            <xmag>1.0</xmag>
+            <aspect_ratio>2.224324</aspect_ratio>
+            <znear>25.418199</znear>
+            <zfar>377.633034</zfar>
+          </orthographic>
+        </technique_common>
+      </optics>
+    </camera>
+    <camera id="Camera-Right" name="Camera-Right">
+      <optics>
+        <technique_common>
+          <orthographic>
+            <xmag>1.0</xmag>
+            <aspect_ratio>2.224324</aspect_ratio>
+            <znear>5.626059</znear>
+            <zfar>83.106547</zfar>
+          </orthographic>
+        </technique_common>
+      </optics>
+    </camera>
+  </library_cameras>
+  <library_materials>
+    <material id="a0000000-0000-0000-0000-000000000000">
+      <instance_effect url="#fx-a0000000-0000-0000-0000-000000000000" />
+    </material>
+  </library_materials>
+  <library_effects>
+    <effect id="fx-a0000000-0000-0000-0000-000000000000">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color>0.000000 0.000000 0.000000 1.000000</color>
+            </emission>
+            <ambient>
+              <color>0.000000 0.000000 0.000000 1.000000</color>
+            </ambient>
+            <diffuse>
+              <color>0.980392 0.980392 0.980392 1.000000</color>
+            </diffuse>
+            <specular>
+              <color>1.000000 1.000000 1.000000 1.000000</color>
+            </specular>
+            <reflective>
+              <color>1.000000 1.000000 1.000000 1.000000</color>
+            </reflective>
+            <reflectivity>
+              <float>1.000000</float>
+            </reflectivity>
+            <transparent>
+              <color>1.000000 1.000000 1.000000 1.000000</color>
+            </transparent>
+            <transparency>
+              <float>1.000000</float>
+            </transparency>
+            <index_of_refraction>
+              <float>0.000000</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+      <extra>
+        <technique profile="Rhino">
+          <appearance_hash>2978268964</appearance_hash>
+        </technique>
+      </extra>
+    </effect>
+  </library_effects>
+  <library_geometries>
+    <geometry id="mesh-a4b604a1-9cbd-417b-b372-c701e1f5b3fa" name="NONE">
+      <mesh>
+        <source id="lib-position-a4b604a1-9cbd-417b-b372-c701e1f5b3fa" name="position">
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4660 4660 4665 4665 4665</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="VisualSceneNode">
+      <node id="View-Perspective" name="View-Perspective">
+        <matrix>0.866032 -0.249996 0.433002 181.810480 0.499989 0.433018 -0.750004 -243.352454 0.000000 0.866024 0.500003 307.203944 0.000000 0.000000 0.000000 1.000000</matrix>
+        <instance_camera url="#Camera-Perspective" />
+      </node>
+      <node id="View-Top" name="View-Top">
+        <matrix>1.000000 0.000000 0.000000 -84.228135 0.000000 1.000000 0.000000 217.453461 0.000000 0.000000 1.000000 44.091889 0.000000 0.000000 0.000000 1.000000</matrix>
+        <instance_camera url="#Camera-Top" />
+      </node>
+      <node id="View-Front" name="View-Front">
+        <matrix>1.000000 0.000000 0.000000 -84.228135 0.000000 0.000000 -1.000000 15.868162 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix>
+        <instance_camera url="#Camera-Front" />
+      </node>
+      <node id="View-Right" name="View-Right">
+        <matrix>0.000000 0.000000 1.000000 -39.861538 1.000000 0.000000 0.000000 217.453461 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix>
+        <instance_camera url="#Camera-Right" />
+      </node>
+      <node id="ac8a41d2-d30a-4f9d-b49d-f05f2920997e" name="NONE">
+        <instance_geometry url="#mesh-a4b604a1-9cbd-417b-b372-c701e1f5b3fa">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="material-a0000000-0000-0000-0000-000000000000" target="#a0000000-0000-0000-0000-000000000000" />
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#VisualSceneNode" />
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/mycobot_description/urdf/mycobot_pro_600/J4-W.dae b/mycobot_description/urdf/mycobot_pro_600/J4-W.dae
new file mode 100755
index 0000000..cf97c8b
--- /dev/null
+++ b/mycobot_description/urdf/mycobot_pro_600/J4-W.dae
@@ -0,0 +1,193 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      
+      <authoring_tool>Rhinoceros 7.0.20314.3001</authoring_tool>
+      <comments>Output from Rhinoceros COLLADA Exporter</comments>
+      
+    </contributor>
+    <created>2024-09-14T06:37:35Z</created>
+    <modified>2024-09-14T06:37:35Z</modified>
+    <unit meter="0.001" name="Millimeters" />
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-Perspective" name="Camera-Perspective">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov>56.189974</xfov>
+            <aspect_ratio>2.224324</aspect_ratio>
+            <znear>533.706508</znear>
+            <zfar>871.692624</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+    </camera>
+    <camera id="Camera-Top" name="Camera-Top">
+      <optics>
+        <technique_common>
+          <orthographic>
+            <xmag>1.0</xmag>
+            <aspect_ratio>2.224324</aspect_ratio>
+            <znear>5.589460</znear>
+            <zfar>82.605542</zfar>
+          </orthographic>
+        </technique_common>
+      </optics>
+    </camera>
+    <camera id="Camera-Front" name="Camera-Front">
+      <optics>
+        <technique_common>
+          <orthographic>
+            <xmag>1.0</xmag>
+            <aspect_ratio>2.224324</aspect_ratio>
+            <znear>24.117645</znear>
+            <zfar>374.695831</zfar>
+          </orthographic>
+        </technique_common>
+      </optics>
+    </camera>
+    <camera id="Camera-Right" name="Camera-Right">
+      <optics>
+        <technique_common>
+          <orthographic>
+            <xmag>1.0</xmag>
+            <aspect_ratio>2.224324</aspect_ratio>
+            <znear>9.208302</znear>
+            <zfar>136.037834</zfar>
+          </orthographic>
+        </technique_common>
+      </optics>
+    </camera>
+  </library_cameras>
+  <library_materials>
+    <material id="a0000000-0000-0000-0000-000000000000">
+      <instance_effect url="#fx-a0000000-0000-0000-0000-000000000000" />
+    </material>
+  </library_materials>
+  <library_effects>
+    <effect id="fx-a0000000-0000-0000-0000-000000000000">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color>0.000000 0.000000 0.000000 1.000000</color>
+            </emission>
+            <ambient>
+              <color>0.000000 0.000000 0.000000 1.000000</color>
+            </ambient>
+            <diffuse>
+              <color>0.980392 0.980392 0.980392 1.000000</color>
+            </diffuse>
+            <specular>
+              <color>1.000000 1.000000 1.000000 1.000000</color>
+            </specular>
