From efdf852a19d1387b15edaad83258b7375d577f82 Mon Sep 17 00:00:00 2001
From: jlbabilino <jlbabilino@gmail.com>
Date: Thu, 9 Feb 2023 15:55:22 -0500
Subject: [PATCH 1/2] Added MoveIt! config for m1n6s200

---
 kinova_control/launch/kinova_control.launch   |  31 +-
 kinova_gazebo/launch/robot_launch.launch      |  83 ++-
 .../m1n6s200_moveit_config/.setup_assistant   |   8 +
 .../m1n6s200_moveit_config/CMakeLists.txt     |   9 +
 .../config/controllers.yaml                   |  19 +
 .../config/controllers_ros_control.yaml       |  19 +
 .../config/fake_controllers.yaml              |  17 +
 .../config/joint_limits.yaml                  |  44 ++
 .../config/joint_names.yaml                   |   1 +
 .../config/kinematics.yaml                    |   7 +
 .../config/m1n6s200.srdf                      | 113 +++
 .../config/ompl_planning.yaml                 |  80 ++
 .../launch/default_warehouse_db.launch        |  15 +
 .../m1n6s200_moveit_config/launch/demo.launch |  47 ++
 .../fake_moveit_controller_manager.launch.xml |   9 +
 .../launch/joystick_control.launch            |  17 +
 .../launch/m1n6s200_demo.launch               |  52 ++
 .../launch/m1n6s200_gazebo_demo.launch        |  45 ++
 ...6s200_moveit_controller_manager.launch.xml |  10 +
 .../m1n6s200_moveit_sensor_manager.launch.xml |   3 +
 ...ntrol_moveit_controller_manager.launch.xml |  10 +
 .../launch/m1n6s200_virtual_robot_demo.launch |  54 ++
 .../launch/move_group.launch                  |  70 ++
 .../launch/move_group_m1n6s200.launch         |  73 ++
 .../m1n6s200_moveit_config/launch/moveit.rviz | 689 ++++++++++++++++++
 .../launch/moveit_rviz.launch                 |  16 +
 .../launch/ompl_planning_pipeline.launch.xml  |  22 +
 .../launch/planning_context.launch            |  24 +
 .../launch/planning_pipeline.launch.xml       |  10 +
 .../launch/run_benchmark_ompl.launch          |  22 +
 .../launch/sensor_manager.launch.xml          |  14 +
 .../launch/setup_assistant.launch             |  15 +
 .../launch/trajectory_execution.launch.xml    |  18 +
 .../launch/warehouse.launch                   |  15 +
 .../launch/warehouse_settings.launch.xml      |  15 +
 .../m1n6s200_moveit_config/package.xml        |  28 +
 36 files changed, 1696 insertions(+), 28 deletions(-)
 create mode 100644 kinova_moveit/robot_configs/m1n6s200_moveit_config/.setup_assistant
 create mode 100644 kinova_moveit/robot_configs/m1n6s200_moveit_config/CMakeLists.txt
 create mode 100644 kinova_moveit/robot_configs/m1n6s200_moveit_config/config/controllers.yaml
 create mode 100644 kinova_moveit/robot_configs/m1n6s200_moveit_config/config/controllers_ros_control.yaml
 create mode 100644 kinova_moveit/robot_configs/m1n6s200_moveit_config/config/fake_controllers.yaml
 create mode 100644 kinova_moveit/robot_configs/m1n6s200_moveit_config/config/joint_limits.yaml
 create mode 100644 kinova_moveit/robot_configs/m1n6s200_moveit_config/config/joint_names.yaml
 create mode 100644 kinova_moveit/robot_configs/m1n6s200_moveit_config/config/kinematics.yaml
 create mode 100644 kinova_moveit/robot_configs/m1n6s200_moveit_config/config/m1n6s200.srdf
 create mode 100644 kinova_moveit/robot_configs/m1n6s200_moveit_config/config/ompl_planning.yaml
 create mode 100644 kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/default_warehouse_db.launch
 create mode 100644 kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/demo.launch
 create mode 100644 kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/fake_moveit_controller_manager.launch.xml
 create mode 100644 kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/joystick_control.launch
 create mode 100644 kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/m1n6s200_demo.launch
 create mode 100644 kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/m1n6s200_gazebo_demo.launch
 create mode 100644 kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/m1n6s200_moveit_controller_manager.launch.xml
 create mode 100644 kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/m1n6s200_moveit_sensor_manager.launch.xml
 create mode 100644 kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/m1n6s200_ros_control_moveit_controller_manager.launch.xml
 create mode 100644 kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/m1n6s200_virtual_robot_demo.launch
 create mode 100644 kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/move_group.launch
 create mode 100644 kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/move_group_m1n6s200.launch
 create mode 100644 kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/moveit.rviz
 create mode 100644 kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/moveit_rviz.launch
 create mode 100644 kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/ompl_planning_pipeline.launch.xml
 create mode 100644 kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/planning_context.launch
 create mode 100644 kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/planning_pipeline.launch.xml
 create mode 100644 kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/run_benchmark_ompl.launch
 create mode 100644 kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/sensor_manager.launch.xml
 create mode 100644 kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/setup_assistant.launch
 create mode 100644 kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/trajectory_execution.launch.xml
 create mode 100644 kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/warehouse.launch
 create mode 100644 kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/warehouse_settings.launch.xml
 create mode 100644 kinova_moveit/robot_configs/m1n6s200_moveit_config/package.xml

diff --git a/kinova_control/launch/kinova_control.launch b/kinova_control/launch/kinova_control.launch
index 4f9d2346e..37cc0a887 100644
--- a/kinova_control/launch/kinova_control.launch
+++ b/kinova_control/launch/kinova_control.launch
@@ -3,6 +3,7 @@
   <arg name="kinova_robotName" default="$(arg kinova_robotType)"/>  
   <arg name="use_trajectory_controller" default="true"/>
   <arg name="is7dof" default="false"/>
+  <arg name="has2finger" default="false"/><!-- if false: 3 finger, true: 2 finger -->
 
   <!-- Load joint controller configurations from YAML file to parameter server -->
   <rosparam file="$(find kinova_control)/config/$(arg kinova_robotName)_control.yaml" command="load"/>
@@ -11,7 +12,7 @@
     <group unless="$(arg is7dof)">
       <!-- load the joint by joint position controllers -->  
       <node name="$(arg kinova_robotName)_joints_controller" pkg="controller_manager" type="spawner" respawn="false"
-        output="screen" ns="$(arg kinova_robotName)" 
+        output="screen" ns="$(arg kinova_robotName)" unless="$(arg has2finger)"
        args="joint_1_position_controller joint_2_position_controller  
                joint_3_position_controller joint_4_position_controller
                joint_5_position_controller joint_6_position_controller 
@@ -19,11 +20,19 @@
                finger_3_position_controller finger_tip_1_position_controller
                finger_tip_2_position_controller finger_tip_3_position_controller
                joint_state_controller"/> 
+      <node name="$(arg kinova_robotName)_joints_controller" pkg="controller_manager" type="spawner" respawn="false"
+        output="screen" ns="$(arg kinova_robotName)" if="$(arg has2finger)"
+       args="joint_1_position_controller joint_2_position_controller
+               joint_3_position_controller joint_4_position_controller
+               joint_5_position_controller joint_6_position_controller
+               finger_2_position_controller finger_1_position_controller
+               finger_tip_1_position_controller finger_tip_2_position_controller
+               joint_state_controller"/>
     </group>
     <group if="$(arg is7dof)">
       <!-- load the joint by joint position controllers -->  
       <node name="$(arg kinova_robotName)_joints_controller" pkg="controller_manager" type="spawner" respawn="false"
-        output="screen" ns="$(arg kinova_robotName)" 
+        output="screen" ns="$(arg kinova_robotName)" unless="$(arg has2finger)"
        args="joint_1_position_controller joint_2_position_controller  
                joint_3_position_controller joint_4_position_controller
                joint_5_position_controller joint_6_position_controller joint_7_position_controller
@@ -31,19 +40,35 @@
                finger_3_position_controller finger_tip_1_position_controller
                finger_tip_2_position_controller finger_tip_3_position_controller
                joint_state_controller"/> 
+      <node name="$(arg kinova_robotName)_joints_controller" pkg="controller_manager" type="spawner" respawn="false"
+        output="screen" ns="$(arg kinova_robotName)" if="$(arg has2finger)"
+       args="joint_1_position_controller joint_2_position_controller
+               joint_3_position_controller joint_4_position_controller
+               joint_5_position_controller joint_6_position_controller joint_7_position_controller
+               finger_2_position_controller finger_1_position_controller
+               finger_tip_1_position_controller
+               finger_tip_2_position_controller
+               joint_state_controller"/>
     </group>
   </group>
 
   <group if="$(arg use_trajectory_controller)">
     <!-- Effort Joint trajectory controller-->
     <node name="$(arg kinova_robotName)_trajectory_controller" pkg="controller_manager" type="spawner" 
-      output="screen" ns="$(arg kinova_robotName)" 
+      output="screen" ns="$(arg kinova_robotName)" unless="$(arg has2finger)"
       args="effort_joint_trajectory_controller
       effort_finger_trajectory_controller    
       finger_tip_1_position_controller
       finger_tip_2_position_controller 
       finger_tip_3_position_controller
       joint_state_controller"/>    
+    <node name="$(arg kinova_robotName)_trajectory_controller" pkg="controller_manager" type="spawner"
+      output="screen" ns="$(arg kinova_robotName)" if="$(arg has2finger)"
+      args="effort_joint_trajectory_controller
+      effort_finger_trajectory_controller
+      finger_tip_1_position_controller
+      finger_tip_2_position_controller
+      joint_state_controller"/>
   </group>
 
   <!-- convert joint states to TF transforms for rviz, etc -->
diff --git a/kinova_gazebo/launch/robot_launch.launch b/kinova_gazebo/launch/robot_launch.launch
index 9780e02f6..79612e2b4 100644
--- a/kinova_gazebo/launch/robot_launch.launch
+++ b/kinova_gazebo/launch/robot_launch.launch
@@ -10,6 +10,7 @@
   <arg name="debug" default="false"/>
   <arg name="use_trajectory_controller" default="true"/>
