diff --git a/Mybuddy/mybuddy_moveit/.setup_assistant b/Mybuddy/mybuddy_moveit/.setup_assistant
index 1c84a83..fa016a5 100644
--- a/Mybuddy/mybuddy_moveit/.setup_assistant
+++ b/Mybuddy/mybuddy_moveit/.setup_assistant
@@ -2,10 +2,10 @@ moveit_setup_assistant_config:
   URDF:
     package: mycobot_description
     relative_path: urdf/mybuddy/mybuddy.urdf
-    xacro_args: "--inorder "
+    xacro_args: ""
   SRDF:
     relative_path: config/firefighter.srdf
   CONFIG:
-    author_name: hzj
-    author_email: zijun.huang@elephantrobotics.com
-    generated_timestamp: 1655121131
\ No newline at end of file
+    author_name: wangweijian
+    author_email: weijian.wang@elephatrobotics.com
+    generated_timestamp: 1661409645
\ No newline at end of file
diff --git a/Mybuddy/mybuddy_moveit/CMakeLists.txt b/Mybuddy/mybuddy_moveit/CMakeLists.txt
index 8665bd7..77365b4 100644
--- a/Mybuddy/mybuddy_moveit/CMakeLists.txt
+++ b/Mybuddy/mybuddy_moveit/CMakeLists.txt
@@ -1,4 +1,4 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 3.1.3)
 project(mybuddy_moveit)
 
