diff --git a/mycobot_ai/CMakeLists.txt b/mycobot_ai/mechArm_270/CMakeLists.txt
similarity index 99%
rename from mycobot_ai/CMakeLists.txt
rename to mycobot_ai/mechArm_270/CMakeLists.txt
index a7e50d3..a597ed9 100644
--- a/mycobot_ai/CMakeLists.txt
+++ b/mycobot_ai/mechArm_270/CMakeLists.txt
@@ -1,5 +1,5 @@
 cmake_minimum_required(VERSION 3.0.2)
-project(mycobot_ai)
+project(mechArm_270)
 
 ## Compile as C++11, supported in ROS Kinetic and newer
 # add_compile_options(-std=c++11)
@@ -8,7 +8,7 @@ project(mycobot_ai)
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
 ## is used, also find other catkin packages
 find_package(catkin REQUIRED COMPONENTS
-  mycobot_280
+  mecharm_pi
 )
 
 ## System dependencies are found with CMake's conventions
diff --git a/mycobot_ai/launch/vision.launch b/mycobot_ai/mechArm_270/launch/vision.launch
similarity index 100%
rename from mycobot_ai/launch/vision.launch
rename to mycobot_ai/mechArm_270/launch/vision.launch
diff --git a/mycobot_ai/launch/vision_wio.launch b/mycobot_ai/mechArm_270/launch/vision_wio.launch
similarity index 100%
rename from mycobot_ai/launch/vision_wio.launch
rename to mycobot_ai/mechArm_270/launch/vision_wio.launch
diff --git a/mycobot_ai/local_photo/goal5.jpeg b/mycobot_ai/mechArm_270/local_photo/goal5.jpeg
similarity index 100%
rename from mycobot_ai/local_photo/goal5.jpeg
rename to mycobot_ai/mechArm_270/local_photo/goal5.jpeg
diff --git a/mycobot_ai/local_photo/img/goal01.jpeg b/mycobot_ai/mechArm_270/local_photo/img/goal01.jpeg
similarity index 100%
rename from mycobot_ai/local_photo/img/goal01.jpeg
rename to mycobot_ai/mechArm_270/local_photo/img/goal01.jpeg
diff --git a/mycobot_ai/local_photo/img/goal03.jpeg b/mycobot_ai/mechArm_270/local_photo/img/goal03.jpeg
similarity index 100%
rename from mycobot_ai/local_photo/img/goal03.jpeg
rename to mycobot_ai/mechArm_270/local_photo/img/goal03.jpeg
diff --git a/mycobot_ai/local_photo/img/goal2.jpeg b/mycobot_ai/mechArm_270/local_photo/img/goal2.jpeg
similarity index 100%
rename from mycobot_ai/local_photo/img/goal2.jpeg
rename to mycobot_ai/mechArm_270/local_photo/img/goal2.jpeg
diff --git a/mycobot_ai/local_photo/takephoto.jpeg b/mycobot_ai/mechArm_270/local_photo/takephoto.jpeg
similarity index 100%
rename from mycobot_ai/local_photo/takephoto.jpeg
rename to mycobot_ai/mechArm_270/local_photo/takephoto.jpeg
diff --git a/mycobot_ai/package.xml b/mycobot_ai/mechArm_270/package.xml
similarity index 91%
rename from mycobot_ai/package.xml
rename to mycobot_ai/mechArm_270/package.xml
index 239106b..31da1fc 100644
--- a/mycobot_ai/package.xml
+++ b/mycobot_ai/mechArm_270/package.xml
@@ -1,8 +1,8 @@
 <?xml version="1.0"?>
 <package format="2">
-  <name>mycobot_ai</name>
+  <name>mechArm_270</name>
   <version>0.0.0</version>
-  <description>The mycobot_ai package</description>
+  <description>The mechArm_270 package</description>
 
   <!-- One maintainer tag required, multiple allowed, one person per tag -->
   <!-- Example:  -->
@@ -49,9 +49,9 @@
   <!-- Use doc_depend for packages you need only for building documentation: -->
   <!--   <doc_depend>doxygen</doc_depend> -->
   <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>mycobot_280</build_depend>
-  <build_export_depend>mycobot_280</build_export_depend>
-  <exec_depend>mycobot_280</exec_depend>
+  <build_depend>mecharm_pi</build_depend>
+  <build_export_depend>mecharm_pi</build_export_depend>
+  <exec_depend>mecharm_pi</exec_depend>
 
 
   <!-- The export tag contains other, unspecified, tags -->
