diff --git a/data/half-sphere-no-angle.nc b/data/half-sphere-no-angle.nc
deleted file mode 100644
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--- a/data/half-sphere-no-angle.nc
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@@ -1,11119 +0,0 @@
-%0001
-(PART: Sfera dlia robota_MILLING)
-(DATE: 17-SEP-2024 12:38:40)
-
-(T01|BALL NOSE||D=6|L=35|R=3)
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-N1943 X100.362 Y-61.086 Z9.33 
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-N1950 X106.991 Y-48.498 Z9.369 
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-N1952 X108.601 Y-44.762 Z9.38 
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-N1957 X112.511 Y-33.682 Z9.412 
-N1958 X113.172 Y-31.386 Z9.419 
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-N1977 X117.166 Y7.178 Z9.528 
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-N1988 X113.642 Y29.275 Z9.59 
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-N1999 X105.974 Y50.331 Z9.653 
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-N2004 X101.193 Y59.33 Z9.681 
-N2005 X100.144 Y61.078 Z9.687 
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-N2009 X95.65 Y67.88 Z9.709 
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-N2012 X91.974 Y72.768 Z9.726 
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diff --git a/data/half-sphere-no-angle.nc.result b/data/half-sphere-no-angle.nc.result
deleted file mode 100644
index ddf40c1..0000000
--- a/data/half-sphere-no-angle.nc.result
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\ No newline at end of file
diff --git a/data/half-sphere.nc b/data/half-sphere.nc
deleted file mode 100644
index 61eef49..0000000
--- a/data/half-sphere.nc
+++ /dev/null
@@ -1,11001 +0,0 @@
-%0001
-(PART: Sfera dlia robota_MILLING)
-(DATE: 17-SEP-2024 12:40:26)
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-N1847 X-6.852 Y-116.446 Z9.16 C-7743.368 
-N1848 X-4.505 Y-116.555 Z9.167 C-7742.214 
-N1849 X-2.157 Y-116.618 Z9.173 C-7741.06 
-N1850 X0.192 Y-116.635 Z9.18 C-7739.905 
-N1851 X2.542 Y-116.606 Z9.186 C-7738.751 
-N1852 X4.89 Y-116.53 Z9.193 C-7737.597 
-N1853 X7.57 Y-116.379 Z9.2 C-7736.278 
-N1854 X9.913 Y-116.199 Z9.207 C-7735.124 
-N1855 X12.252 Y-115.972 Z9.214 C-7733.97 
-N1856 X14.585 Y-115.7 Z9.22 C-7732.815 
-N1857 X16.913 Y-115.382 Z9.227 C-7731.661 
-N1858 X19.233 Y-115.012 Z9.233 C-7730.506 
-N1859 X21.546 Y-114.596 Z9.24 C-7729.352 
-N1860 X23.85 Y-114.135 Z9.246 C-7728.197 
-N1861 X26.144 Y-113.628 Z9.253 C-7727.043 
-N1862 X28.428 Y-113.076 Z9.259 C-7725.888 
-N1863 X30.701 Y-112.479 Z9.266 C-7724.733 
-N1864 X32.953 Y-111.835 Z9.272 C-7723.582 
-N1865 X35.169 Y-111.152 Z9.279 C-7722.442 
-N1866 X37.402 Y-110.417 Z9.286 C-7721.287 
-N1867 X39.619 Y-109.639 Z9.292 C-7720.132 
-N1868 X41.82 Y-108.817 Z9.299 C-7718.977 
-N1869 X44.003 Y-107.947 Z9.305 C-7717.822 
-N1870 X46.168 Y-107.033 Z9.312 C-7716.667 
-N1871 X48.315 Y-106.077 Z9.318 C-7715.512 
-N1872 X50.443 Y-105.079 Z9.325 C-7714.357 
-N1873 X52.55 Y-104.038 Z9.331 C-7713.201 
-N1874 X54.637 Y-102.957 Z9.338 C-7712.046 
-N1875 X56.991 Y-101.664 Z9.345 C-7710.726 
-N1876 X59.027 Y-100.49 Z9.352 C-7709.57 
-N1877 X61.04 Y-99.277 Z9.358 C-7708.415 
-N1878 X63.029 Y-98.024 Z9.365 C-7707.259 
-N1879 X64.992 Y-96.732 Z9.371 C-7706.104 
-N1880 X66.927 Y-95.397 Z9.378 C-7704.948 
-N1881 X68.834 Y-94.024 Z9.385 C-7703.792 
-N1882 X70.714 Y-92.613 Z9.391 C-7702.637 
-N1883 X72.566 Y-91.165 Z9.398 C-7701.481 
-N1884 X74.389 Y-89.682 Z9.404 C-7700.325 
-N1885 X76.183 Y-88.162 Z9.411 C-7699.169 
-N1886 X78.19 Y-86.376 Z9.418 C-7697.848 
-N1887 X79.914 Y-84.778 Z9.425 C-7696.692 
-N1888 X81.606 Y-83.146 Z9.431 C-7695.536 
-N1889 X83.266 Y-81.481 Z9.438 C-7694.379 
-N1890 X84.892 Y-79.784 Z9.444 C-7693.223 
-N1891 X86.481 Y-78.051 Z9.451 C-7692.067 
-N1892 X88.034 Y-76.286 Z9.457 C-7690.911 
-N1893 X89.553 Y-74.492 Z9.464 C-7689.754 
-N1894 X91.036 Y-72.667 Z9.47 C-7688.598 
-N1895 X92.483 Y-70.814 Z9.477 C-7687.441 
-N1896 X93.892 Y-68.932 Z9.483 C-7686.285 
-N1897 X95.451 Y-66.743 Z9.491 C-7684.963 
-N1898 X96.776 Y-64.8 Z9.497 C-7683.806 
-N1899 X98.062 Y-62.832 Z9.504 C-7682.649 
-N1900 X99.309 Y-60.838 Z9.51 C-7681.492 
-N1901 X100.516 Y-58.82 Z9.517 C-7680.335 
-N1902 X101.678 Y-56.775 Z9.523 C-7679.178 
-N1903 X102.799 Y-54.708 Z9.53 C-7678.021 
-N1904 X103.88 Y-52.619 Z9.536 C-7676.864 
-N1905 X104.919 Y-50.509 Z9.542 C-7675.707 
-N1906 X105.916 Y-48.379 Z9.549 C-7674.55 
-N1907 X106.87 Y-46.229 Z9.555 C-7673.392 
-N1908 X107.777 Y-44.059 Z9.562 C-7672.235 
-N1909 X108.64 Y-41.871 Z9.568 C-7671.077 
-N1910 X109.46 Y-39.666 Z9.575 C-7669.92 
-N1911 X110.147 Y-37.71 Z9.581 C-7668.899 
-N1912 X110.821 Y-35.669 Z9.587 C-7667.841 
-N1913 X111.431 Y-33.707 Z9.592 C-7666.83 
-N1914 X112.09 Y-31.438 Z9.599 C-7665.667 
-N1915 X112.707 Y-29.145 Z9.606 C-7664.499 
-N1916 X113.196 Y-27.17 Z9.611 C-7663.497 
-N1917 X113.651 Y-25.186 Z9.617 C-7662.495 
-N1918 X114.071 Y-23.195 Z9.623 C-7661.494 
-N1919 X114.456 Y-21.196 Z9.629 C-7660.492 
-N1920 X114.806 Y-19.191 Z9.634 C-7659.49 
-N1921 X115.121 Y-17.18 Z9.64 C-7658.488 
-N1922 X115.401 Y-15.164 Z9.646 C-7657.486 
-N1923 X115.645 Y-13.143 Z9.651 C-7656.484 
-N1924 X115.854 Y-11.118 Z9.657 C-7655.482 
-N1925 X116.028 Y-9.09 Z9.663 C-7654.479 
-N1926 X116.166 Y-7.058 Z9.669 C-7653.477 
-N1927 X116.269 Y-5.025 Z9.674 C-7652.475 
-N1928 X116.336 Y-2.99 Z9.68 C-7651.472 
-N1929 X116.367 Y-0.954 Z9.686 C-7650.47 
-N1930 X116.363 Y1.064 Z9.691 C-7649.476 
-N1931 X116.324 Y3.082 Z9.697 C-7648.482 
-N1932 X116.25 Y5.1 Z9.703 C-7647.488 
-N1933 X116.141 Y7.115 Z9.709 C-7646.494 
-N1934 X115.997 Y9.129 Z9.714 C-7645.5 
-N1935 X115.819 Y11.141 Z9.72 C-7644.506 
-N1936 X115.605 Y13.148 Z9.726 C-7643.511 
-N1937 X115.356 Y15.152 Z9.731 C-7642.517 
-N1938 X115.073 Y17.152 Z9.737 C-7641.522 
-N1939 X114.755 Y19.146 Z9.743 C-7640.528 
-N1940 X114.402 Y21.134 Z9.748 C-7639.533 
-N1941 X114.015 Y23.116 Z9.754 C-7638.539 
-N1942 X113.594 Y25.092 Z9.76 C-7637.544 
-N1943 X113.138 Y27.059 Z9.765 C-7636.549 
-N1944 X112.648 Y29.019 Z9.771 C-7635.554 
-N1945 X112.125 Y30.97 Z9.777 C-7634.559 
-N1946 X111.567 Y32.911 Z9.782 C-7633.565 
-N1947 X110.976 Y34.843 Z9.788 C-7632.57 
-N1948 X110.351 Y36.764 Z9.794 C-7631.574 
-N1949 X109.689 Y38.685 Z9.799 C-7630.573 
-N1950 X108.993 Y40.596 Z9.805 C-7629.572 
-N1951 X108.269 Y42.481 Z9.811 C-7628.576 
-N1952 X107.512 Y44.355 Z9.816 C-7627.581 
-N1953 X106.722 Y46.214 Z9.822 C-7626.586 
-N1954 X105.9 Y48.06 Z9.828 C-7625.59 
-N1955 X105.047 Y49.891 Z9.833 C-7624.595 
-N1956 X104.161 Y51.707 Z9.839 C-7623.599 
-N1957 X103.245 Y53.508 Z9.845 C-7622.604 
-N1958 X102.297 Y55.292 Z9.85 C-7621.608 
-N1959 X101.318 Y57.06 Z9.856 C-7620.613 
-N1960 X100.308 Y58.811 Z9.862 C-7619.617 
-N1961 X99.268 Y60.543 Z9.868 C-7618.621 
-N1962 X98.199 Y62.258 Z9.873 C-7617.625 
-N1963 X97.099 Y63.953 Z9.879 C-7616.629 
-N1964 X95.97 Y65.63 Z9.885 C-7615.634 
-N1965 X94.813 Y67.286 Z9.89 C-7614.638 
-N1966 X93.626 Y68.922 Z9.896 C-7613.642 
-N1967 X92.412 Y70.538 Z9.902 C-7612.646 
-N1968 X91.169 Y72.132 Z9.907 C-7611.649 
-N1969 X89.899 Y73.704 Z9.913 C-7610.653 
-N1970 X88.602 Y75.254 Z9.919 C-7609.657 
-N1971 X87.278 Y76.781 Z9.924 C-7608.661 
-N1972 X85.927 Y78.285 Z9.93 C-7607.665 
-N1973 X84.551 Y79.765 Z9.936 C-7606.668 
-N1974 X83.149 Y81.221 Z9.942 C-7605.672 
-N1975 X81.722 Y82.652 Z9.947 C-7604.676 
-N1976 X80.27 Y84.059 Z9.953 C-7603.679 
-N1977 X78.794 Y85.44 Z9.959 C-7602.683 
-N1978 X77.294 Y86.795 Z9.964 C-7601.686 
-N1979 X75.77 Y88.124 Z9.97 C-7600.69 
-N1980 X74.224 Y89.426 Z9.976 C-7599.693 
-N1981 X72.656 Y90.701 Z9.981 C-7598.696 
-N1982 X71.065 Y91.949 Z9.987 C-7597.7 
-N1983 X69.453 Y93.169 Z9.993 C-7596.703 
-N1984 X67.82 Y94.361 Z9.998 C-7595.706 
-N1985 X66.166 Y95.524 Z10.004 C-7594.709 
-N1986 X64.493 Y96.658 Z10.01 C-7593.712 
-N1987 X62.799 Y97.763 Z10.016 C-7592.715 
-N1988 X61.087 Y98.838 Z10.021 C-7591.718 
-N1989 X59.357 Y99.883 Z10.027 C-7590.721 
-N1990 X57.608 Y100.898 Z10.033 C-7589.724 
-N1991 X55.842 Y101.883 Z10.038 C-7588.727 
-N1992 X54.059 Y102.836 Z10.044 C-7587.73 
-N1993 X52.26 Y103.759 Z10.05 C-7586.733 
-N1994 X50.445 Y104.65 Z10.055 C-7585.736 
-N1995 X48.615 Y105.509 Z10.061 C-7584.739 
-N1996 X46.77 Y106.337 Z10.067 C-7583.741 
-N1997 X44.911 Y107.132 Z10.072 C-7582.744 
-N1998 X43.038 Y107.895 Z10.078 C-7581.747 
-N1999 X41.152 Y108.624 Z10.084 C-7580.749 
-N2000 X39.254 Y109.322 Z10.089 C-7579.752 
-N2001 X37.024 Y110.09 Z10.096 C-7578.588 
-N2002 X34.779 Y110.815 Z10.103 C-7577.424 
-N2003 X32.818 Y111.409 Z10.108 C-7576.413 
-N2004 X30.793 Y111.982 Z10.114 C-7575.375 
-N2005 X28.811 Y112.505 Z10.12 C-7574.364 
-N2006 X26.519 Y113.065 Z10.127 C-7573.2 
-N2007 X24.217 Y113.579 Z10.133 C-7572.036 
-N2008 X22.235 Y113.98 Z10.139 C-7571.038 
-N2009 X20.246 Y114.347 Z10.145 C-7570.041 
-N2010 X18.251 Y114.679 Z10.151 C-7569.043 
-N2011 X16.251 Y114.977 Z10.156 C-7568.045 
-N2012 X14.246 Y115.239 Z10.162 C-7567.047 
-N2013 X12.236 Y115.467 Z10.168 C-7566.049 
-N2014 X10.223 Y115.66 Z10.173 C-7565.051 
-N2015 X8.207 Y115.817 Z10.179 C-7564.053 
-N2016 X6.188 Y115.939 Z10.185 C-7563.055 
-N2017 X4.167 Y116.026 Z10.19 C-7562.057 
-N2018 X2.145 Y116.078 Z10.196 C-7561.059 
-N2019 X0.123 Y116.095 Z10.202 C-7560.061 
-N2020 X-1.9 Y116.077 Z10.207 C-7559.062 
-N2021 X-3.921 Y116.023 Z10.213 C-7558.064 
-N2022 X-5.942 Y115.934 Z10.219 C-7557.066 
-N2023 X-7.961 Y115.81 Z10.225 C-7556.068 
-N2024 X-9.977 Y115.65 Z10.23 C-7555.069 
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-N2026 X-14. Y115.226 Z10.242 C-7553.072 
-N2027 X-16.006 Y114.962 Z10.247 C-7552.074 
-N2028 X-18.006 Y114.662 Z10.253 C-7551.075 
-N2029 X-20.001 Y114.328 Z10.259 C-7550.077 
-N2030 X-21.99 Y113.959 Z10.264 C-7549.078 
-N2031 X-23.972 Y113.556 Z10.27 C-7548.08 
-N2032 X-25.947 Y113.118 Z10.276 C-7547.081 
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-N2034 X-29.872 Y112.139 Z10.287 C-7545.084 
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-N2039 X-39.516 Y109.098 Z10.315 C-7540.089 
-N2040 X-41.411 Y108.39 Z10.321 C-7539.09 
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-N2048 X-56.069 Y101.557 Z10.366 C-7531.097 
-N2049 X-57.83 Y100.561 Z10.372 C-7530.098 
-N2050 X-59.574 Y99.534 Z10.378 C-7529.098 
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-N2052 X-63.006 Y97.39 Z10.389 C-7527.1 
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-N2054 X-66.361 Y95.128 Z10.4 C-7525.101 
-N2055 X-68.009 Y93.954 Z10.406 C-7524.101 
-N2056 X-69.636 Y92.751 Z10.412 C-7523.101 
-N2057 X-71.241 Y91.519 Z10.417 C-7522.102 
-N2058 X-72.825 Y90.26 Z10.423 C-7521.102 
-N2059 X-74.387 Y88.973 Z10.429 C-7520.102 
-N2060 X-75.926 Y87.659 Z10.434 C-7519.102 
-N2061 X-77.442 Y86.319 Z10.44 C-7518.103 
-N2062 X-78.935 Y84.952 Z10.446 C-7517.103 
-N2063 X-80.403 Y83.559 Z10.451 C-7516.103 
-N2064 X-81.847 Y82.141 Z10.457 C-7515.103 
-N2065 X-83.266 Y80.698 Z10.463 C-7514.103 
-N2066 X-84.729 Y79.155 Z10.469 C-7513.052 
-N2067 X-86.095 Y77.662 Z10.475 C-7512.052 
-N2068 X-87.436 Y76.146 Z10.481 C-7511.052 
-N2069 X-88.749 Y74.606 Z10.487 C-7510.052 
-N2070 X-90.035 Y73.043 Z10.492 C-7509.051 
-N2071 X-91.294 Y71.458 Z10.498 C-7508.051 
-N2072 X-92.526 Y69.852 Z10.504 C-7507.051 
-N2073 X-93.729 Y68.224 Z10.509 C-7506.05 
-N2074 X-94.903 Y66.575 Z10.515 C-7505.05 
-N2075 X-96.048 Y64.906 Z10.521 C-7504.049 
-N2076 X-97.165 Y63.218 Z10.526 C-7503.049 
-N2077 X-98.251 Y61.51 Z10.532 C-7502.048 
-N2078 X-99.308 Y59.783 Z10.538 C-7501.048 
-N2079 X-100.334 Y58.038 Z10.543 C-7500.047 
-N2080 X-101.33 Y56.275 Z10.549 C-7499.046 
-N2081 X-102.294 Y54.495 Z10.555 C-7498.046 
-N2082 X-103.228 Y52.699 Z10.56 C-7497.045 
-N2083 X-104.13 Y50.886 Z10.566 C-7496.044 
-N2084 X-105. Y49.058 Z10.572 C-7495.043 
-N2085 X-105.838 Y47.215 Z10.578 C-7494.042 
-N2086 X-106.644 Y45.358 Z10.583 C-7493.041 
-N2087 X-107.418 Y43.486 Z10.589 C-7492.04 
-N2088 X-108.158 Y41.602 Z10.595 C-7491.039 
-N2089 X-108.866 Y39.704 Z10.6 C-7490.037 
-N2090 X-109.54 Y37.795 Z10.606 C-7489.036 
-N2091 X-110.181 Y35.874 Z10.612 C-7488.035 
-N2092 X-110.788 Y33.942 Z10.617 C-7487.033 
-N2093 X-111.361 Y31.999 Z10.623 C-7486.032 
-N2094 X-111.901 Y30.047 Z10.629 C-7485.03 
-N2095 X-112.406 Y28.086 Z10.634 C-7484.029 
-N2096 X-112.876 Y26.116 Z10.64 C-7483.027 
-N2097 X-113.313 Y24.138 Z10.646 C-7482.026 
-N2098 X-113.714 Y22.153 Z10.651 C-7481.024 
-N2099 X-114.081 Y20.161 Z10.657 C-7480.022 
-N2100 X-114.413 Y18.162 Z10.663 C-7479.02 
-N2101 X-114.71 Y16.158 Z10.668 C-7478.018 
-N2102 X-114.972 Y14.15 Z10.674 C-7477.016 
-N2103 X-115.199 Y12.136 Z10.68 C-7476.014 
-N2104 X-115.391 Y10.119 Z10.685 C-7475.012 
-N2105 X-115.547 Y8.099 Z10.691 C-7474.01 
-N2106 X-115.668 Y6.077 Z10.697 C-7473.007 
-N2107 X-115.754 Y4.052 Z10.702 C-7472.005 
-N2108 X-115.804 Y2.026 Z10.708 C-7471.002 
-N2109 X-115.818 Y0. Z10.713 C-7470. 
-N2110 X-115.796 Y-2.027 Z10.721 C-7468.997 
-N2111 X-115.729 Y-4.307 Z10.727 C-7467.869 
-N2112 X-115.617 Y-6.648 Z10.733 C-7466.709 
-N2113 X-115.481 Y-8.653 Z10.739 C-7465.715 
-N2114 X-115.276 Y-10.988 Z10.745 C-7464.555 
-N2115 X-115.025 Y-13.319 Z10.752 C-7463.395 
-N2116 X-114.728 Y-15.645 Z10.759 C-7462.235 
-N2117 X-114.384 Y-17.964 Z10.765 C-7461.074 
-N2118 X-113.995 Y-20.277 Z10.772 C-7459.914 
-N2119 X-113.56 Y-22.581 Z10.778 C-7458.754 
-N2120 X-113.073 Y-24.875 Z10.785 C-7457.593 
-N2121 X-112.541 Y-27.159 Z10.791 C-7456.433 
-N2122 X-111.964 Y-29.432 Z10.798 C-7455.272 
-N2123 X-111.342 Y-31.693 Z10.805 C-7454.111 
-N2124 X-110.675 Y-33.942 Z10.811 C-7452.95 
-N2125 X-109.964 Y-36.177 Z10.818 C-7451.79 
-N2126 X-109.089 Y-38.71 Z10.825 C-7450.463 
-N2127 X-108.278 Y-40.911 Z10.832 C-7449.302 
-N2128 X-107.424 Y-43.096 Z10.838 C-7448.14 
-N2129 X-106.397 Y-45.572 Z10.846 C-7446.813 
-N2130 X-105.446 Y-47.717 Z10.852 C-7445.652 
-N2131 X-104.453 Y-49.842 Z10.859 C-7444.491 
-N2132 X-103.417 Y-51.947 Z10.866 C-7443.329 
-N2133 X-102.34 Y-54.032 Z10.872 C-7442.168 
-N2134 X-101.222 Y-56.094 Z10.879 C-7441.006 
-N2135 X-100.063 Y-58.134 Z10.885 C-7439.845 
-N2136 X-98.683 Y-60.433 Z10.893 C-7438.517 
-N2137 X-97.434 Y-62.419 Z10.899 C-7437.355 
-N2138 X-96.145 Y-64.38 Z10.906 C-7436.193 
-N2139 X-94.818 Y-66.315 Z10.912 C-7435.031 
-N2140 X-93.453 Y-68.224 Z10.919 C-7433.869 
-N2141 X-92.046 Y-70.101 Z10.926 C-7432.707 
-N2142 X-90.601 Y-71.951 Z10.932 C-7431.545 
-N2143 X-89.12 Y-73.771 Z10.939 C-7430.383 
-N2144 X-87.603 Y-75.561 Z10.945 C-7429.221 
-N2145 X-86.051 Y-77.321 Z10.952 C-7428.059 
-N2146 X-84.463 Y-79.05 Z10.958 C-7426.896 
-N2147 X-82.698 Y-80.885 Z10.966 C-7425.635 
-N2148 X-80.976 Y-82.603 Z10.973 C-7424.43 
-N2149 X-79.282 Y-84.227 Z10.979 C-7423.268 
-N2150 X-77.556 Y-85.817 Z10.986 C-7422.105 
-N2151 X-75.795 Y-87.369 Z10.992 C-7420.942 
-N2152 X-74.003 Y-88.885 Z10.999 C-7419.78 
-N2153 X-72.181 Y-90.365 Z11.005 C-7418.617 
-N2154 X-70.331 Y-91.809 Z11.012 C-7417.454 
-N2155 X-68.452 Y-93.216 Z11.018 C-7416.291 
-N2156 X-66.545 Y-94.585 Z11.025 C-7415.128 
-N2157 X-64.888 Y-95.726 Z11.031 C-7414.131 
-N2158 X-63.211 Y-96.837 Z11.036 C-7413.135 
-N2159 X-61.515 Y-97.92 Z11.042 C-7412.138 
-N2160 X-59.8 Y-98.973 Z11.048 C-7411.141 
-N2161 X-58.067 Y-99.996 Z11.054 C-7410.144 
-N2162 X-56.317 Y-100.988 Z11.059 C-7409.147 
-N2163 X-54.549 Y-101.95 Z11.065 C-7408.149 
-N2164 X-52.766 Y-102.881 Z11.071 C-7407.152 
-N2165 X-50.966 Y-103.781 Z11.076 C-7406.155 
-N2166 X-49.151 Y-104.65 Z11.082 C-7405.158 
-N2167 X-47.32 Y-105.486 Z11.088 C-7404.161 
-N2168 X-45.476 Y-106.291 Z11.093 C-7403.163 
-N2169 X-43.618 Y-107.064 Z11.099 C-7402.166 
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diff --git a/data/half-sphere.nc.result b/data/half-sphere.nc.result
deleted file mode 100644
index 7007b82..0000000
--- a/data/half-sphere.nc.result
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-X-39.81 Y-19.101 Z72.271 W33.55632
-X-34.829 Y-26.839 Z72.338 W33.67617
-X-29.499 Y-32.393 Z72.394 W33.77678
-X-22.547 Y-37.362 Z72.456 W33.88891
-X-15.358 Y-40.673 Z72.514 W33.99314
-X-7.109 Y-42.714 Z72.576 W34.1055
-X0.446 Y-43.146 Z72.631 W34.205929999999995
-X9.119 Y-41.985 Z72.695 W34.32254
-X16.205 Y-39.622 Z72.749 W34.42245
-X22.802 Y-36.046 Z72.804 W34.52317
-X29.721 Y-30.331 Z72.869 W34.64417
-X35.105 Y-23.564 Z72.932 W34.76129
-X38.555 Y-16.973 Z72.986 W34.86239
-X40.799 Y-9.774 Z73.044 W34.965270000000004
-X41.709 Y-2.129 Z73.109 W35.07078
-X41.119 Y6.042 Z73.178 U-0.19999 W35.1836
-X39.023 Y13.709 Z73.244 W35.29357
-X35.776 Y20.391 Z73.307 U-0.2 W35.39682
-X31.8 Y25.894 Z73.364 U-0.2 W35.491550000000004
-X25.982 Y31.461 Z73.431 W35.604479999999995
-X20.349 Y35.169 Z73.488 U-0.19999 W35.69946
-X12.985 Y38.285 Z73.555 U-0.19999 W35.81266
-X5.549 Y39.847 Z73.619 U-0.19999 W35.92072
-X-2.386 Y39.958 Z73.686 U-0.2 W36.03418
-X-8.938 Y38.842 Z73.741 U-0.2 W36.12959
-X-16.335 Y36.128 Z73.808 W36.2433
-X-22.524 Y32.403 Z73.868 U-0.2 W36.34804
-X-28.32 Y27.181 Z73.934 W36.46177
-X-32.284 Y22.03 Z73.989 U-0.2 W36.5569
-X-35.703 Y15.404 Z74.051 U-0.2 W36.666619999999995
-X-37.845 Y7.968 Z74.117 W36.78111
-Y0.28 Z74.181 U-0.19999 W36.895830000000004
-X-37.745 Y-6.404 Z74.238 U-0.19999 W36.9963
-X-35.913 Y-12.736 Z74.293 U-0.19999 W37.09527
-X-32.561 Y-19.404 Z74.356 U-0.2 W37.20791
-X-27.981 Y-25.259 Z74.419 W37.32073
-X-23.022 Y-29.617 Z74.474 U-0.19999 W37.42142
-X-17.473 Y-32.992 Z74.529 U-0.2 W37.52094
-X-10.596 Y-35.581 Z74.591 W37.63417
-X-3.668 Y-36.746 Z74.65 U-0.19999 W37.74299
-X3.614 Y-36.542 Z74.711 U-0.19999 W37.856480000000005
-X10.424 Y-35.001 Z74.77 W37.96585
-X16.046 Y-32.612 Z74.822 U-0.19999 W38.06198
-X22.044 Y-28.639 Z74.882 U-0.2 W38.17586
-X27.114 Y-23.579 Z74.942 W38.28989
-X31.063 Y-17.64 Z75.003 U-0.19999 W38.404090000000004
-X33.496 Y-11.879 Z75.056 U-0.2 W38.50474
-X34.914 Y-5.218 Z75.122 U-0.19998000000000002 W38.615010000000005
-X35.037 Y1.388 Z75.191 U-0.2 W38.72269
-X33.953 Y7.74 Z75.257 W38.82842
-X31.369 Y14.495 Z75.332 W38.94801
-X27.971 Y19.89 Z75.398 U-0.2 W39.05416
-X23.177 Y24.953 Z75.47 W39.17113
-X17.765 Y28.76 Z75.538 U-0.19998000000000002 W39.282959999999996
-X11.753 Y31.427 Z75.606 W39.39496
-X5.092 Y32.898 Z75.677 W39.51202
-X-1.095 Y33.031 Z75.741 U-0.19998000000000002 W39.61899
-X-7.458 Y31.936 Z75.808 W39.73145
-X-13.175 Y29.772 Z75.871 U-0.2 W39.83871
-X-18.597 Y26.413 Z75.937 U-0.2 W39.95149
-X-23.789 Y21.424 Z76.012 U-0.2 W40.07995
-X-27.289 Y16.249 Z76.076 U-0.2 W40.19229
-X-29.876 Y9.911 Z76.148 U-0.19998000000000002 W40.31648
-X-30.989 Y3.798 Z76.212 W40.43013
-X-30.834 Y-2.683 Z76.279 W40.54974
-X-29.313 Y-9.04 Z76.347 W40.67141
-X-26.353 Y-15.132 Z76.417 W40.79866
-X-21.951 Y-20.577 Z76.49 U-0.19998000000000002 W40.9315
-X-17.313 Y-24.291 Z76.552 W41.04521
-X-11.908 Y-27.064 Z76.614 U-0.2 W41.1625
-X-5.824 Y-28.7 Z76.68 W41.2853
-X0.961 Y-28.968 Z76.751 U-0.2 W41.419
-X7.308 Y-27.748 Z76.818 U-0.2 W41.547560000000004
-X12.45 Y-25.569 Z76.876 U-0.2 W41.659620000000004
-X17.358 Y-22.177 Z76.938 U-0.19998000000000002 W41.78051000000001
-X20.93 Y-18.489 Z76.991 W41.885439999999996
-X24.104 Y-13.542 Z77.053 U-0.19998000000000002 W42.006719999999994
-X26.142 Y-8.145 Z77.112 U-0.2 W42.126949999999994
-X26.849 Y-3.142 Z77.188 W42.233239999999995
-X26.638 Y1.702 Z77.261 W42.33657
-X25.595 Y6.294 Z77.331 W42.438159999999996
-X23.432 Y11.201 Z77.412 U-0.2 W42.555479999999996
-X20.802 Y14.98 Z77.481 W42.65759
-X17.575 Y18.194 Z77.55 W42.759899999999995
-X13.869 Y20.749 Z77.618 W42.8624
-X9.814 Y22.578 Z77.685 W42.96507
-X5.152 Y23.69 Z77.758 W43.07731
-X0.821 Y23.889 Z77.823 W43.180330000000005
-X-3.699 Y23.25 Z77.892 W43.29041
-X-7.697 Y21.885 Z77.956 W43.39377
-X-12.445 Y19.029 Z78.04 W43.531859999999995
-X-16.369 Y15.099 Z78.124 U-0.19997 W43.67312
-X-19.182 Y10.342 Z78.208 U-0.19997 W43.81669
-X-20.64 Y5.437 Z78.286 U-0.2 W43.95243000000001
-X-20.845 Y-0.095 Z78.37 W44.102610000000006
-X-19.792 Y-4.899 Z78.445 U-0.19997 W44.23904
-X-17.358 Y-9.695 Z78.527 U-0.2 W44.391850000000005
-X-13.792 Y-13.596 Z78.608 U-0.19997 W44.545919999999995
-X-9.501 Y-16.296 Z78.685 U-0.2 W44.69757
-X-5.351 Y-17.622 Z78.752 U-0.19997 W44.83112
-X-0.451 Y-17.898 Z78.827 U-0.2 W44.985569999999996
-X3.62 Y-17.075 Z78.89 U-0.19997 W45.11972
-X7.748 Y-15.072 Z78.961 U-0.2 W45.272079999999995
-X11.152 Y-12.06 Z79.031 U-0.19997 W45.42761
-X13.545 Y-8.347 Z79.098 U-0.2 W45.58357
-X14.85 Y-4.222 W45.741279999999996
-X15.429 Y-0.409 W45.88483
-X15.124 Y3.081 W46.01514
-X13.637 Y7.239 U-0.2 W46.179610000000004
-X11.636 Y10.147 W46.31091000000001
-X9.012 Y12.536 W46.44287
-X5.899 Y14.268 W46.575379999999996
-X1.964 Y15.313 W46.72692
-X-1.625 Y15.353 W46.860429999999994
-X-5.14 Y14.558 W46.99447
-X-8.386 Y12.963 W47.12899
-X-11.18 Y10.647 W47.26397
-X-13.357 Y7.742 W47.39903
-X-14.807 Y4.372 W47.53548
-X-15.421 Y0.736 W47.67267
-X-15.093 Y-3.248 W47.821450000000006
-X-13.97 Y-6.573 W47.95196
-X-12.112 Y-9.574 W48.08323
-X-9.291 Y-12.33 W48.23001
-X-6.221 Y-14.13 W48.36239
-X-2.805 Y-15.182 W48.495309999999996
-X0.774 Y-15.419 W48.62873
-X4.599 Y-14.735 U-0.19997 W48.77334
-X8.021 Y-13.192 W48.91303
-X10.881 Y-10.953 W49.048100000000005
-X13.146 Y-8.095 W49.18376
-X14.723 Y-4.645 W49.3249
\ No newline at end of file
diff --git a/gui/visualize.py b/gui/visualize.py
index 32d5fc1..3d4f3d0 100644
--- a/gui/visualize.py
+++ b/gui/visualize.py
@@ -26,7 +26,7 @@ class Visualize(QWidget):
         # Таймер для обновления изображения
         self.timer = QTimer()
         self.timer.timeout.connect(self.update_image)
-        self.timer.start(30) 
+        self.timer.start(300) 
 