+            <reflective>
+              <color>1.000000 1.000000 1.000000 1.000000</color>
+            </reflective>
+            <reflectivity>
+              <float>1.000000</float>
+            </reflectivity>
+            <transparent>
+              <color>1.000000 1.000000 1.000000 1.000000</color>
+            </transparent>
+            <transparency>
+              <float>1.000000</float>
+            </transparency>
+            <index_of_refraction>
+              <float>0.000000</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+      <extra>
+        <technique profile="Rhino">
+          <appearance_hash>2978268964</appearance_hash>
+        </technique>
+      </extra>
+    </effect>
+  </library_effects>
+  <library_geometries>
+    <geometry id="mesh-ad49b5c5-f9c5-405a-b061-7abd26ccbe0f" name="NONE">
+      <mesh>
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+        </triangles>
+      </mesh>
+      <extra>
+        <technique profile="Rhino">
+          <double_sided>1</double_sided>
+        </technique>
+      </extra>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="VisualSceneNode">
+      <node id="View-Perspective" name="View-Perspective">
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+        <instance_camera url="#Camera-Perspective" />
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+      <node id="View-Right" name="View-Right">
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+        <instance_camera url="#Camera-Right" />
+      </node>
+      <node id="a3786d96-8cba-46fb-a617-403a9d97266c" name="NONE">
+        <instance_geometry url="#mesh-ad49b5c5-f9c5-405a-b061-7abd26ccbe0f">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="material-a0000000-0000-0000-0000-000000000000" target="#a0000000-0000-0000-0000-000000000000" />
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#VisualSceneNode" />
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/mycobot_description/urdf/mycobot_pro_600/J5-W.dae b/mycobot_description/urdf/mycobot_pro_600/J5-W.dae
new file mode 100755
index 0000000..77ec00e
--- /dev/null
+++ b/mycobot_description/urdf/mycobot_pro_600/J5-W.dae
@@ -0,0 +1,188 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      
+      <authoring_tool>Rhinoceros 7.0.20314.3001</authoring_tool>
+      <comments>Output from Rhinoceros COLLADA Exporter</comments>
+      
+    </contributor>
+    <created>2024-09-14T06:37:49Z</created>
+    <modified>2024-09-14T06:37:49Z</modified>
+    <unit meter="0.001" name="Millimeters" />
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-Perspective" name="Camera-Perspective">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov>56.189974</xfov>
+            <aspect_ratio>2.224324</aspect_ratio>
+            <znear>261.623497</znear>
+            <zfar>402.779068</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+    </camera>
+    <camera id="Camera-Top" name="Camera-Top">
+      <optics>
+        <technique_common>
+          <orthographic>
+            <xmag>1.0</xmag>
+            <aspect_ratio>2.224324</aspect_ratio>
+            <znear>6.789361</znear>
+            <zfar>100.301419</zfar>
+          </orthographic>
+        </technique_common>
+      </optics>
+    </camera>
+    <camera id="Camera-Front" name="Camera-Front">
+      <optics>
+        <technique_common>
+          <orthographic>
+            <xmag>1.0</xmag>
+            <aspect_ratio>2.224324</aspect_ratio>
+            <znear>6.828664</znear>
+            <zfar>100.882783</zfar>
+          </orthographic>
+        </technique_common>
+      </optics>
+    </camera>
+    <camera id="Camera-Right" name="Camera-Right">
+      <optics>
+        <technique_common>
+          <orthographic>
+            <xmag>1.0</xmag>
+            <aspect_ratio>2.224324</aspect_ratio>
+            <znear>4.885066</znear>
+            <zfar>75.739564</zfar>
+          </orthographic>
+        </technique_common>
+      </optics>
+    </camera>
+  </library_cameras>
+  <library_materials>
+    <material id="a0000000-0000-0000-0000-000000000000">
+      <instance_effect url="#fx-a0000000-0000-0000-0000-000000000000" />
+    </material>
+  </library_materials>
+  <library_effects>
+    <effect id="fx-a0000000-0000-0000-0000-000000000000">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color>0.000000 0.000000 0.000000 1.000000</color>
+            </emission>
+            <ambient>
+              <color>0.000000 0.000000 0.000000 1.000000</color>
+            </ambient>
+            <diffuse>
+              <color>0.980392 0.980392 0.980392 1.000000</color>
+            </diffuse>
+            <specular>
+              <color>1.000000 1.000000 1.000000 1.000000</color>
+            </specular>
+            <reflective>
+              <color>1.000000 1.000000 1.000000 1.000000</color>
+            </reflective>
+            <reflectivity>
+              <float>1.000000</float>
+            </reflectivity>
+            <transparent>
+              <color>1.000000 1.000000 1.000000 1.000000</color>
+            </transparent>
+            <transparency>
+              <float>1.000000</float>
+            </transparency>
+            <index_of_refraction>
+              <float>0.000000</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+      <extra>
+        <technique profile="Rhino">
+          <appearance_hash>2978268964</appearance_hash>
+        </technique>
+      </extra>
+    </effect>
+  </library_effects>
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diff --git a/mycobot_description/urdf/mycobot_pro_600/J6-W.dae b/mycobot_description/urdf/mycobot_pro_600/J6-W.dae
new file mode 100755
index 0000000..0a7257b
--- /dev/null
+++ b/mycobot_description/urdf/mycobot_pro_600/J6-W.dae
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+        <instance_node url="#instance-def-ae49d02d-4402-4da0-abd7-6e25db5c6099" />
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+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#VisualSceneNode" />
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/mycobot_description/urdf/mycobot_pro_600/J7-W.dae b/mycobot_description/urdf/mycobot_pro_600/J7-W.dae
new file mode 100755
index 0000000..dd61952
--- /dev/null
+++ b/mycobot_description/urdf/mycobot_pro_600/J7-W.dae
@@ -0,0 +1,193 @@
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+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      
+      <authoring_tool>Rhinoceros 7.0.20314.3001</authoring_tool>
+      <comments>Output from Rhinoceros COLLADA Exporter</comments>
+      
+    </contributor>
+    <created>2024-09-14T07:37:02Z</created>
+    <modified>2024-09-14T07:37:02Z</modified>
+    <unit meter="0.001" name="Millimeters" />
+    <up_axis>Z_UP</up_axis>