 find_package(catkin REQUIRED)
diff --git a/Mybuddy/mybuddy_moveit/config/cartesian_limits.yaml b/Mybuddy/mybuddy_moveit/config/cartesian_limits.yaml
new file mode 100644
index 0000000..7df72f6
--- /dev/null
+++ b/Mybuddy/mybuddy_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/Mybuddy/mybuddy_moveit/config/chomp_planning.yaml b/Mybuddy/mybuddy_moveit/config/chomp_planning.yaml
index 75258e5..eb9c912 100644
--- a/Mybuddy/mybuddy_moveit/config/chomp_planning.yaml
+++ b/Mybuddy/mybuddy_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/Mybuddy/mybuddy_moveit/config/fake_controllers.yaml b/Mybuddy/mybuddy_moveit/config/fake_controllers.yaml
index 98abc30..068dd2f 100644
--- a/Mybuddy/mybuddy_moveit/config/fake_controllers.yaml
+++ b/Mybuddy/mybuddy_moveit/config/fake_controllers.yaml
@@ -1,5 +1,6 @@
 controller_list:
   - name: fake_right_arm_controller
+    type: $(arg fake_execution_type)
     joints:
       - base_link1
       - joint1_R
@@ -9,6 +10,7 @@ controller_list:
       - joint5_R
       - joint6_R
   - name: fake_left_arm_controller
+    type: $(arg fake_execution_type)
     joints:
       - base_link1
       - joint1_L
@@ -18,20 +20,13 @@ controller_list:
       - joint5_L
       - joint6_L
   - name: fake_waist_controller
+    type: $(arg fake_execution_type)
     joints:
       - base_link1
-  - name: fake_all_controller
-    joints:
-      - base_link1
-      - joint1_L
-      - joint2_L
-      - joint3_L
-      - joint4_L
-      - joint5_L
-      - joint6_L
-      - joint1_R
-      - joint2_R
-      - joint3_R
-      - joint4_R
-      - joint5_R
-      - joint6_R
\ No newline at end of file
+initial:  # Define initial robot poses per group
+  - group: right_arm
+    pose: init_right
+  - group: left_arm
+    pose: init_left
+  - group: waist
+    pose: init_waist
\ No newline at end of file
diff --git a/Mybuddy/mybuddy_moveit/config/firefighter.srdf b/Mybuddy/mybuddy_moveit/config/firefighter.srdf
index 9b92fc1..1857dd7 100644
--- a/Mybuddy/mybuddy_moveit/config/firefighter.srdf
+++ b/Mybuddy/mybuddy_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
@@ -10,107 +10,87 @@
     <!--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="right_arm">
-        <chain base_link="base" tip_link="link6_R" />
+        <chain base_link="base" tip_link="link6_R"/>
     </group>
     <group name="left_arm">
-        <chain base_link="base" tip_link="link6_L" />
+        <chain base_link="base" tip_link="link6_L"/>
     </group>
     <group name="waist">
-        <chain base_link="base" tip_link="link1" />
-    </group>
-    <group name="all">
-        <group name="left_arm" />
-        <group name="right_arm" />
-        <group name="waist" />
+        <chain base_link="base" tip_link="link1"/>
     </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_right" group="right_arm">
-        <joint name="base_link1" value="0" />
-        <joint name="joint1_R" value="0" />
-        <joint name="joint2_R" value="0" />
-        <joint name="joint3_R" value="0" />
-        <joint name="joint4_R" value="0" />
-        <joint name="joint5_R" value="0" />
-        <joint name="joint6_R" value="0" />
+        <joint name="base_link1" value="0"/>
+        <joint name="joint1_R" value="0"/>
+        <joint name="joint2_R" value="0"/>
+        <joint name="joint3_R" value="0"/>
+        <joint name="joint4_R" value="0"/>
+        <joint name="joint5_R" value="0"/>
+        <joint name="joint6_R" value="0"/>
     </group_state>
     <group_state name="init_left" group="left_arm">
-        <joint name="base_link1" value="0" />
-        <joint name="joint1_L" value="0" />
-        <joint name="joint2_L" value="0" />
-        <joint name="joint3_L" value="0" />
-        <joint name="joint4_L" value="0" />
-        <joint name="joint5_L" value="0" />
-        <joint name="joint6_L" value="0" />
-    </group_state>
-    <group_state name="init_both" group="all">
-        <joint name="base_link1" value="0" />
-        <joint name="joint1_L" value="0" />
-        <joint name="joint1_R" value="0" />
-        <joint name="joint2_L" value="0" />
-        <joint name="joint2_R" value="0" />
-        <joint name="joint3_L" value="0" />
-        <joint name="joint3_R" value="0" />
-        <joint name="joint4_L" value="0" />
-        <joint name="joint4_R" value="0" />
-        <joint name="joint5_L" value="0" />
-        <joint name="joint5_R" value="0" />
-        <joint name="joint6_L" value="0" />
-        <joint name="joint6_R" value="0" />
+        <joint name="base_link1" value="0"/>
+        <joint name="joint1_L" value="0"/>
+        <joint name="joint2_L" value="0"/>
+        <joint name="joint3_L" value="0"/>
+        <joint name="joint4_L" value="0"/>
+        <joint name="joint5_L" value="0"/>
+        <joint name="joint6_L" value="0"/>
     </group_state>
     <group_state name="init_waist" group="waist">
-        <joint name="base_link1" value="0" />
+        <joint name="base_link1" 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="virtual_left" type="fixed" parent_frame="world" child_link="base" />
-    <virtual_joint name="virtual_right" type="fixed" parent_frame="world" child_link="base" />
+    <virtual_joint name="virtual_left" type="fixed" parent_frame="world" child_link="base"/>
+    <virtual_joint name="virtual_right" 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="link1_L" reason="Never" />
-    <disable_collisions link1="base" link2="link1_R" reason="Never" />
-    <disable_collisions link1="base" link2="link2_L" reason="Never" />
-    <disable_collisions link1="base" link2="link2_R" reason="Never" />
-    <disable_collisions link1="base" link2="link4_L" reason="Default" />
-    <disable_collisions link1="base" link2="link4_R" reason="Default" />
-    <disable_collisions link1="link1" link2="link1_L" reason="Adjacent" />
-    <disable_collisions link1="link1" link2="link1_R" reason="Adjacent" />
-    <disable_collisions link1="link1" link2="link2_L" reason="Never" />
-    <disable_collisions link1="link1" link2="link2_R" reason="Never" />
-    <disable_collisions link1="link1" link2="link3_L" reason="Never" />
-    <disable_collisions link1="link1" link2="link3_R" reason="Never" />
-    <disable_collisions link1="link1" link2="link4_L" reason="Never" />
-    <disable_collisions link1="link1" link2="link4_R" reason="Never" />
-    <disable_collisions link1="link1" link2="link5_L" reason="Never" />
-    <disable_collisions link1="link1" link2="link5_R" reason="Never" />
-    <disable_collisions link1="link1" link2="link6_L" reason="Never" />
-    <disable_collisions link1="link1" link2="link6_R" reason="Never" />
-    <disable_collisions link1="link1_L" link2="link1_R" reason="Never" />
-    <disable_collisions link1="link1_L" link2="link2_L" reason="Adjacent" />
-    <disable_collisions link1="link1_L" link2="link2_R" reason="Never" />
-    <disable_collisions link1="link1_L" link2="link4_L" reason="Never" />
-    <disable_collisions link1="link1_L" link2="link4_R" reason="Never" />
-    <disable_collisions link1="link1_R" link2="link2_L" reason="Never" />
-    <disable_collisions link1="link1_R" link2="link2_R" reason="Adjacent" />
-    <disable_collisions link1="link1_R" link2="link4_L" reason="Never" />
-    <disable_collisions link1="link1_R" link2="link4_R" reason="Never" />
-    <disable_collisions link1="link2_L" link2="link3_L" reason="Adjacent" />
-    <disable_collisions link1="link2_L" link2="link4_L" reason="Never" />
-    <disable_collisions link1="link2_L" link2="link4_R" reason="Never" />
