diff --git a/Mira/mira_moveit/.setup_assistant b/Mira/mira_moveit/.setup_assistant
new file mode 100644
index 0000000..790dbc0
--- /dev/null
+++ b/Mira/mira_moveit/.setup_assistant
@@ -0,0 +1,11 @@
+moveit_setup_assistant_config:
+  URDF:
+    package: mycobot_description
+    relative_path: urdf/mira_urdf/mira.urdf
+    xacro_args: ""
+  SRDF:
+    relative_path: config/firefighter.srdf
+  CONFIG:
+    author_name: weijian.wang
+    author_email: weijian.wang@elephanticrobots.com
+    generated_timestamp: 1662518830
\ No newline at end of file
diff --git a/Mira/mira_moveit/CMakeLists.txt b/Mira/mira_moveit/CMakeLists.txt
index 0d00e2d..82a877a 100644
--- a/Mira/mira_moveit/CMakeLists.txt
+++ b/Mira/mira_moveit/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.1.3)
 project(mira_moveit)
 
 find_package(catkin REQUIRED
diff --git a/Mira/mira_moveit/LICENSE b/Mira/mira_moveit/LICENSE
deleted file mode 100644
index b8468e6..0000000
--- a/Mira/mira_moveit/LICENSE
+++ /dev/null
@@ -1,25 +0,0 @@
-BSD 2-Clause License
-
-Copyright (c) 2020, Elephant Robotics
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-
-1. Redistributions of source code must retain the above copyright notice, this
-   list of conditions and the following disclaimer.
-
-2. Redistributions in binary form must reproduce the above copyright notice,
-   this list of conditions and the following disclaimer in the documentation
-   and/or other materials provided with the distribution.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
-AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
-IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
-FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
-DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
-SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
-OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
-OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
diff --git a/Mira/mira_moveit/config/cartesian_limits.yaml b/Mira/mira_moveit/config/cartesian_limits.yaml
new file mode 100644
index 0000000..7df72f6
--- /dev/null
+++ b/Mira/mira_moveit/config/cartesian_limits.yaml
@@ -0,0 +1,5 @@
+cartesian_limits:
+  max_trans_vel: 1
+  max_trans_acc: 2.25
+  max_trans_dec: -5
+  max_rot_vel: 1.57
diff --git a/Mira/mira_moveit/config/chomp_planning.yaml b/Mira/mira_moveit/config/chomp_planning.yaml
index 75258e5..eb9c912 100644
--- a/Mira/mira_moveit/config/chomp_planning.yaml
+++ b/Mira/mira_moveit/config/chomp_planning.yaml
@@ -7,12 +7,12 @@ learning_rate: 0.01
 smoothness_cost_velocity: 0.0
 smoothness_cost_acceleration: 1.0
 smoothness_cost_jerk: 0.0
-ridge_factor: 0.01
+ridge_factor: 0.0
 use_pseudo_inverse: false
 pseudo_inverse_ridge_factor: 1e-4
 joint_update_limit: 0.1
-collision_clearence: 0.2
+collision_clearance: 0.2
 collision_threshold: 0.07
 use_stochastic_descent: true
-enable_failure_recovery: true
-max_recovery_attempts: 5
\ No newline at end of file
+enable_failure_recovery: false
+max_recovery_attempts: 5
diff --git a/Mira/mira_moveit/config/fake_controllers.yaml b/Mira/mira_moveit/config/fake_controllers.yaml
index f25d617..e6fbb06 100644
--- a/Mira/mira_moveit/config/fake_controllers.yaml
+++ b/Mira/mira_moveit/config/fake_controllers.yaml
@@ -1,10 +1,10 @@
 controller_list:
   - name: fake_arm_group_controller
+    type: $(arg fake_execution_type)
     joints:
       - joint1_to_base
       - joint2_to_joint1
       - joint3_to_joint2
-      # - joint4_to_joint3
-      # - joint5_to_joint4
-      
-      # - joint6output_to_joint6
\ No newline at end of file
+initial:  # Define initial robot poses per group
+  - group: arm_group
+    pose: init_pose
\ No newline at end of file
diff --git a/Mira/mira_moveit/config/firefighter.srdf b/Mira/mira_moveit/config/firefighter.srdf
index 05695ba..f593b18 100644
--- a/Mira/mira_moveit/config/firefighter.srdf
+++ b/Mira/mira_moveit/config/firefighter.srdf
@@ -1,4 +1,4 @@
-<?xml version="1.0" ?>
+<?xml version="1.0" encoding="UTF-8"?>
 <!--This does not replace URDF, and is not an extension of URDF.
     This is a format for representing semantic information about the robot structure.
     A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
@@ -10,38 +10,20 @@
     <!--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">
-        <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="joint6output_to_joint6" /> -->
+        <chain base_link="base" tip_link="link3"/>
     </group>
     <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
     <group_state name="init_pose" group="arm_group">
-        <joint name="joint1_to_base" value="0" />
-        <joint name="joint2_to_joint1" value="0" />
-        <joint name="joint3_to_joint2" value="0" />
-        <!-- <joint name="joint4_to_joint3" value="0" /> -->
-        <!-- <joint name="joint5_to_joint4" value="0" /> -->
-        <!-- <joint name="joint6_to_joint5" value="0" />
-        <joint name="joint6output_to_joint6" value="0" /> -->
+        <joint name="joint1_to_base" value="0"/>
+        <joint name="joint2_to_joint1" value="0"/>
+        <joint name="joint3_to_joint2" value="0"/>
     </group_state>
     <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
-    <!-- <virtual_joint name="vitual_joint" type="fixed" parent_frame="basic" child_link="joint1" /> -->
-    <virtual_joint name="vitual_joint" type="fixed" parent_frame="basic" child_link="base" />
-
+    <virtual_joint name="virtual_joint" type="fixed" parent_frame="basic" child_link="base"/>
     <!--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="link3" reason="Never" />
-    <disable_collisions link1="link1" link2="link2" reason="Adjacent" />
-    <disable_collisions link1="link1" link2="link3" reason="Never" />
-    <disable_collisions link1="link2" link2="link3" reason="Adjacent" />
-    <!-- <disable_collisions link1="link2" link2="link5" reason="Never" /> -->
-    <!-- <disable_collisions link1="link3" link2="link4" reason="Adjacent" /> -->
-    <!-- <disable_collisions link1="link3" link2="link5" reason="Never" /> -->
-    <!-- <disable_collisions link1="link4" link2="link5" reason="Adjacent" /> -->
-    
-    <!-- <disable_collisions link1="joint6" link2="joint6_flange" reason="Adjacent" /> -->
+    <disable_collisions link1="base" link2="link1" reason="Adjacent"/>
+    <disable_collisions link1="base" link2="link3" reason="Never"/>
+    <disable_collisions link1="link1" link2="link2" reason="Adjacent"/>
+    <disable_collisions link1="link1" link2="link3" reason="Never"/>
+    <disable_collisions link1="link2" link2="link3" reason="Adjacent"/>
 </robot>
diff --git a/Mira/mira_moveit/config/gazebo_controllers.yaml b/Mira/mira_moveit/config/gazebo_controllers.yaml
new file mode 100644
index 0000000..e4d2eb0
--- /dev/null
+++ b/Mira/mira_moveit/config/gazebo_controllers.yaml
@@ -0,0 +1,4 @@
+# Publish joint_states
+joint_state_controller:
+  type: joint_state_controller/JointStateController
+  publish_rate: 50
diff --git a/Mira/mira_moveit/config/joint_limits.yaml b/Mira/mira_moveit/config/joint_limits.yaml
index 1a3e51c..819f37c 100644
--- a/Mira/mira_moveit/config/joint_limits.yaml
+++ b/Mira/mira_moveit/config/joint_limits.yaml
@@ -1,4 +1,10 @@
 # joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
+
+# For beginners, we downscale velocity and acceleration limits.
+# You can always specify higher scaling factors (<= 1.0) in your motion requests.  # Increase the values below to 1.0 to always move at maximum speed.
+default_velocity_scaling_factor: 0.1
+default_acceleration_scaling_factor: 0.1
+
 # Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
 # Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
 joint_limits:
@@ -16,24 +22,4 @@ joint_limits:
     has_velocity_limits: false
     max_velocity: 0
     has_acceleration_limits: false
-    max_acceleration: 0
-  # joint4_to_joint3:
-  #   has_velocity_limits: false
-  #   max_velocity: 0
-  #   has_acceleration_limits: false
-  #   max_acceleration: 0
-  # joint5_to_joint4:
-  #   has_velocity_limits: false
-  #   max_velocity: 0
-  #   has_acceleration_limits: false
-  #   max_acceleration: 0
-  # joint6_to_joint5:
-  #   has_velocity_limits: false
-  #   max_velocity: 0
-  #   has_acceleration_limits: false
-  #   max_acceleration: 0
-  # joint6output_to_joint6:
-  #   has_velocity_limits: false
-  #   max_velocity: 0
-  #   has_acceleration_limits: false
-  #   max_acceleration: 0
\ No newline at end of file
+    max_acceleration: 0
\ No newline at end of file
diff --git a/Mira/mira_moveit/config/kinematics.yaml b/Mira/mira_moveit/config/kinematics.yaml
index 031b273..299808f 100644
--- a/Mira/mira_moveit/config/kinematics.yaml
+++ b/Mira/mira_moveit/config/kinematics.yaml
@@ -1,5 +1,4 @@
 arm_group:
   kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
   kinematics_solver_search_resolution: 0.005
-  kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3
\ No newline at end of file
+  kinematics_solver_timeout: 0.005
\ No newline at end of file
diff --git a/Mira/mira_moveit/config/ompl_planning.yaml b/Mira/mira_moveit/config/ompl_planning.yaml
index 6c2d3f5..f0ea23f 100644
--- a/Mira/mira_moveit/config/ompl_planning.yaml
+++ b/Mira/mira_moveit/config/ompl_planning.yaml
@@ -1,4 +1,11 @@
 planner_configs:
+  AnytimePathShortening:
+    type: geometric::AnytimePathShortening
+    shortcut: true  # Attempt to shortcut all new solution paths
+    hybridize: true  # Compute hybrid solution trajectories
+    max_hybrid_paths: 24  # Number of hybrid paths generated per iteration
+    num_planners: 4  # The number of default planners to use for planning
+    planners: ""  # A comma-separated list of planner types (e.g., "PRM,EST,RRTConnect"Optionally, planner parameters can be passed to change the default:"PRM[max_nearest_neighbors=5],EST[goal_bias=.5],RRT[range=10. goal_bias=.1]"
   SBL:
     type: geometric::SBL
     range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
@@ -121,8 +128,9 @@ planner_configs:
     dense_delta_fraction: 0.001  # delta fraction for interface detection. default: 0.001
     max_failures: 5000  # maximum consecutive failure limit. default: 5000
 arm_group:
-  default_planner_config: RRT
+  default_planner_config: RRTConnect
   planner_configs:
+    - AnytimePathShortening
     - SBL
     - EST
     - LBKPIECE
@@ -146,5 +154,5 @@ arm_group:
     - LazyPRMstar
     - SPARS
     - SPARStwo
-  projection_evaluator: joints(joint2_to_joint1,joint3_to_joint2)
-  longest_valid_segment_fraction: 0.005
\ No newline at end of file
+  projection_evaluator: joints(joint1_to_base,joint2_to_joint1)
+  longest_valid_segment_fraction: 0.005
diff --git a/Mira/mira_moveit/config/ros_controllers.yaml b/Mira/mira_moveit/config/ros_controllers.yaml
index df8b7e0..2aeda7e 100644
--- a/Mira/mira_moveit/config/ros_controllers.yaml
+++ b/Mira/mira_moveit/config/ros_controllers.yaml
@@ -1,27 +1,22 @@
-# Simulation settings for using moveit_sim_controllers
-moveit_sim_hw_interface:
-  joint_model_group: arm_group
-  joint_model_group_pose: init_pose
-# Settings for ros_control_boilerplate control loop
-generic_hw_control_loop:
-  loop_hz: 300
-  cycle_time_error_threshold: 0.01
-# Settings for ros_control hardware interface
-hardware_interface:
+arm_group_controller:
+  type: effort_controllers/JointTrajectoryController
   joints:
-    - vitual_joint
     - joint1_to_base
     - joint2_to_joint1
     - joint3_to_joint2
-    # - joint4_to_joint3
-    # - joint5_to_joint4
-    # - joint6_to_joint5
-    # - joint6output_to_joint6
-  sim_control_mode: 1  # 0: position, 1: velocity
-# Publish all joint states
-# Creates the /joint_states topic necessary in ROS
-joint_state_controller:
-  type: joint_state_controller/JointStateController
-  publish_rate: 50
-controller_list:
-  []
\ No newline at end of file
+  gains:
+    joint1_to_base:
+      p: 100
+      d: 1
+      i: 1
+      i_clamp: 1
+    joint2_to_joint1:
+      p: 100
+      d: 1
+      i: 1
+      i_clamp: 1
+    joint3_to_joint2:
+      p: 100
+      d: 1
+      i: 1
+      i_clamp: 1
\ No newline at end of file
diff --git a/Mira/mira_moveit/config/sensors_3d.yaml b/Mira/mira_moveit/config/sensors_3d.yaml
index a4bb13e..01538cc 100644
--- a/Mira/mira_moveit/config/sensors_3d.yaml
+++ b/Mira/mira_moveit/config/sensors_3d.yaml
@@ -1,4 +1,3 @@
-# The name of this file shouldn't be changed, or else the Setup Assistant won't detect it
 sensors:
   - filtered_cloud_topic: filtered_cloud
     max_range: 5.0
diff --git a/Mira/mira_moveit/config/simple_moveit_controllers.yaml b/Mira/mira_moveit/config/simple_moveit_controllers.yaml
new file mode 100644
index 0000000..dc9d5b1
--- /dev/null
+++ b/Mira/mira_moveit/config/simple_moveit_controllers.yaml
@@ -0,0 +1,9 @@
+controller_list:
+  - name: arm_group_controller
+    action_ns: follow_joint_trajectory
+    type: FollowJointTrajectory
+    default: True
+    joints:
+      - joint1_to_base
+      - joint2_to_joint1
+      - joint3_to_joint2
\ No newline at end of file
diff --git a/Mira/mira_moveit/config/stomp_planning.yaml b/Mira/mira_moveit/config/stomp_planning.yaml
new file mode 100644
index 0000000..8ac9daa
--- /dev/null
+++ b/Mira/mira_moveit/config/stomp_planning.yaml
@@ -0,0 +1,39 @@
+stomp/arm_group:
+  group_name: arm_group
+  optimization:
+    num_timesteps: 60
+    num_iterations: 40
+    num_iterations_after_valid: 0
+    num_rollouts: 30
+    max_rollouts: 30
+    initialization_method: 1  # [1 : LINEAR_INTERPOLATION, 2 : CUBIC_POLYNOMIAL, 3 : MININUM_CONTROL_COST]
+    control_cost_weight: 0.0
+  task:
+    noise_generator:
+      - class: stomp_moveit/NormalDistributionSampling
+        stddev: [0.05, 0.05, 0.05]
+    cost_functions:
+      - class: stomp_moveit/CollisionCheck
+        collision_penalty: 1.0
+        cost_weight: 1.0
+        kernel_window_percentage: 0.2
+        longest_valid_joint_move: 0.05
+    noisy_filters:
+      - class: stomp_moveit/JointLimits
+        lock_start: True
+        lock_goal: True
+      - class: stomp_moveit/MultiTrajectoryVisualization
+        line_width: 0.02
+        rgb: [255, 255, 0]
+        marker_array_topic: stomp_trajectories
+        marker_namespace: noisy
+    update_filters:
+      - class: stomp_moveit/PolynomialSmoother
+        poly_order: 6
+      - class: stomp_moveit/TrajectoryVisualization
+        line_width: 0.05
+        rgb: [0, 191, 255]
+        error_rgb: [255, 0, 0]
+        publish_intermediate: True
+        marker_topic: stomp_trajectory
+        marker_namespace: optimized
\ No newline at end of file
diff --git a/Mira/mira_moveit/launch/chomp_planning_pipeline.launch.xml b/Mira/mira_moveit/launch/chomp_planning_pipeline.launch.xml
index d13fe5a..8198bae 100644
--- a/Mira/mira_moveit/launch/chomp_planning_pipeline.launch.xml
+++ b/Mira/mira_moveit/launch/chomp_planning_pipeline.launch.xml
@@ -1,10 +1,23 @@
 <launch>
-   <!-- CHOMP Plugin for MoveIt! -->
-   <arg name="planning_plugin" value="chomp_interface/CHOMPPlanner" />
-   <arg name="start_state_max_bounds_error" value="0.1" />
+  <arg name="start_state_max_bounds_error" default="0.1" />
+  <arg name="jiggle_fraction" default="0.05" />
+  <!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
+  <arg name="planning_adapters"
+       default="default_planner_request_adapters/AddTimeParameterization
+                default_planner_request_adapters/ResolveConstraintFrames
+                default_planner_request_adapters/FixWorkspaceBounds
+                default_planner_request_adapters/FixStartStateBounds
+                default_planner_request_adapters/FixStartStateCollision
+                default_planner_request_adapters/FixStartStatePathConstraints"
+                />
 