   <arg name="is7dof" default="false"/>
+  <arg name="has2finger" default="false"/>
 
   <!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
   <include file="$(find gazebo_ros)/launch/empty_world.launch">
@@ -26,32 +27,63 @@
     command="$(find xacro)/xacro --inorder '$(find kinova_description)/urdf/$(arg kinova_robotType)_standalone.xacro'" />
 
   <!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
-  <!-- For the 6DOF -->
-  <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen" unless="$(arg is7dof)"
-    args="-urdf -model $(arg kinova_robotName) -param robot_description
-        -J $(arg kinova_robotType)_joint_1 0.0
-        -J $(arg kinova_robotType)_joint_2 2.9
-        -J $(arg kinova_robotType)_joint_3 1.3
-        -J $(arg kinova_robotType)_joint_4 -2.07
-        -J $(arg kinova_robotType)_joint_5 1.4
-        -J $(arg kinova_robotType)_joint_6 0.0
-        -J $(arg kinova_robotType)_joint_finger_1 1.0
-        -J $(arg kinova_robotType)_joint_finger_2 1.0
-        -J $(arg kinova_robotType)_joint_finger_3 1.0" />
+  <!-- For 6-DOF -->
+  <group unless="$(arg is7dof)">
+    <!-- For 3 finger -->
+    <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen" unless="$(arg has2finger)"
+      args="-urdf -model $(arg kinova_robotName) -param robot_description
+          -J $(arg kinova_robotType)_joint_1 0.0
+          -J $(arg kinova_robotType)_joint_2 2.9
+          -J $(arg kinova_robotType)_joint_3 1.3
+          -J $(arg kinova_robotType)_joint_4 -2.07
+          -J $(arg kinova_robotType)_joint_5 1.4
+          -J $(arg kinova_robotType)_joint_6 0.0
+          -J $(arg kinova_robotType)_joint_finger_1 1.0
+          -J $(arg kinova_robotType)_joint_finger_2 1.0
+          -J $(arg kinova_robotType)_joint_finger_3 1.0" />
 
-  <!-- For the 7DOF -->
-    <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen" if="$(arg is7dof)"
-    args="-urdf -model $(arg kinova_robotName) -param robot_description
-        -J $(arg kinova_robotType)_joint_1 0.0
-        -J $(arg kinova_robotType)_joint_2 2.9
-        -J $(arg kinova_robotType)_joint_3 0.0
-        -J $(arg kinova_robotType)_joint_4 1.3
-        -J $(arg kinova_robotType)_joint_5 -2.07
-        -J $(arg kinova_robotType)_joint_6 1.4
-        -J $(arg kinova_robotType)_joint_7 0.0
-        -J $(arg kinova_robotType)_joint_finger_1 1.0
-        -J $(arg kinova_robotType)_joint_finger_2 1.0
-        -J $(arg kinova_robotType)_joint_finger_3 1.0" />
+    <!-- For 2 finger -->
+    <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen" if="$(arg has2finger)"
+      args="-urdf -model $(arg kinova_robotName) -param robot_description
+          -J $(arg kinova_robotType)_joint_1 0.0
+          -J $(arg kinova_robotType)_joint_2 2.9
+          -J $(arg kinova_robotType)_joint_3 1.3
+          -J $(arg kinova_robotType)_joint_4 -2.07
+          -J $(arg kinova_robotType)_joint_5 1.4
+          -J $(arg kinova_robotType)_joint_6 0.0
+          -J $(arg kinova_robotType)_joint_finger_1 1.0
+          -J $(arg kinova_robotType)_joint_finger_2 1.0" />
+  </group>
+  
+  <!-- For 7-DOF -->
+  <group if="$(arg is7dof)">
+    <!-- For 3 finger -->
+    <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen" unless="$(arg has2finger)"
+      args="-urdf -model $(arg kinova_robotName) -param robot_description
+          -J $(arg kinova_robotType)_joint_1 0.0
+          -J $(arg kinova_robotType)_joint_2 2.9
+          -J $(arg kinova_robotType)_joint_3 0.0
+          -J $(arg kinova_robotType)_joint_4 1.3
+          -J $(arg kinova_robotType)_joint_5 -2.07
+          -J $(arg kinova_robotType)_joint_6 1.4
+          -J $(arg kinova_robotType)_joint_7 0.0
+          -J $(arg kinova_robotType)_joint_finger_1 1.0
+          -J $(arg kinova_robotType)_joint_finger_2 1.0
+          -J $(arg kinova_robotType)_joint_finger_3 1.0" />
+
+    <!-- For 2 finger -->
+    <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen" if="$(arg has2finger)"
+      args="-urdf -model $(arg kinova_robotName) -param robot_description
+          -J $(arg kinova_robotType)_joint_1 0.0
+          -J $(arg kinova_robotType)_joint_2 2.9
+          -J $(arg kinova_robotType)_joint_3 0.0
+          -J $(arg kinova_robotType)_joint_4 1.3
+          -J $(arg kinova_robotType)_joint_5 -2.07
+          -J $(arg kinova_robotType)_joint_6 1.4
+          -J $(arg kinova_robotType)_joint_7 0.0
+          -J $(arg kinova_robotType)_joint_finger_1 1.0
+          -J $(arg kinova_robotType)_joint_finger_2 1.0" />
+  </group>
 
   <!-- ros_control launch file -->
   <include file="$(find kinova_control)/launch/kinova_control.launch">
@@ -59,6 +91,7 @@
     <arg name="kinova_robotType" value="$(arg kinova_robotType)"/>
     <arg name="use_trajectory_controller" value="$(arg use_trajectory_controller)"/>
     <arg name="is7dof" value="$(arg is7dof)"/>
+    <arg name="has2finger" value="$(arg has2finger)"/>
   </include>
 
   <!-- rqt launch file -->
diff --git a/kinova_moveit/robot_configs/m1n6s200_moveit_config/.setup_assistant b/kinova_moveit/robot_configs/m1n6s200_moveit_config/.setup_assistant
new file mode 100644
index 000000000..8bf8be2ed
--- /dev/null
+++ b/kinova_moveit/robot_configs/m1n6s200_moveit_config/.setup_assistant
@@ -0,0 +1,8 @@
+moveit_setup_assistant_config:
+  URDF:
+    package: kinova_description
+    relative_path: urdf/m1n6s200_standalone.xacro
+  SRDF:
+    relative_path: config/m1n6s200.srdf
+  CONFIG:
+    generated_timestamp: 1484110350
\ No newline at end of file
diff --git a/kinova_moveit/robot_configs/m1n6s200_moveit_config/CMakeLists.txt b/kinova_moveit/robot_configs/m1n6s200_moveit_config/CMakeLists.txt
new file mode 100644
index 000000000..f52039cca
--- /dev/null
+++ b/kinova_moveit/robot_configs/m1n6s200_moveit_config/CMakeLists.txt
@@ -0,0 +1,9 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(m1n6s200_moveit_config)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/kinova_moveit/robot_configs/m1n6s200_moveit_config/config/controllers.yaml b/kinova_moveit/robot_configs/m1n6s200_moveit_config/config/controllers.yaml
new file mode 100644
index 000000000..ed2515d04
--- /dev/null
+++ b/kinova_moveit/robot_configs/m1n6s200_moveit_config/config/controllers.yaml
@@ -0,0 +1,19 @@
+controller_list:
+  - name: m1n6s200
+    action_ns: follow_joint_trajectory
+    type: FollowJointTrajectory
+    default: true
+    joints:
+      - m1n6s200_joint_1
+      - m1n6s200_joint_2
+      - m1n6s200_joint_3
+      - m1n6s200_joint_4
+      - m1n6s200_joint_5
+      - m1n6s200_joint_6      
+  - name: m1n6s200_gripper
+    action_ns: gripper_command
+    type: GripperCommand
+    default: true    
+    joints:
+      - m1n6s200_joint_finger_1
+      - m1n6s200_joint_finger_2
diff --git a/kinova_moveit/robot_configs/m1n6s200_moveit_config/config/controllers_ros_control.yaml b/kinova_moveit/robot_configs/m1n6s200_moveit_config/config/controllers_ros_control.yaml
new file mode 100644
index 000000000..1b69b76e9
--- /dev/null
+++ b/kinova_moveit/robot_configs/m1n6s200_moveit_config/config/controllers_ros_control.yaml
@@ -0,0 +1,19 @@
+controller_list:
+  - name: m1n6s200/effort_joint_trajectory_controller
+    action_ns: follow_joint_trajectory
+    type: FollowJointTrajectory
+    default: true
+    joints:
+      - m1n6s200_joint_1
+      - m1n6s200_joint_2
+      - m1n6s200_joint_3
+      - m1n6s200_joint_4
+      - m1n6s200_joint_5
+      - m1n6s200_joint_6
+  - name: m1n6s200/effort_finger_trajectory_controller
+    action_ns: follow_joint_trajectory
+    type: FollowJointTrajectory
+    default: true    
+    joints:
+      - m1n6s200_joint_finger_1
+      - m1n6s200_joint_finger_2
diff --git a/kinova_moveit/robot_configs/m1n6s200_moveit_config/config/fake_controllers.yaml b/kinova_moveit/robot_configs/m1n6s200_moveit_config/config/fake_controllers.yaml
new file mode 100644
index 000000000..b186438c0
--- /dev/null
+++ b/kinova_moveit/robot_configs/m1n6s200_moveit_config/config/fake_controllers.yaml
@@ -0,0 +1,17 @@
+controller_list:
+  - name: fake_arm_controller
+    joints:
+      - m1n6s200_joint_1
+      - m1n6s200_joint_2
+      - m1n6s200_joint_3
+      - m1n6s200_joint_4
+      - m1n6s200_joint_5
+      - m1n6s200_joint_6
+  - name: fake_gripper_controller
+    joints:
+      - m1n6s200_joint_finger_1
+      - m1n6s200_joint_finger_2
+
+initial:
+  - group: arm
+    pose: Home
diff --git a/kinova_moveit/robot_configs/m1n6s200_moveit_config/config/joint_limits.yaml b/kinova_moveit/robot_configs/m1n6s200_moveit_config/config/joint_limits.yaml
new file mode 100644
index 000000000..2244d463d
--- /dev/null
+++ b/kinova_moveit/robot_configs/m1n6s200_moveit_config/config/joint_limits.yaml
@@ -0,0 +1,44 @@
+# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
+# 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:
+  m1n6s200_joint_1:
+    has_velocity_limits: true
+    max_velocity: 0.35
+    has_acceleration_limits: false
+    max_acceleration: 0
+  m1n6s200_joint_2:
+    has_velocity_limits: true
+    max_velocity: 0.35
+    has_acceleration_limits: false
+    max_acceleration: 0
+  m1n6s200_joint_3:
+    has_velocity_limits: true
+    max_velocity: 0.35
+    has_acceleration_limits: false
+    max_acceleration: 0
+  m1n6s200_joint_4:
+    has_velocity_limits: true
+    max_velocity: 0.35
+    has_acceleration_limits: false
+    max_acceleration: 0
+  m1n6s200_joint_5:
+    has_velocity_limits: true
+    max_velocity: 0.35
+    has_acceleration_limits: false
+    max_acceleration: 0
+  m1n6s200_joint_6:
+    has_velocity_limits: true
+    max_velocity: 0.35
+    has_acceleration_limits: false
+    max_acceleration: 0
+  m1n6s200_joint_finger_1:
+    has_velocity_limits: true
+    max_velocity: 5
+    has_acceleration_limits: false
+    max_acceleration: 0
+  m1n6s200_joint_finger_2:
+    has_velocity_limits: true
+    max_velocity: 5
+    has_acceleration_limits: false
+    max_acceleration: 0
diff --git a/kinova_moveit/robot_configs/m1n6s200_moveit_config/config/joint_names.yaml b/kinova_moveit/robot_configs/m1n6s200_moveit_config/config/joint_names.yaml
new file mode 100644
index 000000000..e7308881e
--- /dev/null
+++ b/kinova_moveit/robot_configs/m1n6s200_moveit_config/config/joint_names.yaml
@@ -0,0 +1 @@
+controller_joint_names: [m1n6s200_joint_1 m1n6s200_joint_2 m1n6s200_joint_3 m1n6s200_joint_4 m1n6s200_joint_5 m1n6s200_joint_6]
diff --git a/kinova_moveit/robot_configs/m1n6s200_moveit_config/config/kinematics.yaml b/kinova_moveit/robot_configs/m1n6s200_moveit_config/config/kinematics.yaml
new file mode 100644
index 000000000..c74616923
--- /dev/null
+++ b/kinova_moveit/robot_configs/m1n6s200_moveit_config/config/kinematics.yaml
@@ -0,0 +1,7 @@
+arm:
+  kinematics_solver: trac_ik_kinematics_plugin/TRAC_IKKinematicsPlugin 
+  #kinematics_solver: m1n6s200_mico_arm_kinematics/IKFastKinematicsPlugin
+  #kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+  kinematics_solver_attempts: 3
+  kinematics_solver_search_resolution: 0.005
+  kinematics_solver_timeout: 0.005
diff --git a/kinova_moveit/robot_configs/m1n6s200_moveit_config/config/m1n6s200.srdf b/kinova_moveit/robot_configs/m1n6s200_moveit_config/config/m1n6s200.srdf
new file mode 100644
index 000000000..911a271a6
--- /dev/null
+++ b/kinova_moveit/robot_configs/m1n6s200_moveit_config/config/m1n6s200.srdf
@@ -0,0 +1,113 @@
+<?xml version="1.0" ?>
+<!--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="m1n6s200">
+    <!--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">
+        <chain base_link="m1n6s200_link_base" tip_link="m1n6s200_end_effector" />
+    </group>
+    <group name="gripper">
+        <link name="m1n6s200_end_effector" />
+        <link name="m1n6s200_link_finger_1" />
+        <link name="m1n6s200_link_finger_tip_1" />
+        <link name="m1n6s200_link_finger_2" />
+        <link name="m1n6s200_link_finger_tip_2" />
+        <joint name="m1n6s200_joint_finger_1" />
+        <joint name="m1n6s200_joint_finger_2" />
+    </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="Home" group="arm">
+        <joint name="m1n6s200_joint_1" value="4.80469" />
+        <joint name="m1n6s200_joint_2" value="2.92482" />
+        <joint name="m1n6s200_joint_3" value="1.002" />
+        <joint name="m1n6s200_joint_4" value="4.20319" />
+        <joint name="m1n6s200_joint_5" value="1.4458" />
+        <joint name="m1n6s200_joint_6" value="1.3233" />
+    </group_state>
+    <group_state name="Rest" group="arm">
+        <joint name="m1n6s200_joint_1" value="4.5354" />
+        <joint name="m1n6s200_joint_2" value="5.1205" />
+        <joint name="m1n6s200_joint_3" value="1.4248" />
+        <joint name="m1n6s200_joint_4" value="3.7477" />
+        <joint name="m1n6s200_joint_5" value="2.0750" />
+        <joint name="m1n6s200_joint_6" value="2.9316" />
+    </group_state>
+    <group_state name="Retract" group="arm">
+        <joint name="m1n6s200_joint_1" value="4.7156" />
+        <joint name="m1n6s200_joint_2" value="2.6193" />
+        <joint name="m1n6s200_joint_3" value="0.6972" />
+        <joint name="m1n6s200_joint_4" value="4.7075" />
+        <joint name="m1n6s200_joint_5" value="0.0039" />
+        <joint name="m1n6s200_joint_6" value="1.5687" />
+    </group_state>
+    <group_state name="Vertical" group="arm">
+        <joint name="m1n6s200_joint_1" value="0" />
+        <joint name="m1n6s200_joint_2" value="3.1415" />
+        <joint name="m1n6s200_joint_3" value="3.1415" />
+        <joint name="m1n6s200_joint_4" value="0" />
+        <joint name="m1n6s200_joint_5" value="0" />
+        <joint name="m1n6s200_joint_6" value="0" />
+    </group_state>
+    <group_state name="Open" group="gripper">
+        <joint name="m1n6s200_joint_finger_1" value="0" />
+        <joint name="m1n6s200_joint_finger_2" value="0" />
+    </group_state>
+    <group_state name="Close" group="gripper">
+        <joint name="m1n6s200_joint_finger_1" value="1.2" />
+        <joint name="m1n6s200_joint_finger_2" value="1.2" />
+    </group_state>
+    <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
+    <end_effector name="gripper" parent_link="m1n6s200_end_effector" group="gripper" parent_group="arm" />
+    <!--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="world_to_root" type="fixed" parent_frame="world" child_link="world" />
+    <!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->
+    <passive_joint name="m1n6s200_joint_finger_tip_1" />
+    <passive_joint name="m1n6s200_joint_finger_tip_2" />
+    <!--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="m1n6s200_link_1" link2="root" reason="Adjacent" />
+    <disable_collisions link1="m1n6s200_link_2" link2="root" reason="Adjacent" /> -->
+    <disable_collisions link1="m1n6s200_link_1" link2="m1n6s200_link_2" reason="Adjacent" />
+    <disable_collisions link1="m1n6s200_link_1" link2="m1n6s200_link_base" reason="Adjacent" />
+    <disable_collisions link1="m1n6s200_link_1" link2="root" reason="Never" />
+    <disable_collisions link1="m1n6s200_link_2" link2="m1n6s200_link_3" reason="Adjacent" />
+    <disable_collisions link1="m1n6s200_link_2" link2="m1n6s200_link_4" reason="Never" />
+    <disable_collisions link1="m1n6s200_link_2" link2="root" reason="Never" />
+    <disable_collisions link1="m1n6s200_link_3" link2="m1n6s200_link_4" reason="Adjacent" />
+    <disable_collisions link1="m1n6s200_link_3" link2="m1n6s200_link_5" reason="Never" />
+    <disable_collisions link1="m1n6s200_link_3" link2="m1n6s200_link_6" reason="Never" />
+    <disable_collisions link1="m1n6s200_link_3" link2="m1n6s200_link_finger_1" reason="Never" />
+    <disable_collisions link1="m1n6s200_link_3" link2="m1n6s200_link_finger_2" reason="Never" />
+    <disable_collisions link1="m1n6s200_link_3" link2="m1n6s200_link_finger_tip_1" reason="Never" />
+    <disable_collisions link1="m1n6s200_link_3" link2="m1n6s200_link_finger_tip_2" reason="Never" />
+    <disable_collisions link1="m1n6s200_link_4" link2="m1n6s200_link_5" reason="Adjacent" />
+    <disable_collisions link1="m1n6s200_link_4" link2="m1n6s200_link_6" reason="Never" />
+    <disable_collisions link1="m1n6s200_link_4" link2="m1n6s200_link_finger_1" reason="Never" />
+    <disable_collisions link1="m1n6s200_link_4" link2="m1n6s200_link_finger_2" reason="Never" />
+    <disable_collisions link1="m1n6s200_link_4" link2="m1n6s200_link_finger_tip_1" reason="Never" />
+    <disable_collisions link1="m1n6s200_link_4" link2="m1n6s200_link_finger_tip_2" reason="Never" />
+    <disable_collisions link1="m1n6s200_link_5" link2="m1n6s200_link_6" reason="Adjacent" />
+    <disable_collisions link1="m1n6s200_link_5" link2="m1n6s200_link_finger_1" reason="Never" />
+    <disable_collisions link1="m1n6s200_link_5" link2="m1n6s200_link_finger_2" reason="Never" />
+    <disable_collisions link1="m1n6s200_link_5" link2="m1n6s200_link_finger_tip_1" reason="Never" />
+    <disable_collisions link1="m1n6s200_link_5" link2="m1n6s200_link_finger_tip_2" reason="Never" />
+    <disable_collisions link1="m1n6s200_link_6" link2="m1n6s200_link_finger_1" reason="Adjacent" />
+    <disable_collisions link1="m1n6s200_link_6" link2="m1n6s200_link_finger_2" reason="Adjacent" />
+    <disable_collisions link1="m1n6s200_link_base" link2="root" reason="Adjacent" />
+    <disable_collisions link1="m1n6s200_link_finger_1" link2="m1n6s200_link_finger_tip_1" reason="Adjacent" />
+    <disable_collisions link1="m1n6s200_link_finger_2" link2="m1n6s200_link_finger_tip_2" reason="Adjacent" />
+    <disable_collisions link1="m1n6s200_link_finger_1" link2="m1n6s200_link_finger_tip_2" reason="Never" />
+    <disable_collisions link1="m1n6s200_link_finger_2" link2="m1n6s200_link_finger_tip_1" reason="Never" />
+    <disable_collisions link1="m1n6s200_link_finger_1" link2="m1n6s200_link_finger_2" reason="Never" />
+    <disable_collisions link1="m1n6s200_link_finger_2" link2="m1n6s200_link_finger_1" reason="Never" />
+    <disable_collisions link1="m1n6s200_link_finger_tip_2" link2="m1n6s200_link_finger_tip_1" reason="Never" />
+    <disable_collisions link1="m1n6s200_link_finger_tip_1" link2="m1n6s200_end_effector" reason="Never" />
+    <disable_collisions link1="m1n6s200_link_finger_tip_2" link2="m1n6s200_end_effector" reason="Never" />
+    <disable_collisions link1="m1n6s200_link_finger_tip_1" link2="m1n6s200_link_6" reason="Never" />
+    <disable_collisions link1="m1n6s200_link_finger_tip_2" link2="m1n6s200_link_6" reason="Never" />
+</robot>
diff --git a/kinova_moveit/robot_configs/m1n6s200_moveit_config/config/ompl_planning.yaml b/kinova_moveit/robot_configs/m1n6s200_moveit_config/config/ompl_planning.yaml
new file mode 100644
index 000000000..b2e119738
--- /dev/null
+++ b/kinova_moveit/robot_configs/m1n6s200_moveit_config/config/ompl_planning.yaml
@@ -0,0 +1,80 @@
+planner_configs:
+  SBLkConfigDefault:
+    type: geometric::SBL
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+  ESTkConfigDefault:
+    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
+  LBKPIECEkConfigDefault:
+    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
+  BKPIECEkConfigDefault:
+    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
+  KPIECEkConfigDefault:
+    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
+  RRTkConfigDefault:
+    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
+  RRTConnectkConfigDefault:
+    type: geometric::RRTConnect
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+  RRTstarkConfigDefault:
+    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
+  TRRTkConfigDefault:
+    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()
+  PRMkConfigDefault:
+    type: geometric::PRM
+    max_nearest_neighbors: 10  # use k nearest neighbors. default: 10
+  PRMstarkConfigDefault:
+    type: geometric::PRMstar
+arm:
+  planner_configs:
+    - SBLkConfigDefault
+    - ESTkConfigDefault
+    - LBKPIECEkConfigDefault
+    - BKPIECEkConfigDefault
+    - KPIECEkConfigDefault
+    - RRTkConfigDefault
+    - RRTConnectkConfigDefault
+    - RRTstarkConfigDefault
+    - TRRTkConfigDefault
+    - PRMkConfigDefault
+    - PRMstarkConfigDefault
+gripper:
+  planner_configs:
+    - SBLkConfigDefault
+    - ESTkConfigDefault
+    - LBKPIECEkConfigDefault
+    - BKPIECEkConfigDefault
+    - KPIECEkConfigDefault
+    - RRTkConfigDefault
+    - RRTConnectkConfigDefault
+    - RRTstarkConfigDefault
+    - TRRTkConfigDefault
+    - PRMkConfigDefault
+    - PRMstarkConfigDefault
\ No newline at end of file
diff --git a/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/default_warehouse_db.launch b/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/default_warehouse_db.launch
new file mode 100644
index 000000000..36a6572b9
--- /dev/null
+++ b/kinova_moveit/robot_configs/m1n6s200_moveit_config/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 m1n6s200_moveit_config)/default_warehouse_mongo_db" />
+
+  <!-- Launch the warehouse with the configured database location -->
+  <include file="$(find m1n6s200_moveit_config)/launch/warehouse.launch">
+    <arg name="moveit_warehouse_database_path" value="$(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/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/demo.launch b/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/demo.launch
new file mode 100644
index 000000000..62b6f89d3
--- /dev/null
+++ b/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/demo.launch