-    <disable_collisions link1="link2_R" link2="link3_R" reason="Adjacent" />
-    <disable_collisions link1="link2_R" link2="link4_L" reason="Never" />
-    <disable_collisions link1="link2_R" link2="link4_R" reason="Never" />
-    <disable_collisions link1="link3_L" link2="link4_L" reason="Adjacent" />
-    <disable_collisions link1="link3_L" link2="link4_R" reason="Never" />
-    <disable_collisions link1="link3_R" link2="link4_L" reason="Never" />
-    <disable_collisions link1="link3_R" link2="link4_R" reason="Adjacent" />
-    <disable_collisions link1="link4_L" link2="link4_R" reason="Default" />
-    <disable_collisions link1="link4_L" link2="link5_L" reason="Adjacent" />
-    <disable_collisions link1="link4_L" link2="link5_R" reason="Never" />
-    <disable_collisions link1="link4_L" link2="link6_L" reason="Never" />
-    <disable_collisions link1="link4_L" link2="link6_R" reason="Never" />
-    <disable_collisions link1="link4_R" link2="link5_L" reason="Never" />
-    <disable_collisions link1="link4_R" link2="link5_R" reason="Adjacent" />
-    <disable_collisions link1="link4_R" link2="link6_L" reason="Never" />
-    <disable_collisions link1="link4_R" link2="link6_R" reason="Never" />
-    <disable_collisions link1="link5_L" link2="link6_L" reason="Adjacent" />
-    <disable_collisions link1="link5_R" link2="link6_R" reason="Adjacent" />
+    <disable_collisions link1="base" link2="link1" reason="Adjacent"/>
+    <disable_collisions link1="base" link2="link1_L" reason="Never"/>
+    <disable_collisions link1="base" link2="link1_R" reason="Never"/>
+    <disable_collisions link1="base" link2="link2_L" reason="Never"/>
+    <disable_collisions link1="base" link2="link2_R" reason="Never"/>
+    <disable_collisions link1="base" link2="link4_L" reason="Default"/>
+    <disable_collisions link1="base" link2="link4_R" reason="Default"/>
+    <disable_collisions link1="link1" link2="link1_L" reason="Adjacent"/>
+    <disable_collisions link1="link1" link2="link1_R" reason="Adjacent"/>
+    <disable_collisions link1="link1" link2="link2_L" reason="Never"/>
+    <disable_collisions link1="link1" link2="link2_R" reason="Never"/>
+    <disable_collisions link1="link1" link2="link3_L" reason="Never"/>
+    <disable_collisions link1="link1" link2="link3_R" reason="Never"/>
+    <disable_collisions link1="link1" link2="link4_L" reason="Never"/>
+    <disable_collisions link1="link1" link2="link4_R" reason="Never"/>
+    <disable_collisions link1="link1" link2="link5_L" reason="Never"/>
+    <disable_collisions link1="link1" link2="link5_R" reason="Never"/>
+    <disable_collisions link1="link1" link2="link6_L" reason="Never"/>
+    <disable_collisions link1="link1" link2="link6_R" reason="Never"/>
+    <disable_collisions link1="link1_L" link2="link1_R" reason="Never"/>
+    <disable_collisions link1="link1_L" link2="link2_L" reason="Adjacent"/>
+    <disable_collisions link1="link1_L" link2="link2_R" reason="Never"/>
+    <disable_collisions link1="link1_L" link2="link4_L" reason="Never"/>
+    <disable_collisions link1="link1_L" link2="link4_R" reason="Never"/>
+    <disable_collisions link1="link1_R" link2="link2_L" reason="Never"/>
+    <disable_collisions link1="link1_R" link2="link2_R" reason="Adjacent"/>
+    <disable_collisions link1="link1_R" link2="link4_L" reason="Never"/>
+    <disable_collisions link1="link1_R" link2="link4_R" reason="Never"/>
+    <disable_collisions link1="link2_L" link2="link3_L" reason="Adjacent"/>
+    <disable_collisions link1="link2_L" link2="link4_L" reason="Never"/>
+    <disable_collisions link1="link2_L" link2="link4_R" reason="Never"/>
+    <disable_collisions link1="link2_R" link2="link3_R" reason="Adjacent"/>
+    <disable_collisions link1="link2_R" link2="link4_L" reason="Never"/>
+    <disable_collisions link1="link2_R" link2="link4_R" reason="Never"/>
+    <disable_collisions link1="link3_L" link2="link4_L" reason="Adjacent"/>
+    <disable_collisions link1="link3_L" link2="link4_R" reason="Never"/>
+    <disable_collisions link1="link3_R" link2="link4_L" reason="Never"/>
+    <disable_collisions link1="link3_R" link2="link4_R" reason="Adjacent"/>
+    <disable_collisions link1="link4_L" link2="link4_R" reason="Default"/>
+    <disable_collisions link1="link4_L" link2="link5_L" reason="Adjacent"/>
+    <disable_collisions link1="link4_L" link2="link5_R" reason="Never"/>
+    <disable_collisions link1="link4_L" link2="link6_L" reason="Never"/>
+    <disable_collisions link1="link4_L" link2="link6_R" reason="Never"/>
+    <disable_collisions link1="link4_R" link2="link5_L" reason="Never"/>
+    <disable_collisions link1="link4_R" link2="link5_R" reason="Adjacent"/>
+    <disable_collisions link1="link4_R" link2="link6_L" reason="Never"/>
+    <disable_collisions link1="link4_R" link2="link6_R" reason="Never"/>
+    <disable_collisions link1="link5_L" link2="link6_L" reason="Adjacent"/>
+    <disable_collisions link1="link5_R" link2="link6_R" reason="Adjacent"/>
 </robot>
diff --git a/Mybuddy/mybuddy_moveit/config/gazebo_controllers.yaml b/Mybuddy/mybuddy_moveit/config/gazebo_controllers.yaml
new file mode 100644
index 0000000..e4d2eb0
--- /dev/null
+++ b/Mybuddy/mybuddy_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/Mybuddy/mybuddy_moveit/config/joint_limits.yaml b/Mybuddy/mybuddy_moveit/config/joint_limits.yaml
index 4062553..d44e6de 100644
--- a/Mybuddy/mybuddy_moveit/config/joint_limits.yaml
+++ b/Mybuddy/mybuddy_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:
diff --git a/Mybuddy/mybuddy_moveit/config/kinematics.yaml b/Mybuddy/mybuddy_moveit/config/kinematics.yaml
index b0a1f25..6d4a865 100644
--- a/Mybuddy/mybuddy_moveit/config/kinematics.yaml
+++ b/Mybuddy/mybuddy_moveit/config/kinematics.yaml
@@ -2,19 +2,11 @@ right_arm:
   kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
   kinematics_solver_search_resolution: 0.005
   kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3
 left_arm:
   kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
   kinematics_solver_search_resolution: 0.005
   kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3
 waist:
   kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
   kinematics_solver_search_resolution: 0.005
-  kinematics_solver_timeout: 0.005
-  kinematics_solver_attempts: 3
-all:
-  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/Mybuddy/mybuddy_moveit/config/ompl_planning.yaml b/Mybuddy/mybuddy_moveit/config/ompl_planning.yaml
index 9c3f1bc..192af7f 100644
--- a/Mybuddy/mybuddy_moveit/config/ompl_planning.yaml
+++ b/Mybuddy/mybuddy_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()
@@ -123,6 +130,7 @@ planner_configs:
 right_arm:
   default_planner_config: RRTConnect
   planner_configs:
+    - AnytimePathShortening
     - SBL
     - EST
     - LBKPIECE
@@ -151,6 +159,7 @@ right_arm:
 left_arm:
   default_planner_config: RRTConnect
   planner_configs:
+    - AnytimePathShortening
     - SBL
     - EST
     - LBKPIECE
@@ -179,6 +188,7 @@ left_arm:
 waist:
   default_planner_config: RRTConnect
   planner_configs:
+    - AnytimePathShortening
     - SBL
     - EST
     - LBKPIECE
@@ -202,31 +212,3 @@ waist:
     - LazyPRMstar
     - SPARS
     - SPARStwo
-all:
-  default_planner_config: RRTConnect
-  planner_configs:
-    - SBL
-    - EST
-    - LBKPIECE
-    - BKPIECE
-    - KPIECE
-    - RRT
-    - RRTConnect
-    - RRTstar
-    - TRRT
-    - PRM
-    - PRMstar
-    - FMT
-    - BFMT
-    - PDST
-    - STRIDE
-    - BiTRRT
-    - LBTRRT
-    - BiEST
-    - ProjEST
-    - LazyPRM
-    - LazyPRMstar
-    - SPARS