-   <param name="planning_plugin" value="$(arg planning_plugin)" />
-   <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
+  <param name="planning_plugin" value="chomp_interface/CHOMPPlanner" />
+  <param name="request_adapters" value="$(arg planning_adapters)" />
+  <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
+  <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
 
-   <rosparam command="load" file="$(find mira_moveit)/config/chomp_planning.yaml" />
+  <!-- Add MoveGroup capabilities specific to this pipeline -->
+  <!-- <param name="capabilities" value="" /> -->
+
+  <rosparam command="load" file="$(find mira_moveit)/config/chomp_planning.yaml" />
 </launch>
diff --git a/Mira/mira_moveit/launch/default_warehouse_db.launch b/Mira/mira_moveit/launch/default_warehouse_db.launch
index d29e0a2..7bc8979 100644
--- a/Mira/mira_moveit/launch/default_warehouse_db.launch
+++ b/Mira/mira_moveit/launch/default_warehouse_db.launch
@@ -5,7 +5,7 @@
   <arg name="moveit_warehouse_database_path" default="$(find mira_moveit)/default_warehouse_mongo_db" />
 
   <!-- Launch the warehouse with the configured database location -->
-  <include file="$(find mira_moveit)/launch/warehouse.launch">
+  <include file="$(dirname)/warehouse.launch">
     <arg name="moveit_warehouse_database_path" value="$(arg moveit_warehouse_database_path)" />
   </include>
 
diff --git a/Mira/mira_moveit/launch/demo.launch b/Mira/mira_moveit/launch/demo.launch
index caa26a0..14e261d 100644
--- a/Mira/mira_moveit/launch/demo.launch
+++ b/Mira/mira_moveit/launch/demo.launch
@@ -1,5 +1,8 @@
 <launch>
 
+  <!-- specify the planning pipeline -->
+  <arg name="pipeline" default="ompl" />
+
   <!-- By default, we do not start a database (it can be large) -->
   <arg name="db" default="false" />
   <!-- Allow user to specify database location -->
@@ -8,49 +11,58 @@
   <!-- By default, we are not in debug mode -->
   <arg name="debug" default="false" />
 
-  <!--
-  By default, hide joint_state_publisher's GUI
+  <!-- By default, we will load or override the robot_description -->
+  <arg name="load_robot_description" default="true"/>
 
-  MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher.
-  The latter one maintains and publishes the current joint configuration of the simulated robot.
-  It also provides a GUI to move the simulated robot around "manually".
-  This corresponds to moving around the real robot without the use of MoveIt.
-  -->
+  <!-- Choose controller manager: fake, simple, or ros_control -->
+  <arg name="moveit_controller_manager" default="fake" />
+  <!-- Set execution mode for fake execution controllers -->
+  <arg name="fake_execution_type" default="interpolate" />
+
+  <!-- By default, hide joint_state_publisher's GUI in 'fake' controller_manager mode -->
   <arg name="use_gui" default="false" />
-
-  <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
-  <include file="$(find mira_moveit)/launch/planning_context.launch">
-    <arg name="load_robot_description" value="true"/>
-  </include>
+  <arg name="use_rviz" default="true" />
 
   <!-- If needed, broadcast static tf for robot root -->
-  
+  <node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 basic base" />
 
-  <!-- We do not have a robot connected, so publish fake joint states -->
-  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
-    <param name="use_gui" value="$(arg use_gui)"/>
-    <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-  </node>
 
-  <!-- Given the published joint states, publish tf for the robot links -->
-  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
 
-  <!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
-  <include file="$(find mira_moveit)/launch/move_group.launch">
+  <group if="$(eval arg('moveit_controller_manager') == 'fake')">
+    <!-- We do not have a real robot connected, so publish fake joint states via a joint_state_publisher
+         MoveIt's fake controller's joint states are considered via the 'source_list' parameter -->
+    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
+      <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
+    </node>
+    <!-- If desired, a GUI version is available allowing to move the simulated robot around manually
+         This corresponds to moving around the real robot without the use of MoveIt. -->
+    <node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
+      <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
+    </node>
+
+    <!-- Given the published joint states, publish tf for the robot links -->
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
+  </group>
+
+  <!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
+  <include file="$(dirname)/move_group.launch">
     <arg name="allow_trajectory_execution" value="true"/>
-    <arg name="fake_execution" value="true"/>
+    <arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
+    <arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
     <arg name="info" value="true"/>
     <arg name="debug" value="$(arg debug)"/>
+    <arg name="pipeline" value="$(arg pipeline)"/>
+    <arg name="load_robot_description" value="$(arg load_robot_description)"/>
   </include>
 
   <!-- Run Rviz and load the default config to see the state of the move_group node -->
-  <include file="$(find mira_moveit)/launch/moveit_rviz.launch">
-    <arg name="config" value="true"/>
+  <include file="$(dirname)/moveit_rviz.launch" if="$(arg use_rviz)">
+    <arg name="rviz_config" value="$(dirname)/moveit.rviz"/>
     <arg name="debug" value="$(arg debug)"/>
   </include>
 
   <!-- If database loading was enabled, start mongodb as well -->
-  <include file="$(find mira_moveit)/launch/default_warehouse_db.launch" if="$(arg db)">
+  <include file="$(dirname)/default_warehouse_db.launch" if="$(arg db)">
     <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
   </include>
 
diff --git a/Mira/mira_moveit/launch/demo_gazebo.launch b/Mira/mira_moveit/launch/demo_gazebo.launch
index fbefc95..a9f320c 100644
--- a/Mira/mira_moveit/launch/demo_gazebo.launch
+++ b/Mira/mira_moveit/launch/demo_gazebo.launch
@@ -1,70 +1,21 @@
 <launch>
 
