diff --git a/mycobot_280/mycobot_280jn_moveit/launch/moveit.rviz b/mycobot_280/mycobot_280jn_moveit/launch/moveit.rviz
index 38b3736..8d7460d 100644
--- a/mycobot_280/mycobot_280jn_moveit/launch/moveit.rviz
+++ b/mycobot_280/mycobot_280jn_moveit/launch/moveit.rviz
@@ -9,8 +9,8 @@ Panels:
         - /MotionPlanning1/Scene Robot1
         - /MotionPlanning1/Planning Request1
         - /MotionPlanning1/Planned Path1
-      Splitter Ratio: 0.742560029
-    Tree Height: 325
+      Splitter Ratio: 0.7425600290298462
+    Tree Height: 172
   - Class: rviz/Help
     Name: Help
   - Class: rviz/Views
@@ -18,6 +18,8 @@ Panels:
       - /Current View1
     Name: Views
     Splitter Ratio: 0.5
+Preferences:
+  PromptSaveOnExit: true
 Toolbars:
   toolButtonStyle: 2
 Visualization Manager:
@@ -29,7 +31,7 @@ Visualization Manager:
       Color: 160; 160; 164
       Enabled: true
       Line Style:
-        Line Width: 0.0299999993
+        Line Width: 0.029999999329447746
         Value: Lines
       Name: Grid
       Normal Cell Count: 0
@@ -45,16 +47,14 @@ Visualization Manager:
       Class: moveit_rviz_plugin/MotionPlanning
       Enabled: 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_Goal_Tolerance: 0
       MoveIt_Planning_Attempts: 10
       MoveIt_Planning_Time: 5
+      MoveIt_Use_Cartesian_Path: false
       MoveIt_Use_Constraint_Aware_IK: true
-      MoveIt_Warehouse_Host: 127.0.0.1
-      MoveIt_Warehouse_Port: 33829
       MoveIt_Workspace:
         Center:
           X: 0
@@ -118,20 +118,21 @@ Visualization Manager:
         State Display Time: 0.05 s
         Trail Step Size: 1
         Trajectory Topic: move_group/display_planned_path
+        Use Sim Time: false
       Planning Metrics:
         Payload: 1
         Show Joint Torques: false
         Show Manipulability: false
         Show Manipulability Index: false
         Show Weight Limit: false
-        TextHeight: 0.0799999982
+        TextHeight: 0.07999999821186066
       Planning Request:
         Colliding Link Color: 255; 0; 0
         Goal State Alpha: 1
         Goal State Color: 250; 128; 0
-        Interactive Marker Size: 0
+        Interactive Marker Size: 0.12999999523162842
         Joint Violation Color: 255; 0; 255
-        Planning Group: mycobot_arm
+        Planning Group: arm_group
         Query Goal State: true
         Query Start State: true
         Show Workspace: false
@@ -142,7 +143,7 @@ Visualization Manager:
       Scene Geometry:
         Scene Alpha: 1
         Scene Color: 50; 230; 50
-        Scene Display Time: 0.200000003
+        Scene Display Time: 0.20000000298023224
         Show Scene Geometry: true
         Voxel Coloring: Z-Axis
         Voxel Rendering: Occupied Voxels
@@ -210,30 +211,30 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/XYOrbit
-      Distance: 1.39158678
+      Distance: 1.3915867805480957
       Enable Stereo Rendering:
-        Stereo Eye Separation: 0.0599999987
+        Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
+      Field of View: 0.7853981852531433
       Focal Point:
-        X: 0.113567002
-        Y: 0.105920002
-        Z: 2.23518001e-07
+        X: 0.11356700211763382
+        Y: 0.10592000186443329
+        Z: 2.2351800055275817e-07
       Focal Shape Fixed Size: true
-      Focal Shape Size: 0.0500000007
+      Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
-      Near Clip Distance: 0.00999999978
-      Pitch: 0.439796686
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.0647968053817749
       Target Frame: joint1
-      Value: XYOrbit (rviz)
-      Yaw: 2.5317657
+      Yaw: 3.026766300201416
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 1028
+  Height: 876
   Help:
     collapsed: false
   Hide Left Dock: false
@@ -242,9 +243,9 @@ Window Geometry:
     collapsed: false
   MotionPlanning - Trajectory Slider:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd0000000100000000000002ad000003befc0200000007fb000000100044006900730070006c0061007900730100000028000001da000000d700fffffffb0000000800480065006c00700000000342000000bb0000007300fffffffb0000000a0056006900650077007300000003b0000000b0000000ad00fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c006900640065007201000002080000004a0000004a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000002580000018e0000018300ffffff00000471000003be00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000100000000000001f300000312fc0200000007fb000000100044006900730070006c006100790073010000003d0000013d000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720100000180000000410000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001c7000001880000017d00ffffff0000053f0000031200000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Views:
     collapsed: false
-  Width: 1828
-  X: 92
-  Y: 24
+  Width: 1848
+  X: 72
+  Y: 27
diff --git a/mycobot_280/mycobot_280jn_moveit/scripts/sync_plan.py b/mycobot_280/mycobot_280jn_moveit/scripts/sync_plan.py
index 8cdd97e..ed14da6 100644
--- a/mycobot_280/mycobot_280jn_moveit/scripts/sync_plan.py
+++ b/mycobot_280/mycobot_280jn_moveit/scripts/sync_plan.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python2
+#!/usr/bin/env python3
 import time
 import rospy
 from sensor_msgs.msg import JointState