-    - SPARStwo
-  projection_evaluator: joints(base_link1,joint1_L)
-  longest_valid_segment_fraction: 0.005
\ No newline at end of file
diff --git a/Mybuddy/mybuddy_moveit/config/ros_controllers.yaml b/Mybuddy/mybuddy_moveit/config/ros_controllers.yaml
index 7d749cb..7b6880a 100644
--- a/Mybuddy/mybuddy_moveit/config/ros_controllers.yaml
+++ b/Mybuddy/mybuddy_moveit/config/ros_controllers.yaml
@@ -1,13 +1,51 @@
-# Simulation settings for using moveit_sim_controllers
-moveit_sim_hw_interface:
-  joint_model_group: right_arm
-  joint_model_group_pose: init_right
-# 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:
+right_arm_controller:
+  type: effort_controllers/JointTrajectoryController
+  joints:
+    - base_link1
+    - joint1_R
+    - joint2_R
+    - joint3_R
+    - joint4_R
+    - joint5_R
+    - joint6_R
+  gains:
+    base_link1:
+      p: 100
+      d: 1
+      i: 1
+      i_clamp: 1
+    joint1_R:
+      p: 100
+      d: 1
+      i: 1
+      i_clamp: 1
+    joint2_R:
+      p: 100
+      d: 1
+      i: 1
+      i_clamp: 1
+    joint3_R:
+      p: 100
+      d: 1
+      i: 1
+      i_clamp: 1
+    joint4_R:
+      p: 100
+      d: 1
+      i: 1
+      i_clamp: 1
+    joint5_R:
+      p: 100
+      d: 1
+      i: 1
+      i_clamp: 1
+    joint6_R:
+      p: 100
+      d: 1
+      i: 1
+      i_clamp: 1
+left_arm_controller:
+  type: effort_controllers/JointTrajectoryController
   joints:
     - base_link1
     - joint1_L
@@ -16,100 +54,49 @@ hardware_interface:
     - joint4_L
     - joint5_L
     - joint6_L
-    - joint1_R
-    - joint2_R
-    - joint3_R
-    - joint4_R
-    - joint5_R
-    - joint6_R
-  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:
-  - name: plan_group_controller
-    action_ns: follow_joint_trajectory
-    default: True
-    type: FollowJointTrajectory
-    joints:
-      - base_link1
-      - joint1_L
-      - joint2_L
-      - joint3_L
-      - joint4_L
-      - joint5_L
-      - joint6_L
-      - joint1_R
-      - joint2_R
-      - joint3_R
-      - joint4_R
-      - joint5_R
-      - joint6_R
-  - name: right_arm_controller
-    action_ns: follow_joint_trajectory
-    default: True
-    type: FollowJointTrajectory
-    joints:
-      - base_link1
-      - joint1_R
-      - joint2_R
-      - joint3_R
-      - joint4_R
-      - joint5_R
-      - joint6_R
-  - name: left_arm_controller
-    action_ns: follow_joint_trajectory
-    default: True
-    type: FollowJointTrajectory
-    joints:
-      - base_link1
-      - joint1_L
-      - joint2_L
-      - joint3_L
-      - joint4_L
-      - joint5_L
-      - joint6_L
-  - name: both_arms_controller
-    action_ns: follow_joint_trajectory
-    default: True
-    type: FollowJointTrajectory
-    joints:
-      - base_link1
-      - joint1_L
-      - joint2_L
-      - joint3_L
-      - joint4_L
-      - joint5_L
-      - joint6_L
-      - joint1_R
-      - joint2_R
-      - joint3_R
-      - joint4_R
-      - joint5_R
-      - joint6_R
-  - name: waist_controller
-    action_ns: follow_joint_trajectory
-    default: True
-    type: FollowJointTrajectory
-    joints:
-      []
-  - name: all_controller
-    action_ns: follow_joint_trajectory
-    default: True
-    type: FollowJointTrajectory
-    joints:
-      - base_link1
-      - joint1_L
-      - joint2_L
-      - joint3_L
-      - joint4_L
-      - joint5_L
-      - joint6_L
-      - joint1_R
-      - joint2_R
-      - joint3_R
-      - joint4_R
-      - joint5_R
-      - joint6_R
\ No newline at end of file
+  gains:
+    base_link1:
+      p: 100
+      d: 1
+      i: 1
+      i_clamp: 1
+    joint1_L:
+      p: 100
+      d: 1
+      i: 1
+      i_clamp: 1
+    joint2_L:
+      p: 100
+      d: 1
+      i: 1
+      i_clamp: 1
+    joint3_L:
+      p: 100
+      d: 1
+      i: 1
+      i_clamp: 1
+    joint4_L:
+      p: 100
+      d: 1
+      i: 1
+      i_clamp: 1
+    joint5_L:
+      p: 100
+      d: 1
+      i: 1
+      i_clamp: 1
+    joint6_L:
+      p: 100
+      d: 1
+      i: 1
+      i_clamp: 1
+waist_controller:
+  type: effort_controllers/JointTrajectoryController
+  joints:
+    - base_link1
+  gains:
+    base_link1:
+      p: 100
+      d: 1
+      i: 1
+      i_clamp: 1
\ No newline at end of file
diff --git a/Mybuddy/mybuddy_moveit/config/sensors_3d.yaml b/Mybuddy/mybuddy_moveit/config/sensors_3d.yaml
index a4bb13e..51010a3 100644
--- a/Mybuddy/mybuddy_moveit/config/sensors_3d.yaml
+++ b/Mybuddy/mybuddy_moveit/config/sensors_3d.yaml
@@ -1,10 +1,2 @@
-# 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
-    max_update_rate: 1.0
-    padding_offset: 0.1
-    padding_scale: 1.0
-    point_cloud_topic: /head_mount_kinect/depth_registered/points
-    point_subsample: 1
-    sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater
\ No newline at end of file
+  []
\ No newline at end of file
diff --git a/Mybuddy/mybuddy_moveit/config/simple_moveit_controllers.yaml b/Mybuddy/mybuddy_moveit/config/simple_moveit_controllers.yaml
new file mode 100644
index 0000000..24d21c5
--- /dev/null
+++ b/Mybuddy/mybuddy_moveit/config/simple_moveit_controllers.yaml
@@ -0,0 +1,31 @@
+controller_list:
+  - name: right_arm_controller
+    action_ns: follow_joint_trajectory
+    type: FollowJointTrajectory
+    default: True
+    joints:
+      - base_link1
+      - joint1_R
+      - joint2_R
+      - joint3_R
+      - joint4_R
+      - joint5_R
+      - joint6_R
+  - name: left_arm_controller
+    action_ns: follow_joint_trajectory
+    type: FollowJointTrajectory
+    default: True
+    joints:
+      - base_link1
+      - joint1_L
+      - joint2_L
+      - joint3_L
+      - joint4_L
+      - joint5_L
+      - joint6_L
+  - name: waist_controller
+    action_ns: follow_joint_trajectory
+    type: FollowJointTrajectory
+    default: True
+    joints:
+      - base_link1
\ No newline at end of file
diff --git a/Mybuddy/mybuddy_moveit/config/stomp_planning.yaml b/Mybuddy/mybuddy_moveit/config/stomp_planning.yaml
new file mode 100644
index 0000000..cbed236
--- /dev/null
+++ b/Mybuddy/mybuddy_moveit/config/stomp_planning.yaml
@@ -0,0 +1,117 @@
+stomp/right_arm:
+  group_name: right_arm
+  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, 0.05, 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
+stomp/left_arm:
+  group_name: left_arm
+  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, 0.05, 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
+stomp/waist:
+  group_name: waist
+  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]
+    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/Mybuddy/mybuddy_moveit/launch/chomp_planning_pipeline.launch.xml b/Mybuddy/mybuddy_moveit/launch/chomp_planning_pipeline.launch.xml
index 56db63c..f2188d2 100644
--- a/Mybuddy/mybuddy_moveit/launch/chomp_planning_pipeline.launch.xml
+++ b/Mybuddy/mybuddy_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="$(find mybuddy_moveit)/config/chomp_planning.yaml" />
+  <!-- Add MoveGroup capabilities specific to this pipeline -->
+  <!-- <param name="capabilities" value="" /> -->
+
+  <rosparam command="load" file="$(find mybuddy_moveit)/config/chomp_planning.yaml" />
 </launch>
diff --git a/Mybuddy/mybuddy_moveit/launch/default_warehouse_db.launch b/Mybuddy/mybuddy_moveit/launch/default_warehouse_db.launch
index 52d32a5..573890a 100644
--- a/Mybuddy/mybuddy_moveit/launch/default_warehouse_db.launch
+++ b/Mybuddy/mybuddy_moveit/launch/default_warehouse_db.launch
@@ -5,7 +5,7 @@
   <arg name="moveit_warehouse_database_path" default="$(find mybuddy_moveit)/default_warehouse_mongo_db" />
 
