diff --git a/mycobot_280/mycobot_280/CMakeLists.txt b/mycobot_280/mycobot_280/CMakeLists.txt
index ddfbb946..c6ea4f94 100644
--- a/mycobot_280/mycobot_280/CMakeLists.txt
+++ b/mycobot_280/mycobot_280/CMakeLists.txt
@@ -30,6 +30,8 @@ catkin_install_python(PROGRAMS
   scripts/following_marker.py
   scripts/follow_and_pump.py
   scripts/simple_gui.py
+  scripts/follow_display_gripper.py
+  scripts/slider_control_gripper.py
   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
diff --git a/mycobot_280/mycobot_280/config/mycobot.rviz b/mycobot_280/mycobot_280/config/mycobot.rviz
index 6fe10186..0fbc40e8 100644
--- a/mycobot_280/mycobot_280/config/mycobot.rviz
+++ b/mycobot_280/mycobot_280/config/mycobot.rviz
@@ -10,7 +10,7 @@ Panels:
         - /TF1
         - /Marker1
       Splitter Ratio: 0.5
-    Tree Height: 607
+    Tree Height: 657
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -19,17 +19,18 @@ Panels:
       - /2D Nav Goal1
       - /Publish Point1
     Name: Tool Properties
-    Splitter Ratio: 0.588679016
+    Splitter Ratio: 0.5886790156364441
   - Class: rviz/Views
     Expanded:
       - /Current View1
     Name: Views
     Splitter Ratio: 0.5
   - Class: rviz/Time
-    Experimental: false
     Name: Time
     SyncMode: 0
     SyncSource: ""
+Preferences:
+  PromptSaveOnExit: true
 Toolbars:
   toolButtonStyle: 2
 Visualization Manager:
@@ -41,7 +42,7 @@ Visualization Manager:
       Color: 160; 160; 164
       Enabled: true
       Line Style:
-        Line Width: 0.0299999993
+        Line Width: 0.029999999329447746
         Value: Lines
       Name: Grid
       Normal Cell Count: 0
@@ -63,7 +64,42 @@ Visualization Manager:
         Expand Link Details: false
         Expand Tree: false
         Link Tree Style: Links in Alphabetic Order
-        env:
+        g_base:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        gripper_base:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        gripper_left1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        gripper_left2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        gripper_left3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        gripper_right1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        gripper_right2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        gripper_right3:
           Alpha: 1
           Show Axes: false
           Show Trail: false
@@ -111,10 +147,26 @@ Visualization Manager:
       Visual Enabled: true
     - Class: rviz/TF
       Enabled: true
+      Filter (blacklist): ""
+      Filter (whitelist): ""
       Frame Timeout: 15
       Frames:
         All Enabled: true
-        env:
+        g_base:
+          Value: true
+        gripper_base:
+          Value: true
+        gripper_left1:
+          Value: true
+        gripper_left2:
+          Value: true
+        gripper_left3:
+          Value: true
+        gripper_right1:
+          Value: true
+        gripper_right2:
+          Value: true
+        gripper_right3:
           Value: true
         joint1:
           Value: true
@@ -130,22 +182,32 @@ Visualization Manager:
           Value: true
         joint6_flange:
           Value: true
-      Marker Scale: 0.300000012
+      Marker Alpha: 1
+      Marker Scale: 0.10000000149011612
       Name: TF
       Show Arrows: true
       Show Axes: true
       Show Names: true
       Tree:
-        joint1:
-          env:
-            {}
-          joint2:
-            joint3:
-              joint4:
-                joint5:
-                  joint6:
-                    joint6_flange:
-                      {}
+        g_base:
+          joint1:
+            joint2:
+              joint3:
+                joint4:
+                  joint5:
+                    joint6:
+                      joint6_flange:
+                        gripper_base:
+                          gripper_left2:
+                            {}
+                          gripper_left3:
+                            gripper_left1:
+                              {}
+                          gripper_right2:
+                            {}
+                          gripper_right3:
+                            gripper_right1:
+                              {}
       Update Interval: 0
       Value: true
     - Class: rviz/Marker
@@ -171,7 +233,10 @@ Visualization Manager:
     - Class: rviz/FocusCamera
     - Class: rviz/Measure
     - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
       Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
     - Class: rviz/SetGoal
       Topic: /move_base_simple/goal
     - Class: rviz/PublishPoint
@@ -181,33 +246,33 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 1.20289087
+      Distance: 1.2028908729553223
       Enable Stereo Rendering:
-        Stereo Eye Separation: 0.0599999987
+        Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
         Swap Stereo Eyes: false
         Value: false
+      Field of View: 0.7853981852531433
       Focal Point:
-        X: -0.0706475973
-        Y: -0.0814988762
-        Z: 0.107583851
+        X: -0.07064759731292725
+        Y: -0.0814988762140274
+        Z: 0.10758385062217712
       Focal Shape Fixed Size: true
-      Focal Shape Size: 0.0500000007
+      Focal Shape Size: 0.05000000074505806
       Invert Z Axis: false
       Name: Current View
-      Near Clip Distance: 0.00999999978
-      Pitch: 0.440398335
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.32539835572242737
       Target Frame: <Fixed Frame>
-      Value: Orbit (rviz)
-      Yaw: 0.430389732
+      Yaw: 3.0853891372680664
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 888
+  Height: 954
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000016a000002eefc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006100fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002ee000000d700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000001c2000002eefc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000028000002ee000000ad00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000069f0000003efc0100000002fb0000000800540069006d006501000000000000069f0000030000fffffffb0000000800540069006d0065010000000000000450000000000000000000000367000002ee00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000016a0000031cfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000031c000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c0000026100000001000001c20000031cfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000031c000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000004000000031c00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -216,6 +281,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1695
-  X: 180
-  Y: 34
+  Width: 1848
+  X: 72
+  Y: 27
diff --git a/mycobot_280/mycobot_280/launch/mycobot_follow_gripper.launch b/mycobot_280/mycobot_280/launch/mycobot_follow_gripper.launch
new file mode 100644
index 00000000..724065f3
--- /dev/null
+++ b/mycobot_280/mycobot_280/launch/mycobot_follow_gripper.launch
@@ -0,0 +1,18 @@
+<launch>
+	<!-- Load URDF file,加载URDF文件 -->
+	<!-- <arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_urdf.urdf"/> -->
+	<!-- <arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_with_gripper_up.urdf"/> -->
+	<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_with_gripper_parallel.urdf"/>
+
+
+
+	<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot.rviz" />
+
+	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
+	<!-- Combinejoin values to TF ，将值合并到TF-->
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" >
+		<rosparam param="source_list" subst_value="true">["joint_states"]</rosparam>
+	</node>
+	<!-- show in Rviza,显示在Rviz -->
+	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
+</launch>
diff --git a/mycobot_280/mycobot_280/launch/simple_gui_gripper.launch b/mycobot_280/mycobot_280/launch/simple_gui_gripper.launch
new file mode 100644
index 00000000..32fa28a3
--- /dev/null
+++ b/mycobot_280/mycobot_280/launch/simple_gui_gripper.launch
@@ -0,0 +1,25 @@
+<launch>
+	<!-- Select connecting device and serial port ，选择连接设备及串口-->
+	<arg name="port" default="/dev/ttyUSB0" />
+	<arg name="baud" default="115200" />
+
+	<!-- <arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_urdf.urdf"/> -->
+	<!-- <arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_with_gripper_up.urdf"/> -->
+	<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_with_gripper_parallel.urdf"/>
+	<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot.rviz" />
+	<arg name="gui" default="false" />
+
+	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
+
+	<!-- Combinejoin values to TF ,将值合并到TF-->
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+	<!-- Show in Rviz ，显示在Rviz-->
+	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
+
+    <include file="$(find mycobot_communication)/launch/communication_service.launch">
+		<arg name="port" value="$(arg port)" />	
+		<arg name="baud" value="$(arg baud)" />	
+    </include>
+	<node name="real_listener" pkg="mycobot_280" type="listen_real.py" />
+	<node name="simple_gui" pkg="mycobot_280" type="simple_gui.py" />
+</launch>
diff --git a/mycobot_280/mycobot_280/launch/slider_control_gripper.launch b/mycobot_280/mycobot_280/launch/slider_control_gripper.launch
new file mode 100644
index 00000000..16c9a727
--- /dev/null
+++ b/mycobot_280/mycobot_280/launch/slider_control_gripper.launch
@@ -0,0 +1,28 @@
+<launch>
+	<!-- <arg name="port" default="/dev/ttyUSB0" />
+	<arg name="baud" default="115200" /> -->
+	<!-- Load file model ，加载文件模型-->	
+	<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_with_gripper_parallel.urdf"/>
+	<!-- <arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_with_gripper_up.urdf"/> -->
+	<!-- <arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_urdf.urdf"/> -->
+
+
+	<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot.rviz" />
+	<arg name="gui" default="true" />
+
+	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
+
+	<!-- Combinejoin values to TF，将值合并到TF -->
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+	<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui"> 
+		<!-- <param name="use_gui" value="$(arg gui)" />	 -->
+		<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
+	</node>
+	<!-- Open control script -->
+	<!-- <node name="control_slider" pkg="mycobot_280" type="slider_control.py"> 
+		<param name="port" type="string" value="$(arg port)" />
+		<param name="baud" type="int" value="$(arg baud)" />
+	</node> -->
+	<!-- Show in Rviz ，显示在Rviz-->
+	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
+</launch>
diff --git a/mycobot_280/mycobot_280/launch/teleop_keyboard_gripper.launch b/mycobot_280/mycobot_280/launch/teleop_keyboard_gripper.launch
new file mode 100644
index 00000000..322b7a5a
--- /dev/null
+++ b/mycobot_280/mycobot_280/launch/teleop_keyboard_gripper.launch
@@ -0,0 +1,25 @@
+<launch>
+	<!-- Select connecting device and serial port ，选择连接设备及串口-->
+	<arg name="port" default="/dev/ttyUSB0" />
+	<arg name="baud" default="115200" />
+
+	<!-- <arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_urdf.urdf"/> -->
+	<!-- <arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_with_gripper_up.urdf"/> -->
+	<arg name="model" default="$(find mycobot_description)/urdf/mycobot/mycobot_with_gripper_parallel.urdf"/>
+	<arg name="rvizconfig" default="$(find mycobot_280)/config/mycobot.rviz" />
+	<arg name="gui" default="false" />
+
+	<param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />
+
+	<!-- Combinejoin values to TF ，将值合并到TF-->
+	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+	<!-- Show in Rviz ，显示在Rviz-->
+	<node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
+
+    <include file="$(find mycobot_communication)/launch/communication_service.launch">
+		<arg name="port" value="$(arg port)" />	
+		<arg name="baud" value="$(arg baud)" />	
+    </include>
+	<!-- listen and pub the real angles ，监听并发布真实角度-->
+	<node name="real_listener" pkg="mycobot_280" type="listen_real.py" />
+</launch>
diff --git a/mycobot_280/mycobot_280/scripts/follow_display.py b/mycobot_280/mycobot_280/scripts/follow_display.py
index 6fad77fc..d6619747 100644
--- a/mycobot_280/mycobot_280/scripts/follow_display.py
+++ b/mycobot_280/mycobot_280/scripts/follow_display.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python2
+#!/usr/bin/env python3
 import time
 
 import rospy
diff --git a/mycobot_280/mycobot_280/scripts/follow_display_gripper.py b/mycobot_280/mycobot_280/scripts/follow_display_gripper.py
new file mode 100644
index 00000000..a07fc120
--- /dev/null
+++ b/mycobot_280/mycobot_280/scripts/follow_display_gripper.py
@@ -0,0 +1,115 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+import time
+
+import rospy
+from sensor_msgs.msg import JointState
+from std_msgs.msg import Header
+from visualization_msgs.msg import Marker
+
+from pymycobot.mycobot import MyCobot
+
+
+def talker():
+    rospy.init_node("display", anonymous=True)
+
+    print("Try connect real mycobot...")
+    port = rospy.get_param("~port", "/dev/ttyUSB0")
+    baud = rospy.get_param("~baud", 115200)
+    print("port: {}, baud: {}\n".format(port, baud))
+    try:
+        mycobot = MyCobot(port, baud)
+    except Exception as e:
+        print(e)
+        print(
+            """\
+            \rTry connect mycobot failed!
+            \rPlease check wether connected with mycobot.
+            \rPlease chckt wether the port or baud is right.
+        """
+        )
+        exit(1)
+    mycobot.release_all_servos()
+    time.sleep(0.1)
+    print("Rlease all servos over.\n")
+
+    pub = rospy.Publisher("joint_states", JointState, queue_size=10)
+    pub_marker = rospy.Publisher("visualization_marker", Marker, queue_size=10)
+    rate = rospy.Rate(30)  # 30hz
+
+    # pub joint state
+    joint_state_send = JointState()
+    joint_state_send.header = Header()
+
+    joint_state_send.name = [
+        "joint2_to_joint1",
+        "joint3_to_joint2",
+        "joint4_to_joint3",
+        "joint5_to_joint4",
+        "joint6_to_joint5",
+        "joint6output_to_joint6",
+        "gripper_controller",
+    ]
+    joint_state_send.velocity = [0]
+    joint_state_send.effort = []
+
+    marker_ = Marker()
+    marker_.header.frame_id = "/joint1"
+    marker_.ns = "my_namespace"
+
+    print("publishing ...")
+    while not rospy.is_shutdown():
+        joint_state_send.header.stamp = rospy.Time.now()
+
+        angles = mycobot.get_radians()
+        mycobot.release_servo(7)
+        
+        # if (gripper_value := mycobot.get_gripper_value()) != -1: python3.8
+        gripper_value = mycobot.get_gripper_value()
+        # print("gripper_value1 %s"%gripper_value)
+        if gripper_value != -1:
+            gripper_value = -0.78 + round(gripper_value / 117.0, 2)
+            print(gripper_value)
+        
+            data_list = []
+            for index, value in enumerate(angles):
+                data_list.append(value)
+            data_list.append(gripper_value)
+
+        # rospy.loginfo('{}'.format(data_list))
+        joint_state_send.position = data_list
+
+        pub.publish(joint_state_send)
+
+        coords = mycobot.get_coords()
+
+        # marker
+        marker_.header.stamp = rospy.Time.now()
+        marker_.type = marker_.SPHERE
+        marker_.action = marker_.ADD
+        marker_.scale.x = 0.04
+        marker_.scale.y = 0.04
+        marker_.scale.z = 0.04
+
+        # marker position initial.标记位置初始
+        # print(coords)
+        if not coords:
+            coords = [0, 0, 0, 0, 0, 0]
+            rospy.loginfo("error [101]: can not get coord values")
+
+        marker_.pose.position.x = coords[1] / 1000 * -1
+        marker_.pose.position.y = coords[0] / 1000
+        marker_.pose.position.z = coords[2] / 1000
+
+        marker_.color.a = 1.0
+        marker_.color.g = 1.0
+        pub_marker.publish(marker_)
+
+        rate.sleep()
+
+
+if __name__ == "__main__":
+    try:
+        talker()
+    except rospy.ROSInterruptException:
+        pass
diff --git a/mycobot_280/mycobot_280/scripts/listen_real.py b/mycobot_280/mycobot_280/scripts/listen_real.py
index 1d38b613..aea0d53b 100755
--- a/mycobot_280/mycobot_280/scripts/listen_real.py
+++ b/mycobot_280/mycobot_280/scripts/listen_real.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python2
+#!/usr/bin/env python3
 # encoding:utf-8
 # license removed for brevity
 import time
diff --git a/mycobot_280/mycobot_280/scripts/simple_gui.py b/mycobot_280/mycobot_280/scripts/simple_gui.py
index 783e3e46..b30c06ce 100644
--- a/mycobot_280/mycobot_280/scripts/simple_gui.py
+++ b/mycobot_280/mycobot_280/scripts/simple_gui.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 # -*- coding: utf-8 -*-
 try:
     import tkinter as tk
diff --git a/mycobot_280/mycobot_280/scripts/slider_control_gripper.py b/mycobot_280/mycobot_280/scripts/slider_control_gripper.py
new file mode 100644
index 00000000..fdf1d6ff
--- /dev/null
+++ b/mycobot_280/mycobot_280/scripts/slider_control_gripper.py
@@ -0,0 +1,53 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+
+"""[summary]
+This file obtains the joint angle of the manipulator in ROS,
+and then sends it directly to the real manipulator using `pymycobot` API.
+This file is [slider_control.launch] related script.
+Passable parameters:
+    port: serial prot string. Defaults is '/dev/ttyUSB0'
+    baud: serial prot baudrate. Defaults is 115200.
+"""
+
+import rospy
+from sensor_msgs.msg import JointState
+from pymycobot.mycobot import MyCobot
+
+
+mc = None
+gripper_value = []
+
+def callback(data):
+    # print(data.position)
+    data_list = []  
+    for index, value in enumerate(data.position):
+        data_list.append(round(value,3))
+    # print(data_list[6:])
+    
+    data_list = data_list[:7]
+    print("radians:%s"%data_list[:6])
+    mc.send_radians(data_list[:6], 80)
+    gripper_value = int(abs(-0.7-data_list[6])* 117)
+    print("gripper_value:%s"%gripper_value)
+    mc.set_gripper_value(gripper_value, 80)
+    
+
+def listener():
+    global mc
+    global gripper_value 
+    
+    rospy.init_node("control_slider", anonymous=True)
+    rospy.Subscriber("joint_states", JointState, callback)
+    port = rospy.get_param("~port", "/dev/ttyUSB0")
+    baud = rospy.get_param("~baud", 115200)
+    print(port, baud)
+    mc = MyCobot(port, baud)
+    # spin() simply keeps python from exiting until this node is stopped
+    # spin()只是阻止python退出，直到该节点停止
+    print("spin ...")