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+      <optics>
+        <technique_common>
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+            <znear>176.206414</znear>
+            <zfar>286.682245</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+    </camera>
+    <camera id="Camera-Top" name="Camera-Top">
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+        <technique_common>
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+            <zfar>85.478506</zfar>
+          </orthographic>
+        </technique_common>
+      </optics>
+    </camera>
+    <camera id="Camera-Front" name="Camera-Front">
+      <optics>
+        <technique_common>
+          <orthographic>
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+            <zfar>83.672810</zfar>
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+        </technique_common>
+      </optics>
+    </camera>
+    <camera id="Camera-Right" name="Camera-Right">
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+          <orthographic>
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+            <znear>1.881058</znear>
+            <zfar>27.181250</zfar>
+          </orthographic>
+        </technique_common>
+      </optics>
+    </camera>
+  </library_cameras>
+  <library_materials>
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+  <library_effects>
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+      <profile_COMMON>
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+            <specular>
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+            <reflective>
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+            <reflectivity>
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+      <extra>
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+          <appearance_hash>2978268964</appearance_hash>
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9821 9821 9856 9856 9856 9855 9855 9855 9818 9818 9818 9857 9857 9857 9819 9819 9819 9822 9822 9822 9853 9853 9853 9823 9823 9823 9823 9823 9823 9852 9852 9852 9824 9824 9824 9825 9825 9825 9850 9850 9850 9826 9826 9826 9826 9826 9826 9849 9849 9849 9827 9827 9827 9824 9824 9824 9851 9851 9851 9825 9825 9825 9821 9821 9821 9854 9854 9854 9822 9822 9822 9829 9829 9829 9848 9848 9848 9847 9847 9847 9831 9831 9831 9846 9846 9846 9845 9845 9845 9832 9832 9832 9845 9845 9845 9844 9844 9844 9830 9830 9830 9847 9847 9847 9846 9846 9846 9833 9833 9833 9842 9842 9842 9834 9834 9834 9834 9834 9834 9841 9841 9841 9835 9835 9835 9837 9837 9837 9840 9840 9840 9839 9839 9839 9794 9794 9794 9839 9839 9839 9838 9838 9838 9836 9836 9836 9841 9841 9841 9840 9840 9840 9833 9833 9833 9844 9844 9844 9843 9843 9843 9828 9828 9828 9849 9849 9849 9848 9848 9848 10002 10002 10002 10050 10050 10050 10051 10051 10051 10002 10002 10002 10052 10052 10052 10001 10001 10001 10003 10003 10003 10049 10049 10049 10050 10050 10050 10004 10004 10004 10048 10048 10048 10049 10049 10049 10005 10005 10005 10047 10047 10047 10048 10048 10048 9995 9995 9995 10045 10045 10045 10046 10046 10046 9995 9995 9995 10047 10047 10047 10006 10006 10006 10008 10008 10008 10043 10043 10043 10044 10044 10044 10010 10010 10010 10041 10041 10041 10042 10042 10042 10009 10009 10009 10042 10042 10042 10043 10043 10043 10007 10007 10007 10044 10044 10044 10045 10045 10045 10012 10012 10012 10041 10041 10041 10011 10011 10011 10039 10039 10039 10012 10012 10012 9996 9996 9996 9996 9996 9996 10038 10038 10038 10039 10039 10039 10014 10014 10014 10038 10038 10038 10013 10013 10013 10015 10015 10015 10035 10035 10035 10036 10036 10036 10017 10017 10017 10033 10033 10033 10034 10034 10034 10016 10016 10016 10034 10034 10034 10035 10035 10035 10014 10014 10014 10036 10036 10036 10037 10037 10037 10019 10019 10019 10032 10032 10032 9997 9997 9997 10020 10020 10020 10029 10029 10029 10030 10030 10030 10020 10020 10020 10031 10031 10031 10019 10019 10019 10022 10022 10022 10027 10027 10027 10028 10028 10028 10023 10023 10023 10026 10026 10026 10027 10027 10027 10021 10021 10021 10028 10028 10028 10029 10029 10029 10018 10018 10018 10032 10032 10032 10033 10033 10033</p>
+        </triangles>
+      </mesh>
+      <extra>
+        <technique profile="Rhino">
+          <double_sided>1</double_sided>
+        </technique>
+      </extra>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="VisualSceneNode">
+      <node id="View-Perspective" name="View-Perspective">
+        <matrix>0.866032 -0.249996 0.433002 164.810827 0.499989 0.433018 -0.750004 -172.887749 0.000000 0.866024 0.500003 115.258499 0.000000 0.000000 0.000000 1.000000</matrix>
+        <instance_camera url="#Camera-Perspective" />
+      </node>
+      <node id="View-Top" name="View-Top">
+        <matrix>1.000000 0.000000 0.000000 64.996967 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 41.930779 0.000000 0.000000 0.000000 1.000000</matrix>
+        <instance_camera url="#Camera-Top" />
+      </node>
+      <node id="View-Front" name="View-Front">
+        <matrix>1.000000 0.000000 0.000000 64.996967 0.000000 0.000000 -1.000000 -41.847111 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix>
+        <instance_camera url="#Camera-Front" />
+      </node>
+      <node id="View-Right" name="View-Right">
+        <matrix>0.000000 0.000000 1.000000 79.528217 1.000000 0.000000 0.000000 0.000000 0.000000 1.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1.000000</matrix>
+        <instance_camera url="#Camera-Right" />
+      </node>
+      <node id="add71fbe-1c9a-4b00-aa6a-32844ed390cf" name="______-J6__-W-1">
+        <instance_geometry url="#mesh-a8ee0238-cc5f-43e1-b56f-583784dcc345">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="material-a0000000-0000-0000-0000-000000000000" target="#a0000000-0000-0000-0000-000000000000" />
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#VisualSceneNode" />
+  </scene>
+</COLLADA>
\ 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 c95ff40..7750bfa 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
@@ -8,31 +8,31 @@
     <visual>
       <geometry>
 	     <!--- 0.0 0 -0.04  1.5708 3.14159-->
-       <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J1-mm.dae"/>
+       <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J1-W.dae"/>
       </geometry>
-    <origin xyz = "0 0 0 " rpy = " 0 0 0"/>
+    <origin xyz = "0 0 0 " rpy = " 1.5706 0 0"/>
     </visual>
     <collision>
-    <geometry>
+      <geometry>
 	     <!--- 0.0 0 -0.04  1.5708 3.14159-->
-       <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J1-mm.dae"/>
+       <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J1-W.dae"/>
       </geometry>
-    <origin xyz = "0 0 0 " rpy = " 0 0 0"/>
+    <origin xyz = "0 0 0 " rpy = " 1.5706 0 0"/>
     </collision>
   </link>
 