@@ -0,0 +1,47 @@
+<launch>
+
+  <!-- By default, we do not start a database (it can be large) -->
+  <arg name="db" default="false" />
+  <!-- Allow user to specify database location -->
+  <arg name="db_path" default="$(find m1n6s200_moveit_config)/default_warehouse_mongo_db" />
+
+  <!-- By default, we are not in debug mode -->
+  <arg name="debug" default="false" />
+
+  <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
+  <include file="$(find m1n6s200_moveit_config)/launch/planning_context.launch">
+    <arg name="load_robot_description" value="true"/>
+  </include>
+
+  <!-- If needed, broadcast static tf for robot root -->
+  
+
+  <!-- We do not have a robot connected, so publish fake joint states -->
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <param name="/use_gui" value="false"/>
+    <rosparam param="/source_list">[/move_group/fake_controller_joint_states]</rosparam>
+  </node>
+
+  <!-- Given the published joint states, publish tf for the robot links -->
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
+
+  <!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
+  <include file="$(find m1n6s200_moveit_config)/launch/move_group.launch">
+    <arg name="allow_trajectory_execution" value="true"/>
+    <arg name="fake_execution" value="true"/>
+    <arg name="info" value="true"/>
+    <arg name="debug" value="$(arg debug)"/>
+  </include>
+
+  <!-- Run Rviz and load the default config to see the state of the move_group node -->
+  <include file="$(find m1n6s200_moveit_config)/launch/moveit_rviz.launch">
+    <arg name="config" value="true"/>
+    <arg name="debug" value="$(arg debug)"/>
+  </include>
+
+  <!-- If database loading was enabled, start mongodb as well -->
+  <include file="$(find m1n6s200_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
+    <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
+  </include>
+
+</launch>
diff --git a/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/fake_moveit_controller_manager.launch.xml b/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/fake_moveit_controller_manager.launch.xml
new file mode 100644
index 000000000..89391aea4
--- /dev/null
+++ b/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/fake_moveit_controller_manager.launch.xml
@@ -0,0 +1,9 @@
+<launch>
+
+  <!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
+  <param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/>
+
+  <!-- The rest of the params are specific to this plugin -->
+  <rosparam file="$(find m1n6s200_moveit_config)/config/fake_controllers.yaml"/>
+
+</launch>
diff --git a/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/joystick_control.launch b/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/joystick_control.launch
new file mode 100644
index 000000000..f74173527
--- /dev/null
+++ b/kinova_moveit/robot_configs/m1n6s200_moveit_config/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="$(arg dev)" /> <!-- Customize this to match the location your joystick is plugged in on-->
+    <param name="deadzone" value="0.2" />
+    <param name="autorepeat_rate" value="40" />
+    <param name="coalesce_interval" value="0.025" />
+  </node>
+
+  <!-- Launch python interface -->
+  <node pkg="moveit_ros_visualization" type="moveit_joy.py" output="screen" name="moveit_joy"/>
+        
+</launch>
diff --git a/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/m1n6s200_demo.launch b/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/m1n6s200_demo.launch
new file mode 100644
index 000000000..0acc7f9a9
--- /dev/null
+++ b/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/m1n6s200_demo.launch
@@ -0,0 +1,52 @@
+<launch>
+  <param name="robot_type" value="m1n6s200" />
+  <param name="/pick_place_demo/arm/solve_type" value="Manipulation2" />
+  <param name="/pick_place_demo/arm/kinematics_solver_timeout" value="0.05" />
+
+  <!-- By default, we do not start a database (it can be large) -->
+  <arg name="db" default="false" />
+  <!-- Allow user to specify database location -->
+  <arg name="db_path" default="$(find m1n6s200_moveit_config)/default_warehouse_mongo_db" />
+
+  <!-- By default, we are not in debug mode -->
+  <arg name="debug" default="false" />
+
+  <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
+  <include file="$(find m1n6s200_moveit_config)/launch/planning_context.launch">
+    <arg name="load_robot_description" value="true"/>
+  </include>
+
+  <!-- If needed, broadcast static tf for robot root -->
+  
+  <!-- Run joint trajectory action server, which receives planned motion goal under "follow_joint_trajectory", and publish ROS standard trajectory via topic "command". Then for specified robot, the trajectory will be interpreted to their own joint trajectory controller -->
+  <node name="m1n6s200_joint_trajectory_action_server" pkg="kinova_driver" type="joint_trajectory_action_server" output="screen" respawn="false" args="m1n6s200"/>
+
+  <!-- Run gripper command action server, which receives planned motion goal under "gripper_command". After receiving the command from Moveit Rviz Plugin, this node act as an actionlib client and send the goal to the finger position action server from kinova_driver.  -->
+  <node name="m1n6s200_gripper_command_action_server" pkg="kinova_driver" type="gripper_command_action_server" output="screen" respawn="false" args="m1n6s200"/>
+
+
+  <!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
+  <include file="$(find m1n6s200_moveit_config)/launch/move_group_m1n6s200.launch">
+    <arg name="allow_trajectory_execution" value="true"/>
+    <arg name="fake_execution" value="false"/>
+    <arg name="info" value="true"/>
+    <arg name="debug" value="$(arg debug)"/>
+    <arg name="joint_states_ns" value="/m1n6s200_driver/out/joint_state"/> 
+    <arg name="controller_manager" value="m1n6s200"/> 
+  </include>
+
+  <!-- kinova-driver Controller parameters-->   
+  <rosparam file="$(find m1n6s200_moveit_config)/config/controllers.yaml"/> 
+
+  <!-- Run Rviz and load the default config to see the state of the move_group node -->
+  <include file="$(find m1n6s200_moveit_config)/launch/moveit_rviz.launch">
+    <arg name="config" value="true"/>
+    <arg name="debug" value="$(arg debug)"/>
+  </include>
+
+  <!-- If database loading was enabled, start mongodb as well -->
+  <include file="$(find m1n6s200_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
+    <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
+  </include>	 
+
+</launch>
diff --git a/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/m1n6s200_gazebo_demo.launch b/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/m1n6s200_gazebo_demo.launch
new file mode 100644
index 000000000..372ee3447
--- /dev/null
+++ b/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/m1n6s200_gazebo_demo.launch
@@ -0,0 +1,45 @@
+<launch>
+
+  <param name="robot_type" value="m1n6s200" />
+  <param name="robot_connected" value="false" />
+  <param name="/pick_place_demo/arm/solve_type" value="Manipulation2" />
+  <param name="/pick_place_demo/arm/kinematics_solver_timeout" value="0.05" />
+
+  <!-- By default, we do not start a database (it can be large) -->
+  <arg name="db" default="false" />
+  <!-- Allow user to specify database location -->
+  <arg name="db_path" default="$(find m1n6s200_moveit_config)/default_warehouse_mongo_db" />
+
+  <!-- By default, we are not in debug mode -->
+  <arg name="debug" default="false" />
+
+  <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
+  <include file="$(find m1n6s200_moveit_config)/launch/planning_context.launch">
+    <arg name="load_robot_description" value="true"/>
+  </include>
+
+  <!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
+  <include file="$(find m1n6s200_moveit_config)/launch/move_group_m1n6s200.launch">
+    <arg name="allow_trajectory_execution" value="true"/>
+    <arg name="fake_execution" value="false"/>
+    <arg name="info" value="true"/>
+    <arg name="debug" value="$(arg debug)"/>
+    <arg name="joint_states_ns" value="/m1n6s200/joint_states"/>
+    <arg name="controller_manager" value="m1n6s200_ros_control"/>
+  </include>  
+
+  <!-- ros-control Controller parameters-->  
+  <rosparam file="$(find m1n6s200_moveit_config)/config/controllers_ros_control.yaml"/>
+
+  <!-- Run Rviz and load the default config to see the state of the move_group node -->
+  <include file="$(find m1n6s200_moveit_config)/launch/moveit_rviz.launch">
+    <arg name="config" value="true"/>
+    <arg name="debug" value="$(arg debug)"/>
+  </include>
+
+  <!-- If database loading was enabled, start mongodb as well -->
+  <include file="$(find m1n6s200_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
+    <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
+  </include>	
+
+</launch>
diff --git a/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/m1n6s200_moveit_controller_manager.launch.xml b/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/m1n6s200_moveit_controller_manager.launch.xml
new file mode 100644
index 000000000..2651c74c0
--- /dev/null
+++ b/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/m1n6s200_moveit_controller_manager.launch.xml
@@ -0,0 +1,10 @@
+<launch>
+ <!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
+  <arg name="moveit_controller_manager"
+       default="moveit_simple_controller_manager/MoveItSimpleControllerManager"/>
+  <param name="moveit_controller_manager"
+         value="$(arg moveit_controller_manager)"/>
+
+  <!-- The rest of the params are specific to this plugin -->
+  <rosparam file="$(find m1n6s200_moveit_config)/config/controllers.yaml"/>
+</launch>
diff --git a/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/m1n6s200_moveit_sensor_manager.launch.xml b/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/m1n6s200_moveit_sensor_manager.launch.xml
new file mode 100644
index 000000000..5d02698d7
--- /dev/null
+++ b/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/m1n6s200_moveit_sensor_manager.launch.xml
@@ -0,0 +1,3 @@
+<launch>
+
+</launch>
diff --git a/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/m1n6s200_ros_control_moveit_controller_manager.launch.xml b/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/m1n6s200_ros_control_moveit_controller_manager.launch.xml
new file mode 100644
index 000000000..7d202c548
--- /dev/null
+++ b/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/m1n6s200_ros_control_moveit_controller_manager.launch.xml
@@ -0,0 +1,10 @@
+<launch>
+  <!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
+  <arg name="moveit_controller_manager"
+       default="moveit_simple_controller_manager/MoveItSimpleControllerManager"/>
