diff --git a/mycobot_pro/mycobot_600_moveit/.setup_assistant b/mycobot_pro/mycobot_600_moveit/.setup_assistant
index c64dedc..308692b 100644
--- a/mycobot_pro/mycobot_600_moveit/.setup_assistant
+++ b/mycobot_pro/mycobot_600_moveit/.setup_assistant
@@ -1,11 +1,11 @@
 moveit_setup_assistant_config:
   URDF:
     package: mycobot_description
-    relative_path: urdf/mycobot/mycobot_urdf.urdf
+    relative_path: urdf/600_urdf/mycobot_600_urdf.urdf
     xacro_args: "--inorder "
   SRDF:
     relative_path: config/firefighter.srdf
   CONFIG:
-    author_name: zachary
-    author_email: lijun.zhang@elephantrobotics.com
-    generated_timestamp: 1626074107
\ No newline at end of file
+    author_name: wangweijian
+    author_email: weijian.wang@elephantrobotics.com
+    generated_timestamp: 1652250059
\ No newline at end of file
diff --git a/mycobot_pro/mycobot_600_moveit/config/firefighter.srdf b/mycobot_pro/mycobot_600_moveit/config/firefighter.srdf
index 211e9ed..07152c0 100644
--- a/mycobot_pro/mycobot_600_moveit/config/firefighter.srdf
+++ b/mycobot_pro/mycobot_600_moveit/config/firefighter.srdf
@@ -27,16 +27,26 @@
         <joint name="joint6output_to_joint6" 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="world" 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="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" />
     <disable_collisions link1="link5" link2="link6" reason="Adjacent" />
diff --git a/mycobot_pro/mycobot_600_moveit/config/ros_controllers.yaml b/mycobot_pro/mycobot_600_moveit/config/ros_controllers.yaml
index 6b814df..3f053a8 100644
--- a/mycobot_pro/mycobot_600_moveit/config/ros_controllers.yaml
+++ b/mycobot_pro/mycobot_600_moveit/config/ros_controllers.yaml
@@ -23,4 +23,9 @@ joint_state_controller:
   type: joint_state_controller/JointStateController
   publish_rate: 50
 controller_list:
-  []
\ No newline at end of file
+  []
+  # - name: arm_controller
+  #  action_ns: follow_joint_trajectory
+  #  type: FollowJointTrajectory
+  #  allowed_execution_duration_scaling: 1.2
+  #  allowed_goal_duration_margin: 0.5
\ No newline at end of file
diff --git a/mycobot_pro/mycobot_600_moveit/launch/demo.launch b/mycobot_pro/mycobot_600_moveit/launch/demo.launch
index 5953d25..987d8e9 100644
--- a/mycobot_pro/mycobot_600_moveit/launch/demo.launch
+++ b/mycobot_pro/mycobot_600_moveit/launch/demo.launch
@@ -1,14 +1,11 @@
 <launch>
 
   <!-- By default, we do not start a database (it can be large) -->
-  <!-- 默认情况下，我们不启动数据库（它可能很大） -->
   <arg name="db" default="false" />
   <!-- Allow user to specify database location -->
-  <!-- 允许用户指定数据库位置 -->
   <arg name="db_path" default="$(find mycobot_600_moveit)/default_warehouse_mongo_db" />
 
   <!-- By default, we are not in debug mode -->
-  <!-- 默认情况下，我们不处于调试模式 -->
   <arg name="debug" default="false" />
 
   <!--
@@ -22,7 +19,6 @@
   <arg name="use_gui" default="false" />
 
   <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
-  <!-- 加载参数服务器上的URDF、SRDF等.yaml配置文件-->
   <include file="$(find mycobot_600_moveit)/launch/planning_context.launch">
     <arg name="load_robot_description" value="true"/>
   </include>
@@ -31,18 +27,15 @@
   
 
   <!-- We do not have a robot connected, so publish fake joint states -->
-  <!-- 我们没有连接机器人，所以发布假关节状态 -->
   <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 -->
-  <!-- 给定已发布的关节状态，为机器人链接发布 tf -->
   <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) -->
-  <!-- 运行主MoveIt！ 没有轨迹执行的可执行文件（我们默认没有配置控制器）-->
   <include file="$(find mycobot_600_moveit)/launch/move_group.launch">
     <arg name="allow_trajectory_execution" value="true"/>
     <arg name="fake_execution" value="true"/>
@@ -51,14 +44,12 @@
   </include>
 
   <!-- Run Rviz and load the default config to see the state of the move_group node -->
-  <!-- 运行 Rviz 并加载默认配置以查看 move_group 节点的状态 -->
   <include file="$(find mycobot_600_moveit)/launch/moveit_rviz.launch">
     <arg name="config" value="true"/>
     <arg name="debug" value="$(arg debug)"/>
   </include>
 