   <!-- Launch the warehouse with the configured database location -->
-  <include file="$(find mybuddy_moveit)/launch/warehouse.launch">
+  <include file="$(dirname)/warehouse.launch">
     <arg name="moveit_warehouse_database_path" value="$(arg moveit_warehouse_database_path)" />
   </include>
 
diff --git a/Mybuddy/mybuddy_moveit/launch/demo.launch b/Mybuddy/mybuddy_moveit/launch/demo.launch
index e9e5e23..677a781 100644
--- a/Mybuddy/mybuddy_moveit/launch/demo.launch
+++ b/Mybuddy/mybuddy_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 +11,59 @@
   <!-- 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 mybuddy_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 world base" />
+  <node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_1" args="0 0 0 0 0 0 world 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="$(find mybuddy_moveit)/launch/move_group.launch">
+  <group if="$(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="$(find mybuddy_moveit)/launch/moveit_rviz.launch">
-    <arg name="config" value="true"/>
+  <include file="$(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="$(find mybuddy_moveit)/launch/default_warehouse_db.launch" if="$(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/Mybuddy/mybuddy_moveit/launch/demo_gazebo.launch b/Mybuddy/mybuddy_moveit/launch/demo_gazebo.launch
index e8da2e7..a9f320c 100644
--- a/Mybuddy/mybuddy_moveit/launch/demo_gazebo.launch
+++ b/Mybuddy/mybuddy_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 mybuddy_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/mybuddy/mybuddy.urdf"/>
 