-  <!-- By default, we do not start a database (it can be large) -->
-  <arg name="db" default="false" />
-  <!-- Allow user to specify database location -->
-  <arg name="db_path" default="$(find mira_moveit)/default_warehouse_mongo_db" />
-
-  <!-- By default, we are not in debug mode -->
-  <arg name="debug" default="false" />
-
-  <!--
-  By default, hide joint_state_publisher's GUI
-
-  MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher.
-  The latter one maintains and publishes the current joint configuration of the simulated robot.
-  It also provides a GUI to move the simulated robot around "manually".
-  This corresponds to moving around the real robot without the use of MoveIt.
-  -->
-  <arg name="use_gui" default="false" />
+  <!-- specify the planning pipeline -->
+  <arg name="pipeline" default="ompl" />
 
   <!-- Gazebo specific options -->
   <arg name="gazebo_gui" default="true"/>
   <arg name="paused" default="false"/>
-  <!-- By default, use the urdf location provided from the package -->
-  <arg name="urdf_path" default="$(find mycobot_description)/urdf/260_urdf/mypal_260.urdf"/>
 
   <!-- launch the gazebo simulator and spawn the robot -->
-  <include file="$(find mira_moveit)/launch/gazebo.launch" >
+  <include file="$(dirname)/gazebo.launch" >
     <arg name="paused" value="$(arg paused)"/>
     <arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
-    <arg name="urdf_path" value="$(arg urdf_path)"/>
   </include>
 
-  <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
-  <include file="$(find mira_moveit)/launch/planning_context.launch">
-    <arg name="load_robot_description" value="false"/>
+  <include file="$(dirname)/demo.launch" pass_all_args="true">
+    <!-- robot description is loaded by gazebo.launch, to enable Gazebo features -->
+    <arg name="load_robot_description" value="false" />
+    <arg name="moveit_controller_manager" value="ros_control" />
   </include>
-
-  <!-- If needed, broadcast static tf for robot root -->
-  
-
-  <!-- We do not have a robot connected, so publish fake joint states -->
-  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
-    <param name="use_gui" value="$(arg use_gui)"/>
-    <rosparam param="source_list">[/joint_states]</rosparam>
-  </node>
-
-  <!-- Given the published joint states, publish tf for the robot links -->
-  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
-
-  <!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
-  <include file="$(find mira_moveit)/launch/move_group.launch">
-    <arg name="allow_trajectory_execution" value="true"/>
-    <arg name="fake_execution" value="false"/>
-    <arg name="info" value="true"/>
-    <arg name="debug" value="$(arg debug)"/>
-  </include>  
-
-  <!-- Run Rviz and load the default config to see the state of the move_group node -->
-  <include file="$(find mira_moveit)/launch/moveit_rviz.launch">
-    <arg name="config" value="true"/>
-    <arg name="debug" value="$(arg debug)"/>
-  </include>
-
-  <!-- If database loading was enabled, start mongodb as well -->
-  <include file="$(find mira_moveit)/launch/default_warehouse_db.launch" if="$(arg db)">
-    <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
-  </include>
-
 </launch>
diff --git a/Mira/mira_moveit/launch/fake_moveit_controller_manager.launch.xml b/Mira/mira_moveit/launch/fake_moveit_controller_manager.launch.xml
index 35e626d..76e9faf 100644
--- a/Mira/mira_moveit/launch/fake_moveit_controller_manager.launch.xml
+++ b/Mira/mira_moveit/launch/fake_moveit_controller_manager.launch.xml
@@ -1,9 +1,12 @@
 <launch>
 
+  <!-- execute the trajectory in 'interpolate' mode or jump to goal position in 'last point' mode -->
+  <arg name="fake_execution_type" default="interpolate" />
+
   <!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
   <param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/>
 
   <!-- The rest of the params are specific to this plugin -->
-  <rosparam file="$(find mira_moveit)/config/fake_controllers.yaml"/>
+  <rosparam subst_value="true" file="$(find mira_moveit)/config/fake_controllers.yaml"/>
 
 </launch>
diff --git a/Mira/mira_moveit/launch/firefighter_moveit_controller_manager.launch.xml b/Mira/mira_moveit/launch/firefighter_moveit_controller_manager.launch.xml
deleted file mode 100644
index b86326e..0000000
--- a/Mira/mira_moveit/launch/firefighter_moveit_controller_manager.launch.xml
+++ /dev/null
@@ -1,10 +0,0 @@
-<launch>
-
-  <!-- loads moveit_controller_manager on the parameter server which is taken as argument 
-    if no argument is passed, moveit_simple_controller_manager will be set -->
-  <arg name="moveit_controller_manager" default="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
-  <param name="moveit_controller_manager" value="$(arg moveit_controller_manager)"/>
-
-  <!-- loads ros_controllers to the param server -->
-  <rosparam file="$(find mira_moveit)/config/ros_controllers.yaml"/>
-</launch>
diff --git a/Mira/mira_moveit/launch/gazebo.launch b/Mira/mira_moveit/launch/gazebo.launch
index 2d3e521..e5eb0af 100644
--- a/Mira/mira_moveit/launch/gazebo.launch
+++ b/Mira/mira_moveit/launch/gazebo.launch
@@ -2,22 +2,31 @@
 <launch>
   <arg name="paused" default="false"/>
   <arg name="gazebo_gui" default="true"/>
-  <arg name="urdf_path" default="$(find mycobot_description)/urdf/mira_urdf/mira.urdf"/>
+  <arg name="initial_joint_positions" doc="Initial joint configuration of the robot"
+       default=" -J joint1_to_base 0 -J joint2_to_joint1 0 -J joint3_to_joint2 0"/>
 
   <!-- startup simulated world -->
   <include file="$(find gazebo_ros)/launch/empty_world.launch">
     <arg name="world_name" default="worlds/empty.world"/>
-    <arg name="paused" value="$(arg paused)"/>
+    <arg name="paused" value="true"/>
     <arg name="gui" value="$(arg gazebo_gui)"/>
   </include>
 
   <!-- send robot urdf to param server -->
-  <param name="robot_description" textfile="$(arg urdf_path)" />
+  <param name="robot_description" textfile="$(find mycobot_description)/urdf/mira_urdf/mira.urdf" />
 
+  <!-- unpause only after loading robot model -->
+  <arg name="unpause" value="$(eval '' if arg('paused') else '-unpause')" />
   <!-- push robot_description to factory and spawn robot in gazebo at the origin, change x,y,z arguments to spawn in a different position -->
-  <node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot -x 0 -y 0 -z 0"
+  <arg name="world_pose" value="-x 0 -y 0 -z 0" />
+  <node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot $(arg unpause) $(arg world_pose) $(arg initial_joint_positions)"
     respawn="false" output="screen" />
 
-  <include file="$(find mira_moveit)/launch/ros_controllers.launch"/>
+  <!-- Load joint controller parameters for Gazebo -->
+  <rosparam file="$(find mira_moveit)/config/gazebo_controllers.yaml" />
+  <!-- Spawn Gazebo ROS controllers -->
+  <node name="gazebo_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_state_controller" />
+  <!-- Load ROS controllers -->
+  <include file="$(dirname)/ros_controllers.launch"/>
 
 </launch>
diff --git a/Mira/mira_moveit/launch/mira_moveit.launch b/Mira/mira_moveit/launch/mira_moveit.launch
index caa26a0..14e261d 100644
--- a/Mira/mira_moveit/launch/mira_moveit.launch
+++ b/Mira/mira_moveit/launch/mira_moveit.launch
@@ -1,5 +1,8 @@
 <launch>
 
+  <!-- specify the planning pipeline -->
+  <arg name="pipeline" default="ompl" />
+
   <!-- By default, we do not start a database (it can be large) -->
   <arg name="db" default="false" />
   <!-- Allow user to specify database location -->
@@ -8,49 +11,58 @@
   <!-- By default, we are not in debug mode -->
   <arg name="debug" default="false" />
 