     def update_image(self):
         res = self.get_pybullet_image()
diff --git a/robot/start_axis_coordinates [-17.409513, 10.yml b/robot/start_axis_coordinates [-17.409513, 10.yml
deleted file mode 100644
index a46cb21..0000000
--- a/robot/start_axis_coordinates [-17.409513, 10.yml	
+++ /dev/null
@@ -1,29 +0,0 @@
-start_axis_coordinates [-17.409513, 10.897068, -33.003525, 176.892288, 38.957874, -159.934479]
-2024-11-20 11:30:38,423 - logger - INFO - Координаты осей [-17.409513, 10.897068, -33.003525, 176.892288, 38.957874, -159.934479] - client_socket.py - 335
-start_world_coordinates [1100.071655, -347.347412, 782.754578, 172.284241, 28.079557, 142.505508]
-2024-11-20 11:30:38,749 - logger - INFO - Мировые координаты [1100.071655, -347.347412, 782.754578, 172.284241, 28.079557, 142.505508] - client_socket.py - 335       
-2024-11-20 11:30:41,006 - logger - INFO - ((1.1000248922480573, -0.3473308024704409, 0.7827464256721681), (0.1975530130964997, 0.3696691292278632, -0.22915808560139195, 0.8785238264930056), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (1.100024938583374, -0.34733080863952637, 0.782746434211731), (0.19755300879478455, 0.369669109582901, -0.22915808856487274, 0.8785238265991211)) - client_socket.py - 277
-2024-11-20 11:30:41,045 - logger - INFO - delta by WORLD 0 -0.04676275194265145 - client_socket.py - 283
-2024-11-20 11:30:41,046 - logger - INFO - delta by WORLD 1 0.016609529559104885 - client_socket.py - 283
-2024-11-20 11:30:41,046 - logger - INFO - delta by WORLD 2 -0.008152327831908224 - client_socket.py - 283
-2024-11-20 11:30:41,046 - logger - INFO - delta by WORLD 3 -156.96466380748956 - client_socket.py - 283
-2024-11-20 11:30:41,046 - logger - INFO - delta by WORLD 4 19.657652851267038 - client_socket.py - 283
-2024-11-20 11:30:41,046 - logger - INFO - delta by WORLD 5 -164.93326011072438 - client_socket.py - 283
-['0']
-2024-11-20 11:30:43,164 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 335
-
--------------
-
-start_axis_coordinates [-17.596806, -48.161888, 66.406982, 177.113632, -2.829787, -159.933365]
-2024-11-20 11:32:01,504 - logger - INFO - Координаты осей [-17.596806, -48.161888, 66.406982, 177.113632, -2.829787, -159.933365] - client_socket.py - 335
-start_world_coordinates [1760.178345, -556.172241, 1464.099487, 37.394836, 63.0933, 23.159439]
-2024-11-20 11:32:02,175 - logger - INFO - Мировые координаты [1760.178345, -556.172241, 1464.099487, 37.394836, 63.0933, 23.159439] - client_socket.py - 335
-2024-11-20 11:32:04,362 - logger - INFO - ((1.6404114463274249, -0.5154138445656675, 1.3734772183475625), (0.09228901186217398, -0.3143022100029689, -0.10876049893679361, 0.9385456903890044), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (1.6404114961624146, -0.5154138207435608, 1.3734772205352783), (0.09228900820016861, -0.3143022060394287, -0.10876049846410751, 0.9385457038879395)) - client_socket.py - 277
-2024-11-20 11:32:04,415 - logger - INFO - delta by WORLD 0 -119.76689867257528 - client_socket.py - 283
-2024-11-20 11:32:04,426 - logger - INFO - delta by WORLD 1 40.75839643433244 - client_socket.py - 283
-2024-11-20 11:32:04,428 - logger - INFO - delta by WORLD 2 -90.62226865243747 - client_socket.py - 283
-2024-11-20 11:32:04,428 - logger - INFO - delta by WORLD 3 -20.29593014843105 - client_socket.py - 283
-2024-11-20 11:32:04,428 - logger - INFO - delta by WORLD 4 -97.83649496866383 - client_socket.py - 283
-2024-11-20 11:32:04,428 - logger - INFO - delta by WORLD 5 -41.76482033281894 - client_socket.py - 283
-['0']
-2024-11-20 11:32:06,525 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 335
\ No newline at end of file
diff --git a/robot/start_axis_coordinates [-39.428261, 10.yml b/robot/start_axis_coordinates [-39.428261, 10.yml
deleted file mode 100644
index 66a3ab6..0000000
--- a/robot/start_axis_coordinates [-39.428261, 10.yml	
+++ /dev/null
@@ -1,29 +0,0 @@
-start_axis_coordinates [-39.428261, 10.391139, -32.562145, 176.81929, 38.895988, -159.779755]
-2024-11-20 11:38:42,235 - logger - INFO - Координаты осей [-39.428261, 10.391139, -32.562145, 176.81929, 38.895988, -159.779755] - client_socket.py - 335
-start_world_coordinates [894.159973, -738.295654, 782.748047, 172.274109, 28.079031, 120.377357]
-2024-11-20 11:38:42,890 - logger - INFO - Мировые координаты [894.159973, -738.295654, 782.748047, 172.274109, 28.079031, 120.377357] - client_socket.py - 335
-2024-11-20 11:38:44,993 - logger - INFO - ((0.8941137825799222, -0.7382554970424713, 0.782738013993114), (0.263486804734911, 0.325583439665963, -0.389064554404618, 0.8204869895688798), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (0.8941137790679932, -0.738255500793457, 0.7827380299568176), (0.2634868323802948, 0.32558345794677734, -0.38906461000442505, 0.8204869627952576)) - client_socket.py - 277
-2024-11-20 11:38:44,993 - logger - INFO - delta by WORLD 0 -0.04619042007777807 - client_socket.py - 283
-2024-11-20 11:38:44,993 - logger - INFO - delta by WORLD 1 0.04015695752877946 - client_socket.py - 283
-2024-11-20 11:38:44,993 - logger - INFO - delta by WORLD 2 -0.010033006886033036 - client_socket.py - 283
-2024-11-20 11:38:45,005 - logger - INFO - delta by WORLD 3 -156.85556780744494 - client_socket.py - 283
-2024-11-20 11:38:45,005 - logger - INFO - delta by WORLD 4 19.59284939830612 - client_socket.py - 283
-2024-11-20 11:38:45,005 - logger - INFO - delta by WORLD 5 -164.2715918767725 - client_socket.py - 283
-['0']
-2024-11-20 11:38:47,065 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 335
-
-----------
-
-start_axis_coordinates [-39.618977, -48.92078, 67.760857, 177.057007, -2.976943, -159.779617]
-2024-11-20 11:39:57,253 - logger - INFO - Координаты осей [-39.618977, -48.92078, 67.760857, 177.057007, -2.976943, -159.779617] - client_socket.py - 335
-start_world_coordinates [1424.159302, -1176.359009, 1468.858276, 36.489479, 62.471985, 0.377431]
-2024-11-20 11:39:58,005 - logger - INFO - Мировые координаты [1424.159302, -1176.359009, 1468.858276, 36.489479, 62.471985, 0.377431] - client_socket.py - 335
-2024-11-20 11:40:00,085 - logger - INFO - ((1.3187115111473926, -1.086417059358426, 1.3698830235806743), (0.03209621249127363, -0.32684752959709606, -0.282750029118649, 0.9012174801752314), (0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0), (1.318711519241333, -1.0864170789718628, 1.3698830604553223), (0.03209621086716652, -0.32684752345085144, -0.28275004029273987, 0.901217520236969)) - client_socket.py - 277
-2024-11-20 11:40:00,095 - logger - INFO - delta by WORLD 0 -105.44779085260734 - client_socket.py - 283
-2024-11-20 11:40:00,154 - logger - INFO - delta by WORLD 1 89.94194964157418 - client_socket.py - 283
-2024-11-20 11:40:00,154 - logger - INFO - delta by WORLD 2 -98.97525241932567 - client_socket.py - 283
-2024-11-20 11:40:00,154 - logger - INFO - delta by WORLD 3 -19.295606403737718 - client_socket.py - 283
-2024-11-20 11:40:00,164 - logger - INFO - delta by WORLD 4 -97.28994960709068 - client_socket.py - 283
-2024-11-20 11:40:00,164 - logger - INFO - delta by WORLD 5 -40.64308039514445 - client_socket.py - 283
-['0']
-2024-11-20 11:40:02,817 - logger - INFO - Команд в очереди ['0'] - client_socket.py - 335
diff --git a/robot/urdf_manager.py b/robot/urdf_manager.py
index f5b8d19..4a88bdf 100644
--- a/robot/urdf_manager.py
+++ b/robot/urdf_manager.py
@@ -34,6 +34,52 @@ class UrdfManager:
     def run_pybullet(self, type="DIRECT"):
         self.physics_client = p.connect(getattr(p, type))
         logger.info(f"Connect to {self.physics_client} by {type}")
+        
+    def create_cube(self, size, position):
+        # Создание формы коллизии для куба
+        collision_shape_id = p.createCollisionShape(
+            shapeType=p.GEOM_BOX,
+            halfExtents=[size[0] / 2.0, size[1] / 2.0, size[2] / 2.0]  # halfExtents задаются радиусами по осям x, y и z
+        )
+
+        # Создание визуальной формы для куба
+        visual_shape_id = p.createVisualShape(
+            shapeType=p.GEOM_BOX,
+            halfExtents=[size[0] / 2.0, size[1] / 2.0, size[2] / 2.0],
+            rgbaColor=[0, 0, 1, 1]  # Синий цвет
+        )
+
+        # Создание многосоставного тела с формой коллизии и визуальной формой
+        body_id = p.createMultiBody(
+            baseMass=1.0,  # Масса тела
+            baseCollisionShapeIndex=collision_shape_id,
+            baseVisualShapeIndex=visual_shape_id,
+            basePosition=position
+        )
+
+        return body_id
+    
+    def create_conveyor(self, size, position):
+        collision_shape_id = p.createCollisionShape(
+            shapeType=p.GEOM_BOX,
+            halfExtents=[size[0] / 2.0, size[1] / 2.0, size[2] / 2.0]
+        )
+        # Создание визуальной формы для конвейера
+        visual_shape_id = p.createVisualShape(
+            shapeType=p.GEOM_BOX,
+            halfExtents=[size[0] / 2.0, size[1] / 2.0, size[2] / 2.0],
+            rgbaColor=[0.5, 0.5, 0.5, 1]  # Серый цвет для конвейера
+        )
+
+        # Создание тела для конвейера (можно без массы, если оно не должно взаимодействовать с другими объектами)
+        conveyor_id = p.createMultiBody(
+            baseMass=0.0,  # Это статичный объект, поэтому масса 0
+            baseCollisionShapeIndex=collision_shape_id,
+            baseVisualShapeIndex=visual_shape_id,
+            basePosition=position
+        )
+
+        return conveyor_id
 