diff --git a/mycobot_ai/prof.calltree b/mycobot_ai/mechArm_270/prof.calltree
similarity index 100%
rename from mycobot_ai/prof.calltree
rename to mycobot_ai/mechArm_270/prof.calltree
diff --git a/mycobot_ai/prof.out b/mycobot_ai/mechArm_270/prof.out
similarity index 100%
rename from mycobot_ai/prof.out
rename to mycobot_ai/mechArm_270/prof.out
diff --git a/mycobot_ai/res/blue/goal1.jpeg b/mycobot_ai/mechArm_270/res/blue/goal1.jpeg
similarity index 100%
rename from mycobot_ai/res/blue/goal1.jpeg
rename to mycobot_ai/mechArm_270/res/blue/goal1.jpeg
diff --git a/mycobot_ai/res/blue/goal2.jpeg b/mycobot_ai/mechArm_270/res/blue/goal2.jpeg
similarity index 100%
rename from mycobot_ai/res/blue/goal2.jpeg
rename to mycobot_ai/mechArm_270/res/blue/goal2.jpeg
diff --git a/mycobot_ai/res/gray/goal1.jpeg b/mycobot_ai/mechArm_270/res/gray/goal1.jpeg
similarity index 100%
rename from mycobot_ai/res/gray/goal1.jpeg
rename to mycobot_ai/mechArm_270/res/gray/goal1.jpeg
diff --git a/mycobot_ai/res/gray/goal2.jpeg b/mycobot_ai/mechArm_270/res/gray/goal2.jpeg
similarity index 100%
rename from mycobot_ai/res/gray/goal2.jpeg
rename to mycobot_ai/mechArm_270/res/gray/goal2.jpeg
diff --git a/mycobot_ai/res/green/goal1.jpeg b/mycobot_ai/mechArm_270/res/green/goal1.jpeg
similarity index 100%
rename from mycobot_ai/res/green/goal1.jpeg
rename to mycobot_ai/mechArm_270/res/green/goal1.jpeg
diff --git a/mycobot_ai/res/green/goal2.jpeg b/mycobot_ai/mechArm_270/res/green/goal2.jpeg
similarity index 100%
rename from mycobot_ai/res/green/goal2.jpeg
rename to mycobot_ai/mechArm_270/res/green/goal2.jpeg
diff --git a/mycobot_ai/res/green/goal3.jpeg b/mycobot_ai/mechArm_270/res/green/goal3.jpeg
similarity index 100%
rename from mycobot_ai/res/green/goal3.jpeg
rename to mycobot_ai/mechArm_270/res/green/goal3.jpeg
diff --git a/mycobot_ai/res/green/goal4.jpeg b/mycobot_ai/mechArm_270/res/green/goal4.jpeg
similarity index 100%
rename from mycobot_ai/res/green/goal4.jpeg
rename to mycobot_ai/mechArm_270/res/green/goal4.jpeg
diff --git a/mycobot_ai/res/red/goal1.jpeg b/mycobot_ai/mechArm_270/res/red/goal1.jpeg
similarity index 100%
rename from mycobot_ai/res/red/goal1.jpeg
rename to mycobot_ai/mechArm_270/res/red/goal1.jpeg
diff --git a/mycobot_ai/res/takephoto.jpeg b/mycobot_ai/mechArm_270/res/takephoto.jpeg
similarity index 100%
rename from mycobot_ai/res/takephoto.jpeg
rename to mycobot_ai/mechArm_270/res/takephoto.jpeg
diff --git a/mycobot_ai/scripts/add_img.py b/mycobot_ai/mechArm_270/scripts/add_img.py
similarity index 100%
rename from mycobot_ai/scripts/add_img.py
rename to mycobot_ai/mechArm_270/scripts/add_img.py
diff --git a/mycobot_ai/scripts/detect_encode.py b/mycobot_ai/mechArm_270/scripts/detect_encode.py
similarity index 100%
rename from mycobot_ai/scripts/detect_encode.py
rename to mycobot_ai/mechArm_270/scripts/detect_encode.py
diff --git a/mycobot_ai/scripts/detect_obj_color.py b/mycobot_ai/mechArm_270/scripts/detect_obj_color.py
similarity index 100%
rename from mycobot_ai/scripts/detect_obj_color.py
rename to mycobot_ai/mechArm_270/scripts/detect_obj_color.py
diff --git a/mycobot_ai/scripts/detect_obj_color_wio.py b/mycobot_ai/mechArm_270/scripts/detect_obj_color_wio.py
similarity index 100%
rename from mycobot_ai/scripts/detect_obj_color_wio.py
rename to mycobot_ai/mechArm_270/scripts/detect_obj_color_wio.py
diff --git a/mycobot_ai/scripts/detect_obj_img.py b/mycobot_ai/mechArm_270/scripts/detect_obj_img.py
similarity index 100%