   <!-- launch the gazebo simulator and spawn the robot -->
-  <include file="$(find mybuddy_moveit)/launch/gazebo.launch" >
+  <include file="$(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="$(find mybuddy_moveit)/launch/planning_context.launch">
-    <arg name="load_robot_description" value="false"/>
+  <include file="$(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 mybuddy_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 mybuddy_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 mybuddy_moveit)/launch/default_warehouse_db.launch" if="$(arg db)">
-    <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
-  </include>
-
 </launch>
diff --git a/Mybuddy/mybuddy_moveit/launch/fake_moveit_controller_manager.launch.xml b/Mybuddy/mybuddy_moveit/launch/fake_moveit_controller_manager.launch.xml
index 53baaeb..70b221a 100644
--- a/Mybuddy/mybuddy_moveit/launch/fake_moveit_controller_manager.launch.xml
+++ b/Mybuddy/mybuddy_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="$(find mybuddy_moveit)/config/fake_controllers.yaml"/>
+  <rosparam subst_value="true" file="$(find mybuddy_moveit)/config/fake_controllers.yaml"/>
 
 </launch>
diff --git a/Mybuddy/mybuddy_moveit/launch/gazebo.launch b/Mybuddy/mybuddy_moveit/launch/gazebo.launch
index e852e2e..45991bd 100644
--- a/Mybuddy/mybuddy_moveit/launch/gazebo.launch
+++ b/Mybuddy/mybuddy_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/mybuddy/mybuddy.urdf"/>
+  <arg name="initial_joint_positions" doc="Initial joint configuration of the robot"
+       default=" -J base_link1 0 -J joint1_L 0 -J joint1_R 0 -J joint2_L 0 -J joint2_R 0 -J joint3_L 0 -J joint3_R 0 -J joint4_L 0 -J joint4_R 0 -J joint5_L 0 -J joint5_R 0 -J joint6_L 0 -J joint6_R 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/mybuddy/mybuddy.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="$(find mybuddy_moveit)/launch/ros_controllers.launch"/>
+  <!-- Load joint controller parameters for Gazebo -->
+  <rosparam file="$(find mybuddy_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/Mybuddy/mybuddy_moveit/launch/move_group.launch b/Mybuddy/mybuddy_moveit/launch/move_group.launch
index 9406e58..4ff2e39 100644
--- a/Mybuddy/mybuddy_moveit/launch/move_group.launch
+++ b/Mybuddy/mybuddy_moveit/launch/move_group.launch
@@ -1,12 +1,10 @@
 <launch>
 
-  <include file="$(find mybuddy_moveit)/launch/planning_context.launch" />
-
   <!-- GDB Debug Option -->
   <arg name="debug" default="false" />
   <arg unless="$(arg debug)" name="launch_prefix" value="" />
   <arg     if="$(arg debug)" name="launch_prefix"
-	   value="gdb -x $(find mybuddy_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="$(find mybuddy_moveit)/launch/planning_pipeline.launch.xml">
-    <arg name="pipeline" value="ompl" />
+  <arg name="load_robot_description" default="false" />
+  <!-- load URDF, SRDF and joint_limits configuration -->
+  <include file="$(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="$(find mybuddy_moveit)/launch/trajectory_execution.launch.xml" if="$(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="$(find mybuddy_moveit)/launch/sensor_manager.launch.xml" if="$(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/Mybuddy/mybuddy_moveit/launch/moveit.rviz b/Mybuddy/mybuddy_moveit/launch/moveit.rviz
index 0ed4520..a1d64d9 100644
--- a/Mybuddy/mybuddy_moveit/launch/moveit.rviz
+++ b/Mybuddy/mybuddy_moveit/launch/moveit.rviz
@@ -5,12 +5,10 @@ Panels:
     Property Tree Widget:
       Expanded:
         - /MotionPlanning1
-        - /MotionPlanning1/Scene Robot1
         - /MotionPlanning1/Planning Request1
-        - /MotionPlanning1/Planning Metrics1
         - /MotionPlanning1/Planned Path1
-      Splitter Ratio: 0.7425600290298462
-    Tree Height: 255
+      Splitter Ratio: 0.5
+    Tree Height: 135
   - Class: rviz/Help
     Name: Help
   - Class: rviz/Views
@@ -43,18 +41,18 @@ 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: ""
-      MoveIt_Allow_Approximate_IK: true
+      MoveIt_Allow_Approximate_IK: false
       MoveIt_Allow_External_Program: false
       MoveIt_Allow_Replanning: false
       MoveIt_Allow_Sensor_Positioning: false
       MoveIt_Planning_Attempts: 10
       MoveIt_Planning_Time: 5
       MoveIt_Use_Cartesian_Path: false
-      MoveIt_Use_Constraint_Aware_IK: true
+      MoveIt_Use_Constraint_Aware_IK: false
       MoveIt_Workspace:
         Center:
           X: 0
@@ -165,9 +163,9 @@ Visualization Manager:
         Colliding Link Color: 255; 0; 0
         Goal State Alpha: 1
         Goal State Color: 250; 128; 0
-        Interactive Marker Size: 0.20000000298023224
+        Interactive Marker Size: 0
         Joint Violation Color: 255; 0; 255
-        Planning Group: right_arm
+        Planning Group: left_arm
         Query Goal State: true
         Query Start State: false
         Show Workspace: false
@@ -178,7 +176,7 @@ 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
@@ -264,7 +262,7 @@ Visualization Manager:
         Show Robot Collision: 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
@@ -280,31 +278,31 @@ Visualization Manager:
   Value: true
   Views:
     Current:
-      Class: rviz/XYOrbit
-      Distance: 2.996500015258789
+      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: 0.5197969675064087
+      Pitch: 0.5
       Target Frame: base
-      Yaw: 2.9199492931365967
+      Yaw: -0.6232355833053589
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 888
+  Height: 848
   Help:
     collapsed: false
   Hide Left Dock: false
@@ -313,9 +311,9 @@ Window Geometry:
     collapsed: false
   MotionPlanning - Trajectory Slider:
     collapsed: false
-  QMainWindow State: 000000ff00000000fd0000000100000000000002ad0000031efc0200000007fb000000100044006900730070006c006100790073010000003d00000190000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a0056006900650077007300000003b0000000b0000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001d3000001880000017d00ffffff000004850000031e00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd000000010000000000000203000002f1fc0200000007fb000000100044006900730070006c00610079007301000000410000011c000000dd00fffffffb0000000800480065006c00700000000342000000bb0000007600fffffffb0000000a00560069006500770073000000010c000000a4000000b000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c006900640065007201000001630000004a0000004a00fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001b30000017f0000017400ffffff00000302000002f100000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Views:
     collapsed: false
-  Width: 1848
-  X: 72
-  Y: 27
+  Width: 1291
+  X: 452
+  Y: 28
diff --git a/Mybuddy/mybuddy_moveit/launch/moveit_rviz.launch b/Mybuddy/mybuddy_moveit/launch/moveit_rviz.launch
index d4c76c8..a4605c0 100644
--- a/Mybuddy/mybuddy_moveit/launch/moveit_rviz.launch
+++ b/Mybuddy/mybuddy_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 $(find mybuddy_moveit)/launch/moveit.rviz" />
+  <arg name="rviz_config" default="" />
+  <arg     if="$(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 mybuddy_moveit)/config/kinematics.yaml"/>
+        args="$(arg command_args)" output="screen">
   </node>
 