     def load_models(self):
         # p.loadURDF("urdf/plane.urdf", physicsClientId=self.physics_client)
@@ -44,14 +90,53 @@ class UrdfManager:
         self.body_id = p.loadURDF(
             urdf_path, self.robot_start_position, useFixedBase=True
         )
-
-        urdf_path_tool = os.path.join(
-            self.application_path, "urdf", f"{self.urdf_filename_tool}.urdf"
+        
+        # Путь к URDF модели палеты
+        urdf_path_pallet = os.path.join(
+            self.application_path, "urdf", "europallet.urdf"  # Убедитесь, что имя файла соответствует
         )
-        num_joints = p.getNumJoints(self.body_id)
-        end_state = p.getLinkState(self.body_id, num_joints - 1)
-        # self.tool_id = p.loadURDF(urdf_path_tool)
 
+        # Загрузка палеты рядом с роботом
+        # Предположим, что вы хотите расположить палету на расстоянии от робота
+        pallet_offset_x = 1.5  # Расстояние в метрах по оси X
+        pallet_offset_y = 0.0   # Расстояние по оси Y
+        pallet_height = 0.145    # Высота палеты (подгонка под высоту робота)
+
+        pallet_position = [
+            self.robot_start_position[0] + pallet_offset_x,
+            self.robot_start_position[1] + pallet_offset_y,
+            pallet_height / 2.0  # Разместите палету выше, чтобы она не находилась на земле
+        ]
+        pallet_orientation = p.getQuaternionFromEuler([0, 0, np.deg2rad(90)])
+        self.pallet_id = p.loadURDF(
+            urdf_path_pallet, pallet_position, pallet_orientation, useFixedBase=True
+        )
+        
+        # Создание коробок на палете
+        box_size = [0.2, 0.2, 0.2]  # Размеры коробки: [ширина, высота, глубина]
+        boxes_per_row = 3
+        boxes_per_column = 2
+
+        for row in range(boxes_per_column):
+            for col in range(boxes_per_row):
+                box_x_offset = col * (box_size[0] + 0.05)
+                box_y_offset = row * (box_size[1] + 0.05)
+                box_z_position = pallet_height + (box_size[2] / 2)
+
+                box_position = [
+                    pallet_position[0] + box_x_offset - (boxes_per_row * (box_size[0] + 0.05) / 2),
+                    pallet_position[1] + box_y_offset - (boxes_per_column * (box_size[1] + 0.05) / 2),
+                    box_z_position
+                ]
+
+                # Создаем кубик
+                self.create_cube(box_size, box_position)
+                
+        # Создание конвейера
+        conveyor_size = [3.0, 0.5, 0.1]  # Длина, ширина и высота
+        conveyor_position = [0.5, 1.5, 0.5]  # Позиция в пространстве (выше уровня земли)
+        self.conveyor_id = self.create_conveyor(conveyor_size, conveyor_position)
+        
         time.sleep(1)
 