-  <!--
-  By default, hide joint_state_publisher's GUI
+  <!-- By default, we will load or override the robot_description -->
+  <arg name="load_robot_description" default="true"/>
 
-  MoveIt!'s "demo" mode replaces the real robot driver with the joint_state_publisher.
-  The latter one maintains and publishes the current joint configuration of the simulated robot.
-  It also provides a GUI to move the simulated robot around "manually".
-  This corresponds to moving around the real robot without the use of MoveIt.
-  -->
+  <!-- Choose controller manager: fake, simple, or ros_control -->
+  <arg name="moveit_controller_manager" default="fake" />
+  <!-- Set execution mode for fake execution controllers -->
+  <arg name="fake_execution_type" default="interpolate" />
+
+  <!-- By default, hide joint_state_publisher's GUI in 'fake' controller_manager mode -->
   <arg name="use_gui" default="false" />
-
-  <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
-  <include file="$(find mira_moveit)/launch/planning_context.launch">
-    <arg name="load_robot_description" value="true"/>
-  </include>
+  <arg name="use_rviz" default="true" />
 
   <!-- If needed, broadcast static tf for robot root -->
-  
+  <node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 basic base" />
 
-  <!-- We do not have a robot connected, so publish fake joint states -->
-  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
-    <param name="use_gui" value="$(arg use_gui)"/>
-    <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
-  </node>
 
-  <!-- Given the published joint states, publish tf for the robot links -->
-  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
 
-  <!-- Run the main MoveIt! executable without trajectory execution (we do not have controllers configured by default) -->
-  <include file="$(find mira_moveit)/launch/move_group.launch">
+  <group if="$(eval arg('moveit_controller_manager') == 'fake')">
+    <!-- We do not have a real robot connected, so publish fake joint states via a joint_state_publisher
+         MoveIt's fake controller's joint states are considered via the 'source_list' parameter -->
+    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
+      <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
+    </node>
+    <!-- If desired, a GUI version is available allowing to move the simulated robot around manually
+         This corresponds to moving around the real robot without the use of MoveIt. -->
+    <node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
+      <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
+    </node>
+
+    <!-- Given the published joint states, publish tf for the robot links -->
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
+  </group>
+
+  <!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
+  <include file="$(dirname)/move_group.launch">
     <arg name="allow_trajectory_execution" value="true"/>
-    <arg name="fake_execution" value="true"/>
+    <arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
+    <arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
     <arg name="info" value="true"/>
     <arg name="debug" value="$(arg debug)"/>
+    <arg name="pipeline" value="$(arg pipeline)"/>
+    <arg name="load_robot_description" value="$(arg load_robot_description)"/>
   </include>
 
   <!-- Run Rviz and load the default config to see the state of the move_group node -->
-  <include file="$(find mira_moveit)/launch/moveit_rviz.launch">
-    <arg name="config" value="true"/>
+  <include file="$(dirname)/moveit_rviz.launch" if="$(arg use_rviz)">
+    <arg name="rviz_config" value="$(dirname)/moveit.rviz"/>
     <arg name="debug" value="$(arg debug)"/>
   </include>
 
   <!-- If database loading was enabled, start mongodb as well -->
-  <include file="$(find mira_moveit)/launch/default_warehouse_db.launch" if="$(arg db)">
+  <include file="$(dirname)/default_warehouse_db.launch" if="$(arg db)">
     <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
   </include>
 
diff --git a/Mira/mira_moveit/launch/move_group.launch b/Mira/mira_moveit/launch/move_group.launch
index 6f9f32e..4ff2e39 100644
--- a/Mira/mira_moveit/launch/move_group.launch
+++ b/Mira/mira_moveit/launch/move_group.launch
@@ -1,12 +1,10 @@
 <launch>
 
-  <include file="$(find mira_moveit)/launch/planning_context.launch" />
-
   <!-- GDB Debug Option -->
   <arg name="debug" default="false" />
   <arg unless="$(arg debug)" name="launch_prefix" value="" />
   <arg     if="$(arg debug)" name="launch_prefix"
-	   value="gdb -x $(find mira_moveit)/launch/gdb_settings.gdb --ex run --args" />
+           value="gdb -x $(dirname)/gdb_settings.gdb --ex run --args" />
 
   <!-- Verbose Mode Option -->
   <arg name="info" default="$(arg debug)" />
@@ -14,10 +12,11 @@
   <arg     if="$(arg info)" name="command_args" value="--debug" />
 
   <!-- move_group settings -->
+  <arg name="pipeline" default="ompl" />
   <arg name="allow_trajectory_execution" default="true"/>
-  <arg name="fake_execution" default="false"/>
+  <arg name="moveit_controller_manager" default="simple" />
+  <arg name="fake_execution_type" default="interpolate"/>
   <arg name="max_safe_path_cost" default="1"/>
-  <arg name="jiggle_fraction" default="0.05" />
   <arg name="publish_monitored_planning_scene" default="true"/>
 
   <arg name="capabilities" default=""/>
@@ -38,20 +37,46 @@
                 " />
   -->
 
-  <!-- Planning Functionality -->
-  <include ns="move_group" file="$(find mira_moveit)/launch/planning_pipeline.launch.xml">
-    <arg name="pipeline" value="ompl" />
+  <arg name="load_robot_description" default="false" />
+  <!-- load URDF, SRDF and joint_limits configuration -->
+  <include file="$(dirname)/planning_context.launch">
+    <arg name="load_robot_description" value="$(arg load_robot_description)" />
   </include>
 
+  <!-- Planning Pipelines -->
+  <group ns="move_group/planning_pipelines">
+
+    <!-- OMPL -->
+    <include file="$(dirname)/planning_pipeline.launch.xml">
+      <arg name="pipeline" value="ompl" />
+    </include>
+
+    <!-- CHOMP -->
+    <include file="$(dirname)/planning_pipeline.launch.xml">
+      <arg name="pipeline" value="chomp" />
+    </include>
+
+    <!-- Pilz Industrial Motion -->
+    <include file="$(dirname)/planning_pipeline.launch.xml">
+      <arg name="pipeline" value="pilz_industrial_motion_planner" />
+    </include>
+
+    <!-- Support custom planning pipeline -->
+    <include if="$(eval arg('pipeline') not in ['ompl', 'chomp', 'pilz_industrial_motion_planner'])"
+             file="$(dirname)/planning_pipeline.launch.xml">
+      <arg name="pipeline" value="$(arg pipeline)" />
+    </include>
+  </group>
+
   <!-- Trajectory Execution Functionality -->
-  <include ns="move_group" file="$(find mira_moveit)/launch/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
+  <include ns="move_group" file="$(dirname)/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
     <arg name="moveit_manage_controllers" value="true" />
-    <arg name="moveit_controller_manager" value="firefighter" unless="$(arg fake_execution)"/>
-    <arg name="moveit_controller_manager" value="fake" if="$(arg fake_execution)"/>
+    <arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
+    <arg name="fake_execution_type" value="$(arg fake_execution_type)" />
   </include>
 
   <!-- Sensors Functionality -->
-  <include ns="move_group" file="$(find mira_moveit)/launch/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
+  <include ns="move_group" file="$(dirname)/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
     <arg name="moveit_sensor_manager" value="firefighter" />
   </include>
 
@@ -61,11 +86,10 @@
     <env name="DISPLAY" value="$(optenv DISPLAY :0)" />
 
     <param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/>
-    <param name="max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
-    <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
-    <param name="capabilities" value="$(arg capabilities)"/>
-    <param name="disable_capabilities" value="$(arg disable_capabilities)"/>
-
+    <param name="sense_for_plan/max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
+    <param name="default_planning_pipeline" value="$(arg pipeline)" />
+    <param name="capabilities" value="$(arg capabilities)" />
+    <param name="disable_capabilities" value="$(arg disable_capabilities)" />
 