+  <param name="moveit_controller_manager"
+         value="$(arg moveit_controller_manager)"/>  
+
+ <!-- The rest of the params are specific to this plugin -->
+  <rosparam file="$(find m1n6s200_moveit_config)/config/controllers_ros_control.yaml"/>
+</launch>
diff --git a/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/m1n6s200_virtual_robot_demo.launch b/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/m1n6s200_virtual_robot_demo.launch
new file mode 100644
index 000000000..440ed0de2
--- /dev/null
+++ b/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/m1n6s200_virtual_robot_demo.launch
@@ -0,0 +1,54 @@
+<launch>
+
+  <param name="robot_type" value="m1n6s200" />
+  <param name="robot_connected" value="false" />
+  <param name="/pick_place_demo/arm/solve_type" value="Manipulation2" />
+  <param name="/pick_place_demo/arm/kinematics_solver_timeout" value="0.05" />
+
+  <!-- By default, we do not start a database (it can be large) -->
+  <arg name="db" default="false" />
+  <!-- Allow user to specify database location -->
+  <arg name="db_path" default="$(find m1n6s200_moveit_config)/default_warehouse_mongo_db" />
+
+  <!-- By default, we are not in debug mode -->
+  <arg name="debug" default="false" />
+
+  <!-- Load the URDF, SRDF and other .yaml configuration files on the param server -->
+  <include file="$(find m1n6s200_moveit_config)/launch/planning_context.launch">
+    <arg name="load_robot_description" value="true"/>
+  </include>
+
+  <!-- If needed, broadcast static tf for robot root -->
+  
+
+  <!-- We do not have a robot connected, so publish fake joint states -->
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <param name="/use_gui" value="false"/>
+    <rosparam param="/source_list">[/move_group/fake_controller_joint_states]</rosparam>
+		<param name="zeros/m1n6s200_joint_2" value="3.1415"/>		
+	  <param name="zeros/m1n6s200_joint_3" value="3.1415"/>   
+  </node>
+
+  <!-- Given the published joint states, publish tf for the robot links -->
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
+
+  <!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
+  <include file="$(find m1n6s200_moveit_config)/launch/move_group.launch">
+    <arg name="allow_trajectory_execution" value="true"/>
+    <arg name="fake_execution" value="true"/>
+    <arg name="info" value="true"/>
+    <arg name="debug" value="$(arg debug)"/>
+  </include>
+
+  <!-- Run Rviz and load the default config to see the state of the move_group node -->
+  <include file="$(find m1n6s200_moveit_config)/launch/moveit_rviz.launch">
+    <arg name="config" value="true"/>
+    <arg name="debug" value="$(arg debug)"/>
+  </include>
+
+  <!-- If database loading was enabled, start mongodb as well -->
+  <include file="$(find m1n6s200_moveit_config)/launch/default_warehouse_db.launch" if="$(arg db)">
+    <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
+  </include>
+
+</launch>
diff --git a/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/move_group.launch b/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/move_group.launch
new file mode 100644
index 000000000..9ddf6c0ad
--- /dev/null
+++ b/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/move_group.launch
@@ -0,0 +1,70 @@
+<launch>
+
+  <include file="$(find m1n6s200_moveit_config)/launch/planning_context.launch" />
+
+  <!-- GDB Debug Option -->
+  <arg name="debug" default="false" />
+  <arg unless="$(arg debug)" name="launch_prefix" value="" />
+  <arg     if="$(arg debug)" name="launch_prefix"
+	   value="gdb -x $(find m1n6s200_moveit_config)/launch/gdb_settings.gdb --ex run --args" />
+
+  <!-- Verbose Mode Option -->
+  <arg name="info" default="$(arg debug)" />
+  <arg unless="$(arg info)" name="command_args" value="" />
+  <arg     if="$(arg info)" name="command_args" value="--debug" />
+
+  <!-- move_group settings -->
+  <arg name="allow_trajectory_execution" default="true"/>
+  <arg name="fake_execution" default="false"/>
+  <arg name="max_safe_path_cost" default="1"/>
+  <arg name="jiggle_fraction" default="0.05" />
+  <arg name="publish_monitored_planning_scene" default="true"/>
+
+  <!-- Planning Functionality -->
+  <include ns="move_group" file="$(find m1n6s200_moveit_config)/launch/planning_pipeline.launch.xml">
+    <arg name="pipeline" value="ompl" />
+  </include>
+
+  <!-- Trajectory Execution Functionality -->
+  <include ns="move_group" file="$(find m1n6s200_moveit_config)/launch/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
+    <arg name="moveit_manage_controllers" value="true" />
+    <arg name="moveit_controller_manager" value="m1n6s200" unless="$(arg fake_execution)"/>
+    <arg name="moveit_controller_manager" value="fake" if="$(arg fake_execution)"/>
+  </include>
+
+  <!-- Sensors Functionality -->
+  <include ns="move_group" file="$(find m1n6s200_moveit_config)/launch/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
+    <arg name="moveit_sensor_manager" value="m1n6s200" />
+  </include>
+
+  <!-- Start the actual move_group node/action server -->
+  <node name="move_group" launch-prefix="$(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="$(arg allow_trajectory_execution)"/>
+    <param name="max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
+    <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
+
+    <!-- MoveGroup capabilities to load -->
+    <param name="capabilities" value="move_group/MoveGroupCartesianPathService
+				      move_group/MoveGroupExecuteTrajectoryAction
+				      move_group/MoveGroupKinematicsService
+				      move_group/MoveGroupMoveAction
+				      move_group/MoveGroupPickPlaceAction
+				      move_group/MoveGroupPlanService
+				      move_group/MoveGroupQueryPlannersService
+				      move_group/MoveGroupStateValidationService
+				      move_group/MoveGroupGetPlanningSceneService
+				      move_group/ApplyPlanningSceneService
+				      move_group/ClearOctomapService
+				      " />
+
+    <!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot -->
+    <param name="planning_scene_monitor/publish_planning_scene" value="$(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="$(arg publish_monitored_planning_scene)" />
+  </node>
+
+</launch>
diff --git a/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/move_group_m1n6s200.launch b/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/move_group_m1n6s200.launch
new file mode 100644
index 000000000..c7c648608
--- /dev/null
+++ b/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/move_group_m1n6s200.launch
@@ -0,0 +1,73 @@
+<launch>
+
+  <include file="$(find m1n6s200_moveit_config)/launch/planning_context.launch" />
+
+  <!-- GDB Debug Option -->
+  <arg name="debug" default="false" />
+  <arg unless="$(arg debug)" name="launch_prefix" value="" />
+  <arg     if="$(arg debug)" name="launch_prefix"
+	   value="gdb -x $(find m1n6s200_moveit_config)/launch/gdb_settings.gdb --ex run --args" />
+
+  <!-- Verbose Mode Option -->
+  <arg name="info" default="$(arg debug)" />
+  <arg unless="$(arg info)" name="command_args" value="" />
+  <arg     if="$(arg info)" name="command_args" value="--debug" />
+
+  <!-- move_group settings -->
+  <arg name="allow_trajectory_execution" default="true"/>
+  <arg name="fake_execution" default="false"/>
+  <arg name="max_safe_path_cost" default="1"/>
+  <arg name="jiggle_fraction" default="0.05" />
+  <arg name="publish_monitored_planning_scene" default="true"/>
+  <arg name="joint_states_ns"/>
+
+  <!-- Planning Functionality -->
+  <include ns="move_group" file="$(find m1n6s200_moveit_config)/launch/planning_pipeline.launch.xml">
+    <arg name="pipeline" value="ompl" />
+  </include>
+
+  <!-- Trajectory Execution Functionality -->
+  <arg name="controller_manager"/> 
+  <include ns="move_group" file="$(find m1n6s200_moveit_config)/launch/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
+    <arg name="moveit_manage_controllers" value="true" />
+    <arg name="moveit_controller_manager" value="$(arg controller_manager)"/>
+  </include>
+
+  <!-- Sensors Functionality -->
+  <include ns="move_group" file="$(find m1n6s200_moveit_config)/launch/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
+    <arg name="moveit_sensor_manager" value="m1n6s200" />
+  </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="max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
+    <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
+
+    <!-- MoveGroup capabilities to load -->
+    <param name="capabilities" value="move_group/MoveGroupCartesianPathService
+				      move_group/MoveGroupExecuteTrajectoryAction
+				      move_group/MoveGroupKinematicsService
+				      move_group/MoveGroupMoveAction
+				      move_group/MoveGroupPickPlaceAction
+				      move_group/MoveGroupPlanService
+				      move_group/MoveGroupQueryPlannersService
+				      move_group/MoveGroupStateValidationService
+				      move_group/MoveGroupGetPlanningSceneService
+				      move_group/ApplyPlanningSceneService
+				      move_group/ClearOctomapService
+				      " />
+
+    <!-- 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)" />
+    
+    <remap from="/joint_states" to="$(arg joint_states_ns)" />
+  </node>
+
+</launch>
diff --git a/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/moveit.rviz b/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/moveit.rviz
new file mode 100644
index 000000000..ece282584
--- /dev/null
+++ b/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/moveit.rviz
@@ -0,0 +1,689 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 84
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /MotionPlanning1
+      Splitter Ratio: 0.74256
+    Tree Height: 664
+  - Class: rviz/Help
+    Name: Help
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.03
+        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
+    - Class: moveit_rviz_plugin/MotionPlanning
+      Enabled: true
+      MoveIt_Goal_Tolerance: 0
+      MoveIt_Planning_Time: 5
+      MoveIt_Use_Constraint_Aware_IK: true
+      MoveIt_Warehouse_Host: 127.0.0.1
+      MoveIt_Warehouse_Port: 33829
+      Name: MotionPlanning
+      Planned Path:
+        Links:
+          base_bellow_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          base_footprint:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          base_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          bl_caster_l_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          bl_caster_r_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          bl_caster_rotation_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          br_caster_l_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          br_caster_r_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          br_caster_rotation_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          double_stereo_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fl_caster_l_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fl_caster_r_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fl_caster_rotation_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fr_caster_l_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fr_caster_r_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fr_caster_rotation_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_mount_kinect_ir_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_mount_kinect_rgb_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_mount_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_mount_prosilica_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_pan_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_plate_frame:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_tilt_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_elbow_flex_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_forearm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_forearm_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_l_finger_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_l_finger_tip_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_motor_accelerometer_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_palm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_r_finger_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_r_finger_tip_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_shoulder_lift_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_shoulder_pan_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_upper_arm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_upper_arm_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_wrist_flex_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_wrist_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          laser_tilt_mount_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_elbow_flex_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_forearm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_forearm_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_l_finger_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_l_finger_tip_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_motor_accelerometer_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_palm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_r_finger_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_r_finger_tip_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_shoulder_lift_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_shoulder_pan_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_upper_arm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_upper_arm_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_wrist_flex_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_wrist_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          sensor_mount_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          torso_lift_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+        Loop Animation: true
+        Robot Alpha: 0.5
+        Show Robot Collision: false
+        Show Robot Visual: true
+        Show Trail: false
+        State Display Time: 0.05 s
+        Trajectory Topic: move_group/display_planned_path
+      Planning Metrics:
+        Payload: 1
+        Show Joint Torques: false
+        Show Manipulability: false
+        Show Manipulability Index: false
+        Show Weight Limit: false
+      Planning Request:
+        Colliding Link Color: 255; 0; 0
+        Goal State Alpha: 1
+        Goal State Color: 250; 128; 0
+        Interactive Marker Size: 0
+        Joint Violation Color: 255; 0; 255
+        Planning Group: left_arm
+        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: 0.2
+        Show Scene Geometry: true
+        Voxel Coloring: Z-Axis
+        Voxel Rendering: Occupied Voxels
+      Scene Robot:
+        Attached Body Color: 150; 50; 150
+        Links:
+          base_bellow_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          base_footprint:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          base_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          bl_caster_l_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          bl_caster_r_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          bl_caster_rotation_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          br_caster_l_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          br_caster_r_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          br_caster_rotation_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          double_stereo_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fl_caster_l_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fl_caster_r_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fl_caster_rotation_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fr_caster_l_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fr_caster_r_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          fr_caster_rotation_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_mount_kinect_ir_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_mount_kinect_rgb_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_mount_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_mount_prosilica_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_pan_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_plate_frame:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          head_tilt_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_elbow_flex_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_forearm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_forearm_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_l_finger_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_l_finger_tip_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_motor_accelerometer_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_palm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_r_finger_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_gripper_r_finger_tip_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_shoulder_lift_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_shoulder_pan_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_upper_arm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_upper_arm_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_wrist_flex_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          l_wrist_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          laser_tilt_mount_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_elbow_flex_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_forearm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_forearm_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_l_finger_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_l_finger_tip_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_motor_accelerometer_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_palm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_r_finger_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_gripper_r_finger_tip_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_shoulder_lift_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_shoulder_pan_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_upper_arm_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_upper_arm_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_wrist_flex_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          r_wrist_roll_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          sensor_mount_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          torso_lift_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+        Robot Alpha: 0.5
+        Show Scene Robot: true
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: /root
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+  Value: true
+  Views:
+    Current:
+      Class: rviz/XYOrbit
+      Distance: 2.9965
+      Focal Point:
+        X: 0.113567
+        Y: 0.10592
+        Z: 2.23518e-07
+      Name: Current View
+      Near Clip Distance: 0.01
+      Pitch: 0.509797
+      Target Frame: /root
+      Value: XYOrbit (rviz)
+      Yaw: 5.65995
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1337
+  Help:
+    collapsed: false
+  Hide Left Dock: false
+  Hide Right Dock: false
+  Motion Planning:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd0000000100000000000002a2000004bcfc0200000005fb000000100044006900730070006c00610079007301000000410000032d000000dd00fffffffb0000000800480065006c00700000000342000000bb0000007600fffffffb0000000a0056006900650077007300000003b0000000b0000000b000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000017400ffffff0000047a000004bc00000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Views:
+    collapsed: false
+  Width: 1828
+  X: 459
+  Y: -243
diff --git a/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/moveit_rviz.launch b/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/moveit_rviz.launch
new file mode 100644
index 000000000..a10d65976
--- /dev/null
+++ b/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/moveit_rviz.launch
@@ -0,0 +1,16 @@
+<launch>
+
+  <arg name="debug" default="false" />
+  <arg unless="$(arg debug)" name="launch_prefix" value="" />
+  <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
+
+  <arg name="config" default="false" />
+  <arg unless="$(arg config)" name="command_args" value="" />
+  <arg     if="$(arg config)" name="command_args" value="-d $(find m1n6s200_moveit_config)/launch/moveit.rviz" />
+  
+  <node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
+	args="$(arg command_args)" output="screen">
+    <rosparam command="load" file="$(find m1n6s200_moveit_config)/config/kinematics.yaml"/>
+  </node>
+
+</launch>
diff --git a/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/ompl_planning_pipeline.launch.xml b/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/ompl_planning_pipeline.launch.xml
new file mode 100644
index 000000000..d6022467a
--- /dev/null
+++ b/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/ompl_planning_pipeline.launch.xml
@@ -0,0 +1,22 @@
+<launch>
+
+  <!-- OMPL Plugin for MoveIt! -->
+  <arg name="planning_plugin" value="ompl_interface/OMPLPlanner" />
+
+  <!-- The request adapters (plugins) used when planning with OMPL. 
