diff --git a/mycobot_320/new_mycobot_320_moveit/launch/moveit.rviz b/mycobot_320/new_mycobot_320_moveit/launch/moveit.rviz
index 110fe62..2133bb9 100644
--- a/mycobot_320/new_mycobot_320_moveit/launch/moveit.rviz
+++ b/mycobot_320/new_mycobot_320_moveit/launch/moveit.rviz
@@ -9,8 +9,9 @@ Panels:
         - /MotionPlanning1/Scene Robot1
         - /MotionPlanning1/Planning Request1
         - /MotionPlanning1/Planned Path1
+        - /TF1
       Splitter Ratio: 0.742560029
-    Tree Height: 205
+    Tree Height: 118
   - Class: rviz/Help
     Name: Help
   - Class: rviz/Views
@@ -194,6 +195,20 @@ Visualization Manager:
         Show Robot Visual: false
       Value: true
       Velocity_Scaling_Factor: 1
+    - Class: rviz/TF
+      Enabled: false
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+      Marker Scale: 0.800000012
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        {}
+      Update Interval: 0
+      Value: false
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -210,7 +225,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/XYOrbit
-      Distance: 2.99650002
+      Distance: 1.55857718
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.0599999987
         Stereo Focal Distance: 1
@@ -225,15 +240,15 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.00999999978
-      Pitch: -0.425203115
+      Pitch: 0.0447968468
       Target Frame: base
       Value: XYOrbit (rviz)
-      Yaw: 3.29494882
+      Yaw: 3.43494892
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 908
+  Height: 898
   Help:
     collapsed: false
   Hide Left Dock: false
@@ -242,7 +257,7 @@ Window Geometry:
     collapsed: false
   MotionPlanning - Trajectory Slider:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd0000000100000000000002ad00000346fc0200000007fb000000100044006900730070006c006100790073010000002800000162000000d700fffffffb0000000800480065006c00700000000342000000bb0000007300fffffffb0000000a0056006900650077007300000003b0000000b0000000ad00fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c006900640065007201000001900000004a0000004a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001e00000018e0000018300ffffff0000048c0000034600000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000100000000000002ad0000033cfc0200000007fb000000100044006900730070006c00610079007301000000280000010b000000d700fffffffb0000000800480065006c00700000000342000000bb0000007300fffffffb0000000a0056006900650077007300000003b0000000b0000000ad00fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c006900640065007200000001860000004a0000004a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001390000022b0000018300ffffff0000048c0000033c00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Views:
     collapsed: false
   Width: 1855