   <!-- If database loading was enabled, start mongodb as well -->
-  <!-- 如果启用了数据库加载，也启动 mongodb -->
   <include file="$(find mycobot_600_moveit)/launch/default_warehouse_db.launch" if="$(arg db)">
     <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
   </include>
diff --git a/mycobot_pro/mycobot_600_moveit/launch/gazebo.launch b/mycobot_pro/mycobot_600_moveit/launch/gazebo.launch
index dd6140b..108fd57 100644
--- a/mycobot_pro/mycobot_600_moveit/launch/gazebo.launch
+++ b/mycobot_pro/mycobot_600_moveit/launch/gazebo.launch
@@ -2,7 +2,7 @@
 <launch>
   <arg name="paused" default="false"/>
   <arg name="gazebo_gui" default="true"/>
-  <arg name="urdf_path" default="$(find mycobot_description)/urdf/mycobot/mycobot_urdf.urdf"/>
+  <arg name="urdf_path" default="$(find mycobot_description)/urdf/600_urdf/mycobot_600_urdf.urdf"/>
 
   <!-- startup simulated world -->
   <include file="$(find gazebo_ros)/launch/empty_world.launch">
diff --git a/mycobot_pro/mycobot_600_moveit/launch/moveit.rviz b/mycobot_pro/mycobot_600_moveit/launch/moveit.rviz
index ea0e4b3..b796923 100644
--- a/mycobot_pro/mycobot_600_moveit/launch/moveit.rviz
+++ b/mycobot_pro/mycobot_600_moveit/launch/moveit.rviz
@@ -5,13 +5,9 @@ Panels:
     Property Tree Widget:
       Expanded:
         - /Global Options1
-        - /Status1
+        - /Grid1
         - /MotionPlanning1
-        - /MotionPlanning1/Scene Geometry1
-        - /MotionPlanning1/Scene Robot1
-        - /MotionPlanning1/Planning Request1
-        - /MotionPlanning1/Planned Path1
-      Splitter Ratio: 0.44475922
+      Splitter Ratio: 0.742560029
     Tree Height: 195
   - Class: rviz/Help
     Name: Help
@@ -111,7 +107,7 @@ 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
@@ -135,7 +131,7 @@ Visualization Manager:
         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
@@ -193,7 +189,7 @@ 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
   Enabled: true
@@ -212,7 +208,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/XYOrbit
-      Distance: 1.39158678
+      Distance: 2.99650002
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.0599999987
         Stereo Focal Distance: 1
@@ -227,10 +223,10 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.00999999978
-      Pitch: -0.770203352
-      Target Frame: joint1
+      Pitch: -0.340202928
+      Target Frame: base
       Value: XYOrbit (rviz)
-      Yaw: 3.0317657
+      Yaw: 3.98176312
     Saved: ~
 Window Geometry:
   Displays:
@@ -244,7 +240,7 @@ Window Geometry:
     collapsed: false
   MotionPlanning - Trajectory Slider:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd0000000100000000000002d10000033cfc0200000007fb000000100044006900730070006c006100790073010000002800000158000000d700fffffffb0000000800480065006c00700000000342000000bb0000007300fffffffb0000000a0056006900650077007300000003b0000000b0000000ad00fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c006900640065007201000001860000004a0000004a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001d60000018e0000018300ffffff0000044d0000033c00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd0000000100000000000002ad0000033cfc0200000007fb000000100044006900730070006c006100790073010000002800000158000000d700fffffffb0000000800480065006c00700000000342000000bb0000007300fffffffb0000000a0056006900650077007300000003b0000000b0000000ad00fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c006900640065007201000001860000004a0000004a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001d60000018e0000018300ffffff000004710000033c00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Views:
     collapsed: false
   Width: 1828
diff --git a/mycobot_pro/mycobot_600_moveit/launch/mycobot600_moveit.launch b/mycobot_pro/mycobot_600_moveit/launch/mycobot600_moveit.launch
index a5395fc..b0f1449 100644
--- a/mycobot_pro/mycobot_600_moveit/launch/mycobot600_moveit.launch
+++ b/mycobot_pro/mycobot_600_moveit/launch/mycobot600_moveit.launch
@@ -12,7 +12,6 @@
 
   <!--
   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".
@@ -62,4 +61,4 @@
     <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
   </include>
 
-</launch>
+</launch>
\ No newline at end of file
diff --git a/mycobot_pro/mycobot_600_moveit/package.xml b/mycobot_pro/mycobot_600_moveit/package.xml
index 3467715..3283fd7 100644
--- a/mycobot_pro/mycobot_600_moveit/package.xml
+++ b/mycobot_pro/mycobot_600_moveit/package.xml
@@ -5,8 +5,8 @@
   <description>
      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@elephantrobotics.com">wangweijian</author>
+  <maintainer email="weijian.wang@elephantrobotics.com">wangweijian</maintainer>
 
   <license>BSD</license>
 
@@ -33,7 +33,6 @@
   <build_depend>actionlib</build_depend>
   <build_depend>moveit_msgs</build_depend>
   <build_depend>mycobot_description</build_depend>
-
   <run_depend>mycobot_description</run_depend>