     def get_pybullet_image(self):
diff --git a/robots.json b/robots.json
index 4a27da9..31d0c0b 100644
--- a/robots.json
+++ b/robots.json
@@ -12,16 +12,16 @@
         "slave_id": 11,
         "urdf": "sample_without"
     },
-    {
-        "name": "small",
-        "host": "192.168.70.65",
-        "slave_id": 22,
-        "urdf": "sample"
-    },
     {
         "name": "test",
         "host": "127.0.0.1",
         "slave_id": 11,
         "urdf": "sample"
+    },
+    {
+        "name": "test WITHOUT",
+        "host": "127.0.0.1",
+        "slave_id": 11,
+        "urdf": "sample_without"
     }
 ]
\ No newline at end of file
diff --git a/urdf/borunte_macro.urdf b/urdf/borunte_macro.urdf
deleted file mode 100644
index 6b2bcd2..0000000
--- a/urdf/borunte_macro.urdf
+++ /dev/null
@@ -1,215 +0,0 @@
-<?xml version="1.0" ?>
-<robot name="borunte">
-  <material name="Black">
-    <color rgba="0.1 0.1 0.1 0.99"/>
-  </material>
-  <material name="DarkRed">
-    <color rgba="0.5 0.0 0.0 0.99"/>
-  </material>
-  <!-- link list -->
-  <link name="base_link">
-    <visual>
-      <geometry>
-        <mesh filename="../urdf_support/borunte_support/meshes/base_link.stl"/>
-      </geometry>
-      <origin rpy="0.0 0 0.0" xyz="0 0 0"/>
-      <material name="Black"/>
-    </visual>
-    <collision>
-      <geometry>
-        <mesh filename="../urdf_support/borunte_support/meshes/base_link_collision.stl"/>
-      </geometry>
-      <origin rpy="0.0 0 0.0" xyz="0 0 0"/>
-    </collision>
-  </link>
-  <link name="link_1">
-    <visual>
-      <geometry>
-        <mesh filename="../urdf_support/borunte_support/meshes/link_1.stl"/>
-      </geometry>
-      <origin rpy="0.0 0 0.0" xyz="0 0 0"/>
-      <material name="DarkRed"/>
-    </visual>
-    <collision>
-      <geometry>
-        <mesh filename="../urdf_support/borunte_support/meshes/link_1_collision.stl"/>
-      </geometry>
-      <origin rpy="0.0 0 0.0" xyz="0 0 0"/>
-    </collision>
-    <inertial>
-      <mass value="100"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
-    </inertial>
-  </link>
-  <link name="link_2">
-    <visual>
-      <geometry>
-        <mesh filename="../urdf_support/borunte_support/meshes/link_2.stl"/>
-      </geometry>
-      <origin rpy="0.0 0 0.0" xyz="0 0 0"/>
-      <material name="DarkRed"/>
-    </visual>
-    <collision>
-      <geometry>
-        <mesh filename="../urdf_support/borunte_support/meshes/link_2_collision.stl"/>
-      </geometry>
-      <origin rpy="0.0 0 0.0" xyz="0 0 0"/>
-    </collision>
-    <inertial>
-      <mass value="100"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
-    </inertial>
-  </link>
-  <link name="link_3">
-    <visual>
-      <geometry>
-        <mesh filename="../urdf_support/borunte_support/meshes/link_3.stl"/>
-      </geometry>
-      <origin rpy="0.0 0 0.0" xyz="0 0.01 0"/>
-      <material name="DarkRed"/>
-    </visual>
-    <collision>
-      <geometry>
-        <mesh filename="../urdf_support/borunte_support/meshes/link_3_collision.stl"/>
-      </geometry>
-      <origin rpy="0.0 0 0.0" xyz="0 0.01 0"/>
-    </collision>
-    <inertial>
-      <mass value="100"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
-    </inertial>
-  </link>
-  <link name="link_4">
-    <visual>
-      <geometry>
-        <mesh filename="../urdf_support/borunte_support/meshes/link_4.stl"/>
-      </geometry>
-      <origin rpy="0.0 0.0 0.0" xyz="0 0 0"/>
-      <material name="DarkRed"/>
-    </visual>
-    <collision>
-      <geometry>
-        <mesh filename="../urdf_support/borunte_support/meshes/link_4_collision.stl"/>
-      </geometry>
-      <origin rpy="0.0 0 0.0" xyz="0 0 0"/>
-    </collision>
-    <inertial>
-      <mass value="100"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
-    </inertial>
-  </link>
-  <link name="link_5">
-    <visual>
-      <geometry>
-        <mesh filename="../urdf_support/borunte_support/meshes/link_5.stl"/>
-      </geometry>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <material name="DarkRed"/>
-    </visual>
-    <collision>
-      <geometry>
-        <mesh filename="../urdf_support/borunte_support/meshes/link_5_collision.stl"/>
-      </geometry>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-    </collision>
-    <inertial>
-      <mass value="100"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
-    </inertial>
-  </link>
-  <link name="link_6">
-    <visual>
-      <geometry>
-        <mesh filename="../urdf_support/borunte_support/meshes/link_6.stl"/>
-      </geometry>
-      <origin rpy="0 0 0.0" xyz="0 0 0"/>
-      <material name="DarkRed"/>
-    </visual>
-    <collision>
-      <geometry>
-        <mesh filename="../urdf_support/borunte_support/meshes/link_6_collision.stl"/>
-      </geometry>
-      <origin rpy="0 0 0.0" xyz="0 0 0"/>
-    </collision>
-    <inertial>
-      <mass value="100"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
-    </inertial>
-  </link>
-  <!-- joint list -->
-  <joint name="joint_1" type="revolute">
-    <limit effort="1000.0" lower="-3.076" upper="3.076" velocity="3.14"/>
-    <parent link="base_link"/>
-    <child link="link_1"/>
-    <axis xyz="0 0 1"/>
-    <origin rpy="0.0 0.0 0.0" xyz="0 0 0.24"/>
-  </joint>
-  <joint name="joint_2" type="revolute">
-    <!-- actual limit -1.74, reduced to reduce config problems -->
-    <limit effort="1000.0" lower="-1.0" upper="2.35" velocity="1.0"/>
-    <parent link="link_1"/>
-    <child link="link_2"/>
-    <axis xyz="0 1 0"/>
-    <origin rpy="0.0 0.0 0.0" xyz="0.07 0.09 0.165"/>
-  </joint>
-  <joint name="joint_3" type="revolute">
-    <limit effort="1000.0" lower="-2.094" upper="1.570" velocity="1.3"/>
-    <parent link="link_2"/>
-    <child link="link_3"/>
-    <axis xyz="0 1 0"/>
-    <origin rpy="0.0 1.5707963267948966 0.0" xyz="0.0 0.0 0.39"/>
-  </joint>
-  <joint name="joint_4" type="revolute">
-    <!-- actual limit +-2.094, reduced to reduce config problems -->
-    <limit effort="1000.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="2.0"/>
-    <parent link="link_3"/>
-    <child link="link_4"/>
-    <axis xyz="0 0 1"/>
-    <origin rpy="0.0 0.0 0.0" xyz="-0.125 -0.09 0.075"/>
-  </joint>
-  <joint name="joint_5" type="revolute">
-    <limit effort="1000.0" lower="-1.919" upper="2.094" velocity="2.35"/>
-    <parent link="link_4"/>
-    <child link="link_5"/>
-    <axis xyz="0 1 0"/>
-    <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0 0.31"/>
-  </joint>
-  <joint name="joint_6" type="revolute">
-    <limit effort="1000.0" lower="-3.141592653589793" upper="3.141592653589793" velocity="2.35"/>
-    <parent link="link_5"/>
-    <child link="link_6"/>
-    <axis xyz="0 0 1"/>
-    <origin rpy="0.0 0.0 0.0" xyz="0 0 0.104"/>
-  </joint>
-  <!-- ROS-Industrial 'base' frame: base_link to Fanuc World Coordinates transform -->
-  <link name="base"/>
-  <joint name="base_link-base" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <axis xyz="0 0 1"/>
-    <parent link="base_link"/>
-    <child link="base"/>
-  </joint>
-  <!-- ROS-Industrial 'flange' frame: attachment point for EEF models -->
-  <link name="flange"/>
-  <joint name="joint_6-flange" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0 0.015"/>
-    <parent link="link_6"/>
-    <child link="flange"/>
-  </joint>
-  <!-- ROS-Industrial 'tool0' frame: all-zeros tool frame -->
-  <link name="tool0"/>
-  <joint name="flange-tool0" type="fixed">
-    <!-- marker -->
-    <origin rpy="0 3.141592653589793 0" xyz="0 0 0"/>
-    <parent link="flange"/>
-    <child link="tool0"/>
-  </joint>
-  <!-- 'world' frame: default pose reference frame -->
-  <link name="world"/>
-  <joint name="world-base_link" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <axis xyz="0 0 1"/>
-    <child link="world"/>
-    <parent link="base_link"/>
-  </joint>
-</robot>
diff --git a/urdf/europallet.urdf b/urdf/europallet.urdf
new file mode 100644
index 0000000..98bbd49
--- /dev/null
+++ b/urdf/europallet.urdf
@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<robot name="europallet">
+    <link name="pallet">
+        <inertial>
+            <mass value="20.0" /> <!-- Масса палеты, можно изменить -->
+            <origin xyz="0 0 7.25" rpy="0 0 0" /> <!-- Центр масс (высота 7.25 см) -->
+            <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0" /> <!-- Моменты
+            инерции, можно изменить -->
+        </inertial>
+        <visual>
+            <geometry>
+                <box size="1.2 0.8 0.145" /> <!-- Размеры (длина, ширина, высота) в метрах -->
+            </geometry>
+            <material name="wood">
+                <color rgba="0.58 0.29 0.19 1.0" /> <!-- Цвет, здесь коричневый -->
+            </material>
+        </visual>
+        <collision>
+            <geometry>
+                <box size="1.2 0.8 0.145" /> <!-- Размеры для коллизий также -->
+            </geometry>
+        </collision>
+    </link>
+</robot>
\ No newline at end of file
diff --git a/urdf/fanucLRMate200ib.urdf b/urdf/fanucLRMate200ib.urdf
deleted file mode 100644
index 7c140c8..0000000
--- a/urdf/fanucLRMate200ib.urdf
+++ /dev/null
@@ -1,191 +0,0 @@
-<?xml version="1.0" ?>
-<!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from lrmate200ib.xacro              | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
-<!-- =================================================================================== -->
-<robot name="fanuc_lrmate200ib">
-  <!-- links: main serial chain -->
-  <link name="base_link">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="../urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/visual/base_link.stl"/>
-      </geometry>
-      <material name="">
-        <color rgba="0.96 0.76 0.13 1.0"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="../urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/collision/base_link.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="link_1">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="../urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/visual/link_1.stl"/>
-      </geometry>
-      <material name="">
-        <color rgba="0.96 0.76 0.13 1.0"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="../urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/collision/link_1.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="link_2">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="../urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/visual/link_2.stl"/>
-      </geometry>
-      <material name="">
-        <color rgba="0.96 0.76 0.13 1.0"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="../urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/collision/link_2.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="link_3">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="../urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/visual/link_3.stl"/>
-      </geometry>
-      <material name="">
-        <color rgba="0.96 0.76 0.13 1.0"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="../urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/collision/link_3.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="link_4">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="../urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/visual/link_4.stl"/>
-      </geometry>
-      <material name="">
-        <color rgba="0.96 0.76 0.13 1.0"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="../urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/collision/link_4.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="link_5">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="../urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/visual/link_5.stl"/>
-      </geometry>
-      <material name="">
-        <color rgba="0.96 0.76 0.13 1.0"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="../urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/collision/link_5.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="link_6">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="../urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/visual/link_6.stl"/>
-      </geometry>
-      <material name="">
-        <color rgba="0.15 0.15 0.15 1.0"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="../urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/collision/link_6.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <!-- joints: main serial chain -->
-  <joint name="joint_1" type="revolute">
-    <origin rpy="0 0 0" xyz="0 0 0.350"/>
-    <parent link="base_link"/>
-    <child link="link_1"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="0" lower="-2.7925" upper="2.7925" velocity="3.1415"/>
-  </joint>
-  <joint name="joint_2" type="revolute">
-    <origin rpy="0 0 0" xyz="0.150 0 0"/>
-    <parent link="link_1"/>
-    <child link="link_2"/>
-    <axis xyz="0 1 0"/>
-    <limit effort="0" lower="-0.5759" upper="2.6529" velocity="3.1415"/>
-  </joint>
-  <joint name="joint_3" type="revolute">
-    <origin rpy="0 0 0" xyz="0 0 0.250"/>
-    <parent link="link_2"/>
-    <child link="link_3"/>
-    <axis xyz="0 -1 0"/>
-    <limit effort="0" lower="-2.6145" upper="2.8797" velocity="3.9269"/>
-  </joint>
-  <joint name="joint_4" type="revolute">
-    <origin rpy="0 0 0" xyz="0 0 0.075"/>
-    <parent link="link_3"/>
-    <child link="link_4"/>
-    <axis xyz="-1 0 0"/>
-    <limit effort="0" lower="-3.3161" upper="3.3161" velocity="6.9813"/>
-  </joint>
-  <joint name="joint_5" type="revolute">
-    <origin rpy="0 0 0" xyz="0.290 0 0"/>
-    <parent link="link_4"/>
-    <child link="link_5"/>
-    <axis xyz="0 -1 0"/>
-    <limit effort="0" lower="-2.0943" upper="2.0943" velocity="5.7595"/>
-  </joint>
-  <joint name="joint_6" type="revolute">
-    <origin rpy="0 0 0" xyz="0.080 0 0"/>
-    <parent link="link_5"/>
-    <child link="link_6"/>
-    <axis xyz="-1 0 0"/>
-    <limit effort="0" lower="-6.2831" upper="6.2831" velocity="8.3775"/>
-  </joint>
-  <!-- ROS base_link to Fanuc World Coordinates transform -->
-  <link name="base"/>
-  <joint name="base_link-base" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0 0.350"/>
-    <parent link="base_link"/>
-    <child link="base"/>
-  </joint>
-  <!-- ROS-Industrial 'flange' frame: attachment point for EEF models -->
-  <link name="flange"/>
-  <joint name="joint_6-flange" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <parent link="link_6"/>
-    <child link="flange"/>
-  </joint>
-  <!-- ROS-Industrial 'tool0' frame: all-zeros tool frame -->
-  <link name="tool0"/>
-  <joint name="link_6-tool0" type="fixed">
-    <origin rpy="3.14159265359 -1.57079632679 0" xyz="0 0 0"/>
-    <parent link="link_6"/>
-    <child link="tool0"/>
-  </joint>
-</robot>
diff --git a/urdf/fanucM16ib.urdf b/urdf/fanucM16ib.urdf
deleted file mode 100644
index 981ee2a..0000000
--- a/urdf/fanucM16ib.urdf
+++ /dev/null
@@ -1,174 +0,0 @@
-<?xml version="1.0" ?>
-<!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from m16ib20.xacro                  | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
-<!-- =================================================================================== -->
-<robot name="fanuc_m16ib20">
-  <link name="base_link">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="../urdf_support/fanuc_m16ib_support/meshes/m16ib20/visual/base_link.stl"/>
-      </geometry>
-      <material name="green">
-        <color rgba="0.13 0.76 0.13 1.0"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="../urdf_support/fanuc_m16ib_support/meshes/m16ib20/collision/base_link.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="link_1">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="../urdf_support/fanuc_m16ib_support/meshes/m16ib20/visual/link_1.stl"/>
-      </geometry>
-      <material name="darkgreen">
-        <color rgba="0.13 0.76 0.13 1.0"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="../urdf_support/fanuc_m16ib_support/meshes/m16ib20/collision/link_1.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="link_2">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="../urdf_support/fanuc_m16ib_support/meshes/m16ib20/visual/link_2.stl"/>
-      </geometry>
-      <material name="green">
-        <color rgba="0.13 0.76 0.13 1.0"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="../urdf_support/fanuc_m16ib_support/meshes/m16ib20/collision/link_2.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="link_3">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="../urdf_support/fanuc_m16ib_support/meshes/m16ib20/visual/link_3.stl"/>
-      </geometry>
-      <material name="darkgreen">
-        <color rgba="0.13 0.76 0.13 1.0"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="../urdf_support/fanuc_m16ib_support/meshes/m16ib20/collision/link_3.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="link_4">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="../urdf_support/fanuc_m16ib_support/meshes/m16ib20/visual/link_4.stl"/>
-      </geometry>
-      <material name="green">
-        <color rgba="0.13 0.76 0.13 1.0"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="../urdf_support/fanuc_m16ib_support/meshes/m16ib20/collision/link_4.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="link_5">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="../urdf_support/fanuc_m16ib_support/meshes/m16ib20/visual/link_5.stl"/>
-      </geometry>
-      <material name="darkgreen">
-        <color rgba="0.13 0.76 0.13 1.0"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="../urdf_support/fanuc_m16ib_support/meshes/m16ib20/collision/link_5.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="link_6">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="../urdf_support/fanuc_m16ib_support/meshes/m16ib20/visual/link_6.stl"/>
-      </geometry>
-      <material name="">
-        <color rgba="0.15 0.15 0.15 1.0"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="../urdf_support/fanuc_m16ib_support/meshes/m16ib20/collision/link_6.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="tool0"/>
-  <joint name="joint_1" type="revolute">
-    <origin rpy="0 0 0" xyz="0 0 0.245"/>
-    <parent link="base_link"/>
-    <child link="link_1"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="0" lower="-2.9671" upper="2.9671" velocity="2.8798"/>
-  </joint>
-  <joint name="joint_2" type="revolute">
-    <origin rpy="0 0 0" xyz="0.15 0.18759 0.28"/>
-    <parent link="link_1"/>
-    <child link="link_2"/>
-    <axis xyz="0 1 0"/>
-    <limit effort="0" lower="-1.5708" upper="2.7925" velocity="2.8798"/>
-  </joint>
-  <joint name="joint_3" type="revolute">
-    <origin rpy="0 0 0" xyz="0 -0.18759 0.77"/>
-    <parent link="link_2"/>
-    <child link="link_3"/>
-    <axis xyz="0 -1 0"/>
-    <limit effort="0" lower="-2.9671" upper="5.0615" velocity="3.0543"/>
-  </joint>
-  <joint name="joint_4" type="revolute">
-    <origin rpy="0 0 0" xyz="0.18425 0 0.1"/>
-    <parent link="link_3"/>
-    <child link="link_4"/>
-    <axis xyz="-1 0 0"/>
-    <limit effort="0" lower="-3.4907" upper="3.4907" velocity="6.1087"/>
-  </joint>
-  <joint name="joint_5" type="revolute">
-    <origin rpy="0 0 0" xyz="0.55575 0 0"/>
-    <parent link="link_4"/>
-    <child link="link_5"/>
-    <axis xyz="0 -1 0"/>
-    <limit effort="0" lower="-2.4435" upper="2.4435" velocity="5.9341"/>
-  </joint>
-  <joint name="joint_6" type="revolute">
-    <origin rpy="0 0 0" xyz="0.1 0 0"/>
-    <parent link="link_5"/>
-    <child link="link_6"/>
-    <axis xyz="-1 0 0"/>
-    <limit effort="0" lower="-7.8540" upper="7.8540" velocity="9.0757"/>
-  </joint>
-  <joint name="joint_6-tool0" type="fixed">
-    <parent link="link_6"/>
-    <child link="tool0"/>
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-  </joint>
-</robot>
diff --git a/urdf/sample copy.urdf b/urdf/sample copy.urdf
deleted file mode 100644
index 14d19ea..0000000
--- a/urdf/sample copy.urdf	
+++ /dev/null
@@ -1,182 +0,0 @@
-<?xml version="1.0"?>
-<robot name="sample_robot">
-
-    <!-- Materials -->
-    <material name="grey">
-        <color rgba="0.0 0 0 1.0" />
-    </material>
-    <material name="red">
-        <color rgba="1.0 0.0 0.0 1.0" />
-    </material>
-    <material name="blue">
-        <color rgba="0 0.0 1.0 1.0" />
-    </material>
-    <material name="lightblue">
-        <color rgba="0.0 0.22 1.0 1.0" />
-    </material>
-    <material name="yellow">
-        <color rgba="0.96 0.76 0.13 1.0" />
-    </material>
-    <material name="orange">
-        <color rgba="1.0 0.5 0.0 1.0" />
-    </material>
-    <material name="black">
-        <color rgba="0.15 0.15 0.15 1.0" />
-    </material>
-
-    <!-- Links: main serial chain -->
-    <link name="base_link">
-        <!-- <inertial>
-      <mass value="1.0" />
-      <inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" />
-    </inertial> -->
-        <visual>
-            <origin rpy="0 0 0" xyz="0 0 0" />
-            <geometry>
-                <box size="0.1 0.1 0.1"/>
-            </geometry>
-            <material name="grey" />
-        </visual>
-    </link>
-
-    <link name="link_1">
-        <!-- <inertial>
-      <mass value="1.0" />
-      <inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" />
-    </inertial> -->
-        <visual>
-            <origin rpy="0 0 0" xyz="0 0 0" />
-            <geometry>
-                <box size="0.1 0.1 0.1"/>
-
-            </geometry>
-            <material name="red" />
-        </visual>
-    </link>
-
-    <link name="link_2">
-        <!-- <inertial>
-      <mass value="1.0" />
-      <inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" />
-    </inertial> -->
-        <visual>
-            <origin rpy="0 0 0" xyz="0 0 0.0" />
-            <geometry>
-                <box size="0.1 0.1 0.1"/>
-
-            </geometry>
-            <material name="blue" />
-        </visual>
-    </link>
-
-    <link name="link_3">
-        <!-- <inertial>
-      <mass value="1.0" />
-      <inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" />
-    </inertial> -->
-        <visual>
-            <origin rpy="0 0 0" xyz="0 0 0.0" />
-            <geometry>
-                <box size="0.1 0.1 0.1"/>
-
-            </geometry>
-            <material name="lightblue" />
-        </visual>
-    </link>
-
-    <link name="link_4">
-        <!-- <inertial>
-      <mass value="1.0" />
-      <inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" />
-    </inertial> -->
-        <visual>
-            <origin rpy="0 0 0" xyz="0 0 0.0" />
-            <geometry>
-                <box size="0.1 0.1 0.1"/>
-
-            </geometry>
-            <material name="yellow" />
-        </visual>
-    </link>
-
-    <link name="link_5">
-        <!-- <inertial>
-      <mass value="1.0" />
-      <inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" />
-    </inertial> -->
-        <visual>
-            <origin rpy="0 0 0" xyz="0 0 0.0" />
-            <geometry>
-                <box size="0.1 0.1 0.1"/>
-
-            </geometry>
-            <material name="orange" />
-        </visual>
-    </link>
-
-    <link name="link_6">
-        <!-- <inertial>
-      <mass value="1.0" />
-      <inertia ixx="0.005" ixy="0.0" ixz="0.0" iyy="0.005" iyz="0.0" izz="0.005" />
-    </inertial> -->
-        <visual>
-            <origin rpy="0 0 0" xyz="0 0 0.0" />
-            <geometry>
-                <box size="0.1 0.1 0.1"/>
-
-                <!-- <box size="0.1 0.1 0.1"/> -->
-            </geometry>
-            <material name="black" />
-        </visual>
-    </link>
-
-    <!-- Joints: main serial chain -->
-    <joint name="joint_1" type="revolute">
-        <limit lower="-2.705" upper="2.705" effort="0" velocity="0" />
-        <origin rpy="0 0 0" xyz="0 0 0" />
-        <parent link="base_link" />
-        <child link="link_1" />
-        <axis xyz="0 0 1" />
-    </joint>
-
-    <joint name="joint_2" type="revolute">
-        <limit lower="-2.444" upper="1.135" effort="0" velocity="0" />
-        <parent link="link_1" />
-        <child link="link_2" />
-        <axis xyz="0 -1 0" />
-        <origin rpy="0 0 0" xyz="0.17045 0 0.4946" />
-    </joint>
-
-    <joint name="joint_3" type="revolute">
-        <limit lower="-1.309" upper="1.919" effort="0" velocity="0" />
-        <parent link="link_2" />
-        <child link="link_3" />
-        <axis xyz="0 -1 0" />
-        <origin rpy="0 0 0" xyz="0 -0.001963 0.729921" />
-    </joint>
-
-    <joint name="joint_4" type="revolute">
-        <limit lower="-3.142" upper="3.142" effort="0" velocity="0" />
-        <parent link="link_3" />
-        <child link="link_4" />
-        <axis xyz="1 0 0" />
-        <origin rpy="0 0 0" xyz="0 0 0.098277" />
-    </joint>
-
-    <joint name="joint_5" type="revolute">
-        <limit lower="-2.007" upper="2.007" effort="0" velocity="0" />
-        <parent link="link_4" />
-        <child link="link_5" />
-        <axis xyz="0 -1 0" />
-        <origin rpy="0 0 0" xyz="1.109039 0 0" />
-    </joint>
-
-    <joint name="joint_6" type="revolute">
-        <limit lower="-6.283" upper="6.283" effort="0" velocity="0" />
-        <parent link="link_5" />
-        <child link="link_6" />
-        <axis xyz="1 0 0" />
-        <origin rpy="0 0 0" xyz="0.117 0 0" />
-    </joint>
-
-</robot>
\ No newline at end of file
diff --git a/urdf/sample.urdf b/urdf/sample.urdf
index e634888..c631a3d 100644
--- a/urdf/sample.urdf
+++ b/urdf/sample.urdf
@@ -33,6 +33,12 @@
       </geometry>
       <material name="grey" />
     </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="../urdf_support/sample/1.stl" />
+      </geometry>
+    </collision>
   </link>
 
   <link name="link_1">
@@ -43,6 +49,12 @@
       </geometry>
       <material name="red" />
     </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.23445" />
+      <geometry>
+        <mesh filename="../urdf_support/sample/2.stl" />
+      </geometry>
+    </collision>
   </link>
 
   <link name="link_2">
@@ -53,6 +65,12 @@
       </geometry>
       <material name="blue" />
     </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0 -0.103 0" />
+      <geometry>
+        <mesh filename="../urdf_support/sample/3.stl" />
+      </geometry>
+    </collision>
   </link>
 
   <link name="link_3">
@@ -63,6 +81,12 @@
       </geometry>
       <material name="lightblue" />
     </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -0.103 0" />
+      <geometry>
+        <mesh filename="../urdf_support/sample/4.stl" />
+      </geometry>
+    </collision>
   </link>
 
   <link name="link_4">
@@ -73,6 +97,12 @@
       </geometry>
       <material name="yellow" />
     </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.23345 0 0" />
+      <geometry>
+        <mesh filename="../urdf_support/sample/5.stl" />
+      </geometry>
+    </collision>
   </link>
 