+       ORDER MATTERS -->
+  <arg name="planning_adapters" value="default_planner_request_adapters/AddTimeParameterization
+				       default_planner_request_adapters/FixWorkspaceBounds
+				       default_planner_request_adapters/FixStartStateBounds
+				       default_planner_request_adapters/FixStartStateCollision
+				       default_planner_request_adapters/FixStartStatePathConstraints" />
+
+  <arg name="start_state_max_bounds_error" value="0.1" />
+
+  <param name="planning_plugin" value="$(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)" />
+
+  <rosparam command="load" file="$(find m1n6s200_moveit_config)/config/ompl_planning.yaml"/>
+
+</launch>
diff --git a/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/planning_context.launch b/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/planning_context.launch
new file mode 100644
index 000000000..a1b424a7b
--- /dev/null
+++ b/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/planning_context.launch
@@ -0,0 +1,24 @@
+<launch>
+  <!-- By default we do not overwrite the URDF. Change the following to true to change the default behavior -->
+  <arg name="load_robot_description" default="false"/>
+
+  <!-- The name of the parameter under which the URDF is loaded -->
+  <arg name="robot_description" default="robot_description"/>
+
+  <!-- Load universal robot description format (URDF) -->
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro.py '$(find kinova_description)/urdf/m1n6s200_standalone.xacro'"/>
+
+  <!-- The semantic description that corresponds to the URDF -->
+  <param name="$(arg robot_description)_semantic" textfile="$(find m1n6s200_moveit_config)/config/m1n6s200.srdf" />
+  
+  <!-- Load updated joint limits (override information from URDF) -->
+  <group ns="$(arg robot_description)_planning">
+    <rosparam command="load" file="$(find m1n6s200_moveit_config)/config/joint_limits.yaml"/>
+  </group>
+
+  <!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->
+  <group ns="$(arg robot_description)_kinematics">
+    <rosparam command="load" file="$(find m1n6s200_moveit_config)/config/kinematics.yaml"/>
+  </group>
+  
+</launch>
diff --git a/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/planning_pipeline.launch.xml b/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/planning_pipeline.launch.xml
new file mode 100644
index 000000000..d31773d00
--- /dev/null
+++ b/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/planning_pipeline.launch.xml
@@ -0,0 +1,10 @@
+<launch>
+
+  <!-- This file makes it easy to include different planning pipelines; 
+       It is assumed that all planning pipelines are named XXX_planning_pipeline.launch  -->  
+
+  <arg name="pipeline" default="ompl" />
+
+  <include file="$(find m1n6s200_moveit_config)/launch/$(arg pipeline)_planning_pipeline.launch.xml" />
+
+</launch>
diff --git a/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/run_benchmark_ompl.launch b/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/run_benchmark_ompl.launch
new file mode 100644
index 000000000..db1b226e9
--- /dev/null
+++ b/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/run_benchmark_ompl.launch
@@ -0,0 +1,22 @@
+<launch>
+
+  <!-- This argument must specify the list of .cfg files to process for benchmarking -->
+  <arg name="cfg" />
+
+  <!-- Load URDF -->
+  <include file="$(find m1n6s200_moveit_config)/launch/planning_context.launch">
+    <arg name="load_robot_description" value="true"/>
+  </include>
+
+  <!-- Start the database -->
+  <include file="$(find m1n6s200_moveit_config)/launch/warehouse.launch">
+    <arg name="moveit_warehouse_database_path" value="moveit_ompl_benchmark_warehouse"/>
+  </include>  
+
+  <!-- Start Benchmark Executable -->
+  <node name="$(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 m1n6s200_moveit_config)/config/kinematics.yaml"/>
+    <rosparam command="load" file="$(find m1n6s200_moveit_config)/config/ompl_planning.yaml"/>
+  </node>
+
+</launch>
diff --git a/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/sensor_manager.launch.xml b/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/sensor_manager.launch.xml
new file mode 100644
index 000000000..5ea6d2db2
--- /dev/null
+++ b/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/sensor_manager.launch.xml
@@ -0,0 +1,14 @@
+<launch>
+
+  <!-- This file makes it easy to include the settings for sensor managers -->  
+
+  <!-- Params for the octomap monitor -->
+  <!--  <param name="octomap_frame" type="string" value="some frame in which the robot moves" /> -->
+  <param name="octomap_resolution" type="double" value="0.025" />
+  <param name="max_range" type="double" value="5.0" />
+
+  <!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
+  <arg name="moveit_sensor_manager" default="m1n6s200" />
+  <include file="$(find m1n6s200_moveit_config)/launch/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
+  
+</launch>
diff --git a/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/setup_assistant.launch b/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/setup_assistant.launch
new file mode 100644
index 000000000..eca8c85e5
--- /dev/null
+++ b/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/setup_assistant.launch
@@ -0,0 +1,15 @@
+<!-- Re-launch the MoveIt Setup Assistant with this configuration package already loaded -->
+<launch>
+
+  <!-- Debug Info -->
+  <arg name="debug" default="false" />
+  <arg unless="$(arg debug)" name="launch_prefix" value="" />
+  <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
+
+  <!-- Run -->
+  <node pkg="moveit_setup_assistant" type="moveit_setup_assistant" name="moveit_setup_assistant" 
+	args="--config_pkg=m1n6s200_moveit_config"
+	launch-prefix="$(arg launch_prefix)"
+        output="screen" />
+
+</launch>
diff --git a/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/trajectory_execution.launch.xml b/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/trajectory_execution.launch.xml
new file mode 100644
index 000000000..1063aa88e
--- /dev/null
+++ b/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/trajectory_execution.launch.xml
@@ -0,0 +1,18 @@
+<launch>
+
+  <!-- This file makes it easy to include the settings for trajectory execution  -->  
+
+  <!-- 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="$(arg moveit_manage_controllers)"/>
+
+  <!-- When determining the expected duration of a trajectory, this multiplicative factor is applied to get the allowed duration of execution -->
+  <param name="allowed_execution_duration_scaling" value="1.2"/> <!-- default 1.2 -->
+  <!-- Allow more than the expected execution time before triggering a trajectory cancel (applied after scaling) -->
+  <param name="allowed_goal_duration_margin" value="0.5"/> <!-- default 0.5 -->
+  
+  <!-- Load the robot specific controller manager; this sets the moveit_controller_manager ROS parameter -->
+  <arg name="moveit_controller_manager" default="m1n6s200" />
+  <include file="$(find m1n6s200_moveit_config)/launch/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" />
+  
+</launch>
diff --git a/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/warehouse.launch b/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/warehouse.launch
new file mode 100644
index 000000000..e8e1c4b72
--- /dev/null
+++ b/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/warehouse.launch
@@ -0,0 +1,15 @@
+<launch>
+  
+  <!-- The path to the database must be specified -->
+  <arg name="moveit_warehouse_database_path" />
+
+  <!-- Load warehouse parameters -->  
+  <include file="$(find m1n6s200_moveit_config)/launch/warehouse_settings.launch.xml" />
+
+  <!-- Run the DB server -->
+  <node name="$(anon mongo_wrapper_ros)" cwd="ROS_HOME" type="mongo_wrapper_ros.py" pkg="warehouse_ros">
+    <param name="overwrite" value="false"/>
+    <param name="database_path" value="$(arg moveit_warehouse_database_path)" />
+  </node>
+
+</launch>
diff --git a/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/warehouse_settings.launch.xml b/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/warehouse_settings.launch.xml
new file mode 100644
index 000000000..d11aaeb21
--- /dev/null
+++ b/kinova_moveit/robot_configs/m1n6s200_moveit_config/launch/warehouse_settings.launch.xml
@@ -0,0 +1,15 @@
+<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" />
+
+</launch>
diff --git a/kinova_moveit/robot_configs/m1n6s200_moveit_config/package.xml b/kinova_moveit/robot_configs/m1n6s200_moveit_config/package.xml
new file mode 100644
index 000000000..b7dfaccca
--- /dev/null
+++ b/kinova_moveit/robot_configs/m1n6s200_moveit_config/package.xml
@@ -0,0 +1,28 @@
+<package>
+
+  <name>m1n6s200_moveit_config</name>
+  <version>0.2.0</version>
+  <description>
+     An automatically generated package with all the configuration and launch files for using the m1n6s200 with the MoveIt Motion Planning Framework
+  </description>
+  <author email="assistant@moveit.ros.org">MoveIt Setup Assistant</author>
+  <maintainer email="assistant@moveit.ros.org">MoveIt Setup Assistant</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">http://moveit.ros.org/</url>
+  <url type="bugtracker">https://github.com/ros-planning/moveit_setup_assistant/issues</url>
+  <url type="repository">https://github.com/ros-planning/moveit_setup_assistant</url>
+
+  <run_depend>moveit_ros_move_group</run_depend>
+  <run_depend>moveit_planners_ompl</run_depend>
+  <run_depend>moveit_ros_visualization</run_depend>
+  <run_depend>joint_state_publisher</run_depend>
+  <run_depend>robot_state_publisher</run_depend>
+  <run_depend>xacro</run_depend>
+  <build_depend>kinova_description</build_depend>
+  <run_depend>kinova_description</run_depend>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  
+</package>

From e6f680ed1055ddbcf1dec233889b0f93de405df1 Mon Sep 17 00:00:00 2001
From: jlbabilino <jlbabilino@gmail.com>
Date: Wed, 15 Feb 2023 15:17:10 -0500
Subject: [PATCH 2/2] Updated srdf to use kinova-ros official naming

---
 .../config/m1n6s200.srdf                      | 86 ++++++++++---------
 1 file changed, 46 insertions(+), 40 deletions(-)

diff --git a/kinova_moveit/robot_configs/m1n6s200_moveit_config/config/m1n6s200.srdf b/kinova_moveit/robot_configs/m1n6s200_moveit_config/config/m1n6s200.srdf
index 911a271a6..30b492473 100644
--- a/kinova_moveit/robot_configs/m1n6s200_moveit_config/config/m1n6s200.srdf
+++ b/kinova_moveit/robot_configs/m1n6s200_moveit_config/config/m1n6s200.srdf