+    rospy.spin()
+
+
+if __name__ == "__main__":
+    listener()
diff --git a/mycobot_280/mycobot_280/scripts/teleop_keyboard.py b/mycobot_280/mycobot_280/scripts/teleop_keyboard.py
index 6bb47af5..efde40c5 100644
--- a/mycobot_280/mycobot_280/scripts/teleop_keyboard.py
+++ b/mycobot_280/mycobot_280/scripts/teleop_keyboard.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 from __future__ import print_function
 from mycobot_communication.srv import GetCoords, SetCoords, GetAngles, SetAngles, GripperStatus
 import rospy
diff --git a/mycobot_280/mycobot_280_gripper_moveit/.setup_assistant b/mycobot_280/mycobot_280_gripper_moveit/.setup_assistant
new file mode 100644
index 00000000..80f6abee
--- /dev/null
+++ b/mycobot_280/mycobot_280_gripper_moveit/.setup_assistant
@@ -0,0 +1,11 @@
+moveit_setup_assistant_config:
+  URDF:
+    package: mycobot_description
+    relative_path: urdf/mycobot/mycobot_with_gripper_up.urdf
+    xacro_args: ""
+  SRDF:
+    relative_path: config/firefighter.srdf
+  CONFIG:
+    author_name: wangwj
+    author_email: weijian.wang@elephantrobotics.com
+    generated_timestamp: 1666945049
\ No newline at end of file
diff --git a/mycobot_280/mycobot_280_gripper_moveit/CMakeLists.txt b/mycobot_280/mycobot_280_gripper_moveit/CMakeLists.txt
new file mode 100644
index 00000000..f8353d6e
--- /dev/null
+++ b/mycobot_280/mycobot_280_gripper_moveit/CMakeLists.txt
@@ -0,0 +1,22 @@
+cmake_minimum_required(VERSION 3.1.3)
+project(mycobot_280_gripper_moveit)
+
+find_package(catkin REQUIRED
+  rospy
+  std_msgs
+  moveit_msgs
+)
+
+catkin_package()
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+catkin_install_python(PROGRAMS
+  scripts/sync_plan.py
+  scripts/path_planning_and_obstacle_avoidance_demo.py
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  PATTERN "setup_assistant.launch" EXCLUDE)
+install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/mycobot_280/mycobot_280_gripper_moveit/config/cartesian_limits.yaml b/mycobot_280/mycobot_280_gripper_moveit/config/cartesian_limits.yaml
new file mode 100644
index 00000000..7df72f69
--- /dev/null
+++ b/mycobot_280/mycobot_280_gripper_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/mycobot_280/mycobot_280_gripper_moveit/config/chomp_planning.yaml b/mycobot_280/mycobot_280_gripper_moveit/config/chomp_planning.yaml
new file mode 100644
index 00000000..eb9c9122
--- /dev/null
+++ b/mycobot_280/mycobot_280_gripper_moveit/config/chomp_planning.yaml
@@ -0,0 +1,18 @@
+planning_time_limit: 10.0
+max_iterations: 200
+max_iterations_after_collision_free: 5
+smoothness_cost_weight: 0.1
+obstacle_cost_weight: 1.0
+learning_rate: 0.01
+smoothness_cost_velocity: 0.0
+smoothness_cost_acceleration: 1.0
+smoothness_cost_jerk: 0.0
+ridge_factor: 0.0
+use_pseudo_inverse: false
+pseudo_inverse_ridge_factor: 1e-4
+joint_update_limit: 0.1
+collision_clearance: 0.2
+collision_threshold: 0.07
+use_stochastic_descent: true
+enable_failure_recovery: false
+max_recovery_attempts: 5
diff --git a/mycobot_280/mycobot_280_gripper_moveit/config/fake_controllers.yaml b/mycobot_280/mycobot_280_gripper_moveit/config/fake_controllers.yaml
new file mode 100644
index 00000000..e62d6378
--- /dev/null
+++ b/mycobot_280/mycobot_280_gripper_moveit/config/fake_controllers.yaml
@@ -0,0 +1,17 @@
+controller_list:
+  - name: fake_arm_group_controller
+    type: $(arg fake_execution_type)
+    joints:
+      - joint2_to_joint1
+      - joint3_to_joint2
+      - joint4_to_joint3
+      - joint5_to_joint4
+      - joint6_to_joint5
+      - joint6output_to_joint6
+  - name: fake_gripper_controller
+    type: $(arg fake_execution_type)
+    joints:
+      - gripper_controller
+initial:  # Define initial robot poses per group
+  - group: arm_group
+    pose: init_pose
\ No newline at end of file
diff --git a/mycobot_280/mycobot_280_gripper_moveit/config/firefighter.srdf b/mycobot_280/mycobot_280_gripper_moveit/config/firefighter.srdf
new file mode 100644
index 00000000..e100a017
--- /dev/null
+++ b/mycobot_280/mycobot_280_gripper_moveit/config/firefighter.srdf
@@ -0,0 +1,133 @@
+<?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
+-->
+<robot name="firefighter">
+    <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
+    <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
+    <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
+    <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
+    <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
+    <group name="arm_group">
+        <joint name="joint2_to_joint1"/>
+        <joint name="joint3_to_joint2"/>
+        <joint name="joint4_to_joint3"/>
+        <joint name="joint5_to_joint4"/>
+        <joint name="joint6_to_joint5"/>
+        <joint name="joint6output_to_joint6"/>
+        <chain base_link="g_base" tip_link="gripper_base"/>
+    </group>
+    <group name="gripper">
+        <chain base_link="gripper_base" tip_link="gripper_left3"/>
+    </group>
+    <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
+    <group_state name="init_pose" group="arm_group">
+        <joint name="joint2_to_joint1" value="0"/>
+        <joint name="joint3_to_joint2" value="0"/>
+        <joint name="joint4_to_joint3" value="0"/>
+        <joint name="joint5_to_joint4" value="0"/>
+        <joint name="joint6_to_joint5" value="0"/>
+        <joint name="joint6output_to_joint6" value="0"/>
+    </group_state>
+    <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
+    <!-- <end_effector name="gripper" parent_link="gripper_base" group="arm_group" parent_group="arm_group"/> -->
+    <!--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_joint" type="fixed" parent_frame="world" child_link="g_base"/>
+    <!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->
+    <passive_joint name="gripper_right3_to_gripper_right1"/>
+    <passive_joint name="gripper_left3_to_gripper_left1"/>
+    <passive_joint name="gripper_base_to_gripper_right2"/>
+    <passive_joint name="gripper_base_to_gripper_right3"/>
+    <passive_joint name="gripper_base_to_gripper_left2"/>
+    <!--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="g_base" link2="gripper_base" reason="Default"/>
+    <disable_collisions link1="g_base" link2="gripper_left1" reason="Default"/>
+    <disable_collisions link1="g_base" link2="gripper_left2" reason="Default"/>
+    <disable_collisions link1="g_base" link2="gripper_left3" reason="Default"/>
+    <disable_collisions link1="g_base" link2="gripper_right1" reason="Default"/>
+    <disable_collisions link1="g_base" link2="gripper_right2" reason="Default"/>
+    <disable_collisions link1="g_base" link2="gripper_right3" reason="Default"/>
+    <disable_collisions link1="g_base" link2="joint1" reason="Adjacent"/>
+    <disable_collisions link1="g_base" link2="joint2" reason="Never"/>
+    <disable_collisions link1="g_base" link2="joint3" reason="Never"/>
+    <disable_collisions link1="g_base" link2="joint4" reason="Never"/>
+    <disable_collisions link1="g_base" link2="joint5" reason="Never"/>
+    <disable_collisions link1="g_base" link2="joint6" reason="Never"/>
+    <disable_collisions link1="g_base" link2="joint6_flange" reason="Never"/>
+    <disable_collisions link1="gripper_base" link2="gripper_left1" reason="Never"/>
+    <disable_collisions link1="gripper_base" link2="gripper_left2" reason="Adjacent"/>
+    <disable_collisions link1="gripper_base" link2="gripper_left3" reason="Adjacent"/>
+    <disable_collisions link1="gripper_base" link2="gripper_right1" reason="Never"/>
+    <disable_collisions link1="gripper_base" link2="gripper_right2" reason="Adjacent"/>
+    <disable_collisions link1="gripper_base" link2="gripper_right3" reason="Adjacent"/>
+    <disable_collisions link1="gripper_base" link2="joint5" reason="Never"/>
+    <disable_collisions link1="gripper_base" link2="joint6" reason="Never"/>
+    <disable_collisions link1="gripper_base" link2="joint6_flange" reason="Adjacent"/>
+
+    <disable_collisions link1="gripper_base" link2="joint1" reason="Never"/>
+    <disable_collisions link1="gripper_base" link2="joint2" reason="Never"/>
+    <disable_collisions link1="gripper_base" link2="joint3" reason="Never"/>
+    <disable_collisions link1="gripper_base" link2="joint4" reason="Never"/>
+
+    <disable_collisions link1="gripper_left1" link2="gripper_left2" reason="Default"/>
+    <disable_collisions link1="gripper_left1" link2="gripper_left3" reason="Adjacent"/>
+    <disable_collisions link1="gripper_left1" link2="gripper_right1" reason="Never"/>
+    <disable_collisions link1="gripper_left1" link2="gripper_right2" reason="Never"/>
+    <disable_collisions link1="gripper_left1" link2="gripper_right3" reason="Never"/>
+    <disable_collisions link1="gripper_left1" link2="joint1" reason="Never"/>
+    <disable_collisions link1="gripper_left1" link2="joint2" reason="Never"/>
+    <disable_collisions link1="gripper_left1" link2="joint3" reason="Never"/>
+    <disable_collisions link1="gripper_left1" link2="joint4" reason="Never"/>
+    <disable_collisions link1="gripper_left1" link2="joint5" reason="Never"/>
+    <disable_collisions link1="gripper_left1" link2="joint6" reason="Never"/>
+    <disable_collisions link1="gripper_left1" link2="joint6_flange" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="gripper_left3" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="gripper_right1" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="joint1" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="joint2" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="joint3" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="joint4" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="joint5" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="joint6" reason="Never"/>
+    <disable_collisions link1="gripper_left2" link2="joint6_flange" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="gripper_right1" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="joint1" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="joint2" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="joint3" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="joint4" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="joint5" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="joint6" reason="Never"/>
+    <disable_collisions link1="gripper_left3" link2="joint6_flange" reason="Never"/>
+    <disable_collisions link1="gripper_right1" link2="gripper_right2" reason="Default"/>
+    <disable_collisions link1="gripper_right1" link2="gripper_right3" reason="Adjacent"/>
+    <disable_collisions link1="gripper_right1" link2="joint1" reason="Never"/>
+    <disable_collisions link1="gripper_right1" link2="joint2" reason="Never"/>
+    <disable_collisions link1="gripper_right1" link2="joint3" reason="Never"/>
+    <disable_collisions link1="gripper_right1" link2="joint4" reason="Never"/>
+    <disable_collisions link1="gripper_right1" link2="joint5" reason="Never"/>
+    <disable_collisions link1="gripper_right1" link2="joint6" reason="Never"/>
+    <disable_collisions link1="gripper_right1" link2="joint6_flange" reason="Never"/>
+    <disable_collisions link1="gripper_right2" link2="gripper_right3" reason="Never"/>
+    <disable_collisions link1="gripper_right2" link2="joint1" reason="Never"/>
+    <disable_collisions link1="gripper_right2" link2="joint2" reason="Never"/>
+    <disable_collisions link1="gripper_right2" link2="joint3" reason="Never"/>
+    <disable_collisions link1="gripper_right2" link2="joint4" reason="Never"/>
+    <disable_collisions link1="gripper_right2" link2="joint5" reason="Never"/>
+    <disable_collisions link1="gripper_right2" link2="joint6" reason="Never"/>
+    <disable_collisions link1="gripper_right2" link2="joint6_flange" reason="Never"/>
+    <disable_collisions link1="gripper_right3" link2="joint1" reason="Never"/>
+    <disable_collisions link1="gripper_right3" link2="joint2" reason="Never"/>
+    <disable_collisions link1="gripper_right3" link2="joint3" reason="Never"/>
+    <disable_collisions link1="gripper_right3" link2="joint4" reason="Never"/>
+    <disable_collisions link1="gripper_right3" link2="joint5" reason="Never"/>
+    <disable_collisions link1="gripper_right3" link2="joint6" reason="Never"/>
+    <disable_collisions link1="gripper_right3" link2="joint6_flange" reason="Never"/>
+    <disable_collisions link1="joint1" link2="joint2" reason="Adjacent"/>
+    <disable_collisions link1="joint2" link2="joint3" reason="Adjacent"/>
+    <disable_collisions link1="joint3" link2="joint4" reason="Adjacent"/>
+    <disable_collisions link1="joint4" link2="joint5" reason="Adjacent"/>
+    <disable_collisions link1="joint5" link2="joint6" reason="Adjacent"/>
+    <disable_collisions link1="joint5" link2="joint6_flange" reason="Never"/>
+    <disable_collisions link1="joint6" link2="joint6_flange" reason="Adjacent"/>
+</robot>
diff --git a/mycobot_280/mycobot_280_gripper_moveit/config/gazebo_controllers.yaml b/mycobot_280/mycobot_280_gripper_moveit/config/gazebo_controllers.yaml
new file mode 100644
index 00000000..e4d2eb00
--- /dev/null
+++ b/mycobot_280/mycobot_280_gripper_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/mycobot_280/mycobot_280_gripper_moveit/config/joint_limits.yaml b/mycobot_280/mycobot_280_gripper_moveit/config/joint_limits.yaml
new file mode 100644
index 00000000..17203f3b
--- /dev/null
+++ b/mycobot_280/mycobot_280_gripper_moveit/config/joint_limits.yaml
@@ -0,0 +1,45 @@
+# 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:
+  gripper_controller:
+    has_velocity_limits: false
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  joint2_to_joint1:
+    has_velocity_limits: false
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  joint3_to_joint2:
+    has_velocity_limits: false
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  joint4_to_joint3:
+    has_velocity_limits: false
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  joint5_to_joint4:
+    has_velocity_limits: false
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  joint6_to_joint5:
+    has_velocity_limits: false
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  joint6output_to_joint6:
+    has_velocity_limits: false
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
\ No newline at end of file
diff --git a/mycobot_280/mycobot_280_gripper_moveit/config/kinematics.yaml b/mycobot_280/mycobot_280_gripper_moveit/config/kinematics.yaml
new file mode 100644
index 00000000..336b2b5e
--- /dev/null
+++ b/mycobot_280/mycobot_280_gripper_moveit/config/kinematics.yaml
@@ -0,0 +1,8 @@
+arm_group:
+  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+  kinematics_solver_search_resolution: 0.005
+  kinematics_solver_timeout: 0.005
+gripper:
+  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+  kinematics_solver_search_resolution: 0.005
+  kinematics_solver_timeout: 0.005
\ No newline at end of file
diff --git a/mycobot_280/mycobot_280_gripper_moveit/config/ompl_planning.yaml b/mycobot_280/mycobot_280_gripper_moveit/config/ompl_planning.yaml
new file mode 100644
index 00000000..d43a032c
--- /dev/null
+++ b/mycobot_280/mycobot_280_gripper_moveit/config/ompl_planning.yaml
@@ -0,0 +1,183 @@
+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()
+  EST:
+    type: geometric::EST
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+  LBKPIECE:
+    type: geometric::LBKPIECE
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9
+    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
+  BKPIECE:
+    type: geometric::BKPIECE
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9
+    failed_expansion_score_factor: 0.5  # When extending motion fails, scale score by factor. default: 0.5
+    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
+  KPIECE:
+    type: geometric::KPIECE
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9 (0.0,1.]