     <!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot -->
     <param name="planning_scene_monitor/publish_planning_scene" value="$(arg publish_monitored_planning_scene)" />
diff --git a/Mira/mira_moveit/launch/moveit.rviz b/Mira/mira_moveit/launch/moveit.rviz
index 11eca8c..e5a17b6 100644
--- a/Mira/mira_moveit/launch/moveit.rviz
+++ b/Mira/mira_moveit/launch/moveit.rviz
@@ -1,17 +1,14 @@
 Panels:
   - Class: rviz/Displays
-    Help Height: 70
+    Help Height: 84
     Name: Displays
     Property Tree Widget:
       Expanded:
         - /MotionPlanning1
-        - /MotionPlanning1/Scene Geometry1
-        - /MotionPlanning1/Scene Robot1
-        - /MotionPlanning1/Planning Request1
-        - /MotionPlanning1/Planning Metrics1
         - /MotionPlanning1/Planned Path1
-      Splitter Ratio: 0.7425600290298462
-    Tree Height: 186
+        - /MotionPlanning1/Planned Path1/Links1
+      Splitter Ratio: 0.5
+    Tree Height: 215
   - Class: rviz/Help
     Name: Help
   - Class: rviz/Views
@@ -44,7 +41,7 @@ Visualization Manager:
       Plane Cell Count: 10
       Reference Frame: <Fixed Frame>
       Value: true
-    - Acceleration_Scaling_Factor: 1
+    - Acceleration_Scaling_Factor: 0.1
       Class: moveit_rviz_plugin/MotionPlanning
       Enabled: true
       Move Group Namespace: ""
@@ -98,7 +95,7 @@ Visualization Manager:
         Loop Animation: false
         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
@@ -116,11 +113,11 @@ Visualization Manager:
         Colliding Link Color: 255; 0; 0
         Goal State Alpha: 1
         Goal State Color: 250; 128; 0
-        Interactive Marker Size: 0.07999999821186066
+        Interactive Marker Size: 0.10000000149011612
         Joint Violation Color: 255; 0; 255
         Planning Group: arm_group
         Query Goal State: true
-        Query Start State: true
+        Query Start State: false
         Show Workspace: false
         Start State Alpha: 1
         Start State Color: 0; 255; 0
@@ -129,7 +126,7 @@ Visualization Manager:
       Scene Geometry:
         Scene Alpha: 1
         Scene Color: 50; 230; 50
-        Scene Display Time: 0.20000000298023224
+        Scene Display Time: 0.009999999776482582
         Show Scene Geometry: true
         Voxel Coloring: Z-Axis
         Voxel Rendering: Occupied Voxels
@@ -163,9 +160,9 @@ Visualization Manager:
             Value: true
         Robot Alpha: 0.5
         Show Robot Collision: false
-        Show Robot Visual: false
+        Show Robot Visual: true
       Value: true
-      Velocity_Scaling_Factor: 1
+      Velocity_Scaling_Factor: 0.1
   Enabled: true
   Global Options:
     Background Color: 48; 48; 48
@@ -181,31 +178,31 @@ Visualization Manager:
   Value: true
   Views:
     Current:
-      Class: rviz/XYOrbit
-      Distance: 1.3915867805480957
+      Class: rviz/Orbit
+      Distance: 2
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
-      Field of View: 0.7853981852531433
+      Field of View: 0.75
       Focal Point:
-        X: 0.11356700211763382
-        Y: 0.10592000186443329
-        Z: 2.2351800055275817e-07
+        X: -0.10000000149011612
+        Y: 0.25
+        Z: 0.30000001192092896
       Focal Shape Fixed Size: true
       Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.08979679644107819
-      Target Frame: link1
-      Yaw: 2.2435832023620605
+      Pitch: 0.1249999925494194
+      Target Frame: base
+      Yaw: 2.0417633056640625
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 876
+  Height: 848
   Help:
     collapsed: false
   Hide Left Dock: false
@@ -214,9 +211,9 @@ Window Geometry:
     collapsed: false
   MotionPlanning - Trajectory Slider:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd0000000100000000000001f300000312fc0200000007fb000000100044006900730070006c006100790073010000003d0000013d000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720100000180000000410000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001c7000001880000017d00ffffff0000053f0000031200000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000100000000000001f3000002f6fc0200000007fb000000100044006900730070006c006100790073010000003d00000168000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001ab000001880000017d00ffffff00000312000002f600000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Views:
     collapsed: false
-  Width: 1848
-  X: 72
+  Width: 1291
+  X: 454
   Y: 27
diff --git a/Mira/mira_moveit/launch/moveit_rviz.launch b/Mira/mira_moveit/launch/moveit_rviz.launch
index d982006..a4605c0 100644
--- a/Mira/mira_moveit/launch/moveit_rviz.launch
+++ b/Mira/mira_moveit/launch/moveit_rviz.launch
@@ -4,13 +4,12 @@
   <arg unless="$(arg debug)" name="launch_prefix" value="" />
   <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
 
-  <arg name="config" default="false" />
-  <arg unless="$(arg config)" name="command_args" value="" />
-  <arg     if="$(arg config)" name="command_args" value="-d $(find mira_moveit)/launch/moveit.rviz" />
+  <arg name="rviz_config" default="" />
+  <arg     if="$(eval rviz_config=='')" name="command_args" value="" />
+  <arg unless="$(eval rviz_config=='')" name="command_args" value="-d $(arg rviz_config)" />
 
   <node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
-	args="$(arg command_args)" output="screen">
-    <rosparam command="load" file="$(find mira_moveit)/config/kinematics.yaml"/>
+        args="$(arg command_args)" output="screen">
   </node>
 
 </launch>
diff --git a/Mira/mira_moveit/launch/ompl-chomp_planning_pipeline.launch.xml b/Mira/mira_moveit/launch/ompl-chomp_planning_pipeline.launch.xml
new file mode 100644
index 0000000..b078992
--- /dev/null
+++ b/Mira/mira_moveit/launch/ompl-chomp_planning_pipeline.launch.xml
@@ -0,0 +1,19 @@
+<launch>
+  <!-- load OMPL planning pipeline, but add the CHOMP planning adapter. -->
+  <include file="$(find panda_moveit_config)/launch/ompl_planning_pipeline.launch.xml">
+    <arg name="planning_adapters" value="
+       default_planner_request_adapters/AddTimeParameterization
+       default_planner_request_adapters/FixWorkspaceBounds
+       default_planner_request_adapters/FixStartStateBounds
+       default_planner_request_adapters/FixStartStateCollision
+       default_planner_request_adapters/FixStartStatePathConstraints
+       chomp/OptimizerAdapter"
+       />
+  </include>
+
+  <!-- load chomp config -->
+  <rosparam command="load" file="$(find panda_moveit_config)/config/chomp_planning.yaml"/>
+
+  <!-- override trajectory_initialization_method: Use OMPL-generated trajectory -->
+  <param name="trajectory_initialization_method" value="fillTrajectory"/>
+</launch>
diff --git a/Mira/mira_moveit/launch/ompl_planning_pipeline.launch.xml b/Mira/mira_moveit/launch/ompl_planning_pipeline.launch.xml
index e2b93d2..ab8759c 100644
--- a/Mira/mira_moveit/launch/ompl_planning_pipeline.launch.xml
+++ b/Mira/mira_moveit/launch/ompl_planning_pipeline.launch.xml
@@ -1,21 +1,25 @@
 <launch>
 