   <link name="link_5">
@@ -83,6 +113,12 @@
       </geometry>
       <material name="orange" />
     </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.02 0.04 0.0" />
+      <geometry>
+        <mesh filename="../urdf_support/sample/6.stl" />
+      </geometry>
+    </collision>
   </link>
 
   <link name="link_6">
@@ -93,6 +129,12 @@
       </geometry>
       <material name="black" />
     </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0" />
+      <geometry>
+        <mesh filename="../urdf_support/sample/777.stl" />
+      </geometry>
+    </collision>
   </link>
 
   <link name="welding_gun_body">
diff --git a/urdf/sample_without.urdf b/urdf/sample_without.urdf
index 33c3669..d9e1113 100644
--- a/urdf/sample_without.urdf
+++ b/urdf/sample_without.urdf
@@ -33,6 +33,12 @@
       </geometry>
       <material name="grey" />
     </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0" />
+      <geometry>
+        <mesh filename="../urdf_support/sample/1.stl" />
+      </geometry>
+    </collision>
   </link>
 
   <link name="link_1">
@@ -43,6 +49,12 @@
       </geometry>
       <material name="red" />
     </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.23445" />
+      <geometry>
+        <mesh filename="../urdf_support/sample/2.stl" />
+      </geometry>
+    </collision>
   </link>
 
   <link name="link_2">
@@ -53,6 +65,12 @@
       </geometry>
       <material name="blue" />
     </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.0 -0.103 0" />
+      <geometry>
+        <mesh filename="../urdf_support/sample/3.stl" />
+      </geometry>
+    </collision>
   </link>
 
   <link name="link_3">
@@ -63,6 +81,12 @@
       </geometry>
       <material name="lightblue" />
     </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -0.103 0" />
+      <geometry>
+        <mesh filename="../urdf_support/sample/4.stl" />
+      </geometry>
+    </collision>
   </link>
 
   <link name="link_4">
@@ -73,6 +97,12 @@
       </geometry>
       <material name="yellow" />
     </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.23345 0 0" />
+      <geometry>
+        <mesh filename="../urdf_support/sample/5.stl" />
+      </geometry>
+    </collision>
   </link>
 
   <link name="link_5">
@@ -83,6 +113,12 @@
       </geometry>
       <material name="orange" />
     </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0.02 0.04 0.0" />
+      <geometry>
+        <mesh filename="../urdf_support/sample/6.stl" />
+      </geometry>
+    </collision>
   </link>
 
   <link name="link_6">
@@ -93,6 +129,12 @@
       </geometry>
       <material name="black" />
     </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0.0" />
+      <geometry>
+        <mesh filename="../urdf_support/sample/777.stl" />
+      </geometry>
+    </collision>
   </link>
 