+    failed_expansion_score_factor: 0.5  # When extending motion fails, scale score by factor. default: 0.5
+    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
+  RRT:
+    type: geometric::RRT
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
+  RRTConnect:
+    type: geometric::RRTConnect
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+  RRTstar:
+    type: geometric::RRTstar
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
+    delay_collision_checking: 1  # Stop collision checking as soon as C-free parent found. default 1
+  TRRT:
+    type: geometric::TRRT
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
+    max_states_failed: 10  # when to start increasing temp. default: 10
+    temp_change_factor: 2.0  # how much to increase or decrease temp. default: 2.0
+    min_temperature: 10e-10  # lower limit of temp change. default: 10e-10
+    init_temperature: 10e-6  # initial temperature. default: 10e-6
+    frountier_threshold: 0.0  # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
+    frountierNodeRatio: 0.1  # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
+    k_constant: 0.0  # value used to normalize expresssion. default: 0.0 set in setup()
+  PRM:
+    type: geometric::PRM
+    max_nearest_neighbors: 10  # use k nearest neighbors. default: 10
+  PRMstar:
+    type: geometric::PRMstar
+  FMT:
+    type: geometric::FMT
+    num_samples: 1000  # number of states that the planner should sample. default: 1000
+    radius_multiplier: 1.1  # multiplier used for the nearest neighbors search radius. default: 1.1
+    nearest_k: 1  # use Knearest strategy. default: 1
+    cache_cc: 1  # use collision checking cache. default: 1
+    heuristics: 0  # activate cost to go heuristics. default: 0
+    extended_fmt: 1  # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1
+  BFMT:
+    type: geometric::BFMT
+    num_samples: 1000  # number of states that the planner should sample. default: 1000
+    radius_multiplier: 1.0  # multiplier used for the nearest neighbors search radius. default: 1.0
+    nearest_k: 1  # use the Knearest strategy. default: 1
+    balanced: 0  # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1
+    optimality: 1  # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1
+    heuristics: 1  # activates cost to go heuristics. default: 1
+    cache_cc: 1  # use the collision checking cache. default: 1
+    extended_fmt: 1  # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1
+  PDST:
+    type: geometric::PDST
+  STRIDE:
+    type: geometric::STRIDE
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+    use_projected_distance: 0  # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0
+    degree: 16  # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16
+    max_degree: 18  # max degree of a node in the GNAT. default: 12
+    min_degree: 12  # min degree of a node in the GNAT. default: 12
+    max_pts_per_leaf: 6  # max points per leaf in the GNAT. default: 6
+    estimated_dimension: 0.0  # estimated dimension of the free space. default: 0.0
+    min_valid_path_fraction: 0.2  # Accept partially valid moves above fraction. default: 0.2
+  BiTRRT:
+    type: geometric::BiTRRT
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    temp_change_factor: 0.1  # how much to increase or decrease temp. default: 0.1
+    init_temperature: 100  # initial temperature. default: 100
+    frountier_threshold: 0.0  # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
+    frountier_node_ratio: 0.1  # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
+    cost_threshold: 1e300  # the cost threshold. Any motion cost that is not better will not be expanded. default: inf
+  LBTRRT:
+    type: geometric::LBTRRT
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+    epsilon: 0.4  # optimality approximation factor. default: 0.4
+  BiEST:
+    type: geometric::BiEST
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+  ProjEST:
+    type: geometric::ProjEST
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+  LazyPRM:
+    type: geometric::LazyPRM
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+  LazyPRMstar:
+    type: geometric::LazyPRMstar
+  SPARS:
+    type: geometric::SPARS
+    stretch_factor: 3.0  # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
+    sparse_delta_fraction: 0.25  # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
+    dense_delta_fraction: 0.001  # delta fraction for interface detection. default: 0.001
+    max_failures: 1000  # maximum consecutive failure limit. default: 1000
+  SPARStwo:
+    type: geometric::SPARStwo
+    stretch_factor: 3.0  # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
+    sparse_delta_fraction: 0.25  # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
+    dense_delta_fraction: 0.001  # delta fraction for interface detection. default: 0.001
+    max_failures: 5000  # maximum consecutive failure limit. default: 5000
+arm_group:
+  default_planner_config: RRTConnect
+  planner_configs:
+    - AnytimePathShortening
+    - SBL
+    - EST
+    - LBKPIECE
+    - BKPIECE
+    - KPIECE
+    - RRT
+    - RRTConnect
+    - RRTstar
+    - TRRT
+    - PRM
+    - PRMstar
+    - FMT
+    - BFMT
+    - PDST
+    - STRIDE
+    - BiTRRT
+    - LBTRRT
+    - BiEST
+    - ProjEST
+    - LazyPRM
+    - LazyPRMstar
+    - SPARS
+    - SPARStwo
+gripper:
+  default_planner_config: RRTConnect
+  planner_configs:
+    - AnytimePathShortening
+    - SBL
+    - EST
+    - LBKPIECE
+    - BKPIECE
+    - KPIECE
+    - RRT
+    - RRTConnect
+    - RRTstar
+    - TRRT
+    - PRM
+    - PRMstar
+    - FMT
+    - BFMT
+    - PDST
+    - STRIDE
+    - BiTRRT
+    - LBTRRT
+    - BiEST
+    - ProjEST
+    - LazyPRM
+    - LazyPRMstar
+    - SPARS
+    - SPARStwo
diff --git a/mycobot_280/mycobot_280_gripper_moveit/config/ros_controllers.yaml b/mycobot_280/mycobot_280_gripper_moveit/config/ros_controllers.yaml
new file mode 100644
index 00000000..adb5ac2e
--- /dev/null
+++ b/mycobot_280/mycobot_280_gripper_moveit/config/ros_controllers.yaml
@@ -0,0 +1,50 @@
+arm_group_controller:
+  type: effort_controllers/JointTrajectoryController
+  joints:
+    - joint2_to_joint1
+    - joint3_to_joint2
+    - joint4_to_joint3
+    - joint5_to_joint4
+    - joint6_to_joint5
+    - joint6output_to_joint6
+  gains:
+    joint2_to_joint1:
+      p: 100
+      d: 1
+      i: 1
+      i_clamp: 1
+    joint3_to_joint2:
+      p: 100
+      d: 1
+      i: 1
+      i_clamp: 1
+    joint4_to_joint3:
+      p: 100
+      d: 1
+      i: 1
+      i_clamp: 1
+    joint5_to_joint4:
+      p: 100
+      d: 1
+      i: 1
+      i_clamp: 1
+    joint6_to_joint5:
+      p: 100
+      d: 1
+      i: 1
+      i_clamp: 1
+    joint6output_to_joint6:
+      p: 100
+      d: 1
+      i: 1
+      i_clamp: 1
+gripper_controller:
+  type: effort_controllers/JointTrajectoryController
+  joints:
+    - gripper_controller
+  gains:
+    gripper_controller:
+      p: 100
+      d: 1
+      i: 1
+      i_clamp: 1
\ No newline at end of file
diff --git a/mycobot_280/mycobot_280_gripper_moveit/config/sensors_3d.yaml b/mycobot_280/mycobot_280_gripper_moveit/config/sensors_3d.yaml
new file mode 100644
index 00000000..51010a36
--- /dev/null
+++ b/mycobot_280/mycobot_280_gripper_moveit/config/sensors_3d.yaml
@@ -0,0 +1,2 @@
+sensors:
+  []
\ No newline at end of file
diff --git a/mycobot_280/mycobot_280_gripper_moveit/config/simple_moveit_controllers.yaml b/mycobot_280/mycobot_280_gripper_moveit/config/simple_moveit_controllers.yaml
new file mode 100644
index 00000000..043f45ca
--- /dev/null
+++ b/mycobot_280/mycobot_280_gripper_moveit/config/simple_moveit_controllers.yaml
@@ -0,0 +1,18 @@
+controller_list:
+  - name: arm_group_controller
+    action_ns: follow_joint_trajectory
+    type: FollowJointTrajectory
+    default: True
+    joints:
+      - joint2_to_joint1
+      - joint3_to_joint2
+      - joint4_to_joint3
+      - joint5_to_joint4
+      - joint6_to_joint5
+      - joint6output_to_joint6
+  - name: gripper_controller
+    action_ns: follow_joint_trajectory
+    type: FollowJointTrajectory
+    default: True
+    joints:
+      - gripper_controller
\ No newline at end of file
diff --git a/mycobot_280/mycobot_280_gripper_moveit/config/stomp_planning.yaml b/mycobot_280/mycobot_280_gripper_moveit/config/stomp_planning.yaml
new file mode 100644
index 00000000..a31168db
--- /dev/null
+++ b/mycobot_280/mycobot_280_gripper_moveit/config/stomp_planning.yaml
@@ -0,0 +1,78 @@
+stomp/arm_group:
+  group_name: arm_group
+  optimization:
+    num_timesteps: 60
+    num_iterations: 40
+    num_iterations_after_valid: 0
+    num_rollouts: 30
+    max_rollouts: 30
+    initialization_method: 1  # [1 : LINEAR_INTERPOLATION, 2 : CUBIC_POLYNOMIAL, 3 : MININUM_CONTROL_COST]
+    control_cost_weight: 0.0
+  task:
+    noise_generator:
+      - class: stomp_moveit/NormalDistributionSampling
+        stddev: [0.05, 0.05, 0.05, 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/gripper:
+  group_name: gripper
+  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/mycobot_280/mycobot_280_gripper_moveit/launch/chomp_planning_pipeline.launch.xml b/mycobot_280/mycobot_280_gripper_moveit/launch/chomp_planning_pipeline.launch.xml
new file mode 100644
index 00000000..6e280c96
--- /dev/null
+++ b/mycobot_280/mycobot_280_gripper_moveit/launch/chomp_planning_pipeline.launch.xml
@@ -0,0 +1,23 @@
+<launch>
+  <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="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)" />
+
+  <!-- Add MoveGroup capabilities specific to this pipeline -->
+  <!-- <param name="capabilities" value="" /> -->
+
+  <rosparam command="load" file="$(find mycobot_280_gripper_moveit)/config/chomp_planning.yaml" />
+</launch>
diff --git a/mycobot_280/mycobot_280_gripper_moveit/launch/default_warehouse_db.launch b/mycobot_280/mycobot_280_gripper_moveit/launch/default_warehouse_db.launch
new file mode 100644
index 00000000..a731e757
--- /dev/null
+++ b/mycobot_280/mycobot_280_gripper_moveit/launch/default_warehouse_db.launch
@@ -0,0 +1,15 @@
+<launch>
+
+  <arg name="reset" default="false"/>
+  <!-- If not specified, we'll use a default database location -->
+  <arg name="moveit_warehouse_database_path" default="$(find mycobot_280_gripper_moveit)/default_warehouse_mongo_db" />
+
+  <!-- Launch the warehouse with the configured database location -->
+  <include file="$(dirname)/warehouse.launch">
+    <arg name="moveit_warehouse_database_path" value="$(arg moveit_warehouse_database_path)" />
+  </include>
+
+  <!-- If we want to reset the database, run this node -->
+  <node if="$(arg reset)" name="$(anon moveit_default_db_reset)" type="moveit_init_demo_warehouse" pkg="moveit_ros_warehouse" respawn="false" output="screen" />
+
+</launch>
diff --git a/mycobot_280/mycobot_280_gripper_moveit/launch/demo.launch b/mycobot_280/mycobot_280_gripper_moveit/launch/demo.launch
new file mode 100644
index 00000000..0d407373
--- /dev/null
+++ b/mycobot_280/mycobot_280_gripper_moveit/launch/demo.launch
@@ -0,0 +1,69 @@
+<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 -->
+  <arg name="db_path" default="$(find mycobot_280_gripper_moveit)/default_warehouse_mongo_db" />
+
+  <!-- By default, we are not in debug mode -->
+  <arg name="debug" default="false" />
+
+  <!-- By default, we will load or override the robot_description -->
+  <arg name="load_robot_description" default="true"/>
+
+  <!-- Choose controller manager: fake, simple, or ros_control -->
+  <arg name="moveit_controller_manager" default="fake" />
+  <!-- Set execution mode for fake execution controllers -->
+  <arg name="fake_execution_type" default="interpolate" />
+
+  <!-- By default, hide joint_state_publisher's GUI in 'fake' controller_manager mode -->
+  <arg name="use_gui" default="false" />
+  <arg name="use_rviz" default="true" />
+
+  <!-- If needed, broadcast static tf for robot root -->
+  <node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world g_base" />
+
+
+
+  <group if="$(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="$(dirname)/move_group.launch">
+    <arg name="allow_trajectory_execution" value="true"/>
+    <arg name="moveit_controller_manager" value="$(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="$(dirname)/moveit_rviz.launch" if="$(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="$(dirname)/default_warehouse_db.launch" if="$(arg db)">
+    <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
+  </include>
+
+</launch>
diff --git a/mycobot_280/mycobot_280_gripper_moveit/launch/demo_gazebo.launch b/mycobot_280/mycobot_280_gripper_moveit/launch/demo_gazebo.launch
new file mode 100644
index 00000000..a9f320c5
--- /dev/null
+++ b/mycobot_280/mycobot_280_gripper_moveit/launch/demo_gazebo.launch
@@ -0,0 +1,21 @@
+<launch>
+
+  <!-- specify the planning pipeline -->
+  <arg name="pipeline" default="ompl" />
+
+  <!-- Gazebo specific options -->
+  <arg name="gazebo_gui" default="true"/>
+  <arg name="paused" default="false"/>
+
+  <!-- launch the gazebo simulator and spawn the robot -->
+  <include file="$(dirname)/gazebo.launch" >
+    <arg name="paused" value="$(arg paused)"/>
+    <arg name="gazebo_gui" value="$(arg gazebo_gui)"/>
+  </include>
+
+  <include file="$(dirname)/demo.launch" pass_all_args="true">
+    <!-- robot description is loaded by gazebo.launch, to enable Gazebo features -->
+    <arg name="load_robot_description" value="false" />
+    <arg name="moveit_controller_manager" value="ros_control" />
+  </include>
+</launch>
diff --git a/mycobot_280/mycobot_280_gripper_moveit/launch/fake_moveit_controller_manager.launch.xml b/mycobot_280/mycobot_280_gripper_moveit/launch/fake_moveit_controller_manager.launch.xml
new file mode 100644
index 00000000..0573de33
--- /dev/null
+++ b/mycobot_280/mycobot_280_gripper_moveit/launch/fake_moveit_controller_manager.launch.xml
@@ -0,0 +1,12 @@
+<launch>
+
+  <!-- execute the trajectory in 'interpolate' mode or jump to goal position in 'last point' mode -->
+  <arg name="fake_execution_type" default="interpolate" />
+
+  <!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
+  <param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/>
+
+  <!-- The rest of the params are specific to this plugin -->
+  <rosparam subst_value="true" file="$(find mycobot_280_gripper_moveit)/config/fake_controllers.yaml"/>
+
+</launch>
diff --git a/mycobot_280/mycobot_280_gripper_moveit/launch/firefighter_moveit_sensor_manager.launch.xml b/mycobot_280/mycobot_280_gripper_moveit/launch/firefighter_moveit_sensor_manager.launch.xml
new file mode 100644
index 00000000..5d02698d
--- /dev/null
+++ b/mycobot_280/mycobot_280_gripper_moveit/launch/firefighter_moveit_sensor_manager.launch.xml
@@ -0,0 +1,3 @@
+<launch>
+
+</launch>
diff --git a/mycobot_280/mycobot_280_gripper_moveit/launch/gazebo.launch b/mycobot_280/mycobot_280_gripper_moveit/launch/gazebo.launch
new file mode 100644
index 00000000..05939eb2
--- /dev/null
+++ b/mycobot_280/mycobot_280_gripper_moveit/launch/gazebo.launch
@@ -0,0 +1,32 @@
+<?xml version="1.0"?>
+<launch>
+  <arg name="paused" default="false"/>
+  <arg name="gazebo_gui" default="true"/>
+  <arg name="initial_joint_positions" doc="Initial joint configuration of the robot"
+       default=" -J joint2_to_joint1 0 -J joint3_to_joint2 0 -J joint4_to_joint3 0 -J joint5_to_joint4 0 -J joint6_to_joint5 0 -J joint6output_to_joint6 0"/>
+
+  <!-- startup simulated world -->
+  <include file="$(find gazebo_ros)/launch/empty_world.launch">
+    <arg name="world_name" default="worlds/empty.world"/>
+    <arg name="paused" value="true"/>
+    <arg name="gui" value="$(arg gazebo_gui)"/>
+  </include>
+
+  <!-- send robot urdf to param server -->
+  <param name="robot_description" textfile="$(find mycobot_description)/urdf/mycobot/mycobot_with_gripper_up.urdf" />
+
+  <!-- unpause only after loading robot model -->
+  <arg name="unpause" value="$(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 -->
+  <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) $(arg initial_joint_positions)"
+    respawn="false" output="screen" />
+
+  <!-- Load joint controller parameters for Gazebo -->
+  <rosparam file="$(find mycobot_280_gripper_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="$(dirname)/ros_controllers.launch"/>
+
+</launch>
diff --git a/mycobot_280/mycobot_280_gripper_moveit/launch/joystick_control.launch b/mycobot_280/mycobot_280_gripper_moveit/launch/joystick_control.launch
new file mode 100644
index 00000000..9411f6e6
--- /dev/null
+++ b/mycobot_280/mycobot_280_gripper_moveit/launch/joystick_control.launch
@@ -0,0 +1,17 @@
+<launch>
+  <!-- See moveit_ros/visualization/doc/joystick.rst for documentation -->
+
+  <arg name="dev" default="/dev/input/js0" />
+
+  <!-- Launch joy node -->
+  <node pkg="joy" type="joy_node" name="joy">
+    <param name="dev" value="$(arg dev)" /> <!-- Customize this to match the location your joystick is plugged in on-->
+    <param name="deadzone" value="0.2" />
+    <param name="autorepeat_rate" value="40" />
+    <param name="coalesce_interval" value="0.025" />
+  </node>
+
+  <!-- Launch python interface -->
+  <node pkg="moveit_ros_visualization" type="moveit_joy.py" output="screen" name="moveit_joy"/>
+
+</launch>
diff --git a/mycobot_280/mycobot_280_gripper_moveit/launch/move_group.launch b/mycobot_280/mycobot_280_gripper_moveit/launch/move_group.launch
new file mode 100644
index 00000000..4ff2e39e
--- /dev/null
+++ b/mycobot_280/mycobot_280_gripper_moveit/launch/move_group.launch
@@ -0,0 +1,101 @@
+<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 $(dirname)/gdb_settings.gdb --ex run --args" />
+
+  <!-- Verbose Mode Option -->
+  <arg name="info" default="$(arg debug)" />
+  <arg unless="$(arg info)" name="command_args" value="" />
+  <arg     if="$(arg info)" name="command_args" value="--debug" />
+
+  <!-- move_group settings -->
+  <arg name="pipeline" default="ompl" />
+  <arg name="allow_trajectory_execution" default="true"/>
+  <arg name="moveit_controller_manager" default="simple" />
+  <arg name="fake_execution_type" default="interpolate"/>
+  <arg name="max_safe_path_cost" default="1"/>
+  <arg name="publish_monitored_planning_scene" default="true"/>
+
+  <arg name="capabilities" default=""/>
+  <arg name="disable_capabilities" default=""/>
+  <!-- load these non-default MoveGroup capabilities (space seperated) -->
+  <!--
+  <arg name="capabilities" value="
+                a_package/AwsomeMotionPlanningCapability
+                another_package/GraspPlanningPipeline
+                " />
+  -->
+
+  <!-- inhibit these default MoveGroup capabilities (space seperated) -->
+  <!--
+  <arg name="disable_capabilities" value="
+                move_group/MoveGroupKinematicsService
+                move_group/ClearOctomapService
+                " />
+  -->
+
+  <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="$(dirname)/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
+    <arg name="moveit_manage_controllers" value="true" />
+    <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="$(dirname)/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
+    <arg name="moveit_sensor_manager" value="firefighter" />
+  </include>
+
+  <!-- Start the actual move_group node/action server -->
+  <node name="move_group" launch-prefix="$(arg launch_prefix)" pkg="moveit_ros_move_group" type="move_group" respawn="false" output="screen" args="$(arg command_args)">
+    <!-- Set the display variable, in case OpenGL code is used internally -->
+    <env name="DISPLAY" value="$(optenv DISPLAY :0)" />
+
+    <param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/>
+    <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="$(arg publish_monitored_planning_scene)" />
+    <param name="planning_scene_monitor/publish_geometry_updates" value="$(arg publish_monitored_planning_scene)" />
+    <param name="planning_scene_monitor/publish_state_updates" value="$(arg publish_monitored_planning_scene)" />
+    <param name="planning_scene_monitor/publish_transforms_updates" value="$(arg publish_monitored_planning_scene)" />
+  </node>
+
+</launch>
diff --git a/mycobot_280/mycobot_280_gripper_moveit/launch/moveit.rviz b/mycobot_280/mycobot_280_gripper_moveit/launch/moveit.rviz
new file mode 100644
index 00000000..4a53d9ca
--- /dev/null
+++ b/mycobot_280/mycobot_280_gripper_moveit/launch/moveit.rviz
@@ -0,0 +1,332 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 0