-  <!-- OMPL Plugin for MoveIt! -->
-  <arg name="planning_plugin" value="ompl_interface/OMPLPlanner" />
+  <!-- The request adapters (plugins) used when planning with OMPL. ORDER MATTERS! -->
+  <arg name="planning_adapters"
+       default="default_planner_request_adapters/AddTimeParameterization
+                default_planner_request_adapters/ResolveConstraintFrames
+                default_planner_request_adapters/FixWorkspaceBounds
+                default_planner_request_adapters/FixStartStateBounds
+                default_planner_request_adapters/FixStartStateCollision
+                default_planner_request_adapters/FixStartStatePathConstraints"
+                />
 
-  <!-- The request adapters (plugins) used when planning with OMPL.
-       ORDER MATTERS -->
-  <arg name="planning_adapters" value="default_planner_request_adapters/AddTimeParameterization
-				       default_planner_request_adapters/FixWorkspaceBounds
-				       default_planner_request_adapters/FixStartStateBounds
-				       default_planner_request_adapters/FixStartStateCollision
-				       default_planner_request_adapters/FixStartStatePathConstraints" />
+  <arg name="start_state_max_bounds_error" default="0.1" />
+  <arg name="jiggle_fraction" default="0.05" />
 
-  <arg name="start_state_max_bounds_error" value="0.1" />
-
-  <param name="planning_plugin" value="$(arg planning_plugin)" />
+  <param name="planning_plugin" value="ompl_interface/OMPLPlanner" />
   <param name="request_adapters" value="$(arg planning_adapters)" />
   <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
+  <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
+
+  <!-- Add MoveGroup capabilities specific to this pipeline -->
+  <!-- <param name="capabilities" value="" /> -->
 
   <rosparam command="load" file="$(find mira_moveit)/config/ompl_planning.yaml"/>
 
diff --git a/Mira/mira_moveit/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml b/Mira/mira_moveit/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml
new file mode 100644
index 0000000..c7c4cf5
--- /dev/null
+++ b/Mira/mira_moveit/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml
@@ -0,0 +1,15 @@
+<launch>
+
+  <!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
+  <arg name="planning_adapters" default="" />
+
+  <param name="planning_plugin" value="pilz_industrial_motion_planner::CommandPlanner" />
+  <param name="request_adapters" value="$(arg planning_adapters)" />
+
+  <!-- Define default planner (for all groups) -->
+  <param name="default_planner_config" value="PTP" />
+
+  <!-- MoveGroup capabilities to load for this pipeline, append sequence capability -->
+  <param name="capabilities" value="pilz_industrial_motion_planner/MoveGroupSequenceAction
+                                    pilz_industrial_motion_planner/MoveGroupSequenceService" />
+</launch>
diff --git a/Mira/mira_moveit/launch/planning_context.launch b/Mira/mira_moveit/launch/planning_context.launch
index 9f25aa8..be01b59 100644
--- a/Mira/mira_moveit/launch/planning_context.launch
+++ b/Mira/mira_moveit/launch/planning_context.launch
@@ -14,11 +14,13 @@
   <!-- Load updated joint limits (override information from URDF) -->
   <group ns="$(arg robot_description)_planning">
     <rosparam command="load" file="$(find mira_moveit)/config/joint_limits.yaml"/>
+    <rosparam command="load" file="$(find mira_moveit)/config/cartesian_limits.yaml"/>
   </group>
 
   <!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->
   <group ns="$(arg robot_description)_kinematics">
     <rosparam command="load" file="$(find mira_moveit)/config/kinematics.yaml"/>
+
   </group>
 
 </launch>
diff --git a/Mira/mira_moveit/launch/planning_pipeline.launch.xml b/Mira/mira_moveit/launch/planning_pipeline.launch.xml
index 1cd93db..4b4d0d6 100644
--- a/Mira/mira_moveit/launch/planning_pipeline.launch.xml
+++ b/Mira/mira_moveit/launch/planning_pipeline.launch.xml
@@ -5,6 +5,6 @@
 
   <arg name="pipeline" default="ompl" />
 
-  <include file="$(find mira_moveit)/launch/$(arg pipeline)_planning_pipeline.launch.xml" />
+  <include ns="$(arg pipeline)" file="$(dirname)/$(arg pipeline)_planning_pipeline.launch.xml" />
 
 </launch>
diff --git a/Mira/mira_moveit/launch/ros_control_moveit_controller_manager.launch.xml b/Mira/mira_moveit/launch/ros_control_moveit_controller_manager.launch.xml
new file mode 100644
index 0000000..9ebc91c
--- /dev/null
+++ b/Mira/mira_moveit/launch/ros_control_moveit_controller_manager.launch.xml
@@ -0,0 +1,4 @@
+<launch>
+	<!-- Define MoveIt controller manager plugin -->
+	<param name="moveit_controller_manager" value="moveit_ros_control_interface::MoveItControllerManager" />
+</launch>
diff --git a/Mira/mira_moveit/launch/ros_controllers.launch b/Mira/mira_moveit/launch/ros_controllers.launch
index 21be924..95e326a 100644
--- a/Mira/mira_moveit/launch/ros_controllers.launch
+++ b/Mira/mira_moveit/launch/ros_controllers.launch
@@ -6,6 +6,6 @@
 
   <!-- Load the controllers -->
   <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
-    output="screen" args=""/>
+    output="screen" args="arm_group_controller "/>
 
 </launch>
diff --git a/Mira/mira_moveit/launch/run_benchmark_ompl.launch b/Mira/mira_moveit/launch/run_benchmark_ompl.launch
index f6192ff..523f4cb 100644
--- a/Mira/mira_moveit/launch/run_benchmark_ompl.launch
+++ b/Mira/mira_moveit/launch/run_benchmark_ompl.launch
@@ -4,18 +4,17 @@
   <arg name="cfg" />
 
   <!-- Load URDF -->
-  <include file="$(find mira_moveit)/launch/planning_context.launch">
+  <include file="$(dirname)/planning_context.launch">
     <arg name="load_robot_description" value="true"/>
   </include>
 
   <!-- Start the database -->
-  <include file="$(find mira_moveit)/launch/warehouse.launch">
+  <include file="$(dirname)/warehouse.launch">
     <arg name="moveit_warehouse_database_path" value="moveit_ompl_benchmark_warehouse"/>
   </include>
 
   <!-- Start Benchmark Executable -->
   <node name="$(anon moveit_benchmark)" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" args="$(arg cfg) --benchmark-planners" respawn="false" output="screen">
-    <rosparam command="load" file="$(find mira_moveit)/config/kinematics.yaml"/>
     <rosparam command="load" file="$(find mira_moveit)/config/ompl_planning.yaml"/>
   </node>
 
diff --git a/Mira/mira_moveit/launch/sensor_manager.launch.xml b/Mira/mira_moveit/launch/sensor_manager.launch.xml
index fb84ddb..a45688a 100644
--- a/Mira/mira_moveit/launch/sensor_manager.launch.xml
+++ b/Mira/mira_moveit/launch/sensor_manager.launch.xml
@@ -12,6 +12,6 @@
 
   <!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
   <arg name="moveit_sensor_manager" default="firefighter" />
-  <include file="$(find mira_moveit)/launch/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
+  <include file="$(dirname)/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
 
 </launch>
diff --git a/Mira/mira_moveit/launch/setup_assistant.launch b/Mira/mira_moveit/launch/setup_assistant.launch
index ef1cef3..bf52e51 100644
--- a/Mira/mira_moveit/launch/setup_assistant.launch
+++ b/Mira/mira_moveit/launch/setup_assistant.launch
@@ -1,4 +1,4 @@
-<!-- Re-launch the MoveIt! Setup Assistant with this configuration package already loaded -->
+<!-- Re-launch the MoveIt Setup Assistant with this configuration package already loaded -->
 <launch>
 