   <!-- Joints: main serial chain -->
diff --git a/urdf_support/borunte_support/CMakeLists.txt b/urdf_support/borunte_support/CMakeLists.txt
deleted file mode 100644
index 85ca9ca..0000000
--- a/urdf_support/borunte_support/CMakeLists.txt
+++ /dev/null
@@ -1,200 +0,0 @@
-cmake_minimum_required(VERSION 2.8.3)
-project(borunte_support)
-
-#~ Find catkin macros and libraries
-#~ if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-#~ is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS
-  roscpp
-  rospy
-  std_msgs
-)
-
-#~ System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
-
-
-#~ Uncomment this if the package has a setup.py. This macro ensures
-#~ modules and global scripts declared therein get installed
-#~ See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
-
-#~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-#~ Declare ROS messages, services and actions ##
-#~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-#~ To declare and build messages, services or actions from within this
-#~ package, follow these steps:
-#~ * Let MSG_DEP_SET be the set of packages whose message types you use in
-#~   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
-#~ * In the file package.xml:
-#~   * add a build_depend tag for "message_generation"
-#~   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
-#~   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
-#~     but can be declared for certainty nonetheless:
-#~     * add a run_depend tag for "message_runtime"
-#~ * In this file (CMakeLists.txt):
-#~   * add "message_generation" and every package in MSG_DEP_SET to
-#~     find_package(catkin REQUIRED COMPONENTS ...)
-#~   * add "message_runtime" and every package in MSG_DEP_SET to
-#~     catkin_package(CATKIN_DEPENDS ...)
-#~   * uncomment the add_*_files sections below as needed
-#~     and list every .msg/.srv/.action file to be processed
-#~   * uncomment the generate_messages entry below
-#~   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
-
-#~ Generate messages in the 'msg' folder
-# add_message_files(
-#   FILES
-#   Message1.msg
-#   Message2.msg
-# )
-
-#~ Generate services in the 'srv' folder
-# add_service_files(
-#   FILES
-#   Service1.srv
-#   Service2.srv
-# )
-
-#~ Generate actions in the 'action' folder
-# add_action_files(
-#   FILES
-#   Action1.action
-#   Action2.action
-# )
-
-#~ Generate added messages and services with any dependencies listed here
-# generate_messages(
-#   DEPENDENCIES
-#   std_msgs
-# )
-
-#~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-#~ Declare ROS dynamic reconfigure parameters ##
-#~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-
-#~ To declare and build dynamic reconfigure parameters within this
-#~ package, follow these steps:
-#~ * In the file package.xml:
-#~   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
-#~ * In this file (CMakeLists.txt):
-#~   * add "dynamic_reconfigure" to
-#~     find_package(catkin REQUIRED COMPONENTS ...)
-#~   * uncomment the "generate_dynamic_reconfigure_options" section below
-#~     and list every .cfg file to be processed
-
-#~ Generate dynamic reconfigure parameters in the 'cfg' folder
-# generate_dynamic_reconfigure_options(
-#   cfg/DynReconf1.cfg
-#   cfg/DynReconf2.cfg
-# )
-
-#~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-#~ catkin specific configuration ##
-#~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
-#~ The catkin_package macro generates cmake config files for your package
-#~ Declare things to be passed to dependent projects
-#~ INCLUDE_DIRS: uncomment this if you package contains header files
-#~ LIBRARIES: libraries you create in this project that dependent projects also need
-#~ CATKIN_DEPENDS: catkin_packages dependent projects also need
-#~ DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
-#  INCLUDE_DIRS include
-#  LIBRARIES borunte_support
-    CATKIN_DEPENDS
-        roscpp
-        rospy
-        std_msgs
-#  DEPENDS system_lib
-)
-
-#~~~~~~~~~~
-#~ Build ##
-#~~~~~~~~~~
-
-#~ Specify additional locations of header files
-#~ Your package locations should be listed before other locations
-# include_directories(include)
-include_directories(
-  ${catkin_INCLUDE_DIRS}
-)
-
-#~ Declare a C++ library
-# add_library(borunte_support
-#   src/${PROJECT_NAME}/borunte_support.cpp
-# )
-
-#~ Add cmake target dependencies of the library
-#~ as an example, code may need to be generated before libraries
-#~ either from message generation or dynamic reconfigure
-# add_dependencies(borunte_support ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-#~ Declare a C++ executable
-# add_executable(borunte_support_node src/borunte_support_node.cpp)
-
-#~ Add cmake target dependencies of the executable
-#~ same as for the library above
-# add_dependencies(borunte_support_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-#~ Specify libraries to link a library or executable target against
-# target_link_libraries(borunte_support_node
-#   ${catkin_LIBRARIES}
-# )
-
-#~~~~~~~~~~~~
-#~ Install ##
-#~~~~~~~~~~~~
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-#~ Mark executable scripts (Python etc.) for installation
-#~ in contrast to setup.py, you can choose the destination
-# install(PROGRAMS
-#   scripts/my_python_script
-#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-#~ Mark executables and/or libraries for installation
-# install(TARGETS borunte_support borunte_support_node
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-#~ Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-#   FILES_MATCHING PATTERN "*.h"
-#   PATTERN ".svn" EXCLUDE
-# )
-
-#~ Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-#   # myfile1
-#   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
-
-# Install python executables
-catkin_install_python(
-  PROGRAMS
-        scripts/run_sim_ui.py
-        scripts/run_machinetalk.py
-
-  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-  )
-
-#~~~~~~~~~~~~
-#~ Testing ##
-#~~~~~~~~~~~~
-
-#~ Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_borunte_support.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-#~ Add folders to be run by python nosetests
-# catkin_add_nosetests(test)
diff --git a/urdf_support/borunte_support/config/borunte.rviz b/urdf_support/borunte_support/config/borunte.rviz
deleted file mode 100644
index e691383..0000000
--- a/urdf_support/borunte_support/config/borunte.rviz
+++ /dev/null
@@ -1,179 +0,0 @@
-Panels:
-  - Class: rviz/Displays
-    Help Height: 78
-    Name: Displays
-    Property Tree Widget:
-      Expanded:
-        - /RobotModel1/Links1
-      Splitter Ratio: 0.5
-    Tree Height: 466
-  - Class: rviz/Selection
-    Name: Selection
-  - Class: rviz/Tool Properties
-    Expanded:
-      - /2D Pose Estimate1
-      - /2D Nav Goal1
-      - /Publish Point1
-    Name: Tool Properties
-    Splitter Ratio: 0.588679
-  - Class: rviz/Views
-    Expanded:
-      - /Current View1
-    Name: Views
-    Splitter Ratio: 0.5
-  - Class: rviz/Time
-    Experimental: false
-    Name: Time
-    SyncMode: 0
-    SyncSource: ""
-Visualization Manager:
-  Class: ""
-  Displays:
-    - Class: rviz/Axes
-      Enabled: true
-      Length: 1
-      Name: Axes
-      Radius: 0.1
-      Reference Frame: world
-      Value: true
-    - Alpha: 1
-      Class: rviz/RobotModel
-      Collision Enabled: false
-      Enabled: true
-      Links:
-        All Links Enabled: true
-        Expand Joint Details: false
-        Expand Link Details: false
-        Expand Tree: false
-        Link Tree Style: Links in Alphabetic Order
-        arm_base_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        arm_link_1:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        arm_link_2:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        arm_link_3:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        arm_link_4:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        milling_machine:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        world:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-      Name: RobotModel
-      Robot Description: robot_description
-      TF Prefix: ""
-      Update Interval: 0
-      Value: true
-      Visual Enabled: true
-    - 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: rviz/TF
-      Enabled: false
-      Frame Timeout: 15
-      Frames:
-        All Enabled: true
-      Marker Scale: 1
-      Name: TF
-      Show Arrows: true
-      Show Axes: true
-      Show Names: true
-      Tree:
-        {}
-      Update Interval: 0
-      Value: false
-  Enabled: true
-  Global Options:
-    Background Color: 48; 48; 48
-    Fixed Frame: world
-    Frame Rate: 30
-  Name: root
-  Tools:
-    - Class: rviz/Interact
-      Hide Inactive Objects: true
-    - Class: rviz/MoveCamera
-    - Class: rviz/Select
-    - Class: rviz/FocusCamera
-    - Class: rviz/Measure
-    - Class: rviz/SetInitialPose
-      Topic: /initialpose
-    - Class: rviz/SetGoal
-      Topic: /move_base_simple/goal
-    - Class: rviz/PublishPoint
-      Single click: true
-      Topic: /clicked_point
-  Value: true
-  Views:
-    Current:
-      Class: rviz/Orbit
-      Distance: 4.1036
-      Enable Stereo Rendering:
-        Stereo Eye Separation: 0.06
-        Stereo Focal Distance: 1
-        Swap Stereo Eyes: false
-        Value: false
-      Focal Point:
-        X: 2.12118
-        Y: 0.100075
-        Z: 0.851119
-      Name: Current View
-      Near Clip Distance: 0.01
-      Pitch: 0.329797
-      Target Frame: <Fixed Frame>
-      Value: Orbit (rviz)
-      Yaw: 6.07196
-    Saved: ~
-Window Geometry:
-  Displays:
-    collapsed: true
-  Height: 744
-  Hide Left Dock: true
-  Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd0000000400000000000002a200000261fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073000000002800000261000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e0067000000010b000001d70000000000000000000000010000010f0000025efc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007300000000280000025e000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000005150000003bfc0100000002fb0000000800540069006d0065010000000000000515000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000005150000026100000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
-  Selection:
-    collapsed: false
-  Time:
-    collapsed: false
-  Tool Properties:
-    collapsed: false
-  Views:
-    collapsed: true
-  Width: 1301
-  X: 65
-  Y: 24
diff --git a/urdf_support/borunte_support/config/borunte_controllers.yaml b/urdf_support/borunte_support/config/borunte_controllers.yaml
deleted file mode 100644
index 08055e2..0000000
--- a/urdf_support/borunte_support/config/borunte_controllers.yaml
+++ /dev/null
@@ -1,109 +0,0 @@
-# Moveit
-controller_list:
-  - name: /hardware_interface/position_trajectory_controller
-    action_ns: follow_joint_trajectory
-    type: FollowJointTrajectory
-    default: true
-    joints: [joint_1, joint_2, joint_3, joint_4, joint_5, joint_6]
-
-  # Settings for ros_control hardware interface
-hardware_interface:
-  joints:
-    - joint_1
-    - joint_2
-    - joint_3
-    - joint_4
-    - joint_5
-    - joint_6
-  # choose the control mode
-  # 0: position
-  # 1: velocity
-  control_mode: 0
-  sim_control_mode: 0 # 0: position, 1: velocity
-
-# Publish all joint states
-# Creates the /joint_states topic necessary in ROS
-joint_state_controller:
-  type:         joint_state_controller/JointStateController
-  publish_rate: 50
-
-# Joint Trajectory Controller
-# For detailed explanations of parameter see http://wiki.ros.org/joint_trajectory_controller
-position_trajectory_controller:
-  type: position_controllers/JointTrajectoryController
-  # These joints can likely just be copied from the
-  # hardware_interface list above
-  joints:
-    - joint_1
-    - joint_2
-    - joint_3
-    - joint_4
-    - joint_5
-    - joint_6
-  constraints:
-    goal_time: 5.0
-    #stopped_position_tolerance: 0.4 # Defaults to 0.01
-    joint_1:
-      trajectory: 0.60
-      goal:       0.15
-    joint_2:
-      trajectory: 0.60
-      goal:       0.15
-    joint_3:
-      trajectory: 0.60
-      goal:       0.15
-    joint_4:
-      trajectory: 0.60
-      goal:       0.15
-    joint_5:
-      trajectory: 0.60
-      goal:       0.15
-    joint_6:
-      trajectory: 0.60
-      goal:       0.15
-  # gains:
-  #     joint1: {p: 2.0,  i: 0.0, d: 0.01, i_clamp: 1}
-  #     joint2: {p: 2.0,  i: 0.0, d: 0.01, i_clamp: 1}
-
-  # state_publish_rate:  50 # Defaults to 50
-  # action_monitor_rate: 20 # Defaults to 20
-  #hold_trajectory_duration: 0 # Defaults to 0.5
-
-# Individual Position Controllers
-# Allows to send individual ROS msg of Float64 to each joint separately
-joint_1_position_controller:
-  type: position_controllers/JointPositionController
-  joint: joint_1
-  pid: {p: 100.0, i: 0.01, d: 10.0}
-joint_2_position_controller:
-  type: position_controllers/JointPositionController
-  joint: joint_2
-  pid: {p: 100.0, i: 0.01, d: 10.0}
-joint_3_position_controller:
-  type: position_controllers/JointPositionController
-  joint: joint_3
-  pid: {p: 100.0, i: 0.01, d: 10.0}
-joint_4_position_controller:
-  type: position_controllers/JointPositionController
-  joint: joint_4
-  pid: {p: 100.0, i: 0.01, d: 10.0}
-joint_5_position_controller:
-  type: position_controllers/JointPositionController
-  joint: joint_4
-  pid: {p: 100.0, i: 0.01, d: 10.0}
-joint_6_position_controller:
-  type: position_controllers/JointPositionController
-  joint: joint_6
-  pid: {p: 100.0, i: 0.01, d: 10.0}
-
-# Group Position Controllers ---------------------------------------
-# Allows to send single ROS msg of Float64MultiArray to all joints
-joint_position_controller:
-  type: position_controllers/JointGroupPositionController
-  joints:
-    - joint_1
-    - joint_2
-    - joint_3
-    - joint_4
-    - joint_5
-    - joint_6
diff --git a/urdf_support/borunte_support/config/borunte_stand.rviz b/urdf_support/borunte_support/config/borunte_stand.rviz
deleted file mode 100644
index 6f3db4f..0000000
--- a/urdf_support/borunte_support/config/borunte_stand.rviz
+++ /dev/null
@@ -1,328 +0,0 @@
-Panels:
-  - Class: rviz/Displays
-    Help Height: 138
-    Name: Displays
-    Property Tree Widget:
-      Expanded:
-        - /Global Options1
-        - /Status1
-        - /TF1
-        - /TF1/Frames1
-      Splitter Ratio: 0.5
-    Tree Height: 1368
-  - Class: rviz/Selection
-    Name: Selection
-  - Class: rviz/Tool Properties
-    Expanded:
-      - /2D Pose Estimate1
-      - /2D Nav Goal1
-      - /Publish Point1
-    Name: Tool Properties
-    Splitter Ratio: 0.5886790156364441
-  - Class: rviz/Views
-    Expanded:
-      - /Current View1
-    Name: Views
-    Splitter Ratio: 0.5
-  - Class: rviz/Time
-    Experimental: false
-    Name: Time
-    SyncMode: 0
-    SyncSource: ""
-Visualization Manager:
-  Class: ""
-  Displays:
-    - Alpha: 0.5
-      Cell Size: 1
-      Class: rviz/Grid
-      Color: 160; 160; 164
-      Enabled: true
-      Line Style:
-        Line Width: 0.029999999329447746
-        Value: Lines
-      Name: Grid
-      Normal Cell Count: 0
-      Offset:
-        X: 0
-        Y: 0
-        Z: 0
-      Plane: XY
-      Plane Cell Count: 10
-      Reference Frame: <Fixed Frame>
-      Value: true
-    - Class: rviz/TF
-      Enabled: true
-      Frame Timeout: 15
-      Frames:
-        All Enabled: true
-        base:
-          Value: true
-        base_link:
-          Value: true
-        borunte_ezgripper_adapter:
-          Value: true
-        borunte_stand_flange:
-          Value: true
-        borunte_stand_link:
-          Value: true
-        depth_camera_link:
-          Value: true
-        flange:
-          Value: true
-        link_1:
-          Value: true
-        link_2:
-          Value: true
-        link_3:
-          Value: true
-        link_4:
-          Value: true
-        link_5:
-          Value: true
-        link_6:
-          Value: true
-        main_ezgripper_finger_L1_1:
-          Value: true
-        main_ezgripper_finger_L1_2:
-          Value: true
-        main_ezgripper_finger_L2_1:
-          Value: true
-        main_ezgripper_finger_L2_2:
-          Value: true
-        main_ezgripper_finger_L2_pad_1:
-          Value: true
-        main_ezgripper_finger_L2_pad_2:
-          Value: true
-        main_ezgripper_palm_link:
-          Value: true
-        rgb_camera_link:
-          Value: true
-        tool0:
-          Value: true
-        world:
-          Value: true
-      Marker Scale: 0.20000000298023224
-      Name: TF
-      Show Arrows: true
-      Show Axes: true
-      Show Names: true
-      Tree:
-        borunte_stand_link:
-          borunte_stand_flange:
-            base_link:
-              base:
-                {}
-              link_1:
-                link_2:
-                  link_3:
-                    link_4:
-                      link_5:
-                        link_6:
-                          flange:
-                            borunte_ezgripper_adapter:
-                              depth_camera_link:
-                                {}
-                              main_ezgripper_palm_link:
-                                main_ezgripper_finger_L1_1:
-                                  main_ezgripper_finger_L2_1:
-                                    main_ezgripper_finger_L2_pad_1:
-                                      {}
-                                main_ezgripper_finger_L1_2:
-                                  main_ezgripper_finger_L2_2:
-                                    main_ezgripper_finger_L2_pad_2:
-                                      {}
-                              rgb_camera_link:
-                                {}
-                            tool0:
-                              {}
-          world:
-            {}
-      Update Interval: 0
-      Value: true
-    - Alpha: 1
-      Class: rviz/RobotModel
-      Collision Enabled: false
-      Enabled: true
-      Links:
-        All Links Enabled: true
-        Expand Joint Details: false
-        Expand Link Details: false
-        Expand Tree: false
-        Link Tree Style: Links in Alphabetic Order
-        base:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        base_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        borunte_ezgripper_adapter:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        borunte_stand_flange:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        borunte_stand_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        depth_camera_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        flange:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        link_1:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        link_2:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        link_3:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        link_4:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        link_5:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        link_6:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        main_ezgripper_finger_L1_1:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        main_ezgripper_finger_L1_2:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        main_ezgripper_finger_L2_1:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        main_ezgripper_finger_L2_2:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        main_ezgripper_finger_L2_pad_1:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        main_ezgripper_finger_L2_pad_2:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        main_ezgripper_palm_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        rgb_camera_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        tool0:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        world:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-      Name: RobotModel
-      Robot Description: robot_description
-      TF Prefix: ""
-      Update Interval: 0
-      Value: true
-      Visual Enabled: true
-  Enabled: true
-  Global Options:
-    Background Color: 48; 48; 48
-    Default Light: true
-    Fixed Frame: borunte_stand_link
-    Frame Rate: 30
-  Name: root
-  Tools:
-    - Class: rviz/Interact
-      Hide Inactive Objects: true
-    - Class: rviz/MoveCamera
-    - Class: rviz/Select
-    - Class: rviz/FocusCamera
-    - Class: rviz/Measure
-    - Class: rviz/SetInitialPose
-      Topic: /initialpose
-    - Class: rviz/SetGoal
-      Topic: /move_base_simple/goal
-    - Class: rviz/PublishPoint
-      Single click: true
-      Topic: /clicked_point
-  Value: true
-  Views:
-    Current:
-      Class: rviz/Orbit
-      Distance: 3.2491230964660645
-      Enable Stereo Rendering:
-        Stereo Eye Separation: 0.05999999865889549
-        Stereo Focal Distance: 1
-        Swap Stereo Eyes: false
-        Value: false
-      Focal Point:
-        X: 0.1167607307434082
-        Y: 0.004363108426332474
-        Z: 0.720638632774353
-      Focal Shape Fixed Size: true
-      Focal Shape Size: 0.05000000074505806
-      Invert Z Axis: false
-      Name: Current View
-      Near Clip Distance: 0.009999999776482582
-      Pitch: 1.5397963523864746
-      Target Frame: <Fixed Frame>
-      Value: Orbit (rviz)
-      Yaw: 5.2585954666137695
-    Saved: ~
-Window Geometry:
-  Displays:
-    collapsed: false
-  Height: 1732
-  Hide Left Dock: false
-  Hide Right Dock: true
-  QMainWindow State: 000000ff00000000fd0000000400000000000001d50000061cfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003a0000061c000000c600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002aafc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730000000040000002aa0000009e00fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000b0f0000004efc0100000002fb0000000800540069006d0065010000000000000b0f0000024600fffffffb0000000800540069006d00650100000000000004500000000000000000000009340000061c00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
-  Selection:
-    collapsed: false
-  Time:
-    collapsed: false
-  Tool Properties:
-    collapsed: false
-  Views:
-    collapsed: true
-  Width: 2831
-  X: -200
-  Y: 261
diff --git a/urdf_support/borunte_support/config/create_dummy_signals.py b/urdf_support/borunte_support/config/create_dummy_signals.py
deleted file mode 100644
index b79a15e..0000000
--- a/urdf_support/borunte_support/config/create_dummy_signals.py
+++ /dev/null
@@ -1,40 +0,0 @@
-#!/usr/bin/env python
-# -*- coding: utf-8 -*-
-# very small helper script for short-cutting
-# input and output pins when passing data
-# thru HAL shared memory setup
-import sys
-import time
-import subprocess
-
-from machinekit import launcher
-from machinekit import hal
-
-try:
-    launcher.check_installation()
-    launcher.cleanup_session()  # kill any running Machinekit instances
-    launcher.start_realtime()  # start Machinekit realtime environment
-
-    while 'ul_iface_component.joint_6.pos-cmd' not in hal.pins:
-        time.sleep(0.5)
-
-    print('found HAL pin, connecting')