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /MotionPlanning1
+        - /MotionPlanning1/Scene Geometry1
+        - /MotionPlanning1/Scene Robot1
+        - /MotionPlanning1/Planning Request1
+        - /MotionPlanning1/Planning Metrics1
+        - /MotionPlanning1/Planned Path1
+      Splitter Ratio: 0.5
+    Tree Height: 228
+  - Class: rviz/Help
+    Name: Help
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Acceleration_Scaling_Factor: 0.1
+      Class: moveit_rviz_plugin/MotionPlanning
+      Enabled: true
+      Move Group Namespace: ""
+      MoveIt_Allow_Approximate_IK: true
+      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_Workspace:
+        Center:
+          X: 0
+          Y: 0
+          Z: 0
+        Size:
+          X: 2
+          Y: 2
+          Z: 2
+      Name: MotionPlanning
+      Planned Path:
+        Color Enabled: false
+        Interrupt Display: false
+        Links:
+          All Links Enabled: true
+          Expand Joint Details: false
+          Expand Link Details: false
+          Expand Tree: false
+          Link Tree Style: Links in Alphabetic Order
+          g_base:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_base:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_left1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_left2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_left3:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_right1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_right2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_right3:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          joint1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          joint2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          joint3:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          joint4:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          joint5:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          joint6:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          joint6_flange:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+        Loop Animation: false
+        Robot Alpha: 0.5
+        Robot Color: 150; 50; 150
+        Show Robot Collision: false
+        Show Robot Visual: true
+        Show Trail: false
+        State Display Time: 0.05 s
+        Trail Step Size: 1
+        Trajectory Topic: move_group/display_planned_path
+        Use Sim Time: false
+      Planning Metrics:
+        Payload: 1
+        Show Joint Torques: false
+        Show Manipulability: false
+        Show Manipulability Index: false
+        Show Weight Limit: false
+        TextHeight: 0.07999999821186066
+      Planning Request:
+        Colliding Link Color: 255; 0; 0
+        Goal State Alpha: 1
+        Goal State Color: 250; 128; 0
+        Interactive Marker Size: 0.15000000596046448
+        Joint Violation Color: 255; 0; 255
+        Planning Group: arm_group
+        Query Goal State: true
+        Query Start State: false
+        Show Workspace: false
+        Start State Alpha: 1
+        Start State Color: 0; 255; 0
+      Planning Scene Topic: move_group/monitored_planning_scene
+      Robot Description: robot_description
+      Scene Geometry:
+        Scene Alpha: 1
+        Scene Color: 50; 230; 50
+        Scene Display Time: 0.009999999776482582
+        Show Scene Geometry: true
+        Voxel Coloring: Z-Axis
+        Voxel Rendering: Occupied Voxels
+      Scene Robot:
+        Attached Body Color: 150; 50; 150
+        Links:
+          All Links Enabled: true
+          Expand Joint Details: false
+          Expand Link Details: false
+          Expand Tree: false
+          Link Tree Style: Links in Alphabetic Order
+          g_base:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_base:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_left1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_left2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_left3:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_right1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_right2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_right3:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          joint1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          joint2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          joint3:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          joint4:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          joint5:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          joint6:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          joint6_flange:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+        Robot Alpha: 0.5
+        Show Robot Collision: false
+        Show Robot Visual: true
+      Value: true
+      Velocity_Scaling_Factor: 0.1
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: g_base
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+  Value: true
+  Views:
+    Current:
+      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: 0.75
+      Focal Point:
+        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: 0.06499998271465302
+      Target Frame: g_base
+      Yaw: 3.689950466156006
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 848
+  Help:
+    collapsed: false
+  Hide Left Dock: false
+  Hide Right Dock: false
+  MotionPlanning:
+    collapsed: false
+  MotionPlanning - Trajectory Slider:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd0000000100000000000001f3000002f6fc0200000007fb000000100044006900730070006c006100790073010000003d00000121000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720100000164000000410000004100fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001ab000001880000017d00ffffff00000312000002f600000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Views:
+    collapsed: false
+  Width: 1291
+  X: 382
+  Y: 27
diff --git a/mycobot_280/mycobot_280_gripper_moveit/launch/moveit_rviz.launch b/mycobot_280/mycobot_280_gripper_moveit/launch/moveit_rviz.launch
new file mode 100644
index 00000000..a4605c03
--- /dev/null
+++ b/mycobot_280/mycobot_280_gripper_moveit/launch/moveit_rviz.launch
@@ -0,0 +1,15 @@
+<launch>
+
+  <arg name="debug" default="false" />
+  <arg unless="$(arg debug)" name="launch_prefix" value="" />
+  <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
+
+  <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">
+  </node>
+
+</launch>
diff --git a/mycobot_280/mycobot_280_gripper_moveit/launch/mycobot_moveit.launch b/mycobot_280/mycobot_280_gripper_moveit/launch/mycobot_moveit.launch
new file mode 100644
index 00000000..0d407373
--- /dev/null
+++ b/mycobot_280/mycobot_280_gripper_moveit/launch/mycobot_moveit.launch
@@ -0,0 +1,69 @@
+<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 -->
+  <arg name="db_path" default="$(find mycobot_280_gripper_moveit)/default_warehouse_mongo_db" />
+
+  <!-- By default, we are not in debug mode -->
+  <arg name="debug" default="false" />
+
+  <!-- By default, we will load or override the robot_description -->
+  <arg name="load_robot_description" default="true"/>
+
+  <!-- Choose controller manager: fake, simple, or ros_control -->
+  <arg name="moveit_controller_manager" default="fake" />
+  <!-- Set execution mode for fake execution controllers -->
+  <arg name="fake_execution_type" default="interpolate" />
+
+  <!-- By default, hide joint_state_publisher's GUI in 'fake' controller_manager mode -->
+  <arg name="use_gui" default="false" />
+  <arg name="use_rviz" default="true" />
+
+  <!-- If needed, broadcast static tf for robot root -->
+  <node pkg="tf2_ros" type="static_transform_publisher" name="virtual_joint_broadcaster_0" args="0 0 0 0 0 0 world g_base" />
+
+
+
+  <group if="$(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="$(dirname)/move_group.launch">
+    <arg name="allow_trajectory_execution" value="true"/>
+    <arg name="moveit_controller_manager" value="$(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="$(dirname)/moveit_rviz.launch" if="$(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="$(dirname)/default_warehouse_db.launch" if="$(arg db)">
+    <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
+  </include>
+
+</launch>
diff --git a/mycobot_280/mycobot_280_gripper_moveit/launch/ompl-chomp_planning_pipeline.launch.xml b/mycobot_280/mycobot_280_gripper_moveit/launch/ompl-chomp_planning_pipeline.launch.xml
new file mode 100644
index 00000000..b0789924
--- /dev/null
+++ b/mycobot_280/mycobot_280_gripper_moveit/launch/ompl-chomp_planning_pipeline.launch.xml
@@ -0,0 +1,19 @@
+<launch>
+  <!-- load OMPL planning pipeline, but add the CHOMP planning adapter. -->
+  <include file="$(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="$(find panda_moveit_config)/config/chomp_planning.yaml"/>
+
+  <!-- override trajectory_initialization_method: Use OMPL-generated trajectory -->
+  <param name="trajectory_initialization_method" value="fillTrajectory"/>
+</launch>
diff --git a/mycobot_280/mycobot_280_gripper_moveit/launch/ompl_planning_pipeline.launch.xml b/mycobot_280/mycobot_280_gripper_moveit/launch/ompl_planning_pipeline.launch.xml
new file mode 100644
index 00000000..4e2b0a08
--- /dev/null
+++ b/mycobot_280/mycobot_280_gripper_moveit/launch/ompl_planning_pipeline.launch.xml
@@ -0,0 +1,26 @@
+<launch>
+
+  <!-- The request adapters (plugins) used when planning with OMPL. ORDER MATTERS! -->
+  <arg name="planning_adapters"
+       default="default_planner_request_adapters/AddTimeParameterization
+                default_planner_request_adapters/ResolveConstraintFrames
+                default_planner_request_adapters/FixWorkspaceBounds
+                default_planner_request_adapters/FixStartStateBounds
+                default_planner_request_adapters/FixStartStateCollision
+                default_planner_request_adapters/FixStartStatePathConstraints"
+                />
+
+  <arg name="start_state_max_bounds_error" default="0.1" />
+  <arg name="jiggle_fraction" default="0.05" />
+
+  <param name="planning_plugin" value="ompl_interface/OMPLPlanner" />
+  <param name="request_adapters" value="$(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="$(find mycobot_280_gripper_moveit)/config/ompl_planning.yaml"/>
+
+</launch>
diff --git a/mycobot_280/mycobot_280_gripper_moveit/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml b/mycobot_280/mycobot_280_gripper_moveit/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml
new file mode 100644
index 00000000..c7c4cf50
--- /dev/null
+++ b/mycobot_280/mycobot_280_gripper_moveit/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml
@@ -0,0 +1,15 @@
+<launch>
+
+  <!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
+  <arg name="planning_adapters" default="" />
+
+  <param name="planning_plugin" value="pilz_industrial_motion_planner::CommandPlanner" />
+  <param name="request_adapters" value="$(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/mycobot_280/mycobot_280_gripper_moveit/launch/planning_context.launch b/mycobot_280/mycobot_280_gripper_moveit/launch/planning_context.launch
new file mode 100644
index 00000000..02ec513f
--- /dev/null
+++ b/mycobot_280/mycobot_280_gripper_moveit/launch/planning_context.launch
@@ -0,0 +1,26 @@
+<launch>
+  <!-- By default we do not overwrite the URDF. Change the following to true to change the default behavior -->
+  <arg name="load_robot_description" default="false"/>
+
+  <!-- The name of the parameter under which the URDF is loaded -->
+  <arg name="robot_description" default="robot_description"/>
+
+  <!-- Load universal robot description format (URDF) -->
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find mycobot_description)/urdf/mycobot/mycobot_with_gripper_up.urdf"/>
+
+  <!-- The semantic description that corresponds to the URDF -->
+  <param name="$(arg robot_description)_semantic" textfile="$(find mycobot_280_gripper_moveit)/config/firefighter.srdf" />
+
+  <!-- Load updated joint limits (override information from URDF) -->
+  <group ns="$(arg robot_description)_planning">
+    <rosparam command="load" file="$(find mycobot_280_gripper_moveit)/config/joint_limits.yaml"/>
+    <rosparam command="load" file="$(find mycobot_280_gripper_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 mycobot_280_gripper_moveit)/config/kinematics.yaml"/>
+
+  </group>
+
+</launch>
diff --git a/mycobot_280/mycobot_280_gripper_moveit/launch/planning_pipeline.launch.xml b/mycobot_280/mycobot_280_gripper_moveit/launch/planning_pipeline.launch.xml
new file mode 100644
index 00000000..4b4d0d66
--- /dev/null
+++ b/mycobot_280/mycobot_280_gripper_moveit/launch/planning_pipeline.launch.xml
@@ -0,0 +1,10 @@
+<launch>
+
+  <!-- This file makes it easy to include different planning pipelines;
+       It is assumed that all planning pipelines are named XXX_planning_pipeline.launch  -->
+
+  <arg name="pipeline" default="ompl" />
+
+  <include ns="$(arg pipeline)" file="$(dirname)/$(arg pipeline)_planning_pipeline.launch.xml" />
+
+</launch>
diff --git a/mycobot_280/mycobot_280_gripper_moveit/launch/ros_control_moveit_controller_manager.launch.xml b/mycobot_280/mycobot_280_gripper_moveit/launch/ros_control_moveit_controller_manager.launch.xml
new file mode 100644
index 00000000..9ebc91c1
--- /dev/null
+++ b/mycobot_280/mycobot_280_gripper_moveit/launch/ros_control_moveit_controller_manager.launch.xml
@@ -0,0 +1,4 @@
+<launch>
+	<!-- Define MoveIt controller manager plugin -->
+	<param name="moveit_controller_manager" value="moveit_ros_control_interface::MoveItControllerManager" />
+</launch>
diff --git a/mycobot_280/mycobot_280_gripper_moveit/launch/ros_controllers.launch b/mycobot_280/mycobot_280_gripper_moveit/launch/ros_controllers.launch
new file mode 100644
index 00000000..e48ba0ba
--- /dev/null
+++ b/mycobot_280/mycobot_280_gripper_moveit/launch/ros_controllers.launch
@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<launch>
+
+  <!-- Load joint controller configurations from YAML file to parameter server -->
+  <rosparam file="$(find mycobot_280_gripper_moveit)/config/ros_controllers.yaml" command="load"/>
+
+  <!-- Load the controllers -->
+  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
+    output="screen" args="arm_group_controller gripper_controller "/>
+
+</launch>
diff --git a/mycobot_280/mycobot_280_gripper_moveit/launch/run_benchmark_ompl.launch b/mycobot_280/mycobot_280_gripper_moveit/launch/run_benchmark_ompl.launch
new file mode 100644
index 00000000..9783126b
--- /dev/null
+++ b/mycobot_280/mycobot_280_gripper_moveit/launch/run_benchmark_ompl.launch
@@ -0,0 +1,21 @@
+<launch>
+
+  <!-- This argument must specify the list of .cfg files to process for benchmarking -->
+  <arg name="cfg" />
+
+  <!-- Load URDF -->
+  <include file="$(dirname)/planning_context.launch">
+    <arg name="load_robot_description" value="true"/>
+  </include>
+
+  <!-- Start the database -->
+  <include file="$(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="$(find mycobot_280_gripper_moveit)/config/ompl_planning.yaml"/>
+  </node>
+
+</launch>
diff --git a/mycobot_280/mycobot_280_gripper_moveit/launch/sensor_manager.launch.xml b/mycobot_280/mycobot_280_gripper_moveit/launch/sensor_manager.launch.xml
new file mode 100644
index 00000000..34cf10b3
--- /dev/null
+++ b/mycobot_280/mycobot_280_gripper_moveit/launch/sensor_manager.launch.xml
@@ -0,0 +1,17 @@
+<launch>
+
+  <!-- This file makes it easy to include the settings for sensor managers -->
+
+  <!-- Params for 3D sensors config -->
+  <rosparam command="load" file="$(find mycobot_280_gripper_moveit)/config/sensors_3d.yaml" />
+
+  <!-- Params for the octomap monitor -->
+  <!--  <param name="octomap_frame" type="string" value="some frame in which the robot moves" /> -->
+  <param name="octomap_resolution" type="double" value="0.025" />
+  <param name="max_range" type="double" value="5.0" />
+
+  <!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
+  <arg name="moveit_sensor_manager" default="firefighter" />
+  <include file="$(dirname)/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
+
+</launch>
diff --git a/mycobot_280/mycobot_280_gripper_moveit/launch/setup_assistant.launch b/mycobot_280/mycobot_280_gripper_moveit/launch/setup_assistant.launch
new file mode 100644
index 00000000..f56ef7ed
--- /dev/null
+++ b/mycobot_280/mycobot_280_gripper_moveit/launch/setup_assistant.launch
@@ -0,0 +1,16 @@
+<!-- Re-launch the MoveIt Setup Assistant with this configuration package already loaded -->
+<launch>
+
+  <!-- Debug Info -->
+  <arg name="debug" default="false" />
+  <arg unless="$(arg debug)" name="launch_prefix" value="" />
+  <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
+
+  <!-- Run -->
+  <node pkg="moveit_setup_assistant" type="moveit_setup_assistant" name="moveit_setup_assistant"
+        args="--config_pkg=mycobot_280_gripper_moveit"
+        launch-prefix="$(arg launch_prefix)"
+        required="true"
+        output="screen" />
+
+</launch>
diff --git a/mycobot_280/mycobot_280_gripper_moveit/launch/simple_moveit_controller_manager.launch.xml b/mycobot_280/mycobot_280_gripper_moveit/launch/simple_moveit_controller_manager.launch.xml
new file mode 100644
index 00000000..a90407b6
--- /dev/null
+++ b/mycobot_280/mycobot_280_gripper_moveit/launch/simple_moveit_controller_manager.launch.xml
@@ -0,0 +1,8 @@
+<launch>
+  <!-- Define the MoveIt controller manager plugin to use for trajectory execution -->
+  <param name="moveit_controller_manager" value="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
+
+  <!-- Load controller list to the parameter server -->
+  <rosparam file="$(find mycobot_280_gripper_moveit)/config/simple_moveit_controllers.yaml" />
+  <rosparam file="$(find mycobot_280_gripper_moveit)/config/ros_controllers.yaml" />
+</launch>
diff --git a/mycobot_280/mycobot_280_gripper_moveit/launch/stomp_planning_pipeline.launch.xml b/mycobot_280/mycobot_280_gripper_moveit/launch/stomp_planning_pipeline.launch.xml
new file mode 100644
index 00000000..414e29cc
--- /dev/null
+++ b/mycobot_280/mycobot_280_gripper_moveit/launch/stomp_planning_pipeline.launch.xml
@@ -0,0 +1,25 @@
+<launch>
+  <!-- Stomp Plugin for MoveIt -->
+  <arg name="planning_plugin" value="stomp_moveit/StompPlannerManager" />
+
+  <arg name="start_state_max_bounds_error" value="0.1" />
+  <arg name="jiggle_fraction" value="0.05" />
+  <!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
+  <arg name="planning_adapters"
+       default="default_planner_request_adapters/AddTimeParameterization
+                default_planner_request_adapters/FixWorkspaceBounds
+                default_planner_request_adapters/FixStartStateBounds
+                default_planner_request_adapters/FixStartStateCollision
+                default_planner_request_adapters/FixStartStatePathConstraints" />
+
+
+  <param name="planning_plugin" value="$(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 mycobot_280_gripper_moveit)/config/stomp_planning.yaml"/>
+</launch>
diff --git a/mycobot_280/mycobot_280_gripper_moveit/launch/trajectory_execution.launch.xml b/mycobot_280/mycobot_280_gripper_moveit/launch/trajectory_execution.launch.xml
new file mode 100644
index 00000000..20c3dfc4
--- /dev/null
+++ b/mycobot_280/mycobot_280_gripper_moveit/launch/trajectory_execution.launch.xml
@@ -0,0 +1,23 @@
+<launch>
+  <!-- This file summarizes all settings required 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 -->
+  <arg name="moveit_manage_controllers" default="true"/>
+  <param name="moveit_manage_controllers" value="$(arg moveit_manage_controllers)"/>
+
+  <!-- When determining the expected duration of a trajectory, this multiplicative factor is applied to get the allowed duration of execution -->
+  <param name="trajectory_execution/allowed_execution_duration_scaling" value="1.2"/> <!-- default 1.2 -->
+  <!-- Allow more than the expected execution time before triggering a trajectory cancel (applied after scaling) -->
+  <param name="trajectory_execution/allowed_goal_duration_margin" value="0.5"/> <!-- default 0.5 -->
+  <!-- Allowed joint-value tolerance for validation that trajectory's first point matches current robot state -->
+  <param name="trajectory_execution/allowed_start_tolerance" value="0.01"/> <!-- default 0.01 -->
+
+  <!-- We use pass_all_args=true here to pass fake_execution_type, which is required by fake controllers, but not by real-robot controllers.