   <link name="link1">
     <visual>
       <geometry>
-       <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J2-mm.dae"/>
+       <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J2-W.dae"/>
       </geometry>
-    <origin xyz = "0 0 0 " rpy = "0 0 0"/>
+    <origin xyz = "0 0.05 -0.08 " rpy = "0 0 3.14159"/>
     </visual>
      <collision>
       <geometry>
-       <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J2-mm.dae"/>
+       <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J2-W.dae"/>
       </geometry>
-    <origin xyz = "0 0 0 " rpy = " 0 0 0"/>
+    <origin xyz = "0 0.05 -0.08 " rpy = " 0 0 3.14159"/>
     </collision>
   </link>
 
@@ -40,15 +40,15 @@
   <link name="link2">
     <visual>
       <geometry>
-       <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J3-mm.dae"/>
+       <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J3-W.dae"/>
       </geometry>
-    <origin xyz = "0 0.0 0.0 " rpy = " 3.1415926 0 3.1415926"/>
+    <origin xyz = "0 -0.092 0.044 " rpy = " 0 -1.5706 0"/>
     </visual>
      <collision>
      <geometry>
-       <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J3-mm.dae"/>
+       <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J3-W.dae"/>
       </geometry>
-    <origin xyz = "0 0.0 0.0 " rpy = " 3.1415926 0 3.1415926"/>
+    <origin xyz = "0 -0.092 0.044 " rpy = " 0 -1.5706 0"/>
     </collision>
   </link>
 