-    # create 6 signals between pos-cmd and pos-fb pins
-    # when machinekit_ros_control has started with
-    # parameter machinekit_interface: 0
-    for i in range(1, 7):
-        hal.Pin('ul_iface_component.joint_%s.pos-cmd' % i).link(
-            'ul_iface_component.joint_%s.pos-fb' % i
-        )
-
-    launcher.register_exit_handler()  # enable on ctrl-C, needs to executed after HAL files
-
-    while True:
-        launcher.check_processes()
-        time.sleep(1)
-
-except subprocess.CalledProcessError:
-    launcher.end_session()
-    sys.exit(1)
-
-sys.exit(0)
diff --git a/urdf_support/borunte_support/config/defaults/digital_io_names.yaml b/urdf_support/borunte_support/config/defaults/digital_io_names.yaml
deleted file mode 100644
index 0bc6e18..0000000
--- a/urdf_support/borunte_support/config/defaults/digital_io_names.yaml
+++ /dev/null
@@ -1,3 +0,0 @@
-io:
-  digital_in_names: {}
-  digital_out_names: {}
diff --git a/urdf_support/borunte_support/config/defaults/global_waypoints.yaml b/urdf_support/borunte_support/config/defaults/global_waypoints.yaml
deleted file mode 100644
index 347e39d..0000000
--- a/urdf_support/borunte_support/config/defaults/global_waypoints.yaml
+++ /dev/null
@@ -1,4 +0,0 @@
-global_waypoints:
-  home:
-    - JOINTS
-    - [0, 0, 0, 0, 0, 0]
diff --git a/urdf_support/borunte_support/config/defaults/machinetalk.yaml b/urdf_support/borunte_support/config/defaults/machinetalk.yaml
deleted file mode 100644
index a624a4b..0000000
--- a/urdf_support/borunte_support/config/defaults/machinetalk.yaml
+++ /dev/null
@@ -1,2 +0,0 @@
-machinetalk:
-  nodes: []
diff --git a/urdf_support/borunte_support/config/defaults/user_config.yaml b/urdf_support/borunte_support/config/defaults/user_config.yaml
deleted file mode 100644
index e3fc2a5..0000000
--- a/urdf_support/borunte_support/config/defaults/user_config.yaml
+++ /dev/null
@@ -1,9 +0,0 @@
-user_config:
-  jograte: 0.1
-  feedrate: 0.1
-  maximum_velocity: 0.1
-  jog:
-    continuous: false
-    step_size: 0
-  recent_paths: []
-  optional_stop: false
diff --git a/urdf_support/borunte_support/config/hal_hw_interface.yaml b/urdf_support/borunte_support/config/hal_hw_interface.yaml
deleted file mode 100644
index a985782..0000000
--- a/urdf_support/borunte_support/config/hal_hw_interface.yaml
+++ /dev/null
@@ -1,106 +0,0 @@
-hal_mgr:
-  hal_files:
-    # Load a HAL file that sets up the realtime configuration
-    - setup.py
-    - hal_io.py
-    - robot_io_pins.py
-    - haltalk.py
-
-# Settings for ros_control hardware interface
-hardware_interface:
-  joints:
-    - joint_1
-    - joint_2
-    - joint_3
-    - joint_4
-    - joint_5
-    - joint_6
-  sim_control_mode: 0 # 0: position, 1: velocity
-
-# Publish all joint states ----------------------------------
-# Creates the /joint_states topic necessary in ROS
-joint_state_controller:
-  type:         joint_state_controller/JointStateController
-  publish_rate: 50
-
-# Joint Trajectory Controller -------------------------------
-# For detailed explanations of parameter see
-# http://wiki.ros.org/joint_trajectory_controller
-position_trajectory_controller:
-  type: position_controllers/JointTrajectoryController
-  # These joints can likely just be copied from the hardware_interface
-  # list above
-  joints:
-    - joint_1
-    - joint_2
-    - joint_3
-    - joint_4
-    - joint_5
-    - joint_6
-  constraints:
-    goal_time: 5.0
-    #stopped_position_tolerance: 0.4 # Defaults to 0.01
-    joint_1:
-      trajectory: 0.60
-      goal:       0.15
-    joint_2:
-      trajectory: 0.60
-      goal:       0.15
-    joint_3:
-      trajectory: 0.60
-      goal:       0.15
-    joint_4:
-      trajectory: 0.60
-      goal:       0.15
-    joint_5:
-      trajectory: 0.60
-      goal:       0.15
-    joint_6:
-      trajectory: 0.60
-      goal:       0.15
-  # gains:
-  #   joint_1: {p: 2.0,  i: 0.0, d: 0.01, i_clamp: 1}
-  #   joint_2: {p: 2.0,  i: 0.0, d: 0.01, i_clamp: 1}
-
-  state_publish_rate:  50 # Defaults to 50
-  action_monitor_rate: 20 # Defaults to 20
-  stop_trajectory_duration: 0 # Defaults to 0.5
-
-# Individual Position Controllers ---------------------------------------
-# Allows to send individual ROS msg of Float64 to each joint separately
-joint_1_position_controller:
-  type: position_controllers/JointPositionController
-  joint: joint_1
-  pid: {p: 100.0, i: 0.01, d: 10.0}
-joint_2_position_controller:
-  type: position_controllers/JointPositionController
-  joint: joint_2
-  pid: {p: 100.0, i: 0.01, d: 10.0}
-joint_3_position_controller:
-  type: position_controllers/JointPositionController
-  joint: joint_3
-  pid: {p: 100.0, i: 0.01, d: 10.0}
-joint_4_position_controller:
-  type: position_controllers/JointPositionController
-  joint: joint_4
-  pid: {p: 100.0, i: 0.01, d: 10.0}
-joint_5_position_controller:
-  type: position_controllers/JointPositionController
-  joint: joint_5
-  pid: {p: 100.0, i: 0.01, d: 10.0}
-joint_6_position_controller:
-  type: position_controllers/JointPositionController
-  joint: joint_6
-  pid: {p: 100.0, i: 0.01, d: 10.0}
-
-# Group Position Controllers ---------------------------------------
-# Allows to send single ROS msg of Float64MultiArray to all joints
-joint_position_controller:
-  type: position_controllers/JointGroupPositionController
-  joints:
-    - joint_1
-    - joint_2
-    - joint_3
-    - joint_4
-    - joint_5
-    - joint_6
diff --git a/urdf_support/borunte_support/config/hal_io.yaml b/urdf_support/borunte_support/config/hal_io.yaml
deleted file mode 100644
index 2e28b7a..0000000
--- a/urdf_support/borunte_support/config/hal_io.yaml
+++ /dev/null
@@ -1,58 +0,0 @@
-hal_io:
-
-  # I/O main loop publish rate in Hz
-  update_rate: 10
-
-  # Pin definitions
-  #
-  # output_pins: are read from a topic (default) or service
-
-  # HAL pins are named hal_io.<pin_name>
-
-  # valid keys for all pins:
-  #   hal_type:  BIT, FLOAT, S32, U32
-
-  publish_pins:
-    # publish_pins values from HAL pin published to ROS topic
-    # valid keys:
-    #   hal_dir:  IN (default), IO
-    #   pub_topic:  (any valid ROS topic name, default /hal_io/<pin_name>)
-    digital_in_1:
-      hal_type: BIT
-    digital_in_2:
-      hal_type: BIT
-    digital_in_3:
-      hal_type: BIT
-    digital_in_4:
-      hal_type: BIT
-    state_fb:
-      hal_type: S32
-  subscribe_pins:
-    # subscribe_pins values from ROS topic copied to HAL output pin
-    # valid keys:
-    #   hal_dir:  OUT (default), IO
-    #   sub_topic:  (any valid ROS topic name, default /hal_io/<pin_name>)
-    digital_out_1:
-      hal_type: BIT
-    digital_out_2:
-      hal_type: BIT
-    digital_out_3:
-      hal_type: BIT
-    digital_out_4:
-      hal_type: BIT
-    zero_all_joints:
-      hal_type: BIT
-      hal_dir: IO
-    state_cmd:
-      hal_type: U32
-      hal_dir: IO
-    reset:
-      hal_type: BIT
-      hal_dir: IO
-# service_pins:
-    # service_pins values from ROS service copied to HAL output pin
-    #   and published topic
-    # valid keys:
-    #   hal_dir:  OUT (default), IO
-    #   service_name:  (any valid ROS service name, default /hal_io/<pin_name>)
-    #   pub_topic:  (any valid ROS topic name, default /hal_io/<pin_name>)
diff --git a/urdf_support/borunte_support/config/io_config.yaml b/urdf_support/borunte_support/config/io_config.yaml
deleted file mode 100644
index f0702e9..0000000
--- a/urdf_support/borunte_support/config/io_config.yaml
+++ /dev/null
@@ -1,12 +0,0 @@
-# hal_io publish/subscribe topics for IO pins
-io:
-  digital_in_topics:
-    - /hal_io/digital_in_1
-    - /hal_io/digital_in_2
-    - /hal_io/digital_in_3
-    - /hal_io/digital_in_4
-  digital_out_topics:
-    - /hal_io/digital_out_1
-    - /hal_io/digital_out_2
-    - /hal_io/digital_out_3
-    - /hal_io/digital_out_4
diff --git a/urdf_support/borunte_support/config/jog_arm_settings_gui.yaml b/urdf_support/borunte_support/config/jog_arm_settings_gui.yaml
deleted file mode 100644
index d9a0828..0000000
--- a/urdf_support/borunte_support/config/jog_arm_settings_gui.yaml
+++ /dev/null
@@ -1,34 +0,0 @@
-gazebo: false # Whether the robot is started in simulation environment
-collision_check: false # Check collisions?
-command_in_type: "unitless" # "unitless"> in the range [-1:1], as if from joystick. "speed_units"> cmds are in m/s and rad/s
-scale: # Only used if command_in_type=="unitless"
-  linear:  0.008 # Max linear velocity. Meters per publish_period. Units is [m/s]
-  rotational:  0.016 # Max angular velocity. Rads per publish_period. Units is [rad/s]
-  joint: 0.04 # Max joint angular/linear velocity. Rads or Meters per publish period. Units is [rad/s] or [m/s].
-cartesian_command_in_topic:  jog_arm_server/frame_delta_jog_cmds # Topic for xyz commands
-joint_command_in_topic: jog_arm_server/joint_delta_jog_cmds # Topic for angle commands
-command_frame:  world # TF frame that incoming cmds are given in
-incoming_command_timeout:  1 # Stop jogging if X seconds elapse without a new cmd
-joint_topic:  joint_states
-move_group_name:  manipulator # Often 'manipulator' or 'arm'
-lower_singularity_threshold:  30 # Start decelerating when the condition number hits this (close to singularity). Larger --> closer to singularity
-hard_stop_singularity_threshold: 45 # Stop when the condition number hits this. Larger --> closer to singularity
-lower_collision_proximity_threshold: 0.1 # Start decelerating when a collision is this far [m]
-hard_stop_collision_proximity_threshold: 0.005 # Stop when a collision is this far [m]
-planning_frame:  world # The MoveIt! planning frame. Often 'base_link'
-# Larger c --> trust the filtered data more, trust the measurements less.
-low_pass_filter_coeff:  2. # Larger-> more smoothing to jog commands, but more lag.
-publish_period:  0.008 # 1/Nominal publish rate [seconds]
-publish_delay: 0.005 # delay between calculation and execution start of command
-collision_check_rate: 5 # [Hz] Collision-checking can easily bog down a CPU if done too often.
-warning_topic:  jog_arm_server/warning # Publish boolean warnings to this topic
-joint_limit_margin: 0.1 # added as a buffer to joint limits [radians]. If moving quickly, make this larger.
-command_out_topic: position_trajectory_controller/command
-# What type of topic does your robot driver expect?
-# Currently supported are std_msgs/Float64MultiArray (for ros_control JointGroupVelocityController)
-# or trajectory_msgs/JointTrajectory (for Universal Robots and other non-ros_control robots)
-command_out_type: trajectory_msgs/JointTrajectory
-# Can save some bandwidth as most robots only require positions or velocities
-publish_joint_positions: true
-publish_joint_velocities: true
-publish_joint_accelerations: false
diff --git a/urdf_support/borunte_support/config/jog_arm_settings_spacemouse.yaml b/urdf_support/borunte_support/config/jog_arm_settings_spacemouse.yaml
deleted file mode 100644
index 86e42ab..0000000
--- a/urdf_support/borunte_support/config/jog_arm_settings_spacemouse.yaml
+++ /dev/null
@@ -1,34 +0,0 @@
-gazebo: false # Whether the robot is started in simulation environment
-collision_check: false # Check collisions?
-command_in_type: "unitless" # "unitless"> in the range [-1:1], as if from joystick. "speed_units"> cmds are in m/s and rad/s
-scale: # Only used if command_in_type=="unitless"
-  linear:  0.002 # Max linear velocity. Meters per publish_period. Units is [m/s]
-  rotational:  0.004 # Max angular velocity. Rads per publish_period. Units is [rad/s]
-  joint: 0.01 # Max joint angular/linear velocity. Rads or Meters per publish period. Units is [rad/s] or [m/s].
-cartesian_command_in_topic:  jog_arm_server/frame_delta_jog_cmds_spacemouse # Topic for xyz commands
-joint_command_in_topic: jog_arm_server/joint_delta_jog_cmds_spacemouse # Topic for angle commands
-command_frame:  world # TF frame that incoming cmds are given in
-incoming_command_timeout:  0.5  # Stop jogging if X seconds elapse without a new cmd
-joint_topic:  joint_states
-move_group_name:  manipulator # Often 'manipulator' or 'arm'
-lower_singularity_threshold:  30 # Start decelerating when the condition number hits this (close to singularity). Larger --> closer to singularity
-hard_stop_singularity_threshold: 45 # Stop when the condition number hits this. Larger --> closer to singularity
-lower_collision_proximity_threshold: 0.1 # Start decelerating when a collision is this far [m]
-hard_stop_collision_proximity_threshold: 0.005 # Stop when a collision is this far [m]
-planning_frame:  world # The MoveIt! planning frame. Often 'base_link'
-# Larger c --> trust the filtered data more, trust the measurements less.
-low_pass_filter_coeff:  2. # Larger-> more smoothing to jog commands, but more lag.
-publish_period:  0.008 # 1/Nominal publish rate [seconds]
-publish_delay: 0.005 # delay between calculation and execution start of command
-collision_check_rate: 5 # [Hz] Collision-checking can easily bog down a CPU if done too often.
-warning_topic:  jog_arm_server/warning # Publish boolean warnings to this topic
-joint_limit_margin: 0.1 # added as a buffer to joint limits [radians]. If moving quickly, make this larger.
-command_out_topic: position_trajectory_controller/command
-# What type of topic does your robot driver expect?
-# Currently supported are std_msgs/Float64MultiArray (for ros_control JointGroupVelocityController)
-# or trajectory_msgs/JointTrajectory (for Universal Robots and other non-ros_control robots)
-command_out_type: trajectory_msgs/JointTrajectory
-# Can save some bandwidth as most robots only require positions or velocities
-publish_joint_positions: true
-publish_joint_velocities: true
-publish_joint_accelerations: false
diff --git a/urdf_support/borunte_support/halfiles/hal_io.py b/urdf_support/borunte_support/halfiles/hal_io.py
deleted file mode 100644
index 28b999e..0000000
--- a/urdf_support/borunte_support/halfiles/hal_io.py
+++ /dev/null
@@ -1,11 +0,0 @@
-# -*- coding: utf-8 -*-
-from machinekit import hal
-
-
-def load_hal_io_component():
-    # Load hal_io user component
-    cmd = 'rosrun hal_hw_interface hal_io'
-    hal.loadusr(cmd, wait=True, wait_name='hal_io', wait_timeout=10.0)
-
-
-load_hal_io_component()
diff --git a/urdf_support/borunte_support/halfiles/haltalk.py b/urdf_support/borunte_support/halfiles/haltalk.py
deleted file mode 100644
index 0ae0472..0000000
--- a/urdf_support/borunte_support/halfiles/haltalk.py
+++ /dev/null
@@ -1,4 +0,0 @@
-# -*- coding: utf-8 -*-
-from machinekit import hal
-
-hal.loadusr('haltalk', wait=True)
diff --git a/urdf_support/borunte_support/halfiles/robot_io_pins.py b/urdf_support/borunte_support/halfiles/robot_io_pins.py
deleted file mode 100644
index 001d983..0000000
--- a/urdf_support/borunte_support/halfiles/robot_io_pins.py
+++ /dev/null
@@ -1,45 +0,0 @@
-# -*- coding: utf-8 -*-
-
-import rospy
-from machinekit import hal
-
-
-def setup_sim_pins():
-    rospy.loginfo('Creating io-rcomp HAL remote component')
-    # mirror hal_io to rcomp
-    hal_io = hal.components['hal_io']
-    rcomp = hal.RemoteComponent('io-rcomp', timer=100)
-    for pin in hal_io.pins():
-        name = '.'.join(pin.name.split('.')[1:])
-        if not name.startswith('digital_'):
-            continue
-        dir_map = {hal.HAL_IN: hal.HAL_OUT, hal.HAL_OUT: hal.HAL_IN}
-        rcomp.newpin(name, pin.type, dir_map.get(pin.dir, hal.HAL_IO))
-        if pin.linked:
-            continue
-        if pin.dir == hal.HAL_IN:
-            rcomp.pin(name).link(hal.pins[pin.name])
-        else:
-            hal.pins[pin.name].link(rcomp.pin(name))
-    rcomp.ready()
-
-
-def setup_gripper_pins():
-    hal.Pin('hal_io.digital_out_1').link('gripper-open-close')
-    hal.Pin('hal_io.digital_in_1').link('gripper-opened')
-
-
-def setup_robot_control_pins():
-    hal.Pin('hal_io.state_cmd').link(hal.Signal('state-cmd'))
-    hal.Pin('hal_io.state_fb').link(hal.Signal('state-fb'))
-    hal.Pin('hal_io.reset').link(hal.Signal('reset-in'))
-
-
-def setup_pins():
-    sim_mode = rospy.get_param('/hal_hardware/sim_mode', True)
-    if sim_mode:
-        setup_sim_pins()
-    setup_robot_control_pins()
-
-
-setup_pins()
diff --git a/urdf_support/borunte_support/halfiles/setup.py b/urdf_support/borunte_support/halfiles/setup.py
deleted file mode 100644
index f926a41..0000000
--- a/urdf_support/borunte_support/halfiles/setup.py
+++ /dev/null
@@ -1,72 +0,0 @@
-# -*- coding: utf-8 -*-
-import os
-import sys
-import time
-
-import rospy
-from machinekit import launcher
-from machinekit import rtapi as rt
-from machinekit import hal
-
-HARDWARE_RESET_DELAY_S = 0.1
-HARDWARE_SETTLE_TIME_S = 1.0
-NUM_JOINTS = 6
-
-HAL_CONFIG_PATH = rospy.get_param('/hal_config_path', '')
-sys.path.append(HAL_CONFIG_PATH)
-os.environ['PYTHONPATH'] += ':{}'.format(HAL_CONFIG_PATH)
-
-
-def install_rt_comps():
-    launcher.install_comp(
-        os.path.join(HAL_CONFIG_PATH, 'components', 'absolute_joint.icomp')
-    )
-
-
-def create_hw_interface(thread):
-    rt.loadrt('{}/hal_hw_interface'.format(os.environ['COMP_DIR']))
-    hal.addf('hal_hw_interface', thread.name)
-
-    oneshot = rt.newinst('oneshot', 'oneshot.hw_reset')
-    hal.addf(oneshot.name, thread.name)
-    oneshot.pin('in').link('power-on')
-    oneshot.pin('out').link('hw-reset')
-    oneshot.pin('width').set(HARDWARE_RESET_DELAY_S)
-
-
-def connect_hw_interface():
-    for nr in range(1, NUM_JOINTS + 1):
-        hal.Pin('hal_hw_interface.joint_{}.pos-cmd'.format(nr)).link(
-            'joint-{}-cmd-pos'.format(nr)
-        )
-        hal.Pin('hal_hw_interface.joint_{}.pos-fb'.format(nr)).link(
-            'joint-{}-fb-out-pos'.format(nr)
-        )
-
-        hal.Pin('hal_hw_interface.reset').link('hw-reset')
-
-
-def setup_hal():
-    sim_mode = rospy.get_param('/hal_hardware/sim_mode', True)
-    tool = rospy.get_param('/hal_hardware/tool', 'none')
-    rospy.loginfo('tool {}'.format(tool))
-    if sim_mode:
-        os.environ['SIM_MODE'] = '1'
-    os.environ['ROBOT_TOOL'] = tool
-
-    from borunte_hal.robot import setup_thread, configure_hal
-
-    cgname = rospy.get_param('/hal_mgr/rt_cgname', None)
-    thread = setup_thread(cgname)
-    create_hw_interface(thread)
-    configure_hal(thread)
-    time.sleep(HARDWARE_SETTLE_TIME_S)
-    connect_hw_interface()
-
-    # start the sim config "powered on"
-    # if sim:
-    #    hal.Signal('state-cmd').set(1)
-
-
-install_rt_comps()
-setup_hal()
diff --git a/urdf_support/borunte_support/launch/display_borunte.launch b/urdf_support/borunte_support/launch/display_borunte.launch
deleted file mode 100644
index 3e30f1a..0000000
--- a/urdf_support/borunte_support/launch/display_borunte.launch
+++ /dev/null
@@ -1,19 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-<!-- <arg name="model" default="$(find borunte)/config/borunte.xacro meshDirectory:=$(find borunte)/mesh/" /> -->
-<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find borunte_support)/urdf/borunte.xacro'" />
-<arg name="gui" default="True" />
-
-<!-- <param name="robot_description" textfile="$(arg model)" /> -->
-
-<param name="use_gui" value="$(arg gui)" />
-
-<node name="joint_state_publisher" pkg="joint_state_publisher"
-type="joint_state_publisher" />
-
-<node name="robot_state_publisher" pkg="robot_state_publisher"
-type="state_publisher" />
-
-<node pkg="rviz" type="rviz" name="rviz" args="-d $(find borunte_support)/config/borunte.rviz"/>
-
-</launch>
diff --git a/urdf_support/borunte_support/launch/display_borunte_stand.launch b/urdf_support/borunte_support/launch/display_borunte_stand.launch
deleted file mode 100644
index c64d6f7..0000000
--- a/urdf_support/borunte_support/launch/display_borunte_stand.launch
+++ /dev/null
@@ -1,19 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-
-<arg name="tool" default="ezgripper_gen2_plus" />
-<arg name="gui" default="True" />
-
-<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find borunte_support)/urdf/borunte_on_stand.xacro' tool:=$(arg tool)"/>
-
-<param name="use_gui" value="$(arg gui)" />
-
-<node name="joint_state_publisher" pkg="joint_state_publisher"
-type="joint_state_publisher" />
-
-<node name="robot_state_publisher" pkg="robot_state_publisher"
-type="state_publisher" />
-
-<node pkg="rviz" type="rviz" name="rviz" args="-d $(find borunte_support)/config/borunte_stand.rviz"/>
-
-</launch>
diff --git a/urdf_support/borunte_support/launch/hal_hardware.launch b/urdf_support/borunte_support/launch/hal_hardware.launch
deleted file mode 100644
index 9d2655c..0000000
--- a/urdf_support/borunte_support/launch/hal_hardware.launch
+++ /dev/null
@@ -1,76 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <!--
-      This .launch file brings up the borunte controller
-  -->
-  <!-- By default we do not overwrite the URDF. Change the following to true to change the default behavior -->
-  <arg name="load_robot_description" default="true"/>
-
-  <!-- The name of the parameter under which the URDF is loaded -->
-  <arg name="robot_description" default="robot_description"/>
-
-  <!-- HAL debug output -->
-  <!-- - Output HAL debug messages to screen (console) -->
-  <arg name="hal_debug_output" default="false"/>
-  <!-- - Set HAL debug level, 0-5 -->
-  <arg name="hal_debug_level" default="1"/>
-
-  <!-- - Run in simulated hardware mode -->
-  <arg name="sim" default="$(eval optenv('HARDWARE_MODE', 'sim') == 'sim')"/>
-
-  <!-- - Tool to use -->
-  <arg name="tool" default="none" />
-
-  <!-- Set search path for robot HAL config -->
-  <param
-    name="hal_config_path"
-    value="$(find borunte_hal)"
-    />
-
-  <!-- cpuset cgroup for RT threads -->
-  <arg unless="$(arg sim)" name="cgroup" default="/rt"/>
-  <arg     if="$(arg sim)" name="cgroup" default=""/>
-
-  <rosparam
-      command="load"
-      file="$(find borunte_support)/config/hal_hw_interface.yaml"
-      />
-
-  <rosparam
-      command="load"
-      file="$(find borunte_support)/config/hal_io.yaml"
-    />
-
-  <param
-      name="hal_mgr/hal_file_dir"
-      value="$(find borunte_support)/halfiles"
-      />
-  <param name="hal_hardware/sim_mode" value="$(arg sim)"/>
-  <param name="hal_hardware/tool" value="$(arg tool)"/>
-
-  <include file="$(find hal_hw_interface)/launch/hal_hw_interface.launch">
-    <arg name="hal_debug_output" value="$(arg hal_debug_output)"/>
-    <arg name="hal_debug_level" value="$(arg hal_debug_level)"/>
-  </include>
-
-  <rosparam
-      file="$(find borunte_support)/config/borunte_controllers.yaml"
-      command="load"
-    />
-
-  <node
-      name="ros_control_controller_manager"
-      pkg="controller_manager"
-      type="controller_manager"
-      respawn="false"
-      output="screen"
-      args="spawn joint_state_controller position_trajectory_controller"
-    />
-
-  <node
-    name="machinetalk"
-    pkg="borunte_support"
-    type="run_machinetalk.py"
-  />
-
-</launch>
diff --git a/urdf_support/borunte_support/launch/hw_bringup.launch b/urdf_support/borunte_support/launch/hw_bringup.launch
deleted file mode 100644
index 91cbabc..0000000
--- a/urdf_support/borunte_support/launch/hw_bringup.launch
+++ /dev/null
@@ -1,64 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <!-- HAL debug output -->