+       As real-robot controller_manager.launch files shouldn't be required to define this argument, we use the trick of passing all args. -->
+  <include file="$(dirname)/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" pass_all_args="true" />
+
+</launch>
diff --git a/mycobot_280/mycobot_280_gripper_moveit/launch/warehouse.launch b/mycobot_280/mycobot_280_gripper_moveit/launch/warehouse.launch
new file mode 100644
index 00000000..0712e670
--- /dev/null
+++ b/mycobot_280/mycobot_280_gripper_moveit/launch/warehouse.launch
@@ -0,0 +1,15 @@
+<launch>
+
+  <!-- The path to the database must be specified -->
+  <arg name="moveit_warehouse_database_path" />
+
+  <!-- Load warehouse parameters -->
+  <include file="$(dirname)/warehouse_settings.launch.xml" />
+
+  <!-- Run the DB server -->
+  <node name="$(anon mongo_wrapper_ros)" cwd="ROS_HOME" type="mongo_wrapper_ros.py" pkg="warehouse_ros_mongo">
+    <param name="overwrite" value="false"/>
+    <param name="database_path" value="$(arg moveit_warehouse_database_path)" />
+  </node>
+
+</launch>
diff --git a/mycobot_280/mycobot_280_gripper_moveit/launch/warehouse_settings.launch.xml b/mycobot_280/mycobot_280_gripper_moveit/launch/warehouse_settings.launch.xml
new file mode 100644
index 00000000..e473b083
--- /dev/null
+++ b/mycobot_280/mycobot_280_gripper_moveit/launch/warehouse_settings.launch.xml
@@ -0,0 +1,16 @@
+<launch>
+  <!-- Set the parameters for the warehouse and run the mongodb server. -->
+
+  <!-- The default DB port for moveit (not default MongoDB port to avoid potential conflicts) -->
+  <arg name="moveit_warehouse_port" default="33829" />
+
+  <!-- The default DB host for moveit -->
+  <arg name="moveit_warehouse_host" default="localhost" />
+
+  <!-- Set parameters for the warehouse -->
+  <param name="warehouse_port" value="$(arg moveit_warehouse_port)"/>
+  <param name="warehouse_host" value="$(arg moveit_warehouse_host)"/>
+  <param name="warehouse_exec" value="mongod" />
+  <param name="warehouse_plugin" value="warehouse_ros_mongo::MongoDatabaseConnection" />
+
+</launch>
diff --git a/mycobot_280/mycobot_280_gripper_moveit/package.xml b/mycobot_280/mycobot_280_gripper_moveit/package.xml
new file mode 100644
index 00000000..9dcab491
--- /dev/null
+++ b/mycobot_280/mycobot_280_gripper_moveit/package.xml
@@ -0,0 +1,47 @@
+<package>
+
+  <name>mycobot_280_gripper_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
+  </description>
+  <author email="weijian.wang@elephantrobotics.com">wangwj</author>
+  <maintainer email="weijian.wang@elephantrobotics.com">wangwj</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">http://moveit.ros.org/</url>
+  <url type="bugtracker">https://github.com/ros-planning/moveit/issues</url>
+  <url type="repository">https://github.com/ros-planning/moveit</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <run_depend>moveit_ros_move_group</run_depend>
+  <run_depend>moveit_fake_controller_manager</run_depend>
+  <run_depend>moveit_kinematics</run_depend>
+  <run_depend>moveit_planners_ompl</run_depend>
+  <run_depend>moveit_ros_visualization</run_depend>
+  <run_depend>moveit_setup_assistant</run_depend>
+  <run_depend>moveit_simple_controller_manager</run_depend>
+  <run_depend>joint_state_publisher</run_depend>
+  <run_depend>joint_state_publisher_gui</run_depend>
+  <run_depend>robot_state_publisher</run_depend>
+  <run_depend>rviz</run_depend>
+  <run_depend>tf2_ros</run_depend>
+  <run_depend>xacro</run_depend>
+  <!-- The next 2 packages are required for the gazebo simulation.
+       We don't include them by default to prevent installing gazebo and all its dependencies. -->
+  <!-- <run_depend>joint_trajectory_controller</run_depend> -->
+  <!-- <run_depend>gazebo_ros_control</run_depend> -->
+  <!-- This package is referenced in the warehouse launch files, but does not build out of the box at the moment. Commented the dependency until this works. -->
+  <!-- <run_depend>warehouse_ros_mongo</run_depend> -->
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>actionlib</build_depend>
+  <build_depend>moveit_msgs</build_depend>
+  <build_depend>mycobot_description</build_depend>
+  <run_depend>mycobot_description</run_depend>
+
+
+</package>
diff --git a/mycobot_280/mycobot_280_gripper_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py b/mycobot_280/mycobot_280_gripper_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py
new file mode 100644
index 00000000..cd4024d6
--- /dev/null
+++ b/mycobot_280/mycobot_280_gripper_moveit/scripts/path_planning_and_obstacle_avoidance_demo.py
@@ -0,0 +1,137 @@
+#!/usr/bin/env python
+# -*- coding: utf-8 -*-
+
+import rospy, roslib, sys
+import moveit_commander
+from moveit_msgs.msg import RobotTrajectory
+from trajectory_msgs.msg import JointTrajectoryPoint
+
+from geometry_msgs.msg import PoseStamped, Pose
+from tf.transformations import euler_from_quaternion, quaternion_from_euler
+
+
+class MoveItPlanningDemo:
+    def __init__(self):
+        # API to initialize move_group,初始化move_group的API
+        moveit_commander.roscpp_initialize(sys.argv)
+
+        # Initialize the ROS node,初始化ROS节点
+        rospy.init_node("moveit_ik_demo")
+
+        # Initialize the scene object to monitor changes in the external environment
+        # 初始化场景对象，用来监听外部环境的变化
+        self.scene = moveit_commander.PlanningSceneInterface()
+        rospy.sleep(1)
+
+        # Initialize self.arm group in the robotic arm that needs to be controlled by move group
+        # 初始化需要使用move group控制的机械臂中的self.arm group
+        self.arm = moveit_commander.MoveGroupCommander("arm_group")
+
+        # Get the name of the terminal link,获取终端link的名称
+        self.end_effector_link = self.arm.get_end_effector_link()
+
+        # Set the reference coordinate system used for the target position
+        # 设置目标位置所使用的参考坐标系
+        self.reference_frame = "joint1"
+        self.arm.set_pose_reference_frame(self.reference_frame)
+
+        # Allow replanning when motion planning fails,当运动规划失败后，允许重新规划
+        self.arm.allow_replanning(True)
+
+        # Set the allowable error of position (unit: meter) and attitude (unit: radian)
+        # 设置位置(单位：米)和姿态（单位：弧度）的允许误差
+        self.arm.set_goal_position_tolerance(0.01)
+        self.arm.set_goal_orientation_tolerance(0.05)
+
+    def moving(self):
+        # # Control the robotic arm to return to the initialization position first
+        # 控制机械臂先回到初始化位置
+        self.arm.set_named_target("init_pose")
+        self.arm.go()
+        rospy.sleep(2)
+
+        # Set the target pose in the robotic arm workspace, the position is described by x, y, z coordinates,
+        # 设置机械臂工作空间中的目标位姿，位置使用x、y、z坐标描述，
+        # Pose is described by quaternion, based on base_link coordinate system
+        # 姿态使用四元数描述，基于base_link坐标系
+        target_pose = PoseStamped()
+        target_pose.header.frame_id = self.reference_frame
+        target_pose.header.stamp = rospy.Time.now()
+        target_pose.pose.position.x = 0.132
+        target_pose.pose.position.y = -0.150
+        target_pose.pose.position.z = 0.075
+        target_pose.pose.orientation.x = 0.026
+        target_pose.pose.orientation.y = 1.0
+        target_pose.pose.orientation.z = 0.0
+        target_pose.pose.orientation.w = 0.014
+
+        # Set the current state of the robot arm as the initial state of motion
+        # 设置机器臂当前的状态作为运动初始状态
+        self.arm.set_start_state_to_current_state()
+
+        # Set the target pose of the terminal motion of the robotic arm
+        # 设置机械臂终端运动的目标位姿
+        self.arm.set_pose_target(target_pose, self.end_effector_link)
+
+        # Plan the movement path,规划运动路径
+        traj = self.arm.plan()
+
+        # Control the motion of the robotic arm according to the planned motion path
+        # 按照规划的运动路径控制机械臂运动
+        self.arm.execute(traj)
+        rospy.sleep(1)
+
+        # Control the terminal of the robotic arm to move 5cm to the right. Parameter 1 represents y, 0,1,2,3,4,5 represents xyzrpy
+        # 控制机械臂终端向右移动5cm 參數1是代表y， 0,1,2,3,4,5 代表xyzrpy
+        self.arm.shift_pose_target(1, 0.12, self.end_effector_link)
+        self.arm.go()
+        rospy.sleep(1)
+
+        self.arm.shift_pose_target(1, 0.1, self.end_effector_link)
+        self.arm.go()
+        rospy.sleep(1)
+
+        # Control the terminal of the robotic arm to rotate 90 degrees in the opposite direction. 0,1,2,3,4,5 represent xyzrpy
+        # 控制机械臂终端反向旋转90度  0,1,2,3,4,5 代表xyzrpy
+        # self.arm.shift_pose_target(3, -1.57, end_effector_link)
+        # self.arm.go()
+        # rospy.sleep(1)
+
+    def run(self):
+        self.scene.remove_world_object("suit")
+
+        # Run once without obstacles,没有障碍物运行一次
+        self.moving()
+
+        # Add environment,添加环境
+        quat = quaternion_from_euler(3.1415, 0, -1.57)
+
+        suit_post = PoseStamped()
+        suit_post.header.frame_id = self.reference_frame
+        suit_post.pose.position.x = 0.0
+        suit_post.pose.position.y = 0.0
+        suit_post.pose.position.z = -0.02
+        suit_post.pose.orientation.x = quat[0]
+        suit_post.pose.orientation.y = quat[1]
+        suit_post.pose.orientation.z = quat[2]
+        suit_post.pose.orientation.w = quat[3]
+
+        suit_path = (
+            roslib.packages.get_pkg_dir("mycobot_description")
+            + "/urdf/mycobot/suit_env.dae"
+        )
+        # need `pyassimp==3.3`
+        self.scene.add_mesh("suit", suit_post, suit_path)
+        rospy.sleep(2)
+
+        # Run it again if there is an environmental impact,有环境影响后再运行一次
+        self.moving()
+
+        # close and exit moveit，关闭并退出moveit
+        moveit_commander.roscpp_shutdown()
+        moveit_commander.os._exit(0)
+
+
+if __name__ == "__main__":
+    o = MoveItPlanningDemo()
+    o.run()
diff --git a/mycobot_280/mycobot_280_gripper_moveit/scripts/sync_plan.py b/mycobot_280/mycobot_280_gripper_moveit/scripts/sync_plan.py
new file mode 100755
index 00000000..b1462419
--- /dev/null
+++ b/mycobot_280/mycobot_280_gripper_moveit/scripts/sync_plan.py
@@ -0,0 +1,46 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+import time
+import rospy
+from sensor_msgs.msg import JointState
+from pymycobot.mycobot import MyCobot
+
+
+def callback(data):
+    # port = rospy.get_param("~port", "/dev/ttyUSB0")
+    # baud = rospy.get_param("~baud", 115200)
+    # # print(port, baud)
+    # mc = MyCobot(port, baud)
+
+    data_list = []
+    for index, value in enumerate(data.position):
+        data_list.append(round(value, 3))
+    data_list = data_list[:7]
+    print("radians:%s" % data_list[:6])
+    # t1 = time.time()
+    mc.send_radians(data_list[:6], 80)
+    # time.sleep(0.02)
+    gripper_value = int(abs(-0.7 - data_list[6]) * 117)
+    print("gripper_value:%s\n" % gripper_value)
+    mc.set_gripper_value(gripper_value, 80)
+    # t2 = time.time() - t1
+    # print("cost time:", t2)
+    # time.sleep(1)
+
+
+def listener():
+    global mc
+    rospy.init_node("mycobot_reciver", anonymous=True)
+    port = rospy.get_param("~port", "/dev/ttyUSB0")
+    baud = rospy.get_param("~baud", 115200)
+    print(port, baud)
+    mc = MyCobot(port, baud)
+    rospy.Subscriber("joint_states", JointState, callback)
+
+    # spin() simply keeps python from exiting until this node is stopped
+    # spin() 只是阻止 python 退出，直到该节点停止
+    rospy.spin()
+
+
+if __name__ == "__main__":
+    listener()
diff --git a/mycobot_description/urdf/mycobot/G_base.dae b/mycobot_description/urdf/mycobot/G_base.dae
new file mode 100644
index 00000000..61b48a3c
--- /dev/null
+++ b/mycobot_description/urdf/mycobot/G_base.dae
@@ -0,0 +1,260 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <!-- <author /> -->
+      <authoring_tool>Rhinoceros 7.5.21082.11001</authoring_tool>
+      <comments>Output from Rhinoceros COLLADA Exporter</comments>
+      <!-- <copyright /> -->
+      <!-- <source_data /> -->
+    </contributor>
+    <created>2022-08-26T08:09:40Z</created>
+    <modified>2022-08-26T08:09:40Z</modified>
+    <unit meter="0.001" name="Millimeters" />
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-Perspective" name="Camera-Perspective">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov>54.830503</xfov>
+            <aspect_ratio>2.161202</aspect_ratio>
+            <znear>1923.609053</znear>
+            <zfar>2152.512710</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+    </camera>
+    <camera id="Camera-Top" name="Camera-Top">
+      <optics>
+        <technique_common>
+          <orthographic>
+            <xmag>1.0</xmag>
+            <aspect_ratio>2.161202</aspect_ratio>
+            <znear>35.686823</znear>
+            <zfar>70.887090</zfar>
+          </orthographic>
+        </technique_common>
+      </optics>
+    </camera>
+    <camera id="Camera-Front" name="Camera-Front">
+      <optics>
+        <technique_common>
+          <orthographic>
+            <xmag>1.0</xmag>
+            <aspect_ratio>2.167123</aspect_ratio>
+            <znear>38.004999</znear>
+            <zfar>159.005885</zfar>
+          </orthographic>
+        </technique_common>
+      </optics>
+    </camera>
+    <camera id="Camera-Right" name="Camera-Right">
+      <optics>
+        <technique_common>
+          <orthographic>
+            <xmag>1.0</xmag>
+            <aspect_ratio>2.167123</aspect_ratio>
+            <znear>1538.637503</znear>
+            <zfar>1703.638723</zfar>
+          </orthographic>
+        </technique_common>
+      </optics>
+    </camera>
+  </library_cameras>
+  <library_materials>
+    <material id="a0000000-0000-0000-0000-000000000000">
+      <instance_effect url="#fx-a0000000-0000-0000-0000-000000000000" />
+    </material>
+  </library_materials>
+  <library_effects>
+    <effect id="fx-a0000000-0000-0000-0000-000000000000">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color>0.000000 0.000000 0.000000 1.000000</color>
+            </emission>
+            <ambient>
+              <color>0.000000 0.000000 0.000000 1.000000</color>
+            </ambient>
+            <diffuse>
+              <color>0.980392 0.980392 0.980392 1.000000</color>
+            </diffuse>
+            <specular>
+              <color>1.000000 1.000000 1.000000 1.000000</color>
+            </specular>
+            <reflective>
+              <color>1.000000 1.000000 1.000000 1.000000</color>
+            </reflective>
+            <reflectivity>
+              <float>1.000000</float>
+            </reflectivity>
+            <transparent>
+              <color>1.000000 1.000000 1.000000 1.000000</color>
+            </transparent>
+            <transparency>
+              <float>1.000000</float>
+            </transparency>
+            <index_of_refraction>
+              <float>0.000000</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+      <extra>
+        <technique profile="Rhino">
+          <appearance_hash>2978268964</appearance_hash>
+        </technique>
+      </extra>
+    </effect>
+  </library_effects>
+  <library_geometries>
+    <geometry id="mesh-cf18f7bc-450b-4001-b856-d2cbebe2356c">
+      <mesh>
+        <source id="lib-position-cf18f7bc-450b-4001-b856-d2cbebe2356c" name="position">
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_nodes>
+    <node id="instance-def-caaaa945-a695-41b3-9d25-13eaddef8eb0" name="Instance-Def-G000_ASM">
+      <node id="instance-def_1-abcbe1ed-106e-4754-997c-f7d4ff1f98b4" name="instance-def_1-abcbe1ed-106e-4754-997c-f7d4ff1f98b4">
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+        <instance_node url="#instance-def-abcbe1ed-106e-4754-997c-f7d4ff1f98b4" />
+      </node>
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+        <instance_node url="#instance-def-a83bbec6-b6ee-40cc-9882-9824aa70c009" />
+      </node>
+    </node>
+    <node id="instance-def-abcbe1ed-106e-4754-997c-f7d4ff1f98b4" name="Instance-Def-G000">
+      <node id="a2546869-f3ce-4c87-bcc0-efd5611bbd30" name="Brep">
+        <instance_geometry url="#mesh-cf18f7bc-450b-4001-b856-d2cbebe2356c">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="material-a0000000-0000-0000-0000-000000000000" target="#a0000000-0000-0000-0000-000000000000" />
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </node>
+    <node id="instance-def-a83bbec6-b6ee-40cc-9882-9824aa70c009" name="Instance-Def-ADMIB546LQHO_2">
+      <node id="a7387925-07bf-4473-beae-28fde5a15823" name="Brep">
+        <instance_geometry url="#mesh-af3dbcaa-cedd-4a04-8145-ded971a12442">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="material-a0000000-0000-0000-0000-000000000000" target="#a0000000-0000-0000-0000-000000000000" />
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </node>
+  </library_nodes>
+  <library_visual_scenes>
+    <visual_scene id="VisualSceneNode">
+      <node id="View-Perspective" name="View-Perspective">
+        <matrix>0.608772 -0.193273 0.769443 1979.343175 0.793346 0.148308 -0.590430 -730.640120 0.000000 0.969871 0.243618 355.618442 0.000000 0.000000 0.000000 1.000000</matrix>
+        <instance_camera url="#Camera-Perspective" />
+      </node>
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+        <instance_camera url="#Camera-Top" />
+      </node>
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+        <instance_camera url="#Camera-Front" />
+      </node>
+      <node id="View-Right" name="View-Right">
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+        <instance_camera url="#Camera-Right" />
+      </node>
+      <node id="instance-def_1-caaaa945-a695-41b3-9d25-13eaddef8eb0" name="instance-def_1-caaaa945-a695-41b3-9d25-13eaddef8eb0">
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+        <instance_node url="#instance-def-caaaa945-a695-41b3-9d25-13eaddef8eb0" />
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#VisualSceneNode" />
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/mycobot_description/urdf/mycobot/gripper_base.dae b/mycobot_description/urdf/mycobot/gripper_base.dae
new file mode 100644
index 00000000..41bd797d
--- /dev/null
+++ b/mycobot_description/urdf/mycobot/gripper_base.dae
@@ -0,0 +1,311 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <!-- <author /> -->
+      <authoring_tool>Rhinoceros 7.5.21082.11001</authoring_tool>
+      <comments>Output from Rhinoceros COLLADA Exporter</comments>
+      <!-- <copyright />
+      <source_data /> -->
+    </contributor>
+    <created>2022-08-26T08:03:29Z</created>
+    <modified>2022-08-26T08:03:29Z</modified>
+    <unit meter="0.001" name="Millimeters" />
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-Perspective" name="Camera-Perspective">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov>54.621261</xfov>
+            <aspect_ratio>2.151556</aspect_ratio>
+            <znear>472.200870</znear>
+            <zfar>616.815132</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+    </camera>