@@ -10,14 +10,12 @@
     <!--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">
-        <chain base_link="m1n6s200_link_base" tip_link="m1n6s200_end_effector" />
+        <chain base_link="root" tip_link="m1n6s200_end_effector" />
     </group>
     <group name="gripper">
         <link name="m1n6s200_end_effector" />
         <link name="m1n6s200_link_finger_1" />
-        <link name="m1n6s200_link_finger_tip_1" />
         <link name="m1n6s200_link_finger_2" />
-        <link name="m1n6s200_link_finger_tip_2" />
         <joint name="m1n6s200_joint_finger_1" />
         <joint name="m1n6s200_joint_finger_2" />
     </group>
@@ -30,84 +28,92 @@
         <joint name="m1n6s200_joint_5" value="1.4458" />
         <joint name="m1n6s200_joint_6" value="1.3233" />
     </group_state>
-    <group_state name="Rest" group="arm">
-        <joint name="m1n6s200_joint_1" value="4.5354" />
-        <joint name="m1n6s200_joint_2" value="5.1205" />
-        <joint name="m1n6s200_joint_3" value="1.4248" />
-        <joint name="m1n6s200_joint_4" value="3.7477" />
-        <joint name="m1n6s200_joint_5" value="2.0750" />
-        <joint name="m1n6s200_joint_6" value="2.9316" />
-    </group_state>
     <group_state name="Retract" group="arm">
-        <joint name="m1n6s200_joint_1" value="4.7156" />
-        <joint name="m1n6s200_joint_2" value="2.6193" />
-        <joint name="m1n6s200_joint_3" value="0.6972" />
-        <joint name="m1n6s200_joint_4" value="4.7075" />
-        <joint name="m1n6s200_joint_5" value="0.0039" />
-        <joint name="m1n6s200_joint_6" value="1.5687" />
-    </group_state>
-    <group_state name="Vertical" group="arm">
-        <joint name="m1n6s200_joint_1" value="0" />
-        <joint name="m1n6s200_joint_2" value="3.1415" />
-        <joint name="m1n6s200_joint_3" value="3.1415" />
-        <joint name="m1n6s200_joint_4" value="0" />
-        <joint name="m1n6s200_joint_5" value="0" />
-        <joint name="m1n6s200_joint_6" value="0" />
+        <joint name="m1n6s200_joint_1" value="-1.56695" />
+        <joint name="m1n6s200_joint_2" value="2.6189" />
+        <joint name="m1n6s200_joint_3" value="0.4688" />
+        <joint name="m1n6s200_joint_4" value="-1.6088" />
+        <joint name="m1n6s200_joint_5" value="0.0904" />
+        <joint name="m1n6s200_joint_6" value="1.741" />
     </group_state>
     <group_state name="Open" group="gripper">
-        <joint name="m1n6s200_joint_finger_1" value="0" />
-        <joint name="m1n6s200_joint_finger_2" value="0" />
+        <joint name="m1n6s200_joint_finger_1" value="0.2" />
+        <joint name="m1n6s200_joint_finger_2" value="0.2" />
     </group_state>
     <group_state name="Close" group="gripper">
         <joint name="m1n6s200_joint_finger_1" value="1.2" />
         <joint name="m1n6s200_joint_finger_2" value="1.2" />
     </group_state>
+    <group_state name="Vertical" group="arm">
+        <joint name="m1n6s200_joint_1" value="3.1415" />
+        <joint name="m1n6s200_joint_2" value="3.1415" />
+        <joint name="m1n6s200_joint_3" value="3.1415" />
+        <joint name="m1n6s200_joint_4" value="3.1415" />
+        <joint name="m1n6s200_joint_5" value="3.1415" />
+        <joint name="m1n6s200_joint_6" value="3.1415" />
+    </group_state>
     <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
-    <end_effector name="gripper" parent_link="m1n6s200_end_effector" group="gripper" parent_group="arm" />
+    <end_effector name="end_effector" parent_link="m1n6s200_end_effector" group="gripper" parent_group="arm" />
     <!--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="world_to_root" type="fixed" parent_frame="world" child_link="world" />
     <!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->
     <passive_joint name="m1n6s200_joint_finger_tip_1" />
     <passive_joint name="m1n6s200_joint_finger_tip_2" />
     <!--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="m1n6s200_link_1" link2="root" reason="Adjacent" />
-    <disable_collisions link1="m1n6s200_link_2" link2="root" reason="Adjacent" /> -->
+    <disable_collisions link1="m1n6s200_end_effector" link2="m1n6s200_link_1" reason="Never" />
+    <disable_collisions link1="m1n6s200_end_effector" link2="m1n6s200_link_2" reason="Never" />
+    <disable_collisions link1="m1n6s200_end_effector" link2="m1n6s200_link_3" reason="Never" />
+    <disable_collisions link1="m1n6s200_end_effector" link2="m1n6s200_link_4" reason="Never" />
+    <disable_collisions link1="m1n6s200_end_effector" link2="m1n6s200_link_5" reason="Never" />
+    <disable_collisions link1="m1n6s200_end_effector" link2="m1n6s200_link_6" reason="Adjacent" />
+    <disable_collisions link1="m1n6s200_end_effector" link2="m1n6s200_link_base" reason="Never" />
+    <disable_collisions link1="m1n6s200_end_effector" link2="m1n6s200_link_finger_1" reason="Never" />
+    <disable_collisions link1="m1n6s200_end_effector" link2="m1n6s200_link_finger_2" reason="Never" />
+    <disable_collisions link1="m1n6s200_end_effector" link2="m1n6s200_link_finger_tip_1" reason="Never" />
+    <disable_collisions link1="m1n6s200_end_effector" link2="m1n6s200_link_finger_tip_2" reason="Never" />
+    <disable_collisions link1="m1n6s200_end_effector" link2="root" reason="Never" />
     <disable_collisions link1="m1n6s200_link_1" link2="m1n6s200_link_2" reason="Adjacent" />
+    <disable_collisions link1="m1n6s200_link_1" link2="m1n6s200_link_3" reason="Default" />
+    <disable_collisions link1="m1n6s200_link_1" link2="m1n6s200_link_4" reason="Default" />
     <disable_collisions link1="m1n6s200_link_1" link2="m1n6s200_link_base" reason="Adjacent" />
     <disable_collisions link1="m1n6s200_link_1" link2="root" reason="Never" />
     <disable_collisions link1="m1n6s200_link_2" link2="m1n6s200_link_3" reason="Adjacent" />
-    <disable_collisions link1="m1n6s200_link_2" link2="m1n6s200_link_4" reason="Never" />
+    <disable_collisions link1="m1n6s200_link_2" link2="m1n6s200_link_4" reason="Default" />
+    <disable_collisions link1="m1n6s200_link_2" link2="m1n6s200_link_5" reason="Default" />
+    <disable_collisions link1="m1n6s200_link_2" link2="m1n6s200_link_base" reason="Default" />
     <disable_collisions link1="m1n6s200_link_2" link2="root" reason="Never" />
     <disable_collisions link1="m1n6s200_link_3" link2="m1n6s200_link_4" reason="Adjacent" />
     <disable_collisions link1="m1n6s200_link_3" link2="m1n6s200_link_5" reason="Never" />
     <disable_collisions link1="m1n6s200_link_3" link2="m1n6s200_link_6" reason="Never" />
+    <disable_collisions link1="m1n6s200_link_3" link2="m1n6s200_link_base" reason="Default" />
     <disable_collisions link1="m1n6s200_link_3" link2="m1n6s200_link_finger_1" reason="Never" />
     <disable_collisions link1="m1n6s200_link_3" link2="m1n6s200_link_finger_2" reason="Never" />
     <disable_collisions link1="m1n6s200_link_3" link2="m1n6s200_link_finger_tip_1" reason="Never" />
     <disable_collisions link1="m1n6s200_link_3" link2="m1n6s200_link_finger_tip_2" reason="Never" />
+    <disable_collisions link1="m1n6s200_link_3" link2="root" reason="Never" />
     <disable_collisions link1="m1n6s200_link_4" link2="m1n6s200_link_5" reason="Adjacent" />
     <disable_collisions link1="m1n6s200_link_4" link2="m1n6s200_link_6" reason="Never" />
     <disable_collisions link1="m1n6s200_link_4" link2="m1n6s200_link_finger_1" reason="Never" />
     <disable_collisions link1="m1n6s200_link_4" link2="m1n6s200_link_finger_2" reason="Never" />
     <disable_collisions link1="m1n6s200_link_4" link2="m1n6s200_link_finger_tip_1" reason="Never" />
     <disable_collisions link1="m1n6s200_link_4" link2="m1n6s200_link_finger_tip_2" reason="Never" />
+    <disable_collisions link1="m1n6s200_link_4" link2="root" reason="Never" />
     <disable_collisions link1="m1n6s200_link_5" link2="m1n6s200_link_6" reason="Adjacent" />
     <disable_collisions link1="m1n6s200_link_5" link2="m1n6s200_link_finger_1" reason="Never" />
     <disable_collisions link1="m1n6s200_link_5" link2="m1n6s200_link_finger_2" reason="Never" />
     <disable_collisions link1="m1n6s200_link_5" link2="m1n6s200_link_finger_tip_1" reason="Never" />
     <disable_collisions link1="m1n6s200_link_5" link2="m1n6s200_link_finger_tip_2" reason="Never" />
+    <disable_collisions link1="m1n6s200_link_5" link2="root" reason="Never" />
     <disable_collisions link1="m1n6s200_link_6" link2="m1n6s200_link_finger_1" reason="Adjacent" />
     <disable_collisions link1="m1n6s200_link_6" link2="m1n6s200_link_finger_2" reason="Adjacent" />
+    <disable_collisions link1="m1n6s200_link_6" link2="m1n6s200_link_finger_tip_1" reason="Never" />
+    <disable_collisions link1="m1n6s200_link_6" link2="m1n6s200_link_finger_tip_2" reason="Never" />
+    <disable_collisions link1="m1n6s200_link_6" link2="root" reason="Never" />
     <disable_collisions link1="m1n6s200_link_base" link2="root" reason="Adjacent" />
     <disable_collisions link1="m1n6s200_link_finger_1" link2="m1n6s200_link_finger_tip_1" reason="Adjacent" />
+    <disable_collisions link1="m1n6s200_link_finger_1" link2="root" reason="Never" />
     <disable_collisions link1="m1n6s200_link_finger_2" link2="m1n6s200_link_finger_tip_2" reason="Adjacent" />
-    <disable_collisions link1="m1n6s200_link_finger_1" link2="m1n6s200_link_finger_tip_2" reason="Never" />
-    <disable_collisions link1="m1n6s200_link_finger_2" link2="m1n6s200_link_finger_tip_1" reason="Never" />
-    <disable_collisions link1="m1n6s200_link_finger_1" link2="m1n6s200_link_finger_2" reason="Never" />
-    <disable_collisions link1="m1n6s200_link_finger_2" link2="m1n6s200_link_finger_1" reason="Never" />
-    <disable_collisions link1="m1n6s200_link_finger_tip_2" link2="m1n6s200_link_finger_tip_1" reason="Never" />
-    <disable_collisions link1="m1n6s200_link_finger_tip_1" link2="m1n6s200_end_effector" reason="Never" />
-    <disable_collisions link1="m1n6s200_link_finger_tip_2" link2="m1n6s200_end_effector" reason="Never" />
-    <disable_collisions link1="m1n6s200_link_finger_tip_1" link2="m1n6s200_link_6" reason="Never" />
-    <disable_collisions link1="m1n6s200_link_finger_tip_2" link2="m1n6s200_link_6" reason="Never" />
+    <disable_collisions link1="m1n6s200_link_finger_2" link2="root" reason="Never" />
+    <disable_collisions link1="m1n6s200_link_finger_tip_1" link2="root" reason="Never" />
+    <disable_collisions link1="m1n6s200_link_finger_tip_2" link2="root" reason="Never" />
 </robot>