rename from mycobot_ai/scripts/detect_obj_img.py
rename to mycobot_ai/mechArm_270/scripts/detect_obj_img.py
diff --git a/mycobot_ai/scripts/detect_obj_img_folder.py b/mycobot_ai/mechArm_270/scripts/detect_obj_img_folder.py
similarity index 100%
rename from mycobot_ai/scripts/detect_obj_img_folder.py
rename to mycobot_ai/mechArm_270/scripts/detect_obj_img_folder.py
diff --git a/mycobot_ai/scripts/detect_obj_img_folder_opt.py b/mycobot_ai/mechArm_270/scripts/detect_obj_img_folder_opt.py
similarity index 100%
rename from mycobot_ai/scripts/detect_obj_img_folder_opt.py
rename to mycobot_ai/mechArm_270/scripts/detect_obj_img_folder_opt.py
diff --git a/mycobot_ai/scripts/detect_obj_img_wio.py b/mycobot_ai/mechArm_270/scripts/detect_obj_img_wio.py
similarity index 100%
rename from mycobot_ai/scripts/detect_obj_img_wio.py
rename to mycobot_ai/mechArm_270/scripts/detect_obj_img_wio.py
diff --git a/mycobot_ai/scripts/frozen_inference_graph.pb b/mycobot_ai/mechArm_270/scripts/frozen_inference_graph.pb
similarity index 100%
rename from mycobot_ai/scripts/frozen_inference_graph.pb
rename to mycobot_ai/mechArm_270/scripts/frozen_inference_graph.pb
diff --git a/mycobot_ai/scripts/graph.pbtxt b/mycobot_ai/mechArm_270/scripts/graph.pbtxt
similarity index 100%
rename from mycobot_ai/scripts/graph.pbtxt
rename to mycobot_ai/mechArm_270/scripts/graph.pbtxt
diff --git a/mycobot_ai/scripts/labels.json b/mycobot_ai/mechArm_270/scripts/labels.json
similarity index 100%
rename from mycobot_ai/scripts/labels.json
rename to mycobot_ai/mechArm_270/scripts/labels.json
diff --git a/mycobot_ai/scripts/local_photo/takephoto.jpeg b/mycobot_ai/mechArm_270/scripts/local_photo/takephoto.jpeg
similarity index 100%
rename from mycobot_ai/scripts/local_photo/takephoto.jpeg
rename to mycobot_ai/mechArm_270/scripts/local_photo/takephoto.jpeg
diff --git a/mycobot_ai/scripts/moving_utils.py b/mycobot_ai/mechArm_270/scripts/moving_utils.py
similarity index 100%
rename from mycobot_ai/scripts/moving_utils.py
rename to mycobot_ai/mechArm_270/scripts/moving_utils.py
diff --git a/mycobot_ai/scripts/mtx_dist.npz b/mycobot_ai/mechArm_270/scripts/mtx_dist.npz
similarity index 100%
rename from mycobot_ai/scripts/mtx_dist.npz
rename to mycobot_ai/mechArm_270/scripts/mtx_dist.npz
diff --git a/mycobot_ai/scripts/openVideo.py b/mycobot_ai/mechArm_270/scripts/openVideo.py
similarity index 100%
rename from mycobot_ai/scripts/openVideo.py
rename to mycobot_ai/mechArm_270/scripts/openVideo.py
diff --git a/mycobot_ai/scripts/pump.py b/mycobot_ai/mechArm_270/scripts/pump.py
similarity index 100%
rename from mycobot_ai/scripts/pump.py
rename to mycobot_ai/mechArm_270/scripts/pump.py
diff --git a/mycobot_ai/scripts/scripts.tar.gz b/mycobot_ai/mechArm_270/scripts/scripts.tar.gz
similarity index 100%
rename from mycobot_ai/scripts/scripts.tar.gz
rename to mycobot_ai/mechArm_270/scripts/scripts.tar.gz
diff --git a/mycobot_ai/scripts/send_maker.py b/mycobot_ai/mechArm_270/scripts/send_maker.py
similarity index 100%
rename from mycobot_ai/scripts/send_maker.py
rename to mycobot_ai/mechArm_270/scripts/send_maker.py
diff --git a/mycobot_ai/scripts/test.py b/mycobot_ai/mechArm_270/scripts/test.py
similarity index 100%
rename from mycobot_ai/scripts/test.py
rename to mycobot_ai/mechArm_270/scripts/test.py
diff --git a/mycobot_ai/scripts/tools.py b/mycobot_ai/mechArm_270/scripts/tools.py
similarity index 100%
rename from mycobot_ai/scripts/tools.py
rename to mycobot_ai/mechArm_270/scripts/tools.py