+    <camera id="Camera-Top" name="Camera-Top">
+      <optics>
+        <technique_common>
+          <orthographic>
+            <xmag>1.0</xmag>
+            <aspect_ratio>2.161202</aspect_ratio>
+            <znear>4.491603</znear>
+            <zfar>66.348706</zfar>
+          </orthographic>
+        </technique_common>
+      </optics>
+    </camera>
+    <camera id="Camera-Front" name="Camera-Front">
+      <optics>
+        <technique_common>
+          <orthographic>
+            <xmag>1.0</xmag>
+            <aspect_ratio>2.167123</aspect_ratio>
+            <znear>7.924410</znear>
+            <zfar>117.057154</zfar>
+          </orthographic>
+        </technique_common>
+      </optics>
+    </camera>
+    <camera id="Camera-Right" name="Camera-Right">
+      <optics>
+        <technique_common>
+          <orthographic>
+            <xmag>1.0</xmag>
+            <aspect_ratio>2.167123</aspect_ratio>
+            <znear>7.042997</znear>
+            <zfar>104.037179</zfar>
+          </orthographic>
+        </technique_common>
+      </optics>
+    </camera>
+  </library_cameras>
+  <library_materials>
+    <material id="a0000000-0000-0000-0000-000000000000">
+      <instance_effect url="#fx-a0000000-0000-0000-0000-000000000000" />
+    </material>
+  </library_materials>
+  <library_effects>
+    <effect id="fx-a0000000-0000-0000-0000-000000000000">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color>0.000000 0.000000 0.000000 1.000000</color>
+            </emission>
+            <ambient>
+              <color>0.000000 0.000000 0.000000 1.000000</color>
+            </ambient>
+            <diffuse>
+              <color>0.980392 0.980392 0.980392 1.000000</color>
+            </diffuse>
+            <specular>
+              <color>1.000000 1.000000 1.000000 1.000000</color>
+            </specular>
+            <reflective>
+              <color>1.000000 1.000000 1.000000 1.000000</color>
+            </reflective>
+            <reflectivity>
+              <float>1.000000</float>
+            </reflectivity>
+            <transparent>
+              <color>1.000000 1.000000 1.000000 1.000000</color>
+            </transparent>
+            <transparency>
+              <float>1.000000</float>
+            </transparency>
+            <index_of_refraction>
+              <float>0.000000</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+      <extra>
+        <technique profile="Rhino">
+          <appearance_hash>2978268964</appearance_hash>
+        </technique>
+      </extra>
+    </effect>
+  </library_effects>
+  <library_geometries>
+    <geometry id="mesh-a6ff88f1-62d1-406a-9241-72a81952c1d5">
+      <mesh>
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+    </node>
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+        <instance_node url="#instance-def-aa43414e-c23e-4568-a9fb-64f56f3e5ac5" />
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#VisualSceneNode" />
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/mycobot_description/urdf/mycobot/gripper_left1.dae b/mycobot_description/urdf/mycobot/gripper_left1.dae
new file mode 100644
index 00000000..92d8da81
--- /dev/null
+++ b/mycobot_description/urdf/mycobot/gripper_left1.dae
@@ -0,0 +1,254 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <!-- <author /> -->
+      <authoring_tool>Rhinoceros 7.5.21082.11001</authoring_tool>
+      <comments>Output from Rhinoceros COLLADA Exporter</comments>
+      <!-- <copyright />
+      <source_data /> -->
+    </contributor>
+    <created>2022-08-31T07:57:30Z</created>
+    <modified>2022-08-31T07:57:30Z</modified>
+    <unit meter="0.001" name="Millimeters" />
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
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+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov>54.830503</xfov>
+            <aspect_ratio>2.161202</aspect_ratio>
+            <znear>148.596585</znear>
+            <zfar>291.950291</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+    </camera>
+    <camera id="Camera-Top" name="Camera-Top">
+      <optics>
+        <technique_common>
+          <orthographic>
+            <xmag>1.0</xmag>
+            <aspect_ratio>2.161202</aspect_ratio>
+            <znear>4.491603</znear>
+            <zfar>66.348706</zfar>
+          </orthographic>
+        </technique_common>
+      </optics>
+    </camera>
+    <camera id="Camera-Front" name="Camera-Front">
+      <optics>
+        <technique_common>
+          <orthographic>
+            <xmag>1.0</xmag>
+            <aspect_ratio>2.167123</aspect_ratio>
+            <znear>7.924410</znear>
+            <zfar>117.057154</zfar>
+          </orthographic>
+        </technique_common>
+      </optics>
+    </camera>
+    <camera id="Camera-Right" name="Camera-Right">
+      <optics>
+        <technique_common>
+          <orthographic>
+            <xmag>1.0</xmag>
+            <aspect_ratio>2.167123</aspect_ratio>
+            <znear>7.042998</znear>
+            <zfar>104.037178</zfar>
+          </orthographic>
+        </technique_common>
+      </optics>
+    </camera>
+  </library_cameras>
+  <library_materials>
+    <material id="a0000000-0000-0000-0000-000000000000">
+      <instance_effect url="#fx-a0000000-0000-0000-0000-000000000000" />
+    </material>
+  </library_materials>
+  <library_effects>
+    <effect id="fx-a0000000-0000-0000-0000-000000000000">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color>0.000000 0.000000 0.000000 1.000000</color>
+            </emission>
+            <ambient>
+              <color>0.000000 0.000000 0.000000 1.000000</color>
+            </ambient>
+            <diffuse>
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+            </diffuse>
+            <specular>
+              <color>1.000000 1.000000 1.000000 1.000000</color>
+            </specular>
+            <reflective>
+              <color>1.000000 1.000000 1.000000 1.000000</color>
+            </reflective>
+            <reflectivity>
+              <float>1.000000</float>
+            </reflectivity>
+            <transparent>
+              <color>1.000000 1.000000 1.000000 1.000000</color>
+            </transparent>
+            <transparency>
+              <float>1.000000</float>
+            </transparency>
+            <index_of_refraction>
+              <float>0.000000</float>
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+          </phong>
+        </technique>
+      </profile_COMMON>
+      <extra>
+        <technique profile="Rhino">
+          <appearance_hash>2978268964</appearance_hash>
+        </technique>
+      </extra>
+    </effect>
+  </library_effects>
+  <library_geometries>
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+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_nodes>
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+      <node id="a028b535-51e8-4acc-b06a-a09750f2a1c6" name="Brep">
+        <instance_geometry url="#mesh-b9ebac4b-e3c5-4b9b-b534-ffdb29dad3dd">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="material-a0000000-0000-0000-0000-000000000000" target="#a0000000-0000-0000-0000-000000000000" />
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </node>
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+      <node id="aabfdda5-30f0-4bb4-9ce0-e3542a020e92" name="Brep">
+        <instance_geometry url="#mesh-a9fa453c-50aa-4ccd-87ee-3e0af63d6091">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="material-a0000000-0000-0000-0000-000000000000" target="#a0000000-0000-0000-0000-000000000000" />
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </node>
+  </library_nodes>
+  <library_visual_scenes>
+    <visual_scene id="VisualSceneNode">
+      <node id="View-Perspective" name="View-Perspective">
+        <matrix>-0.592023 0.452997 -0.666560 -106.661873 -0.805921 -0.332768 0.489650 187.294683 0.000000 0.827079 0.562086 138.367153 0.000000 0.000000 0.000000 1.000000</matrix>
+        <instance_camera url="#Camera-Perspective" />
+      </node>
+      <node id="View-Top" name="View-Top">
+        <matrix>1.000000 0.000000 0.000000 80.795457 0.000000 1.000000 0.000000 11.268886 0.000000 0.000000 1.000000 57.003739 0.000000 0.000000 0.000000 1.000000</matrix>
+        <instance_camera url="#Camera-Top" />
+      </node>
+      <node id="View-Front" name="View-Front">
+        <matrix>1.000000 0.000000 0.000000 -111.222795 0.000000 0.000000 -1.000000 -45.205782 0.000000 1.000000 0.000000 42.792685 0.000000 0.000000 0.000000 1.000000</matrix>
+        <instance_camera url="#Camera-Front" />
+      </node>
+      <node id="View-Right" name="View-Right">
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+        <instance_camera url="#Camera-Right" />
+      </node>
+      <node id="instance-def_1-bb45ae1e-4a88-458e-9701-351e16192f1e" name="instance-def_1-bb45ae1e-4a88-458e-9701-351e16192f1e">
+        <matrix>-0.314551 -0.949240 0.000000 -32.960752 -0.949240 0.314551 0.000000 34.640403 0.000000 0.000000 -1.000000 8.800000 0.000000 0.000000 0.000000 1.000000</matrix>
+        <instance_node url="#instance-def-bb45ae1e-4a88-458e-9701-351e16192f1e" />
+      </node>
+      <node id="instance-def_1-e6b76023-8d08-4e79-a429-d9279ab8e09e" name="instance-def_1-e6b76023-8d08-4e79-a429-d9279ab8e09e">
+        <matrix>0.999993 0.003777 0.000000 -30.069708 -0.003777 0.999993 0.000000 53.323476 0.000000 0.000000 1.000000 3.800000 0.000000 0.000000 0.000000 1.000000</matrix>
+        <instance_node url="#instance-def-e6b76023-8d08-4e79-a429-d9279ab8e09e" />
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#VisualSceneNode" />
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/mycobot_description/urdf/mycobot/gripper_left2.dae b/mycobot_description/urdf/mycobot/gripper_left2.dae
new file mode 100644
index 00000000..5789c6bc
--- /dev/null
+++ b/mycobot_description/urdf/mycobot/gripper_left2.dae
@@ -0,0 +1,197 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <!-- <author /> -->
+      <authoring_tool>Rhinoceros 7.5.21082.11001</authoring_tool>
+      <comments>Output from Rhinoceros COLLADA Exporter</comments>
+      <!-- <copyright />
+      <source_data /> -->
+    </contributor>
+    <created>2022-08-31T07:57:41Z</created>
+    <modified>2022-08-31T07:57:41Z</modified>
+    <unit meter="0.001" name="Millimeters" />
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-Perspective" name="Camera-Perspective">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov>54.830503</xfov>
+            <aspect_ratio>2.161202</aspect_ratio>
+            <znear>148.596585</znear>
+            <zfar>291.950291</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+    </camera>
+    <camera id="Camera-Top" name="Camera-Top">
+      <optics>
+        <technique_common>
+          <orthographic>
+            <xmag>1.0</xmag>
+            <aspect_ratio>2.161202</aspect_ratio>
+            <znear>4.491603</znear>
+            <zfar>66.348706</zfar>
+          </orthographic>
+        </technique_common>
+      </optics>
+    </camera>
+    <camera id="Camera-Front" name="Camera-Front">
+      <optics>
+        <technique_common>
+          <orthographic>
+            <xmag>1.0</xmag>
+            <aspect_ratio>2.167123</aspect_ratio>
+            <znear>7.924410</znear>
+            <zfar>117.057154</zfar>
+          </orthographic>
+        </technique_common>
+      </optics>
+    </camera>
+    <camera id="Camera-Right" name="Camera-Right">
+      <optics>
+        <technique_common>
+          <orthographic>
+            <xmag>1.0</xmag>
+            <aspect_ratio>2.167123</aspect_ratio>
+            <znear>7.042998</znear>
+            <zfar>104.037178</zfar>
+          </orthographic>
+        </technique_common>
+      </optics>
+    </camera>
+  </library_cameras>
+  <library_materials>
+    <material id="a0000000-0000-0000-0000-000000000000">
+      <instance_effect url="#fx-a0000000-0000-0000-0000-000000000000" />
+    </material>
+  </library_materials>
+  <library_effects>
+    <effect id="fx-a0000000-0000-0000-0000-000000000000">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color>0.000000 0.000000 0.000000 1.000000</color>
+            </emission>
+            <ambient>
+              <color>0.000000 0.000000 0.000000 1.000000</color>
+            </ambient>
+            <diffuse>
+              <color>0.980392 0.980392 0.980392 1.000000</color>
+            </diffuse>
+            <specular>
+              <color>1.000000 1.000000 1.000000 1.000000</color>
+            </specular>
+            <reflective>
+              <color>1.000000 1.000000 1.000000 1.000000</color>
+            </reflective>
+            <reflectivity>
+              <float>1.000000</float>
+            </reflectivity>
+            <transparent>
+              <color>1.000000 1.000000 1.000000 1.000000</color>
+            </transparent>
+            <transparency>
+              <float>1.000000</float>
+            </transparency>
+            <index_of_refraction>
+              <float>0.000000</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+      <extra>
+        <technique profile="Rhino">
+          <appearance_hash>2978268964</appearance_hash>
+        </technique>
+      </extra>
+    </effect>
+  </library_effects>
+  <library_geometries>
+    <geometry id="mesh-a7681889-669f-442e-a117-a61522415958">
+      <mesh>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_nodes>
+    <node id="instance-def-af282812-0721-4a15-82f2-be56c8196f6c" name="Instance-Def-210103_4503_101">
+      <node id="ab1c982f-2964-45c7-b757-6451cca1f645" name="Brep">
+        <instance_geometry url="#mesh-a7681889-669f-442e-a117-a61522415958">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="material-a0000000-0000-0000-0000-000000000000" target="#a0000000-0000-0000-0000-000000000000" />
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </node>
+  </library_nodes>
+  <library_visual_scenes>
+    <visual_scene id="VisualSceneNode">
+      <node id="View-Perspective" name="View-Perspective">
+        <matrix>-0.592023 0.452997 -0.666560 -106.661873 -0.805921 -0.332768 0.489650 187.294683 0.000000 0.827079 0.562086 138.367153 0.000000 0.000000 0.000000 1.000000</matrix>
+        <instance_camera url="#Camera-Perspective" />
+      </node>
+      <node id="View-Top" name="View-Top">
+        <matrix>1.000000 0.000000 0.000000 80.795457 0.000000 1.000000 0.000000 11.268886 0.000000 0.000000 1.000000 57.003739 0.000000 0.000000 0.000000 1.000000</matrix>
+        <instance_camera url="#Camera-Top" />
+      </node>
+      <node id="View-Front" name="View-Front">
+        <matrix>1.000000 0.000000 0.000000 -111.222795 0.000000 0.000000 -1.000000 -45.205782 0.000000 1.000000 0.000000 42.792685 0.000000 0.000000 0.000000 1.000000</matrix>
+        <instance_camera url="#Camera-Front" />
+      </node>
+      <node id="View-Right" name="View-Right">
+        <matrix>0.000000 0.000000 1.000000 54.932952 1.000000 0.000000 0.000000 130.459760 0.000000 1.000000 0.000000 -11.941585 0.000000 0.000000 0.000000 1.000000</matrix>
+        <instance_camera url="#Camera-Right" />
+      </node>
+      <node id="instance-def_1-af282812-0721-4a15-82f2-be56c8196f6c" name="instance-def_1-af282812-0721-4a15-82f2-be56c8196f6c">
+        <matrix>-0.869293 0.000000 0.494297 -19.505605 0.494297 0.000000 0.869293 26.989547 0.000000 1.000000 0.000000 6.899942 0.000000 0.000000 0.000000 1.000000</matrix>
+        <instance_node url="#instance-def-af282812-0721-4a15-82f2-be56c8196f6c" />
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#VisualSceneNode" />
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/mycobot_description/urdf/mycobot/gripper_left3.dae b/mycobot_description/urdf/mycobot/gripper_left3.dae
new file mode 100644
index 00000000..be465a05
--- /dev/null
+++ b/mycobot_description/urdf/mycobot/gripper_left3.dae
@@ -0,0 +1,197 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <!-- <author /> -->
+      <authoring_tool>Rhinoceros 7.5.21082.11001</authoring_tool>
+      <comments>Output from Rhinoceros COLLADA Exporter</comments>
+      <!-- <copyright />
+      <source_data /> -->
+    </contributor>
+    <created>2022-08-31T07:57:53Z</created>
+    <modified>2022-08-31T07:57:53Z</modified>
+    <unit meter="0.001" name="Millimeters" />
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-Perspective" name="Camera-Perspective">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov>54.830503</xfov>
+            <aspect_ratio>2.161202</aspect_ratio>
+            <znear>148.596585</znear>
+            <zfar>291.950291</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+    </camera>
+    <camera id="Camera-Top" name="Camera-Top">
+      <optics>
+        <technique_common>
+          <orthographic>
+            <xmag>1.0</xmag>
+            <aspect_ratio>2.161202</aspect_ratio>
+            <znear>4.491603</znear>
+            <zfar>66.348706</zfar>
+          </orthographic>
+        </technique_common>
+      </optics>
+    </camera>
+    <camera id="Camera-Front" name="Camera-Front">
+      <optics>
+        <technique_common>
+          <orthographic>
+            <xmag>1.0</xmag>
+            <aspect_ratio>2.167123</aspect_ratio>
+            <znear>7.924410</znear>
+            <zfar>117.057154</zfar>
+          </orthographic>
+        </technique_common>
+      </optics>
+    </camera>
+    <camera id="Camera-Right" name="Camera-Right">
+      <optics>
+        <technique_common>
+          <orthographic>
+            <xmag>1.0</xmag>
+            <aspect_ratio>2.167123</aspect_ratio>
+            <znear>7.042998</znear>
+            <zfar>104.037178</zfar>
+          </orthographic>
+        </technique_common>
+      </optics>
+    </camera>
+  </library_cameras>
+  <library_materials>
+    <material id="a0000000-0000-0000-0000-000000000000">
+      <instance_effect url="#fx-a0000000-0000-0000-0000-000000000000" />
+    </material>
+  </library_materials>
+  <library_effects>
+    <effect id="fx-a0000000-0000-0000-0000-000000000000">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color>0.000000 0.000000 0.000000 1.000000</color>
+            </emission>
+            <ambient>
+              <color>0.000000 0.000000 0.000000 1.000000</color>
+            </ambient>
+            <diffuse>
+              <color>0.980392 0.980392 0.980392 1.000000</color>
+            </diffuse>
+            <specular>
+              <color>1.000000 1.000000 1.000000 1.000000</color>
+            </specular>
+            <reflective>
+              <color>1.000000 1.000000 1.000000 1.000000</color>
+            </reflective>
+            <reflectivity>
+              <float>1.000000</float>
+            </reflectivity>
+            <transparent>
+              <color>1.000000 1.000000 1.000000 1.000000</color>
+            </transparent>