@@ -57,16 +57,16 @@
     <visual>
       <geometry>
        <!--- 0.0 0 -0.04 -->
-       <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J4-mm.dae"/>
+       <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J4-W.dae"/>
       </geometry>
-    <origin xyz = "0 0 0.0 " rpy = " 3.1415926 3.14159 3.1415926"/>
+    <origin xyz = "0 -0.09 -0.01 " rpy = " 0 1.5706 0"/>
     </visual>
      <collision>
       <geometry>
        <!--- 0.0 0 -0.04 -->
-       <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J4-mm.dae"/>
+       <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J4-W.dae"/>
       </geometry>
-    <origin xyz = "0 0 0.0 " rpy = "3.1415926 03.14159 3.1415926"/>
+    <origin xyz = "0 -0.09 -0.01 " rpy = "0 1.5706 0"/>
     </collision>
   </link>
 
@@ -76,16 +76,16 @@
     <visual>
       <geometry>
        <!--- 0.0 0 -0.04 -->
-       <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J5-mm.dae"/>
+       <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J5-W.dae"/>
       </geometry>
-    <origin xyz = "0 0 0 " rpy = " 0 3.1415926 0"/>
+    <origin xyz = "0 -0.6987 0 " rpy = " 0 0 0"/>
     </visual>
      <collision>
-     <geometry>
+      <geometry>
        <!--- 0.0 0 -0.04 -->
-       <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J5-mm.dae"/>
+       <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J5-W.dae"/>
       </geometry>
-    <origin xyz = "0 0 0 " rpy = " 0 3.1415926 0"/>
+    <origin xyz = "0 -0.6987 0 " rpy = " 0 0 0"/>
     </collision>
   </link>
 
@@ -94,16 +94,16 @@
     <visual>
       <geometry>
        <!--- 0.0 0 -0.04 -->
-       <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J6-mm.dae"/>
+       <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J6-W.dae"/>
       </geometry>
-    <origin xyz = "0 0  0 " rpy = " 0  0 -1.5706"/>
+    <origin xyz = "0 0 0.048 " rpy = " 1.5706  0 3.14159"/>
     </visual>
      <collision>
       <geometry>
        <!--- 0.0 0 -0.04 -->
-       <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J6-mm.dae"/>
+       <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J6-W.dae"/>
       </geometry>
-    <origin xyz = "0 0  0 " rpy = " 0  0 -1.5706"/>
+    <origin xyz = "0 0 0.048 " rpy = " 1.5706  0 3.14159"/>
     </collision>
   </link>
 
@@ -111,26 +111,27 @@
     <visual>
       <geometry>
        <!--- 0.0 0 -0.04 -->
-       <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J6-tool-mm.dae"/>
+       <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J7-W.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"/>
+    <origin xyz = "0.06 0 0" rpy = " 3.14159 3.14159  0"/>
     </visual>
      <collision>
-     <geometry>
+      <geometry>
        <!--- 0.0 0 -0.04 -->
-       <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J6-tool-mm.dae"/>
+       <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J7-W.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"/>
+    <origin xyz = "0.06 0 0" rpy = " 3.14159 3.14159  0"/>
     </collision>
   </link>
 
-  <link name="tool1">
+
+  <!-- <link name="tool1">
     <visual>
         <geometry>
             <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/tool1-mm.dae" />
@@ -143,7 +144,7 @@
         </geometry>
         <origin xyz="0.0 0 0" rpy=" -1.5706 0  0" />
     </collision>   
-  </link>
+  </link> -->
 