 </launch>
diff --git a/Mybuddy/mybuddy_moveit/launch/ompl-chomp_planning_pipeline.launch.xml b/Mybuddy/mybuddy_moveit/launch/ompl-chomp_planning_pipeline.launch.xml
new file mode 100644
index 0000000..b078992
--- /dev/null
+++ b/Mybuddy/mybuddy_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/Mybuddy/mybuddy_moveit/launch/ompl_planning_pipeline.launch.xml b/Mybuddy/mybuddy_moveit/launch/ompl_planning_pipeline.launch.xml
index 1b169e2..2a516de 100644
--- a/Mybuddy/mybuddy_moveit/launch/ompl_planning_pipeline.launch.xml
+++ b/Mybuddy/mybuddy_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 mybuddy_moveit)/config/ompl_planning.yaml"/>
 
diff --git a/Mybuddy/mybuddy_moveit/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml b/Mybuddy/mybuddy_moveit/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml
new file mode 100644
index 0000000..c7c4cf5
--- /dev/null
+++ b/Mybuddy/mybuddy_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="$(arg planning_adapters)" />
+
+  <!-- Define default planner (for all groups) -->
+  <param name="default_planner_config" value="PTP" />
+
+  <!-- MoveGroup capabilities to load for this pipeline, append sequence capability -->
+  <param name="capabilities" value="pilz_industrial_motion_planner/MoveGroupSequenceAction
+                                    pilz_industrial_motion_planner/MoveGroupSequenceService" />
+</launch>
diff --git a/Mybuddy/mybuddy_moveit/launch/planning_context.launch b/Mybuddy/mybuddy_moveit/launch/planning_context.launch
index 0671205..883029b 100644
--- a/Mybuddy/mybuddy_moveit/launch/planning_context.launch
+++ b/Mybuddy/mybuddy_moveit/launch/planning_context.launch
@@ -14,11 +14,13 @@
   <!-- Load updated joint limits (override information from URDF) -->
   <group ns="$(arg robot_description)_planning">
     <rosparam command="load" file="$(find mybuddy_moveit)/config/joint_limits.yaml"/>
+    <rosparam command="load" file="$(find mybuddy_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 mybuddy_moveit)/config/kinematics.yaml"/>
+
   </group>
 
 </launch>
diff --git a/Mybuddy/mybuddy_moveit/launch/planning_pipeline.launch.xml b/Mybuddy/mybuddy_moveit/launch/planning_pipeline.launch.xml
index 97bcd9c..4b4d0d6 100644
--- a/Mybuddy/mybuddy_moveit/launch/planning_pipeline.launch.xml
+++ b/Mybuddy/mybuddy_moveit/launch/planning_pipeline.launch.xml
@@ -5,6 +5,6 @@
 
   <arg name="pipeline" default="ompl" />
 
-  <include file="$(find mybuddy_moveit)/launch/$(arg pipeline)_planning_pipeline.launch.xml" />
+  <include ns="$(arg pipeline)" file="$(dirname)/$(arg pipeline)_planning_pipeline.launch.xml" />
 
 </launch>
diff --git a/Mybuddy/mybuddy_moveit/launch/ros_control_moveit_controller_manager.launch.xml b/Mybuddy/mybuddy_moveit/launch/ros_control_moveit_controller_manager.launch.xml
new file mode 100644
index 0000000..9ebc91c
--- /dev/null
+++ b/Mybuddy/mybuddy_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/Mybuddy/mybuddy_moveit/launch/ros_controllers.launch b/Mybuddy/mybuddy_moveit/launch/ros_controllers.launch
index 2476ead..c6b4cd7 100644
--- a/Mybuddy/mybuddy_moveit/launch/ros_controllers.launch
+++ b/Mybuddy/mybuddy_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="right_arm_controller left_arm_controller waist_controller "/>
 