+            <transparency>
+              <float>1.000000</float>
+            </transparency>
+            <index_of_refraction>
+              <float>0.000000</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+      <extra>
+        <technique profile="Rhino">
+          <appearance_hash>2978268964</appearance_hash>
+        </technique>
+      </extra>
+    </effect>
+  </library_effects>
+  <library_geometries>
+    <geometry id="mesh-dac19b26-7d60-4ce2-bfd8-d03956e4587d">
+      <mesh>
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+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#VisualSceneNode" />
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+</COLLADA>
\ No newline at end of file
diff --git a/mycobot_description/urdf/mycobot/gripper_right1.dae b/mycobot_description/urdf/mycobot/gripper_right1.dae
new file mode 100644
index 00000000..f112fcf9
--- /dev/null
+++ b/mycobot_description/urdf/mycobot/gripper_right1.dae
@@ -0,0 +1,254 @@
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+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <!-- <author /> -->
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+      <!-- <copyright />
+      <source_data /> -->
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+    <created>2022-08-31T07:55:13Z</created>
+    <modified>2022-08-31T07:55:13Z</modified>
+    <unit meter="0.001" name="Millimeters" />
+    <up_axis>Z_UP</up_axis>
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+          </perspective>
+        </technique_common>
+      </optics>
+    </camera>
+    <camera id="Camera-Top" name="Camera-Top">
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+            <znear>4.491603</znear>
+            <zfar>66.348706</zfar>
+          </orthographic>
+        </technique_common>
+      </optics>
+    </camera>
+    <camera id="Camera-Front" name="Camera-Front">
+      <optics>
+        <technique_common>
+          <orthographic>
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+            <aspect_ratio>2.167123</aspect_ratio>
+            <znear>7.924410</znear>
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+          </orthographic>
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+      </optics>
+    </camera>
+    <camera id="Camera-Right" name="Camera-Right">
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+        <technique_common>
+          <orthographic>
+            <xmag>1.0</xmag>
+            <aspect_ratio>2.167123</aspect_ratio>
+            <znear>7.042998</znear>
+            <zfar>104.037178</zfar>
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+        </technique_common>
+      </optics>
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+  </library_cameras>
+  <library_materials>
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+  </library_materials>
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+            <specular>
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+            <reflective>
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+            <transparent>
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+            <transparency>
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+        </triangles>
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+        <instance_geometry url="#mesh-b2e11b8d-34e7-48bd-aa2c-7feb25f118b8">
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+            <technique_common>
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+        </instance_geometry>
+      </node>
+    </node>
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+      <node id="adb5a32a-3052-4e4b-859d-c642017e6b11" name="Brep">
+        <instance_geometry url="#mesh-a1fb2e1c-f799-429f-92d1-6cd56027f388">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="material-a0000000-0000-0000-0000-000000000000" target="#a0000000-0000-0000-0000-000000000000" />
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </node>
+  </library_nodes>
+  <library_visual_scenes>
+    <visual_scene id="VisualSceneNode">
+      <node id="View-Perspective" name="View-Perspective">
+        <matrix>-0.592023 0.452997 -0.666560 -106.661873 -0.805921 -0.332768 0.489650 187.294683 0.000000 0.827079 0.562086 138.367153 0.000000 0.000000 0.000000 1.000000</matrix>
+        <instance_camera url="#Camera-Perspective" />
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+      <node id="View-Top" name="View-Top">
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+        <instance_camera url="#Camera-Top" />
+      </node>
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+      </node>
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+        <instance_node url="#instance-def-aabe90e9-1c7d-4441-b72a-e49ec5bac28a" />
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#VisualSceneNode" />
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/mycobot_description/urdf/mycobot/gripper_right2.dae b/mycobot_description/urdf/mycobot/gripper_right2.dae
new file mode 100644
index 00000000..f6658967
--- /dev/null
+++ b/mycobot_description/urdf/mycobot/gripper_right2.dae
@@ -0,0 +1,197 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <!-- <author /> -->
+      <authoring_tool>Rhinoceros 7.5.21082.11001</authoring_tool>
+      <comments>Output from Rhinoceros COLLADA Exporter</comments>
+      <!-- <copyright />
+      <source_data /> -->
+    </contributor>
+    <created>2022-08-31T07:55:41Z</created>
+    <modified>2022-08-31T07:55:41Z</modified>
+    <unit meter="0.001" name="Millimeters" />
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-Perspective" name="Camera-Perspective">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov>54.830503</xfov>
+            <aspect_ratio>2.161202</aspect_ratio>
+            <znear>148.596585</znear>
+            <zfar>291.950291</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+    </camera>
+    <camera id="Camera-Top" name="Camera-Top">
+      <optics>
+        <technique_common>
+          <orthographic>
+            <xmag>1.0</xmag>
+            <aspect_ratio>2.161202</aspect_ratio>
+            <znear>4.491603</znear>
+            <zfar>66.348706</zfar>
+          </orthographic>
+        </technique_common>
+      </optics>
+    </camera>
+    <camera id="Camera-Front" name="Camera-Front">
+      <optics>
+        <technique_common>
+          <orthographic>
+            <xmag>1.0</xmag>
+            <aspect_ratio>2.167123</aspect_ratio>
+            <znear>7.924410</znear>
+            <zfar>117.057154</zfar>
+          </orthographic>
+        </technique_common>
+      </optics>
+    </camera>
+    <camera id="Camera-Right" name="Camera-Right">
+      <optics>
+        <technique_common>
+          <orthographic>
+            <xmag>1.0</xmag>
+            <aspect_ratio>2.167123</aspect_ratio>
+            <znear>7.042998</znear>
+            <zfar>104.037178</zfar>
+          </orthographic>
+        </technique_common>
+      </optics>
+    </camera>
+  </library_cameras>
+  <library_materials>
+    <material id="a0000000-0000-0000-0000-000000000000">
+      <instance_effect url="#fx-a0000000-0000-0000-0000-000000000000" />
+    </material>
+  </library_materials>
+  <library_effects>
+    <effect id="fx-a0000000-0000-0000-0000-000000000000">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color>0.000000 0.000000 0.000000 1.000000</color>
+            </emission>
+            <ambient>
+              <color>0.000000 0.000000 0.000000 1.000000</color>
+            </ambient>
+            <diffuse>
+              <color>0.980392 0.980392 0.980392 1.000000</color>
+            </diffuse>
+            <specular>
+              <color>1.000000 1.000000 1.000000 1.000000</color>
+            </specular>
+            <reflective>
+              <color>1.000000 1.000000 1.000000 1.000000</color>
+            </reflective>
+            <reflectivity>
+              <float>1.000000</float>
+            </reflectivity>
+            <transparent>
+              <color>1.000000 1.000000 1.000000 1.000000</color>
+            </transparent>
+            <transparency>
+              <float>1.000000</float>
+            </transparency>
+            <index_of_refraction>
+              <float>0.000000</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+      <extra>
+        <technique profile="Rhino">
+          <appearance_hash>2978268964</appearance_hash>
+        </technique>
+      </extra>
+    </effect>
+  </library_effects>
+  <library_geometries>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_nodes>
+    <node id="instance-def-fcef5e2a-ba32-48fd-b21f-cd10a652819f" name="Instance-Def-210103_4503_101">
+      <node id="a820ffd3-8009-4fd0-8a0e-ca98b8507797" name="Brep">
+        <instance_geometry url="#mesh-afb141c9-46d4-4ee5-9475-76887dca368c">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="material-a0000000-0000-0000-0000-000000000000" target="#a0000000-0000-0000-0000-000000000000" />
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </node>
+  </library_nodes>
+  <library_visual_scenes>
+    <visual_scene id="VisualSceneNode">
+      <node id="View-Perspective" name="View-Perspective">
+        <matrix>-0.592023 0.452997 -0.666560 -106.661873 -0.805921 -0.332768 0.489650 187.294683 0.000000 0.827079 0.562086 138.367153 0.000000 0.000000 0.000000 1.000000</matrix>
+        <instance_camera url="#Camera-Perspective" />
+      </node>
+      <node id="View-Top" name="View-Top">
+        <matrix>1.000000 0.000000 0.000000 50.096078 0.000000 1.000000 0.000000 24.814591 0.000000 0.000000 1.000000 57.003739 0.000000 0.000000 0.000000 1.000000</matrix>
+        <instance_camera url="#Camera-Top" />
+      </node>
+      <node id="View-Front" name="View-Front">
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+        <instance_camera url="#Camera-Front" />
+      </node>
+      <node id="View-Right" name="View-Right">
+        <matrix>0.000000 0.000000 1.000000 54.932952 1.000000 0.000000 0.000000 130.459760 0.000000 1.000000 0.000000 -11.941585 0.000000 0.000000 0.000000 1.000000</matrix>
+        <instance_camera url="#Camera-Right" />
+      </node>
+      <node id="instance-def_1-fcef5e2a-ba32-48fd-b21f-cd10a652819f" name="instance-def_1-fcef5e2a-ba32-48fd-b21f-cd10a652819f">
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+        <instance_node url="#instance-def-fcef5e2a-ba32-48fd-b21f-cd10a652819f" />
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#VisualSceneNode" />
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/mycobot_description/urdf/mycobot/gripper_right3.dae b/mycobot_description/urdf/mycobot/gripper_right3.dae
new file mode 100644
index 00000000..58973840
--- /dev/null
+++ b/mycobot_description/urdf/mycobot/gripper_right3.dae
@@ -0,0 +1,197 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <!-- <author /> -->
+      <authoring_tool>Rhinoceros 7.5.21082.11001</authoring_tool>
+      <comments>Output from Rhinoceros COLLADA Exporter</comments>
+      <!-- <copyright />
+      <source_data /> -->
+    </contributor>
+    <created>2022-08-31T07:55:58Z</created>
+    <modified>2022-08-31T07:55:58Z</modified>
+    <unit meter="0.001" name="Millimeters" />
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_cameras>
+    <camera id="Camera-Perspective" name="Camera-Perspective">
+      <optics>
+        <technique_common>
+          <perspective>
+            <xfov>54.830503</xfov>
+            <aspect_ratio>2.161202</aspect_ratio>
+            <znear>148.596585</znear>
+            <zfar>291.950291</zfar>
+          </perspective>
+        </technique_common>
+      </optics>
+    </camera>
+    <camera id="Camera-Top" name="Camera-Top">
+      <optics>
+        <technique_common>
+          <orthographic>
+            <xmag>1.0</xmag>
+            <aspect_ratio>2.161202</aspect_ratio>
+            <znear>4.491603</znear>
+            <zfar>66.348706</zfar>
+          </orthographic>
+        </technique_common>
+      </optics>
+    </camera>
+    <camera id="Camera-Front" name="Camera-Front">
+      <optics>
+        <technique_common>
+          <orthographic>
+            <xmag>1.0</xmag>
+            <aspect_ratio>2.167123</aspect_ratio>
+            <znear>7.924410</znear>
+            <zfar>117.057154</zfar>
+          </orthographic>
+        </technique_common>
+      </optics>
+    </camera>
+    <camera id="Camera-Right" name="Camera-Right">
+      <optics>
+        <technique_common>
+          <orthographic>
+            <xmag>1.0</xmag>
+            <aspect_ratio>2.167123</aspect_ratio>
+            <znear>7.042998</znear>
+            <zfar>104.037178</zfar>
+          </orthographic>
+        </technique_common>
+      </optics>
+    </camera>
+  </library_cameras>
+  <library_materials>
+    <material id="a0000000-0000-0000-0000-000000000000">
+      <instance_effect url="#fx-a0000000-0000-0000-0000-000000000000" />
+    </material>
+  </library_materials>
+  <library_effects>
+    <effect id="fx-a0000000-0000-0000-0000-000000000000">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color>0.000000 0.000000 0.000000 1.000000</color>
+            </emission>
+            <ambient>
+              <color>0.000000 0.000000 0.000000 1.000000</color>
+            </ambient>
+            <diffuse>
+              <color>0.980392 0.980392 0.980392 1.000000</color>
+            </diffuse>
+            <specular>
+              <color>1.000000 1.000000 1.000000 1.000000</color>
+            </specular>
+            <reflective>
+              <color>1.000000 1.000000 1.000000 1.000000</color>
+            </reflective>
+            <reflectivity>
+              <float>1.000000</float>
+            </reflectivity>
+            <transparent>
+              <color>1.000000 1.000000 1.000000 1.000000</color>
+            </transparent>
+            <transparency>
+              <float>1.000000</float>
+            </transparency>
+            <index_of_refraction>
+              <float>0.000000</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+      <extra>
+        <technique profile="Rhino">
+          <appearance_hash>2978268964</appearance_hash>
+        </technique>
+      </extra>
+    </effect>
+  </library_effects>
+  <library_geometries>
+    <geometry id="mesh-c215f024-4398-4faf-9e5e-162f588cde7f">
+      <mesh>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_nodes>
+    <node id="instance-def-adbd5dff-4207-4953-861c-efc92805c673" name="Instance-Def-210103_4502_101">
+      <node id="c54bc763-4c5e-4722-a5ac-ba2dceeafeb8" name="Brep">
+        <instance_geometry url="#mesh-c215f024-4398-4faf-9e5e-162f588cde7f">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="material-a0000000-0000-0000-0000-000000000000" target="#a0000000-0000-0000-0000-000000000000" />
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </node>
+  </library_nodes>
+  <library_visual_scenes>
+    <visual_scene id="VisualSceneNode">
+      <node id="View-Perspective" name="View-Perspective">
+        <matrix>-0.592023 0.452997 -0.666560 -106.661873 -0.805921 -0.332768 0.489650 187.294683 0.000000 0.827079 0.562086 138.367153 0.000000 0.000000 0.000000 1.000000</matrix>
+        <instance_camera url="#Camera-Perspective" />
+      </node>
+      <node id="View-Top" name="View-Top">
+        <matrix>1.000000 0.000000 0.000000 50.096078 0.000000 1.000000 0.000000 24.814591 0.000000 0.000000 1.000000 57.003739 0.000000 0.000000 0.000000 1.000000</matrix>
+        <instance_camera url="#Camera-Top" />
+      </node>
+      <node id="View-Front" name="View-Front">
+        <matrix>1.000000 0.000000 0.000000 -111.222795 0.000000 0.000000 -1.000000 -45.205782 0.000000 1.000000 0.000000 42.792685 0.000000 0.000000 0.000000 1.000000</matrix>
+        <instance_camera url="#Camera-Front" />
+      </node>
+      <node id="View-Right" name="View-Right">
+        <matrix>0.000000 0.000000 1.000000 54.932952 1.000000 0.000000 0.000000 130.459760 0.000000 1.000000 0.000000 -11.941585 0.000000 0.000000 0.000000 1.000000</matrix>
+        <instance_camera url="#Camera-Right" />
+      </node>
+      <node id="instance-def_1-adbd5dff-4207-4953-861c-efc92805c673" name="instance-def_1-adbd5dff-4207-4953-861c-efc92805c673">
+        <matrix>0.000000 0.069280 -0.997597 12.250000 0.000000 0.997597 0.069280 -2.520000 1.000000 0.000000 0.000000 8.800000 0.000000 0.000000 0.000000 1.000000</matrix>
+        <instance_node url="#instance-def-adbd5dff-4207-4953-861c-efc92805c673" />
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#VisualSceneNode" />
+  </scene>
+</COLLADA>
\ No newline at end of file
diff --git a/mycobot_description/urdf/mycobot/mycobot_with_gripper_parallel.urdf b/mycobot_description/urdf/mycobot/mycobot_with_gripper_parallel.urdf
new file mode 100644
index 00000000..b4f0f743
--- /dev/null
+++ b/mycobot_description/urdf/mycobot/mycobot_with_gripper_parallel.urdf
@@ -0,0 +1,378 @@
+<?xml version="1.0"?>
+<robot  xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter" >
+	
+<xacro:property name="width" value=".2" />
+
+
+  <link name="g_base">
+    <visual>
+      <geometry>
+        <mesh filename="package://mycobot_description/urdf/mycobot/G_base.dae"/>
+      </geometry>
+      <origin xyz = "0.0 0 -0.03" rpy = "0 0 1.5708"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://mycobot_description/urdf/mycobot/G_base.dae"/>
+      </geometry>
+      <origin xyz = "0.0 0 -0.03" rpy = "0 0 1.5708"/>
+    </collision>
+  </link>
+
+  <link name="joint1">
+    <visual>
+      <geometry>
+	     <!--- 0.0 0 -0.04  1.5708 3.14159-->
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint1.dae"/>
+      </geometry>
+      <origin xyz = "0.0 0 0 " rpy = " 0 0 -1.5708"/>
+    </visual>
+    <collision>
+      <geometry>
+	     <!--- 0.0 0 -0.04  1.5708 3.14159-->
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint1.dae"/>
+        </geometry>
+        <origin xyz = "0.0 0 0 " rpy = " 0 0 -1.5708"/>
+    </collision>
+  </link>
+
+  <link name="joint2">
+    <visual>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint2.dae"/>
+      </geometry>
+      <origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
+    </visual>
+    <collision>
+     <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint2.dae"/>
+      </geometry>
+      <origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
+    </collision>
+  </link>
+
+
+  <link name="joint3">
+    <visual>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint3.dae"/>
+      </geometry>
+    <origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
+    </visual>
+    <collision>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint3.dae"/>
+      </geometry>
+      <origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
+    </collision>
+  </link>
+
+
+  <link name="joint4">
+    <visual>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint4.dae"/>