   <link name="tool2">
     <visual>
@@ -291,8 +292,8 @@
     <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 0 0"/>   -->
-    <origin xyz= "0 0.04  0.085" rpy = "1.5706 1.5706 0"/>
+    <!-- <origin xyz= "0 0  0" rpy = "1.5708 -1.5708 0"/>   -->
+    <origin xyz= "0 0.042  0.072" rpy = "1.5708 1.5706 0"/>
   </joint>
 
 
@@ -301,7 +302,7 @@
     <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"/>  
+    <origin xyz= "0.0 0.25 0.005   " rpy = "0 0 0"/>  
   </joint>
 
   <joint name="joint5_to_joint4" type="revolute">
@@ -310,7 +311,7 @@
     <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 0"/>   -->
+    <!-- <origin xyz= "0.25 0  -0.1091" rpy = "0 0 1.5708"/>   -->
     <origin xyz= "0 0.25  0.025" rpy = "0 0 -1.5706"/>  
   </joint>
 
@@ -319,7 +320,7 @@
     <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"/>  
+    <origin xyz= "0 0.058 -0.052" rpy = "1.57080 -1.57080 3.14159"/>  
   </joint>
 
   <joint name="joint6output_to_joint6" type="revolute">
@@ -327,31 +328,31 @@
     <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 "/>  
+    <origin xyz= "-0.06 0 0.048" rpy = "-1.57080 0 0 "/>  
   </joint>
 
-  <joint name="joint6output_to_tool1" type="fixed">
+  <joint name="joint6output_to_tool2" type="fixed">
     <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" />
+    <child link="tool2" />
+    <origin xyz="-0.016 0.0 0.0" rpy="-1.5706 0 1.5706" />
   </joint>
 
-  <joint name="tool1_to_tool2" type="fixed">
+  <!-- <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> -->
 
   <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" />
+    <origin xyz="0.005 0.0 0.047" rpy="1.5706 0 1.5706" />
   </joint>
 
   <joint name="gripper_controller" type="revolute">
diff --git a/mycobot_description/urdf/mycobot_pro_600/new_mycobot_pro_600_moveit.urdf b/mycobot_description/urdf/mycobot_pro_600/new_mycobot_pro_600_moveit.urdf
new file mode 100644
index 0000000..9b83fcf
--- /dev/null
+++ b/mycobot_description/urdf/mycobot_pro_600/new_mycobot_pro_600_moveit.urdf
@@ -0,0 +1,192 @@
+<?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-W.dae"/>
+      </geometry>
+    <origin xyz = "0 0 0 " rpy = " 1.5706 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+	     <!--- 0.0 0 -0.04  1.5708 3.14159-->
+       <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J1-W.dae"/>
+      </geometry>
+    <origin xyz = "0 0 0 " rpy = " 1.5706 0 0"/>
+    </collision>
+  </link>
+
+  <link name="link1">
+    <visual>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J2-W.dae"/>
+      </geometry>
+    <origin xyz = "0 0.05 -0.08 " rpy = "0 0 3.14159"/>
+    </visual>
+     <collision>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J2-W.dae"/>
+      </geometry>
+    <origin xyz = "0 0.05 -0.08 " rpy = " 0 0 3.14159"/>
+    </collision>
+  </link>
+
+
+  <link name="link2">
+    <visual>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J3-W.dae"/>
+      </geometry>
+    <origin xyz = "0 -0.092 0.044 " rpy = " 0 -1.5706 0"/>
+    </visual>
+     <collision>
+     <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J3-W.dae"/>
+      </geometry>
+    <origin xyz = "0 -0.092 0.044 " rpy = " 0 -1.5706 0"/>
+    </collision>
+  </link>
+
+
+  <link name="link3">
+    <visual>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J4-W.dae"/>
+      </geometry>
+    <origin xyz = "0 -0.09 -0.01 " rpy = " 0 1.5706 0"/>
+    </visual>
+     <collision>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J4-W.dae"/>
+      </geometry>
+    <origin xyz = "0 -0.09 -0.01 " rpy = "0 1.5706 0"/>
+    </collision>
+  </link>
+
+
+
+  <link name="link4">
+    <visual>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J5-W.dae"/>
+      </geometry>
+    <origin xyz = "0 -0.6987 0 " rpy = " 0 0 0"/>
+    </visual>
+     <collision>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J5-W.dae"/>
+      </geometry>
+    <origin xyz = "0 -0.6987 0 " rpy = " 0 0 0"/>
+    </collision>
+  </link>
+
+
+  <link name="link5">
+    <visual>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J6-W.dae"/>
+      </geometry>
+    <origin xyz = "0 0 0.048 " rpy = " 1.5706  0 3.14159"/>
+    </visual>
+     <collision>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J6-W.dae"/>
+      </geometry>
+    <origin xyz = "0 0 0.048 " rpy = " 1.5706  0 3.14159"/>
+    </collision>
+  </link>
+
+  <link name="link6">
+    <visual>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J7-W.dae"/>
+      </geometry>
+      <material name = "grey">
+        <color rgba = "0.5 0.5 0.5 1"/>
+      </material>
+    <origin xyz = "0.06 0 0" rpy = " 3.14159 3.14159  0"/>
+    </visual>
+     <collision>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/mycobot_pro_600/J7-W.dae"/>
+      </geometry>
+      <material name = "grey">
+        <color rgba = "0.5 0.5 0.5 1"/>
+      </material>
+    <origin xyz = "0.06 0 0" rpy = " 3.14159 3.14159  0"/>
+    </collision>
+  </link>
+
+
+
+  <joint name="joint2_to_joint1" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
+    <parent link="base"/>
+    <child link="link1"/>
+    <origin xyz= "0 0 0.1655" 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 0.042  0.072" rpy = "1.5708 1.5706 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 0.005   " 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 -1.5706"/>  
+  </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 -0.052" 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= "-0.06 0 0.048" rpy = "-1.57080 0 0 "/>  
+  </joint>
+
+
+
+</robot>
+
diff --git a/mycobot_pro/mycobot_600/config/mycobot_600.rviz b/mycobot_pro/mycobot_600/config/mycobot_600.rviz
index 6ac6713..b03460c 100644
--- a/mycobot_pro/mycobot_600/config/mycobot_600.rviz
+++ b/mycobot_pro/mycobot_600/config/mycobot_600.rviz
@@ -10,7 +10,7 @@ Panels:
         - /TF1
         - /TF1/Frames1
       Splitter Ratio: 0.5
-    Tree Height: 719
+    Tree Height: 637
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -134,11 +134,6 @@ 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
@@ -160,7 +155,7 @@ Visualization Manager:
         base:
           Value: false
         gripper_base:
-          Value: false
+          Value: true
         gripper_left1:
           Value: false
         gripper_left2:
@@ -185,10 +180,8 @@ Visualization Manager:
           Value: false
         link6:
           Value: false
-        tool1:
-          Value: false
         tool2:
-          Value: false
+          Value: true
       Marker Alpha: 1
       Marker Scale: 0.5
       Name: TF
@@ -203,19 +196,18 @@ Visualization Manager:
                 link4:
                   link5:
                     link6:
-                      tool1:
-                        tool2:
-                          gripper_base:
-                            gripper_left2:
+                      tool2:
+                        gripper_base:
+                          gripper_left2:
+                            {}
+                          gripper_left3:
+                            gripper_left1:
                               {}
-                            gripper_left3:
-                              gripper_left1:
-                                {}
-                            gripper_right2:
+                          gripper_right2:
+                            {}
+                          gripper_right3:
+                            gripper_right1:
                               {}
-                            gripper_right3:
-                              gripper_right1:
-                                {}
       Update Interval: 0
       Value: true
   Enabled: true
@@ -246,7 +238,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 1.742307186126709
+      Distance: 0.438984215259552
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -254,25 +246,25 @@ Visualization Manager:
         Value: false
       Field of View: 0.7853981852531433
       Focal Point:
-        X: -0.07060671597719193
-        Y: 0.09759367257356644
-        Z: 0.5344932079315186
+        X: 0.38291746377944946
+        Y: 0.10844527930021286
+        Z: 0.08980736136436462
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.4803977310657501
+      Pitch: 0.31039875745773315
       Target Frame: <Fixed Frame>
-      Yaw: 3.7303872108459473
+      Yaw: 0.29537367820739746
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 1016
+  Height: 934
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000016a0000035afc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000035a000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000022f0000035afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000035a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000003930000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a00000308fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000308000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000022f00000304fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000304000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007360000003efc0100000002fb0000000800540069006d0065010000000000000736000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000005c60000030800000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -281,6 +273,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1848
+  Width: 1846
   X: 72
   Y: 27
diff --git a/mycobot_pro/mycobot_600/launch/test.launch b/mycobot_pro/mycobot_600/launch/test.launch
index 08c32eb..61291ca 100755
--- a/mycobot_pro/mycobot_600/launch/test.launch
+++ b/mycobot_pro/mycobot_600/launch/test.launch
@@ -2,6 +2,7 @@
 	<!-- Load URDF, rviz, etc. on the parameter server,加载参数服务器上的URDF、rviz等 -->
 	<!-- <arg name="model" default="$(find mycobot_description)/urdf/mycobot_pro_600/mycobot_pro_600.urdf"/> -->
 	<arg name="model" default="$(find mycobot_description)/urdf/mycobot_pro_600/mycobot_pro_600_moveit.urdf"/>
+	<!-- <arg name="model" default="$(find mycobot_description)/urdf/mycobot_pro_600/new_mycobot_pro_600_moveit.urdf"/> -->
 	<arg name="rvizconfig" default="$(find mycobot_600)/config/mycobot_600.rviz" />
 	<arg name="gui" default="true" />
 	