 </launch>
diff --git a/Mybuddy/mybuddy_moveit/launch/run_benchmark_ompl.launch b/Mybuddy/mybuddy_moveit/launch/run_benchmark_ompl.launch
index 99263e0..38b71f8 100644
--- a/Mybuddy/mybuddy_moveit/launch/run_benchmark_ompl.launch
+++ b/Mybuddy/mybuddy_moveit/launch/run_benchmark_ompl.launch
@@ -4,18 +4,17 @@
   <arg name="cfg" />
 
   <!-- Load URDF -->
-  <include file="$(find mybuddy_moveit)/launch/planning_context.launch">
+  <include file="$(dirname)/planning_context.launch">
     <arg name="load_robot_description" value="true"/>
   </include>
 
   <!-- Start the database -->
-  <include file="$(find mybuddy_moveit)/launch/warehouse.launch">
+  <include file="$(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="$(find mybuddy_moveit)/config/kinematics.yaml"/>
     <rosparam command="load" file="$(find mybuddy_moveit)/config/ompl_planning.yaml"/>
   </node>
 
diff --git a/Mybuddy/mybuddy_moveit/launch/sensor_manager.launch.xml b/Mybuddy/mybuddy_moveit/launch/sensor_manager.launch.xml
index bd27281..ff2be73 100644
--- a/Mybuddy/mybuddy_moveit/launch/sensor_manager.launch.xml
+++ b/Mybuddy/mybuddy_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="$(find mybuddy_moveit)/launch/$(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/Mybuddy/mybuddy_moveit/launch/setup_assistant.launch b/Mybuddy/mybuddy_moveit/launch/setup_assistant.launch
index d69b6b0..dd677c2 100644
--- a/Mybuddy/mybuddy_moveit/launch/setup_assistant.launch
+++ b/Mybuddy/mybuddy_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=mybuddy_moveit"
-	launch-prefix="$(arg launch_prefix)"
+        args="--config_pkg=mybuddy_moveit"
+        launch-prefix="$(arg launch_prefix)"
+        required="true"
         output="screen" />
 
 </launch>
diff --git a/Mybuddy/mybuddy_moveit/launch/simple_moveit_controller_manager.launch.xml b/Mybuddy/mybuddy_moveit/launch/simple_moveit_controller_manager.launch.xml
new file mode 100644
index 0000000..5f7fac6
--- /dev/null
+++ b/Mybuddy/mybuddy_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="$(find mybuddy_moveit)/config/simple_moveit_controllers.yaml" />
+  <rosparam file="$(find mybuddy_moveit)/config/ros_controllers.yaml" />
+</launch>
diff --git a/Mybuddy/mybuddy_moveit/launch/stomp_planning_pipeline.launch.xml b/Mybuddy/mybuddy_moveit/launch/stomp_planning_pipeline.launch.xml
new file mode 100644
index 0000000..d497d10
--- /dev/null
+++ b/Mybuddy/mybuddy_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 mybuddy_moveit)/config/stomp_planning.yaml"/>
+</launch>
diff --git a/Mybuddy/mybuddy_moveit/launch/trajectory_execution.launch.xml b/Mybuddy/mybuddy_moveit/launch/trajectory_execution.launch.xml
index 695cdf7..20c3dfc 100644
--- a/Mybuddy/mybuddy_moveit/launch/trajectory_execution.launch.xml
+++ b/Mybuddy/mybuddy_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="$(find mybuddy_moveit)/launch/$(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/Mybuddy/mybuddy_moveit/launch/warehouse.launch b/Mybuddy/mybuddy_moveit/launch/warehouse.launch
index 620cd4d..0712e67 100644
--- a/Mybuddy/mybuddy_moveit/launch/warehouse.launch
+++ b/Mybuddy/mybuddy_moveit/launch/warehouse.launch
@@ -4,7 +4,7 @@
   <arg name="moveit_warehouse_database_path" />
 
   <!-- Load warehouse parameters -->
-  <include file="$(find mybuddy_moveit)/launch/warehouse_settings.launch.xml" />
+  <include file="$(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/Mybuddy/mybuddy_moveit/package.xml b/Mybuddy/mybuddy_moveit/package.xml
index 9e6e7d7..a104aa1 100644
--- a/Mybuddy/mybuddy_moveit/package.xml
+++ b/Mybuddy/mybuddy_moveit/package.xml
@@ -3,10 +3,10 @@
   <name>mybuddy_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="zijun.huang@elephantrobotics.com">hzj</author>
-  <maintainer email="zijun.huang@elephantrobotics.com">hzj</maintainer>
+  <author email="weijian.wang@elephatrobotics.com">wangweijian</author>
+  <maintainer email="weijian.wang@elephatrobotics.com">wangweijian</maintainer>
 
   <license>BSD</license>
 
@@ -22,12 +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>mycobot_description</build_depend>
   <run_depend>mycobot_description</run_depend>
 
 
diff --git a/Mybuddy/mybuddy_moveit/scripts/sync_plan.py b/Mybuddy/mybuddy_moveit/scripts/sync_plan.py
index 5748108..55652cf 100755
--- a/Mybuddy/mybuddy_moveit/scripts/sync_plan.py
+++ b/Mybuddy/mybuddy_moveit/scripts/sync_plan.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python2
+#!/usr/bin/env python3
 import time
 import rospy
 import os
@@ -30,7 +30,8 @@ def callback(data):
     time.sleep(0.02)
     # mb.send_radians(3,data_list3, 50)
     # time.sleep(0.02)
-    mb.set_encoder(3,1,data_list3[0]*4096/(2*math.pi)+2048,1)
+    # mb.set_encoder(3,1,data_list3[0]*4096/(2*math.pi)+2048,1)
+    mb.send_angle(3, 1, data_list3[0]* (180 / math.pi), 10)
     time.sleep(0.02)
 
 def listener():