diff --git a/myArm/myarm_moveit/.setup_assistant b/myArm/myarm_moveit/.setup_assistant
index 680d675..2b291be 100644
--- a/myArm/myarm_moveit/.setup_assistant
+++ b/myArm/myarm_moveit/.setup_assistant
@@ -8,4 +8,4 @@ moveit_setup_assistant_config:
   CONFIG:
     author_name: zachary
     author_email: lijun.zhang@elephantrobotics.com
-    generated_timestamp: 1687147323
\ No newline at end of file
+    generated_timestamp: 1687660389
\ No newline at end of file
diff --git a/myArm/myarm_moveit/config/firefighter.srdf b/myArm/myarm_moveit/config/firefighter.srdf
index 2d56054..aafd457 100644
--- a/myArm/myarm_moveit/config/firefighter.srdf
+++ b/myArm/myarm_moveit/config/firefighter.srdf
@@ -10,7 +10,14 @@
     <!--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">
-        <chain base_link="base" tip_link="joint7"/>
+        <!-- <joint name="vitual_joint"/> -->
+        <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="joint7_to_joint6"/>
     </group>
     <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
     <group_state name="init_pose" group="arm_group">
diff --git a/myArm/myarm_moveit/config/ompl_planning.yaml b/myArm/myarm_moveit/config/ompl_planning.yaml
index 1387e59..7c783a2 100644
--- a/myArm/myarm_moveit/config/ompl_planning.yaml
+++ b/myArm/myarm_moveit/config/ompl_planning.yaml
@@ -165,7 +165,6 @@ planner_configs:
     use_strict_queue_ordering: 0  # sort edges in the queue at the end of the batch (0) or after each rewiring (1). Default: 0
     find_approximate_solutions: 0  # track approximate solutions (1) or not (0). Default: 0
 arm_group:
-  default_planner_config: RRTConnect
   planner_configs:
     - AnytimePathShortening
     - SBL
@@ -194,5 +193,3 @@ arm_group:
     - AITstar
     - ABITstar
     - BITstar
-  projection_evaluator: joints(joint1_to_base,joint2_to_joint1)
-  longest_valid_segment_fraction: 0.005
diff --git a/myArm/myarm_moveit/launch/moveit.rviz b/myArm/myarm_moveit/launch/moveit.rviz
index cde65dd..7c688ca 100644
--- a/myArm/myarm_moveit/launch/moveit.rviz
+++ b/myArm/myarm_moveit/launch/moveit.rviz
@@ -5,9 +5,11 @@ Panels:
     Property Tree Widget:
       Expanded:
         - /MotionPlanning1
+        - /MotionPlanning1/Planning Request1
+        - /MotionPlanning1/Planning Metrics1
         - /MotionPlanning1/Planned Path1
       Splitter Ratio: 0.5
-    Tree Height: 155
+    Tree Height: 215
   - Class: rviz/Help
     Name: Help
   - Class: rviz/Views
@@ -44,7 +46,7 @@ Visualization Manager:
       Class: moveit_rviz_plugin/MotionPlanning
       Enabled: true
       Move Group Namespace: ""
-      MoveIt_Allow_Approximate_IK: true
+      MoveIt_Allow_Approximate_IK: false
       MoveIt_Allow_External_Program: false
       MoveIt_Allow_Replanning: false
       MoveIt_Allow_Sensor_Positioning: false
@@ -111,10 +113,10 @@ Visualization Manager:
             Show Axes: false
             Show Trail: false
             Value: true
-        Loop Animation: false
+        Loop Animation: true
         Robot Alpha: 0.5
         Robot Color: 150; 50; 150
-        Show Robot Collision: false
+        Show Robot Collision: true
         Show Robot Visual: true
         Show Trail: false
         State Display Time: 0.05 s
@@ -136,7 +138,7 @@ Visualization Manager:
         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
@@ -218,7 +220,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 1.7599999904632568
+      Distance: 2
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -234,9 +236,9 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.44000014662742615
+      Pitch: 0.5
       Target Frame: base
-      Yaw: 2.44994854927063
+      Yaw: -0.6232355833053589
     Saved: ~
 Window Geometry:
   Displays:
@@ -250,7 +252,7 @@ Window Geometry:
     collapsed: false
   MotionPlanning - Trajectory Slider:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd0000000100000000000001f3000002f6fc0200000007fb000000100044006900730070006c006100790073010000003d0000012c000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c0069006400650072010000016f000000410000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001b60000017d0000017d00ffffff00000312000002f600000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000100000000000001f3000002f6fc0200000007fb000000100044006900730070006c006100790073010000003d00000168000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001ab000001880000017d00ffffff00000312000002f600000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Views:
     collapsed: false
   Width: 1291