+      </geometry>
+      <origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
+    </visual>
+    <collision>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint4.dae"/>
+      </geometry>
+      <origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
+    </collision>
+  </link>
+
+
+  <link name="joint5">
+    <visual>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint5.dae"/>
+      </geometry>
+    <origin xyz = "0.0 0 -0.03356 " rpy = " -1.5708 0 0"/>
+    </visual>
+    <collision>
+       <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint5.dae"/>
+      </geometry>
+      <origin xyz = "0.0 0 -0.03356 " rpy = " -1.5708 0 0"/>
+    </collision>
+  </link>
+
+
+  <link name="joint6">
+    <visual>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint6.dae"/>
+      </geometry>
+    <origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint6.dae"/>
+      </geometry>
+    <origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
+    </collision>
+  </link>
+
+
+  <link name="joint6_flange">
+    <visual>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint7.dae"/>
+      </geometry>
+    <origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint7.dae"/>
+      </geometry>
+    <origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
+    </collision>
+  </link>
+
+  <link name="gripper_base">
+    <visual>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/mycobot/gripper_base.dae"/>
+      </geometry>
+    <origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/mycobot/gripper_base.dae"/>
+      </geometry>
+    <origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
+    </collision>
+  </link>
+
+  <link name="gripper_left1">
+    <visual>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/mycobot/gripper_left1.dae"/>
+      </geometry>
+    <origin xyz = "0.039 -0.0133 -0.012 " rpy = " 0 0 0"/>
+    <!-- <origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/> -->
+    </visual>
+    <collision>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot/gripper_left1.dae"/>
+      </geometry>
+        <origin xyz = "-0.039 -0.0133 -0.012 " rpy = " 0 0 0"/>
+    </collision>
+  </link>
+
+  <link name="gripper_left2">
+    <visual>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot/gripper_left2.dae"/>
+      </geometry>
+    <origin xyz = "0.005 -0.0195 -0.012 " rpy = " 0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot/gripper_left2.dae"/>
+      </geometry>
+        <origin xyz = "-0.005 -0.0195 -0.012 " rpy = " 0 0 0"/>
+    </collision>
+  </link>
+
+  <link name="gripper_left3">
+    <visual>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot/gripper_left3.dae"/>
+      </geometry>
+    <origin xyz = "0.012 0.0025 -0.012 " rpy = " 0 0 0"/>
+    <!-- <origin xyz = "0.0 0 0 " rpy = " 0 0 0"/> -->
+
+    </visual>
+    <collision>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot/gripper_left3.dae"/>
+      </geometry>
+    <origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
+    </collision>
+  </link>
+
+  <link name="gripper_right1">
+    <visual>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot/gripper_right1.dae"/>
+      </geometry>
+    <origin xyz = "-0.039 -0.0133 -0.012 " rpy = " 0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot/gripper_right1.dae"/>
+      </geometry>
+        <origin xyz = "-0.039 -0.0133 -0.012 " rpy = " 0 0 0"/>
+    </collision>
+  </link>
+
+  <link name="gripper_right2">
+    <visual>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot/gripper_right2.dae"/>
+      </geometry>
+    <origin xyz = "-0.005 -0.0195 -0.012 " rpy = " 0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot/gripper_right2.dae"/>
+      </geometry>
+        <origin xyz = "-0.005 -0.0195 -0.012 " rpy = " 0 0 0"/>
+    </collision>
+  </link>
+
+  <link name="gripper_right3">
+    <visual>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot/gripper_right3.dae"/>
+      </geometry>
+    <origin xyz = "-0.012 0.0025 -0.012 " rpy = " 0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot/gripper_right3.dae"/>
+      </geometry>
+    <origin xyz = "-0.012 0.0025 -0.012" rpy = " 0 0 0"/>
+    </collision>
+  </link>
+
+
+  <joint name="g_base_to_joint1" type="fixed">
+    <axis xyz="0 0 0"/>
+    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
+    <parent link="g_base"/>
+    <child link="joint1"/>
+    <origin xyz= "0 0 0" rpy = "0 0 0"/>  
+  </joint>
+
+  <joint name="joint2_to_joint1" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
+    <parent link="joint1"/>
+    <child link="joint2"/>
+    <origin xyz= "0 0 0.13156" rpy = "0 0 0"/>  
+  </joint>
+
+
+  <joint name="joint3_to_joint2" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
+    <parent link="joint2"/>
+    <child link="joint3"/>
+    <origin xyz= "0 0  0" rpy = "0 1.5708 -1.5708"/>  
+  </joint>
+
+
+  <joint name="joint4_to_joint3" type="revolute">
+    <axis xyz=" 0 0 1"/>
+    <limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
+    <parent link="joint3"/>
+    <child link="joint4"/>
+    <origin xyz= "  -0.1104 0 0   " rpy = "0 0 0"/>  
+  </joint>
+
+
+  <joint name="joint5_to_joint4" type="revolute">
+    <axis xyz=" 0 0 1"/>
+    <limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
+    <parent link="joint4"/>
+    <child link="joint5"/>
+    <origin xyz= "-0.096 0 0.06462" rpy = "0 0 -1.5708"/>  
+  </joint>
+
+  <joint name="joint6_to_joint5" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
+    <parent link="joint5"/>
+    <child link="joint6"/>
+    <origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 0"/>  
+  </joint>
+
+  <joint name="joint6output_to_joint6" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
+    <parent link="joint6"/>
+    <child link="joint6_flange"/>
+    <origin xyz= "0 0.0456 0" rpy = "-1.5708 0 0"/>  
+  </joint>
+
+  <joint name="joint6output_to_gripper_base" type="fixed">
+    <!-- <axis xyz="0 0 1"/>
+    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/> -->
+    <parent link="joint6_flange"/>
+    <child link="gripper_base"/>
+    <!-- <origin xyz= "0 0.0 0" rpy = "-1.5708 0 0"/>   -->
+    <origin xyz= "0 0 0.034" rpy = "1.579 0 0"/>  
+  </joint>
+
+
+<joint name="gripper_controller" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort = "1000.0" lower = "-0.7" upper = "0.15" velocity = "0"/>
+    <parent link="gripper_base"/>
+    <child link="gripper_left3"/>
+    <origin xyz= "-0.012 0.005 0" rpy = "0 0 0"/> 
+  </joint>
+
+  <joint name="gripper_base_to_gripper_left2" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort = "1000.0" lower = "-0.8" upper = "0.5" velocity = "0"/>
+    <parent link="gripper_base"/>
+    <child link="gripper_left2"/>
+    <origin xyz= "-0.005 0.027 0" rpy = "0 0 0"/> 
+    <mimic joint="gripper_controller" multiplier="1.0" offset="0" />
+  </joint>
+
+  <joint name="gripper_left3_to_gripper_left1" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort = "1000.0" lower = "-0.5" upper = "0.5" velocity = "0"/>
+    <parent link="gripper_left3"/>
+    <child link="gripper_left1"/>
+    <origin xyz= "-0.027 0.016 0" rpy = "0 0 0"/> 
+    <mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
+  </joint>
+
+
+  <joint name="gripper_base_to_gripper_right3" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort = "1000.0" lower = "-0.15" upper = "0.7" velocity = "0"/>
+    <parent link="gripper_base"/>
+    <child link="gripper_right3"/>
+    <origin xyz= "0.012 0.005 0" rpy = "0 0 0"/> 
+    <mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
+  </joint>
+
+  <joint name="gripper_base_to_gripper_right2" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort = "1000.0" lower = "-0.5" upper = "0.8" velocity = "0"/>
+    <parent link="gripper_base"/>
+    <child link="gripper_right2"/>
+    <origin xyz= "0.005 0.027 0" rpy = "0 0 0"/> 
+    <mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
+  </joint>
+
+  <joint name="gripper_right3_to_gripper_right1" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort = "1000.0" lower = "-0.5" upper = "0.5" velocity = "0"/>
+    <parent link="gripper_right3"/>
+    <child link="gripper_right1"/>
+    <origin xyz= "0.027 0.016 0" rpy = "0 0 0"/> 
+    <mimic joint="gripper_controller" multiplier="1.0" offset="0" />
+  </joint>
+
+</robot>
+
diff --git a/mycobot_description/urdf/mycobot/mycobot_with_gripper_up.urdf b/mycobot_description/urdf/mycobot/mycobot_with_gripper_up.urdf
new file mode 100644
index 00000000..83b5f607
--- /dev/null
+++ b/mycobot_description/urdf/mycobot/mycobot_with_gripper_up.urdf
@@ -0,0 +1,370 @@
+<?xml version="1.0"?>
+<robot  xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter" >
+	
+<xacro:property name="width" value=".2" />
+
+  <link name="g_base">
+    <visual>
+      <geometry>
+        <mesh filename="package://mycobot_description/urdf/mycobot/G_base.dae"/>
+      </geometry>
+      <origin xyz = "0.0 0 -0.03" rpy = "0 0 1.5708"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://mycobot_description/urdf/mycobot/G_base.dae"/>
+      </geometry>
+      <origin xyz = "0.0 0 -0.03" rpy = "0 0 1.5708"/>
+    </collision>
+  </link>
+
+  <link name="joint1">
+    <visual>
+      <geometry>
+	     <!--- 0.0 0 -0.04  1.5708 3.14159-->
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint1.dae"/>
+      </geometry>
+      <origin xyz = "0.0 0 0 " rpy = " 0 0 -1.5708"/>
+    </visual>
+    <collision>
+      <geometry>
+	     <!--- 0.0 0 -0.04  1.5708 3.14159-->
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint1.dae"/>
+        </geometry>
+        <origin xyz = "0.0 0 0 " rpy = " 0 0 -1.5708"/>
+    </collision>
+  </link>
+
+  <link name="joint2">
+    <visual>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint2.dae"/>
+      </geometry>
+      <origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
+    </visual>
+    <collision>
+     <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint2.dae"/>
+      </geometry>
+      <origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
+    </collision>
+  </link>
+
+
+  <link name="joint3">
+    <visual>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint3.dae"/>
+      </geometry>
+    <origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
+    </visual>
+    <collision>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint3.dae"/>
+      </geometry>
+      <origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
+    </collision>
+  </link>
+
+
+  <link name="joint4">
+    <visual>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint4.dae"/>
+      </geometry>
+      <origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
+    </visual>
+    <collision>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint4.dae"/>
+      </geometry>
+      <origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
+    </collision>
+  </link>
+
+
+  <link name="joint5">
+    <visual>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint5.dae"/>
+      </geometry>
+    <origin xyz = "0.0 0 -0.03356 " rpy = " -1.5708 0 0"/>
+    </visual>
+    <collision>
+       <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint5.dae"/>
+      </geometry>
+      <origin xyz = "0.0 0 -0.03356 " rpy = " -1.5708 0 0"/>
+    </collision>
+  </link>
+
+
+  <link name="joint6">
+    <visual>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint6.dae"/>
+      </geometry>
+    <origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint6.dae"/>
+      </geometry>
+    <origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
+    </collision>
+  </link>
+
+
+  <link name="joint6_flange">
+    <visual>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint7.dae"/>
+      </geometry>
+    <origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint7.dae"/>
+      </geometry>
+    <origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
+    </collision>
+  </link>
+
+  <link name="gripper_base">
+    <visual>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot/gripper_base.dae"/>
+      </geometry>
+    <origin xyz = "0.0 0.0077 -0.012" rpy = " 0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot/gripper_base.dae"/>
+      </geometry>
+    <origin xyz = "0.0 0.0077 -0.012 " rpy = " 0 0 0"/>
+    </collision>
+  </link>
+
+  <link name="gripper_left1">
+    <visual>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/mycobot/gripper_left1.dae"/>
+      </geometry>
+    <origin xyz = "0.039 -0.0133 -0.012 " rpy = " 0 0 0"/>
+    <!-- <origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/> -->
+    </visual>
+    <collision>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot/gripper_left1.dae"/>
+      </geometry>
+        <origin xyz = "-0.039 -0.0133 -0.012 " rpy = " 0 0 0"/>
+    </collision>
+  </link>
+
+  <link name="gripper_left2">
+    <visual>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot/gripper_left2.dae"/>
+      </geometry>
+    <origin xyz = "0.005 -0.0195 -0.012 " rpy = " 0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot/gripper_left2.dae"/>
+      </geometry>
+        <origin xyz = "-0.005 -0.0195 -0.012 " rpy = " 0 0 0"/>
+    </collision>
+  </link>
+
+  <link name="gripper_left3">
+    <visual>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot/gripper_left3.dae"/>
+      </geometry>
+    <origin xyz = "0.012 0.0025 -0.012 " rpy = " 0 0 0"/>
+    <!-- <origin xyz = "0.0 0 0 " rpy = " 0 0 0"/> -->
+
+    </visual>
+    <collision>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot/gripper_left3.dae"/>
+      </geometry>
+    <origin xyz = "0.012 0.0025 -0.012" rpy = " 0 0 0"/>
+    </collision>
+  </link>
+
+  <link name="gripper_right1">
+    <visual>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot/gripper_right1.dae"/>
+      </geometry>
+    <origin xyz = "-0.039 -0.0133 -0.012 " rpy = " 0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot/gripper_right1.dae"/>
+      </geometry>
+        <origin xyz = "-0.039 -0.0133 -0.012 " rpy = " 0 0 0"/>
+    </collision>
+  </link>
+
+  <link name="gripper_right2">
+    <visual>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot/gripper_right2.dae"/>
+      </geometry>
+    <origin xyz = "-0.005 -0.0195 -0.012 " rpy = " 0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot/gripper_right2.dae"/>
+      </geometry>
+        <origin xyz = "-0.005 -0.0195 -0.012 " rpy = " 0 0 0"/>
+    </collision>
+  </link>
+
+  <link name="gripper_right3">
+    <visual>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot/gripper_right3.dae"/>
+      </geometry>
+    <origin xyz = "-0.012 0.0025 -0.012 " rpy = " 0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot/gripper_right3.dae"/>
+      </geometry>
+    <origin xyz = "-0.012 0.0025 -0.012" rpy = " 0 0 0"/>
+    </collision>
+  </link>
+
+
+  <joint name="g_base_to_joint1" type="fixed">
+    <axis xyz="0 0 0"/>
+    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
+    <parent link="g_base"/>
+    <child link="joint1"/>
+    <origin xyz= "0 0 0" rpy = "0 0 0"/>  
+  </joint>
+
+
+  <joint name="joint2_to_joint1" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
+    <parent link="joint1"/>
+    <child link="joint2"/>
+    <origin xyz= "0 0 0.13156" rpy = "0 0 0"/>  
+  </joint>
+
+  <joint name="joint3_to_joint2" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
+    <parent link="joint2"/>
+    <child link="joint3"/>
+    <origin xyz= "0 0  0" rpy = "0 1.5708 -1.5708"/>  
+  </joint>
+
+  <joint name="joint4_to_joint3" type="revolute">
+    <axis xyz=" 0 0 1"/>
+    <limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
+    <parent link="joint3"/>
+    <child link="joint4"/>
+    <origin xyz= "  -0.1104 0 0   " rpy = "0 0 0"/>  
+  </joint>
+
+  <joint name="joint5_to_joint4" type="revolute">
+    <axis xyz=" 0 0 1"/>
+    <limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
+    <parent link="joint4"/>
+    <child link="joint5"/>
+    <origin xyz= "-0.096 0 0.06462" rpy = "0 0 -1.5708"/>  
+  </joint>
+
+  <joint name="joint6_to_joint5" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
+    <parent link="joint5"/>
+    <child link="joint6"/>
+    <origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 0"/>  
+  </joint>
+
+  <joint name="joint6output_to_joint6" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
+    <parent link="joint6"/>
+    <child link="joint6_flange"/>
+    <origin xyz= "0 0.0456 0" rpy = "-1.5708 0 0"/>  
+  </joint>
+
+  <joint name="joint6output_to_gripper_base" type="fixed">
+    <!-- <axis xyz="0 0 1"/>
+    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/> -->
+    <parent link="joint6_flange"/>
+    <child link="gripper_base"/>
+    <origin xyz= "0 0 0.0139" rpy = "0 0 3.14159"/>  
+  </joint>
+
+  <joint name="gripper_controller" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort = "1000.0" lower = "-0.7" upper = "0.15" velocity = "0"/>
+    <parent link="gripper_base"/>
+    <child link="gripper_left3"/>
+    <origin xyz= "-0.012 0.005 0" rpy = "0 0 0"/> 
+  </joint>
+
+  <joint name="gripper_base_to_gripper_left2" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort = "1000.0" lower = "-0.8" upper = "0.5" velocity = "0"/>
+    <parent link="gripper_base"/>
+    <child link="gripper_left2"/>
+    <origin xyz= "-0.005 0.027 0" rpy = "0 0 0"/> 
+    <mimic joint="gripper_controller" multiplier="1.0" offset="0" />
+  </joint>
+
+  <joint name="gripper_left3_to_gripper_left1" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort = "1000.0" lower = "-0.5" upper = "0.5" velocity = "0"/>
+    <parent link="gripper_left3"/>
+    <child link="gripper_left1"/>
+    <origin xyz= "-0.027 0.016 0" rpy = "0 0 0"/> 
+    <mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
+  </joint>
+
+  <joint name="gripper_base_to_gripper_right3" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort = "1000.0" lower = "-0.15" upper = "0.7" velocity = "0"/>
+    <parent link="gripper_base"/>
+    <child link="gripper_right3"/>
+    <origin xyz= "0.012 0.005 0" rpy = "0 0 0"/> 
+    <mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
+  </joint>
+
+  <joint name="gripper_base_to_gripper_right2" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort = "1000.0" lower = "-0.5" upper = "0.8" velocity = "0"/>
+    <parent link="gripper_base"/>
+    <child link="gripper_right2"/>
+    <origin xyz= "0.005 0.027 0" rpy = "0 0 0"/> 
+    <mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
+  </joint>
+
+  <joint name="gripper_right3_to_gripper_right1" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort = "1000.0" lower = "-0.5" upper = "0.5" velocity = "0"/>
+    <parent link="gripper_right3"/>
+    <child link="gripper_right1"/>
+    <origin xyz= "0.027 0.016 0" rpy = "0 0 0"/> 
+    <mimic joint="gripper_controller" multiplier="1.0" offset="0" />
+  </joint>
+
+</robot>
+