diff --git a/mycobot_pro/mycobot_600_gripper_moveit/config/firefighter.srdf b/mycobot_pro/mycobot_600_gripper_moveit/config/firefighter.srdf
index bf4dda5..2df1e83 100755
--- a/mycobot_pro/mycobot_600_gripper_moveit/config/firefighter.srdf
+++ b/mycobot_pro/mycobot_600_gripper_moveit/config/firefighter.srdf
@@ -132,13 +132,22 @@
 
     <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="base" link2="tool2" 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_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="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"/>
@@ -146,8 +155,10 @@
     <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="link5" reason="Never"/>
-    <disable_collisions link1="gripper_base" link2="link6" reason="Never"/>
-    <disable_collisions link1="gripper_base" link2="tool1" reason="Never"/>
+    <!-- <disable_collisions link1="gripper_base" link2="link6" reason="Never"/> -->
+    <disable_collisions link1="gripper_base" link2="link3" reason="Never"/>
+    <disable_collisions link1="gripper_base" link2="link2" reason="Never"/>
+    <!-- <disable_collisions link1="gripper_base" link2="link4" 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"/>
@@ -156,7 +167,8 @@
     <disable_collisions link1="gripper_left1" link2="gripper_right3" reason="Never"/>
     <disable_collisions link1="gripper_left1" link2="link5" reason="Never"/>
     <disable_collisions link1="gripper_left1" link2="link6" reason="Never"/>
-    <disable_collisions link1="gripper_left1" link2="tool1" reason="Never"/>
+    
+    <!-- <disable_collisions link1="gripper_left1" link2="link4" 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"/>
@@ -164,41 +176,58 @@
     <disable_collisions link1="gripper_left2" link2="gripper_right3" reason="Never"/>
     <disable_collisions link1="gripper_left2" link2="link5" reason="Never"/>
     <disable_collisions link1="gripper_left2" link2="link6" reason="Never"/>
-    <disable_collisions link1="gripper_left2" link2="tool1" reason="Never"/>
+    
+    <!-- <disable_collisions link1="gripper_left2" link2="link4" 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="link5" reason="Never"/>
     <disable_collisions link1="gripper_left3" link2="link6" reason="Never"/>
-    <disable_collisions link1="gripper_left3" link2="tool1" reason="Never"/>
+    
+    <!-- <disable_collisions link1="gripper_left3" link2="link4" 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="link5" reason="Never"/>
-    <disable_collisions link1="gripper_right1" link2="link6" reason="Never"/>
-    <disable_collisions link1="gripper_right1" link2="tool1" reason="Never"/>
+    <!-- <disable_collisions link1="gripper_right1" link2="link6" reason="Never"/> -->
+    <disable_collisions link1="gripper_right1" link2="link3" reason="Never"/>
+    <disable_collisions link1="gripper_right1" link2="link2" reason="Never"/>
+    
+    <!-- <disable_collisions link1="gripper_right1" link2="link4" 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="link5" reason="Never"/>
-    <disable_collisions link1="gripper_right2" link2="link6" reason="Never"/>
-    <disable_collisions link1="gripper_right2" link2="tool1" reason="Never"/>
+    <!-- <disable_collisions link1="gripper_right2" link2="link6" reason="Never"/> -->
+    <disable_collisions link1="gripper_right2" link2="link3" reason="Never"/>
+    <disable_collisions link1="gripper_right2" link2="link2" reason="Never"/>
+    <!-- <disable_collisions link1="gripper_right2" link2="link4" reason="Never"/> -->
     <disable_collisions link1="gripper_right2" link2="tool2" reason="Never"/>
     <disable_collisions link1="gripper_right3" link2="link5" reason="Never"/>
     <disable_collisions link1="gripper_right3" link2="link6" reason="Never"/>
-    <disable_collisions link1="gripper_right3" link2="tool1" reason="Never"/>
+    <disable_collisions link1="gripper_right3" link2="link3" reason="Never"/>
+    <disable_collisions link1="gripper_right3" link2="link2" reason="Never"/>
+    <!-- <disable_collisions link1="gripper_right3" link2="link4" reason="Never"/> -->
     <disable_collisions link1="gripper_right3" link2="tool2" reason="Never"/>
     <disable_collisions link1="link1" link2="link2" reason="Adjacent"/>
-    <disable_collisions link1="link1" link2="tool2" reason="Never"/>
+    <!-- <disable_collisions link1="link1" link2="tool2" reason="Never"/> -->
+    <disable_collisions link1="link1" link2="link3" reason="Never"/>
+
     <disable_collisions link1="link2" link2="link3" reason="Adjacent"/>
-    <disable_collisions link1="link2" link2="tool2" reason="Never"/>
+    <!-- <disable_collisions link1="link2" link2="tool2" reason="Never"/> -->
+    <disable_collisions link1="link2" link2="link4" reason="Never"/>
+
     <disable_collisions link1="link3" link2="link4" reason="Adjacent"/>
-    <disable_collisions link1="link3" link2="tool2" reason="Never"/>
+    <!-- <disable_collisions link1="link3" link2="tool2" reason="Never"/> -->
+    <disable_collisions link1="link3" link2="link5" reason="Never"/>
+
     <disable_collisions link1="link4" link2="link5" reason="Adjacent"/>
-    <disable_collisions link1="link4" link2="tool2" reason="Never"/>
+    <!-- <disable_collisions link1="link4" link2="tool2" reason="Never"/> -->
+    <disable_collisions link1="link4" link2="link6" reason="Never"/>
+
     <disable_collisions link1="link5" link2="link6" reason="Adjacent"/>
     <disable_collisions link1="link5" link2="tool2" reason="Never"/>
-    <disable_collisions link1="link6" link2="tool1" reason="Adjacent"/>
-    <disable_collisions link1="link6" link2="tool2" reason="Never"/>
-    <disable_collisions link1="tool1" link2="tool2" reason="Adjacent"/>
+    <!-- <disable_collisions link1="link6" link2="tool1" reason="Adjacent"/> -->
+    <disable_collisions link1="link6" link2="tool2" reason="Adjacent"/>
+    <!-- <disable_collisions link1="tool1" link2="tool2" reason="Adjacent"/> -->
 </robot>
diff --git a/mycobot_pro/mycobot_600_gripper_moveit/launch/moveit.rviz b/mycobot_pro/mycobot_600_gripper_moveit/launch/moveit.rviz
index 90bbe8a..523ca9f 100755
--- a/mycobot_pro/mycobot_600_gripper_moveit/launch/moveit.rviz
+++ b/mycobot_pro/mycobot_600_gripper_moveit/launch/moveit.rviz
@@ -9,7 +9,7 @@ Panels:
         - /MotionPlanning1/Planning Request1
         - /MotionPlanning1/Planned Path1
       Splitter Ratio: 0.5
-    Tree Height: 200
+    Tree Height: 245
   - Class: rviz/Help
     Name: Help
   - Class: rviz/Views
@@ -53,7 +53,7 @@ Visualization Manager:
       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:
@@ -114,37 +114,32 @@ Visualization Manager:
             Show Axes: false
             Show Trail: false
             Value: true
-          joint1:
+          link1:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          joint2:
+          link2:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          joint3:
+          link3:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          joint4:
+          link4:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          joint5:
+          link5:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          joint6:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
-          tool1:
+          link6:
             Alpha: 1
             Show Axes: false
             Show Trail: false
@@ -240,37 +235,32 @@ Visualization Manager:
             Show Axes: false
             Show Trail: false
             Value: true
-          joint1:
+          link1:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          joint2:
+          link2:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          joint3:
+          link3:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          joint4:
+          link4:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          joint5:
+          link5:
             Alpha: 1
             Show Axes: false
             Show Trail: false
             Value: true
-          joint6:
-            Alpha: 1
-            Show Axes: false
-            Show Trail: false
-            Value: true
-          tool1:
+          link6:
             Alpha: 1
             Show Axes: false
             Show Trail: false
@@ -335,17 +325,17 @@ Visualization Manager:
         Value: false
       Field of View: 0.75
       Focal Point:
-        X: -0.07944566011428833
-        Y: 0.29104751348495483
-        Z: 0.29134249687194824
+        X: 0.4045429229736328
+        Y: 0.17718593776226044
+        Z: 0.2918968200683594
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 1.0449998378753662
+      Pitch: 0.20500031113624573
       Target Frame: base
-      Yaw: 6.149951934814453
+      Yaw: 2.056767225265503
     Saved:
       - Class: rviz/Orbit
         Distance: 2
@@ -370,7 +360,7 @@ Visualization Manager:
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 820
+  Height: 934
   Help:
     collapsed: false
   Hide Left Dock: false
@@ -379,9 +369,9 @@ Window Geometry:
     collapsed: false
   MotionPlanning - Trajectory Slider:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd0000000100000000000001f3000002dafc0200000007fb000000100044006900730070006c006100790073010000003d00000105000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720100000148000000410000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e0067010000018f000001880000017d00ffffff00000539000002da00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000100000000000001f30000034cfc0200000007fb000000100044006900730070006c006100790073010000003d00000132000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720100000175000000410000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001bc000001cd0000017d00ffffff0000053d0000034c00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Views:
     collapsed: false
-  Width: 1842
+  Width: 1846
   X: 72
   Y: 27
diff --git a/mycobot_pro/mycobot_600_gripper_moveit/scripts/sync_plan.py b/mycobot_pro/mycobot_600_gripper_moveit/scripts/sync_plan.py
index 0aef4bc..f8ada78 100755
--- a/mycobot_pro/mycobot_600_gripper_moveit/scripts/sync_plan.py
+++ b/mycobot_pro/mycobot_600_gripper_moveit/scripts/sync_plan.py
@@ -70,8 +70,6 @@ def callback(data):
     num2 = num2[1]
     mc.set_gripper_value(num2,100)
     rospy.loginfo(num2)
-    
-
 