   <!-- Debug Info -->
@@ -8,8 +8,9 @@
 
   <!-- Run -->
   <node pkg="moveit_setup_assistant" type="moveit_setup_assistant" name="moveit_setup_assistant"
-	args="--config_pkg=mira_moveit"
-	launch-prefix="$(arg launch_prefix)"
+        args="--config_pkg=mira_moveit"
+        launch-prefix="$(arg launch_prefix)"
+        required="true"
         output="screen" />
 
 </launch>
diff --git a/Mira/mira_moveit/launch/simple_moveit_controller_manager.launch.xml b/Mira/mira_moveit/launch/simple_moveit_controller_manager.launch.xml
new file mode 100644
index 0000000..6183e16
--- /dev/null
+++ b/Mira/mira_moveit/launch/simple_moveit_controller_manager.launch.xml
@@ -0,0 +1,8 @@
+<launch>
+  <!-- Define the MoveIt controller manager plugin to use for trajectory execution -->
+  <param name="moveit_controller_manager" value="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
+
+  <!-- Load controller list to the parameter server -->
+  <rosparam file="$(find mira_moveit)/config/simple_moveit_controllers.yaml" />
+  <rosparam file="$(find mira_moveit)/config/ros_controllers.yaml" />
+</launch>
diff --git a/Mira/mira_moveit/launch/stomp_planning_pipeline.launch.xml b/Mira/mira_moveit/launch/stomp_planning_pipeline.launch.xml
new file mode 100644
index 0000000..6bdfb2d
--- /dev/null
+++ b/Mira/mira_moveit/launch/stomp_planning_pipeline.launch.xml
@@ -0,0 +1,25 @@
+<launch>
+  <!-- Stomp Plugin for MoveIt -->
+  <arg name="planning_plugin" value="stomp_moveit/StompPlannerManager" />
+
+  <arg name="start_state_max_bounds_error" value="0.1" />
+  <arg name="jiggle_fraction" value="0.05" />
+  <!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
+  <arg name="planning_adapters"
+       default="default_planner_request_adapters/AddTimeParameterization
+                default_planner_request_adapters/FixWorkspaceBounds
+                default_planner_request_adapters/FixStartStateBounds
+                default_planner_request_adapters/FixStartStateCollision
+                default_planner_request_adapters/FixStartStatePathConstraints" />
+
+
+  <param name="planning_plugin" value="$(arg planning_plugin)" />
+  <param name="request_adapters" value="$(arg planning_adapters)" />
+  <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
+  <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
+
+  <!-- Add MoveGroup capabilities specific to this pipeline -->
+  <!-- <param name="capabilities" value="" /> -->
+
+  <rosparam command="load" file="$(find mira_moveit)/config/stomp_planning.yaml"/>
+</launch>
diff --git a/Mira/mira_moveit/launch/trajectory_execution.launch.xml b/Mira/mira_moveit/launch/trajectory_execution.launch.xml
index 695c8e6..20c3dfc 100644
--- a/Mira/mira_moveit/launch/trajectory_execution.launch.xml
+++ b/Mira/mira_moveit/launch/trajectory_execution.launch.xml
@@ -1,8 +1,11 @@
 <launch>
+  <!-- This file summarizes all settings required for trajectory execution  -->
 
-  <!-- This file makes it easy to include the settings for trajectory execution  -->
+  <!-- Define moveit controller manager plugin: fake, simple, or ros_control -->
+  <arg name="moveit_controller_manager" />
+  <arg name="fake_execution_type" default="interpolate" />
 
-  <!-- Flag indicating whether MoveIt! is allowed to load/unload  or switch controllers -->
+  <!-- Flag indicating whether MoveIt is allowed to load/unload  or switch controllers -->
   <arg name="moveit_manage_controllers" default="true"/>
   <param name="moveit_manage_controllers" value="$(arg moveit_manage_controllers)"/>
 
@@ -13,8 +16,8 @@
   <!-- Allowed joint-value tolerance for validation that trajectory's first point matches current robot state -->
   <param name="trajectory_execution/allowed_start_tolerance" value="0.01"/> <!-- default 0.01 -->
 
-  <!-- Load the robot specific controller manager; this sets the moveit_controller_manager ROS parameter -->
-  <arg name="moveit_controller_manager" default="firefighter" />
-  <include file="$(find mira_moveit)/launch/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" />
+  <!-- We use pass_all_args=true here to pass fake_execution_type, which is required by fake controllers, but not by real-robot controllers.
+       As real-robot controller_manager.launch files shouldn't be required to define this argument, we use the trick of passing all args. -->
+  <include file="$(dirname)/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" pass_all_args="true" />
 
 </launch>
diff --git a/Mira/mira_moveit/launch/warehouse.launch b/Mira/mira_moveit/launch/warehouse.launch
index 46d33bf..0712e67 100644
--- a/Mira/mira_moveit/launch/warehouse.launch
+++ b/Mira/mira_moveit/launch/warehouse.launch
@@ -4,7 +4,7 @@
   <arg name="moveit_warehouse_database_path" />
 
   <!-- Load warehouse parameters -->
-  <include file="$(find mira_moveit)/launch/warehouse_settings.launch.xml" />
+  <include file="$(dirname)/warehouse_settings.launch.xml" />
 
   <!-- Run the DB server -->
   <node name="$(anon mongo_wrapper_ros)" cwd="ROS_HOME" type="mongo_wrapper_ros.py" pkg="warehouse_ros_mongo">
diff --git a/Mira/mira_moveit/package.xml b/Mira/mira_moveit/package.xml
index b093f1d..eba866d 100644
--- a/Mira/mira_moveit/package.xml
+++ b/Mira/mira_moveit/package.xml
@@ -3,10 +3,10 @@
   <name>mira_moveit</name>
   <version>0.3.0</version>
   <description>
-     An automatically generated package with all the configuration and launch files for using the firefighter with the MoveIt! Motion Planning Framework
+     An automatically generated package with all the configuration and launch files for using the firefighter with the MoveIt Motion Planning Framework
   </description>
-  <author email="lijun.zhang@elephantrobotics.com">zachary</author>
-  <maintainer email="lijun.zhang@elephantrobotics.com">zachary</maintainer>
+  <author email="weijian.wang@elephanticrobots.com">weijian.wang</author>
+  <maintainer email="weijian.wang@elephanticrobots.com">weijian.wang</maintainer>
 
   <license>BSD</license>
 
@@ -22,18 +22,19 @@
   <run_depend>moveit_planners_ompl</run_depend>
   <run_depend>moveit_ros_visualization</run_depend>
   <run_depend>moveit_setup_assistant</run_depend>
+  <run_depend>moveit_simple_controller_manager</run_depend>
   <run_depend>joint_state_publisher</run_depend>
+  <run_depend>joint_state_publisher_gui</run_depend>
   <run_depend>robot_state_publisher</run_depend>
+  <run_depend>rviz</run_depend>
+  <run_depend>tf2_ros</run_depend>
   <run_depend>xacro</run_depend>
+  <!-- The next 2 packages are required for the gazebo simulation.
+       We don't include them by default to prevent installing gazebo and all its dependencies. -->
+  <!-- <run_depend>joint_trajectory_controller</run_depend> -->
+  <!-- <run_depend>gazebo_ros_control</run_depend> -->
   <!-- This package is referenced in the warehouse launch files, but does not build out of the box at the moment. Commented the dependency until this works. -->
   <!-- <run_depend>warehouse_ros_mongo</run_depend> -->
-  <build_depend>roscpp</build_depend>
-  <build_depend>rospy</build_depend>
-  <build_depend>std_msgs</build_depend>
-  <build_depend>actionlib</build_depend>
-  <build_depend>moveit_msgs</build_depend>
-  <build_depend>mycobot_description</build_depend>
-
   <run_depend>mycobot_description</run_depend>