 
 def listener():
diff --git a/mycobot_pro/mycobot_600_moveit/config/firefighter.srdf b/mycobot_pro/mycobot_600_moveit/config/firefighter.srdf
index 5f5b813..1f681fe 100644
--- a/mycobot_pro/mycobot_600_moveit/config/firefighter.srdf
+++ b/mycobot_pro/mycobot_600_moveit/config/firefighter.srdf
@@ -34,21 +34,11 @@
     <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
     <!-- <disable_collisions link1="base" link2="link1" reason="Adjacent" />
     <disable_collisions link1="base" link2="link2" reason="Never" />
-    <disable_collisions link1="base" link2="link3" reason="Never" />
-    <disable_collisions link1="base" link2="link4" reason="Never" />
-    <disable_collisions link1="base" link2="link5" reason="Never" />
-    <disable_collisions link1="base" link2="link6" reason="Never" />
     <disable_collisions link1="link1" link2="link2" reason="Adjacent" />
-    <disable_collisions link1="link1" link2="link3" reason="Never" />
-    <disable_collisions link1="link1" link2="link4" reason="Never" />
-    <disable_collisions link1="link1" link2="link5" reason="Never" />
     <disable_collisions link1="link1" link2="link6" reason="Never" />
     <disable_collisions link1="link2" link2="link3" reason="Adjacent" />
-    <disable_collisions link1="link2" link2="link4" reason="Never" />
-    <disable_collisions link1="link2" link2="link5" reason="Never" />
     <disable_collisions link1="link2" link2="link6" reason="Never" />
     <disable_collisions link1="link3" link2="link4" reason="Adjacent" />
-    <disable_collisions link1="link3" link2="link5" reason="Never" />
     <disable_collisions link1="link3" link2="link6" reason="Never" />
     <disable_collisions link1="link4" link2="link5" reason="Adjacent" />
     <disable_collisions link1="link4" link2="link6" reason="Never" />
@@ -56,12 +46,23 @@
 
     <disable_collisions link1="base" link2="link1" reason="Adjacent" />
     <disable_collisions link1="base" link2="link2" reason="Never" />
+    <disable_collisions link1="base" link2="link3" reason="Never" />
+    <disable_collisions link1="base" link2="link4" reason="Never" />
+    <disable_collisions link1="base" link2="link5" reason="Never" />
+    <disable_collisions link1="base" link2="link6" reason="Never" />
+
     <disable_collisions link1="link1" link2="link2" reason="Adjacent" />
-    <disable_collisions link1="link1" link2="link6" reason="Never" />
+    <disable_collisions link1="link1" link2="link3" reason="Never" />
+    <!-- <disable_collisions link1="joint1" link2="joint4" reason="Never" /> -->
+    <!-- <disable_collisions link1="joint1" link2="joint5" reason="Never" />
+    <disable_collisions link1="joint1" link2="joint6" reason="Never" /> -->
     <disable_collisions link1="link2" link2="link3" reason="Adjacent" />
-    <disable_collisions link1="link2" link2="link6" reason="Never" />
+    <disable_collisions link1="link2" link2="link4" reason="Never" />
+    <!-- <disable_collisions link1="joint2" link2="joint5" reason="Never" /> -->
+    <!-- <disable_collisions link1="joint2" link2="joint6" reason="Never" /> -->
     <disable_collisions link1="link3" link2="link4" reason="Adjacent" />
-    <disable_collisions link1="link3" link2="link6" reason="Never" />
+    <disable_collisions link1="link3" link2="link5" reason="Never" />
+    <!-- <disable_collisions link1="joint3" link2="joint6" reason="Never" /> -->
     <disable_collisions link1="link4" link2="link5" reason="Adjacent" />
     <disable_collisions link1="link4" link2="link6" reason="Never" />
     <disable_collisions link1="link5" link2="link6" reason="Adjacent" />
diff --git a/mycobot_pro/mycobot_600_moveit/launch/planning_context.launch b/mycobot_pro/mycobot_600_moveit/launch/planning_context.launch
index bc1b86e..2d07665 100644
--- a/mycobot_pro/mycobot_600_moveit/launch/planning_context.launch
+++ b/mycobot_pro/mycobot_600_moveit/launch/planning_context.launch
@@ -7,7 +7,8 @@
 
   <!-- Load universal robot description format (URDF) -->
   <!-- <param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/mycobot_pro_600/mycobot_pro_600.urdf"/> -->
-  <param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/mycobot_pro_600/mycobot_pro_600_moveit.urdf"/>
+  <!-- <param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/mycobot_pro_600/mycobot_pro_600_moveit.urdf"/> -->
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/mycobot_pro_600/new_mycobot_pro_600_moveit.urdf"/>
 
   <!-- The semantic description that corresponds to the URDF -->
   <param name="$(arg robot_description)_semantic" textfile="$(find mycobot_600_moveit)/config/firefighter.srdf" />