-  <!-- - Output HAL debug messages to screen (console) -->
-  <arg name="hal_debug_output" default="false"/>
-  <!-- - Set HAL debug level, 0-5 -->
-  <arg name="hal_debug_level" default="1"/>
-  <!-- start in sim mode -->
-  <arg name="sim" default="$(eval optenv('HARDWARE_MODE', 'sim') == 'sim')"/>
-  <!-- ID of the tool to use -->
-  <arg name="tool" default="ezgripper_gen2_plus"/>
-  <!-- The name of the parameter under which the URDF is loaded -->
-  <arg name="robot_description" default="robot_description"/>
-  <!-- The camera nodelet manager to start -->
-  <arg name="manager" default="camera_nodelet_manager"/>
-
-  <!-- set sim param -->
-  <param name="sim" value="$(arg sim)" />
-
-  <!-- Load universal robot description format (URDF) -->
-  <param name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find borunte_support)/urdf/borunte_on_stand.xacro' tool:=$(arg tool)"/>
-
-  <!-- load I/O config -->
-  <rosparam
-      command="load"
-      file="$(find borunte_support)/config/io_config.yaml"
-      />
-
-  <!-- run the "real robot" interface nodes -->
-  <include file="$(find borunte_support)/launch/hal_hardware.launch">
-    <arg name="hal_debug_output" value="$(arg hal_debug_output)"/>
-    <arg name="hal_debug_level" value="$(arg hal_debug_level)"/>
-    <arg name="sim" value="$(arg sim)"/>
-    <arg name="tool" value="$(arg tool)" />
-  </include>
-
-  <!-- Start tool/gripper nodes -->
-  <node pkg="ezgripper_driver" type="ezgripper.py" name="ezgripper" output="screen" if="$(eval tool == 'ezgripper_gen2_plus' and not sim)">
-    <param name="port" value="hwgrep://0403:6015"/>
-    <param name="baud" value="57600"/>
-    <rosparam param="grippers">{main:[1]}</rosparam>
-  </node>
-  <node pkg="ezgripper_driver" type="ezgripper_sim.py" name="ezgripper" output="screen" if="$(eval tool == 'ezgripper_gen2_plus' and sim)">
-    <rosparam param="grippers">{main:[1]}</rosparam>
-  </node>
-
-  <!-- publish the robot state (tf transforms) -->
-  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
-
-  <!-- launch vision chain -->
-  <include file="$(find tag_tracking)/launch/combine_rgbd.launch">
-    <arg name="manager" value="$(arg manager)"/>
-  </include>
-
-  <include file="$(find tag_tracking)/launch/elp_camera_13mp_cv_stream.launch" unless="$(arg sim)">
-    <arg name="manager" value="$(arg manager)"/>
-    <arg name="use_manager" value="true"/>
-  </include>
-
-  <include file="$(find tag_tracking)/launch/pico_flexx_camera.launch" unless="$(arg sim)">
-    <arg name="manager" value="$(arg manager)"/>
-    <arg name="use_manager" value="true"/>
-  </include>
-</launch>
diff --git a/urdf_support/borunte_support/launch/jogging.launch b/urdf_support/borunte_support/launch/jogging.launch
deleted file mode 100644
index 8088b76..0000000
--- a/urdf_support/borunte_support/launch/jogging.launch
+++ /dev/null
@@ -1,21 +0,0 @@
-<launch>
-
-  <node name="joy_node" pkg="joy" type="joy_node" required="true"/>
-
-  <node name="spacemouse_to_twist" pkg="jog_arm" type="spacemouse_to_twist" output="screen" required="true">
-    <param name="output_topic" type="string" value="jog_arm_server/frame_delta_jog_cmds_spacemouse" />
-  </node>
-
-  <node name="jog_arm_server_spacemouse" pkg="jog_arm" type="jog_arm_server" output="screen" required="true">
-    <param name="parameter_ns" type="string" value="jog_arm_server_spacemouse" />
-    <rosparam command="load" file="$(find borunte_support)/config/jog_arm_settings_spacemouse.yaml" />
-  </node>
-
-  <node name="jog_arm_server_gui" pkg="jog_arm" type="jog_arm_server" output="screen" required="true">
-    <param name="parameter_ns" type="string" value="jog_arm_server_gui" />
-    <rosparam command="load" file="$(find borunte_support)/config/jog_arm_settings_gui.yaml" />
-  </node>
-
-  <node pkg="robot_jog" type="jog_node" name="jog_node" required="true"/>
-
-</launch>
diff --git a/urdf_support/borunte_support/launch/parameter_persistence.launch b/urdf_support/borunte_support/launch/parameter_persistence.launch
deleted file mode 100644
index 61f9cfd..0000000
--- a/urdf_support/borunte_support/launch/parameter_persistence.launch
+++ /dev/null
@@ -1,8 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-
-  <include file="$(find redis_store)/launch/redis_store.launch">
-    <arg name="defaults_path" value="$(find borunte_support)/config/defaults"/>
-  </include>
-
-</launch>
diff --git a/urdf_support/borunte_support/launch/tracking_tools.launch b/urdf_support/borunte_support/launch/tracking_tools.launch
deleted file mode 100644
index 17e8f5c..0000000
--- a/urdf_support/borunte_support/launch/tracking_tools.launch
+++ /dev/null
@@ -1,15 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-  <arg name="manager" default="camera_nodelet_manager"/>
-
-  <include file="$(find tag_tracking)/launch/ar_track_alvar.launch">
-    <arg name="output_frame" value="world"/>
-    <arg name="use_cloud" value="false"/>
-  </include>
-
-  <include file="$(find barcode_tracking)/launch/barcode_detector.launch">
-    <arg name="output_frame" value="world" />
-    <arg name="manager" value="$(arg manager)"/>
-    <arg name="use_manager" value="true"/>
-  </include>
-</launch>
diff --git a/urdf_support/borunte_support/meshes/base_link.stl b/urdf_support/borunte_support/meshes/base_link.stl
deleted file mode 100644
index 8eefc8b..0000000
Binary files a/urdf_support/borunte_support/meshes/base_link.stl and /dev/null differ
diff --git a/urdf_support/borunte_support/meshes/base_link_collision.stl b/urdf_support/borunte_support/meshes/base_link_collision.stl
deleted file mode 100644
index bc53ba1..0000000
Binary files a/urdf_support/borunte_support/meshes/base_link_collision.stl and /dev/null differ
diff --git a/urdf_support/borunte_support/meshes/borunte_carriage.stl b/urdf_support/borunte_support/meshes/borunte_carriage.stl
deleted file mode 100644
index 8471871..0000000
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diff --git a/urdf_support/borunte_support/meshes/borunte_ezgripper_adapter.stl b/urdf_support/borunte_support/meshes/borunte_ezgripper_adapter.stl
deleted file mode 100644
index 5714cf2..0000000
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diff --git a/urdf_support/borunte_support/meshes/borunte_ezgripper_adapter_collision.stl b/urdf_support/borunte_support/meshes/borunte_ezgripper_adapter_collision.stl
deleted file mode 100644
index 5fa7e14..0000000
Binary files a/urdf_support/borunte_support/meshes/borunte_ezgripper_adapter_collision.stl and /dev/null differ
diff --git a/urdf_support/borunte_support/meshes/collision/create_collision_invert.mlx b/urdf_support/borunte_support/meshes/collision/create_collision_invert.mlx
deleted file mode 100644
index f473dc4..0000000
--- a/urdf_support/borunte_support/meshes/collision/create_collision_invert.mlx
+++ /dev/null
@@ -1,37 +0,0 @@
-<!DOCTYPE FilterScript>
-<FilterScript>
- <filter name="Uniform Mesh Resampling">
-  <Param type="RichAbsPerc" value="0.009234" min="0" name="CellSize" max="0.461702"/>
-  <Param type="RichAbsPerc" value="0.0049993" min="-0.0923404" name="Offset" max="0.0923404"/>
-  <Param type="RichBool" value="false" name="mergeCloseVert"/>
-  <Param type="RichBool" value="false" name="discretize"/>
-  <Param type="RichBool" value="false" name="multisample"/>
-  <Param type="RichBool" value="true" name="absDist"/>
- </filter>
- <filter name="Convex Hull">
-  <Param type="RichBool" value="false" name="reorient"/>
- </filter>
- <filter name="Quadric Edge Collapse Decimation">
-  <Param type="RichInt" value="377" name="TargetFaceNum"/>
-  <Param type="RichFloat" value="0.3" name="TargetPerc"/>
-  <Param type="RichFloat" value="0.3" name="QualityThr"/>
-  <Param type="RichBool" value="false" name="PreserveBoundary"/>
-  <Param type="RichFloat" value="1" name="BoundaryWeight"/>
-  <Param type="RichBool" value="false" name="PreserveNormal"/>
-  <Param type="RichBool" value="false" name="PreserveTopology"/>
-  <Param type="RichBool" value="true" name="OptimalPlacement"/>
-  <Param type="RichBool" value="false" name="PlanarQuadric"/>
-  <Param type="RichBool" value="false" name="QualityWeight"/>
-  <Param type="RichBool" value="true" name="AutoClean"/>
-  <Param type="RichBool" value="false" name="Selected"/>
- </filter>
- <filter name="Re-Orient all faces coherentely"/>
- <filter name="Invert Faces Orientation">
-  <Param type="RichBool" value="true" name="forceFlip"/>
- </filter>
- <filter name="Recompute Vertex Normals">
-  <Param enum_val0="None (avg)" enum_val1="By Angle" enum_cardinality="4" enum_val2="By Area" enum_val3="As defined by N. Max" type="RichEnum" value="0" name="weightMode"/>
- </filter>
- <filter name="Normalize Vertex Normals"/>
- <filter name="Normalize Face Normals"/>
-</FilterScript>
diff --git a/urdf_support/borunte_support/meshes/collision/create_collision_no_invert.mlx b/urdf_support/borunte_support/meshes/collision/create_collision_no_invert.mlx
deleted file mode 100644
index 6a09984..0000000
--- a/urdf_support/borunte_support/meshes/collision/create_collision_no_invert.mlx
+++ /dev/null
@@ -1,34 +0,0 @@
-<!DOCTYPE FilterScript>
-<FilterScript>
- <filter name="Uniform Mesh Resampling">
-  <Param type="RichAbsPerc" value="0.009234" min="0" name="CellSize" max="0.461702"/>
-  <Param type="RichAbsPerc" value="0.0049993" min="-0.0923404" name="Offset" max="0.0923404"/>
-  <Param type="RichBool" value="false" name="mergeCloseVert"/>
-  <Param type="RichBool" value="false" name="discretize"/>
-  <Param type="RichBool" value="false" name="multisample"/>
-  <Param type="RichBool" value="true" name="absDist"/>
- </filter>
- <filter name="Convex Hull">
-  <Param type="RichBool" value="false" name="reorient"/>
- </filter>
- <filter name="Quadric Edge Collapse Decimation">
-  <Param type="RichInt" value="377" name="TargetFaceNum"/>
-  <Param type="RichFloat" value="0.3" name="TargetPerc"/>
-  <Param type="RichFloat" value="0.3" name="QualityThr"/>
-  <Param type="RichBool" value="false" name="PreserveBoundary"/>
-  <Param type="RichFloat" value="1" name="BoundaryWeight"/>
-  <Param type="RichBool" value="false" name="PreserveNormal"/>
-  <Param type="RichBool" value="false" name="PreserveTopology"/>
-  <Param type="RichBool" value="true" name="OptimalPlacement"/>
-  <Param type="RichBool" value="false" name="PlanarQuadric"/>
-  <Param type="RichBool" value="false" name="QualityWeight"/>
-  <Param type="RichBool" value="true" name="AutoClean"/>
-  <Param type="RichBool" value="false" name="Selected"/>
- </filter>
- <filter name="Re-Orient all faces coherentely"/>
- <filter name="Recompute Vertex Normals">
-  <Param enum_val0="None (avg)" enum_val1="By Angle" enum_cardinality="4" enum_val2="By Area" enum_val3="As defined by N. Max" type="RichEnum" value="0" name="weightMode"/>
- </filter>
- <filter name="Normalize Vertex Normals"/>
- <filter name="Normalize Face Normals"/>
-</FilterScript>
diff --git a/urdf_support/borunte_support/meshes/fish_finger.stl b/urdf_support/borunte_support/meshes/fish_finger.stl
deleted file mode 100644
index 062641f..0000000
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diff --git a/urdf_support/borunte_support/meshes/fish_finger_adapter_left.stl b/urdf_support/borunte_support/meshes/fish_finger_adapter_left.stl
deleted file mode 100644
index 84ac093..0000000
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diff --git a/urdf_support/borunte_support/meshes/fish_finger_adapter_left_collision.stl b/urdf_support/borunte_support/meshes/fish_finger_adapter_left_collision.stl
deleted file mode 100644
index 8a68df1..0000000
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diff --git a/urdf_support/borunte_support/meshes/fish_finger_adapter_right.stl b/urdf_support/borunte_support/meshes/fish_finger_adapter_right.stl
deleted file mode 100644
index 16932ed..0000000
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diff --git a/urdf_support/borunte_support/meshes/fish_finger_adapter_right_collision.stl b/urdf_support/borunte_support/meshes/fish_finger_adapter_right_collision.stl
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index 07d43dd..0000000
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diff --git a/urdf_support/borunte_support/meshes/fish_finger_collision.stl b/urdf_support/borunte_support/meshes/fish_finger_collision.stl
deleted file mode 100644
index d93df7f..0000000
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diff --git a/urdf_support/borunte_support/meshes/link_1.stl b/urdf_support/borunte_support/meshes/link_1.stl
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diff --git a/urdf_support/borunte_support/meshes/link_1_collision.stl b/urdf_support/borunte_support/meshes/link_1_collision.stl
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index 234e715..0000000
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diff --git a/urdf_support/borunte_support/meshes/link_2.stl b/urdf_support/borunte_support/meshes/link_2.stl
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diff --git a/urdf_support/borunte_support/meshes/link_2_collision.stl b/urdf_support/borunte_support/meshes/link_2_collision.stl
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diff --git a/urdf_support/borunte_support/meshes/link_3.stl b/urdf_support/borunte_support/meshes/link_3.stl
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diff --git a/urdf_support/borunte_support/meshes/link_3_collision.stl b/urdf_support/borunte_support/meshes/link_3_collision.stl
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index 929cb81..0000000
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diff --git a/urdf_support/borunte_support/meshes/link_4.stl b/urdf_support/borunte_support/meshes/link_4.stl
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diff --git a/urdf_support/borunte_support/meshes/link_4_collision.stl b/urdf_support/borunte_support/meshes/link_4_collision.stl
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index d77e912..0000000
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diff --git a/urdf_support/borunte_support/meshes/link_5.stl b/urdf_support/borunte_support/meshes/link_5.stl
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diff --git a/urdf_support/borunte_support/meshes/link_5_collision.stl b/urdf_support/borunte_support/meshes/link_5_collision.stl
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index 1a1bb1c..0000000
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diff --git a/urdf_support/borunte_support/meshes/link_6.stl b/urdf_support/borunte_support/meshes/link_6.stl
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index 5ab43e4..0000000
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index 5ab43e4..0000000
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diff --git a/urdf_support/borunte_support/meshes/robotiq_adapter.stl b/urdf_support/borunte_support/meshes/robotiq_adapter.stl
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index 21bc9d5..0000000
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diff --git a/urdf_support/borunte_support/meshes/robotiq_adapter_collision.stl b/urdf_support/borunte_support/meshes/robotiq_adapter_collision.stl
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index dc3611e..0000000
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diff --git a/urdf_support/borunte_support/meshes/robotiq_hand-e_gripper.stl b/urdf_support/borunte_support/meshes/robotiq_hand-e_gripper.stl
deleted file mode 100644
index e593826..0000000
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diff --git a/urdf_support/borunte_support/meshes/robotiq_hand-e_gripper_collision.stl b/urdf_support/borunte_support/meshes/robotiq_hand-e_gripper_collision.stl
deleted file mode 100644
index 5f4860b..0000000
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diff --git a/urdf_support/borunte_support/meshes/simple_grip_finger.stl b/urdf_support/borunte_support/meshes/simple_grip_finger.stl
deleted file mode 100644
index 36b28b0..0000000
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diff --git a/urdf_support/borunte_support/meshes/simple_grip_finger_collision.stl b/urdf_support/borunte_support/meshes/simple_grip_finger_collision.stl
deleted file mode 100644
index a044a5c..0000000
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diff --git a/urdf_support/borunte_support/package.xml b/urdf_support/borunte_support/package.xml
deleted file mode 100644
index a2692d5..0000000
--- a/urdf_support/borunte_support/package.xml
+++ /dev/null
@@ -1,67 +0,0 @@
-<?xml version="1.0"?>
-<package>
-  <name>borunte_support</name>
-  <version>1.0.0</version>
-  <description>Borunte robot support package</description>
-
-  <!-- One maintainer tag required, multiple allowed, one person per tag -->
-  <!-- Example:  -->
-  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
-  <maintainer email="alex@machinekoder.com">Alexander Rössler</maintainer>
-
-
-  <!-- One license tag required, multiple allowed, one license per tag -->
-  <!-- Commonly used license strings: -->
-  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
-  <license>BSD</license>
-
-
-  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
-  <!-- Optional attribute type can be: website, bugtracker, or repository -->
-  <!-- Example: -->
-  <!-- <url type="website">http://wiki.ros.org/borunte_support</url> -->
-
-
-  <!-- Author tags are optional, mutiple are allowed, one per tag -->
-  <!-- Authors do not have to be maintianers, but could be -->
-  <!-- Example: -->
-  <author email="alex@machinekoder.com">Alexander Rössler</author>
-
-
-  <!-- The *_depend tags are used to specify dependencies -->
-  <!-- Dependencies can be catkin packages or system dependencies -->
-  <!-- Examples: -->
-  <!-- Use build_depend for packages you need at compile time: -->
-  <!--   <build_depend>message_generation</build_depend> -->
-  <!-- Use buildtool_depend for build tool packages: -->
-  <!--   <buildtool_depend>catkin</buildtool_depend> -->
-  <!-- Use run_depend for packages you need at runtime: -->
-  <!--   <run_depend>message_runtime</run_depend> -->
-  <!-- Use test_depend for packages you need only for testing: -->
-  <!--   <test_depend>gtest</test_depend> -->
-  <buildtool_depend>catkin</buildtool_depend>
-  <build_depend>roscpp</build_depend>
-  <build_depend>rospy</build_depend>
-  <build_depend>std_msgs</build_depend>
-  <run_depend>xacro</run_depend>
-  <run_depend>roscpp</run_depend>
-  <run_depend>rospy</run_depend>
-  <run_depend>std_msgs</run_depend>
-  <run_depend>hal_hw_interface</run_depend>
-  <run_depend>borunte_hal</run_depend>
-  <run_depend>ezgripper_driver</run_depend>
-  <run_depend>joint_state_publisher</run_depend>
-  <run_depend>robot_state_publisher</run_depend>
-  <run_depend>rviz</run_depend>
-  <run_depend>controller_manager</run_depend>
-  <run_depend>joy</run_depend>
-  <run_depend>jog_arm</run_depend>
-  <run_depend>robot_jog</run_depend>
-  <run_depend>redis_store</run_depend>
-
-  <!-- The export tag contains other, unspecified, tags -->
-  <export>
-    <!-- Other tools can request additional information be placed here -->
-
-  </export>
-</package>
diff --git a/urdf_support/borunte_support/scripts/run_machinetalk.py b/urdf_support/borunte_support/scripts/run_machinetalk.py
deleted file mode 100755
index 6b12d8e..0000000
--- a/urdf_support/borunte_support/scripts/run_machinetalk.py
+++ /dev/null
@@ -1,22 +0,0 @@
-#!/usr/bin/env python
-# -*- coding: utf-8 -*-
-import subprocess
-import sys
-import time
-
-from machinekit import launcher
-import rospy
-
-try:
-    launcher.register_exit_handler()  # enable on ctrl-C, needs to executed after HAL files
-    path = rospy.get_param('/hal_config_path', '')
-    launcher.start_process('mklauncher')
-    launcher.start_process('configserver -n Borunte-Control {}'.format(path))
-
-    while True:
-        launcher.check_processes()
-        time.sleep(1)
-
-except subprocess.CalledProcessError:
-    launcher.end_session()
-    sys.exit(1)
diff --git a/urdf_support/borunte_support/scripts/run_sim_ui.py b/urdf_support/borunte_support/scripts/run_sim_ui.py
deleted file mode 100755
index 016ebe9..0000000
--- a/urdf_support/borunte_support/scripts/run_sim_ui.py
+++ /dev/null
@@ -1,27 +0,0 @@
-#!/usr/bin/env python
-# -*- coding: utf-8 -*-
-import subprocess
-import sys
-import time
-
-from machinekit import launcher
-import rospkg
-
-PACKAGE_NAME = 'borunte_support'
-
-rospack = rospkg.RosPack()
-
-try:
-    launcher.register_exit_handler()  # enable on ctrl-C, needs to executed after HAL files
-    launcher.ensure_mklauncher()  # ensure mklauncher is started
-    launcher.start_process(
-        'configserver -n HAL-IO {}'.format(rospack.get_path(PACKAGE_NAME))
-    )
-
-    while True:
-        launcher.check_processes()
-        time.sleep(1)
-
-except subprocess.CalledProcessError:
-    launcher.end_session()
-    sys.exit(1)
diff --git a/urdf_support/borunte_support/src/ros.HAL-IO/HAL-IO.qml b/urdf_support/borunte_support/src/ros.HAL-IO/HAL-IO.qml
deleted file mode 100644
index 99d36aa..0000000
--- a/urdf_support/borunte_support/src/ros.HAL-IO/HAL-IO.qml
+++ /dev/null
@@ -1,87 +0,0 @@
-import QtQuick 2.0
-import QtQuick.Controls 1.1
-import QtQuick.Layouts 1.1
-import Machinekit.Controls 1.0
-import Machinekit.HalRemote.Controls 1.0
-import Machinekit.HalRemote 1.0
-
-HalApplicationWindow {
-  id: main
-
-  name: "io-rcomp"
-  title: qsTr("HAL-IO")
-
-  ColumnLayout {
-    anchors.fill: parent
-    anchors.margins: 10
-
-    Item {
-      Layout.fillHeight: true
-    }
-    HalButton {
-      Layout.alignment: Layout.Center
-      name: "digital_in_1"
-      text: "Digital In 1"
-      checkable: true
-    }
-    HalButton {
-      Layout.alignment: Layout.Center
-      name: "digital_in_2"
-      text: "Digital In 2"
-      checkable: true
-    }
-    HalButton {
-      Layout.alignment: Layout.Center
-      name: "digital_in_3"
-      text: "Digital In 3"
-      checkable: true
-    }
-    HalButton {
-      Layout.alignment: Layout.Center
-      name: "digital_in_4"
-      text: "Digital In 4"
-      checkable: true
-    }
-
-    RowLayout {
-      Layout.alignment: Layout.Center
-      Label {
-        text: "Digital Out 1: "
-      }
-      HalLed {
-        name: "digital_out_1"
-      }
-    }
-    RowLayout {
-      Layout.alignment: Layout.Center
-      Label {
-        text: "Digital Out 2: "
-      }
-      HalLed {
-        name: "digital_out_2"
-      }
-    }
-    RowLayout {
-      Layout.alignment: Layout.Center
-      Label {
-        text: "Digital Out 3: "
-      }
-      HalLed {
-        name: "digital_out_3"
-      }
-    }
-    RowLayout {
-      Layout.alignment: Layout.Center
-      Label {
-        text: "Digital Out 4: "
-      }
-      HalLed {
-        name: "digital_out_4"
-      }
-    }
-
-    Item {
-      Layout.fillHeight: true
-    }
-  }
-}
diff --git a/urdf_support/borunte_support/src/ros.HAL-IO/description.ini b/urdf_support/borunte_support/src/ros.HAL-IO/description.ini
deleted file mode 100644
index 1671ee3..0000000
--- a/urdf_support/borunte_support/src/ros.HAL-IO/description.ini
+++ /dev/null
@@ -1,4 +0,0 @@
-[Default]
-name=HAL-IO
-description=HAL IO Interface
-type=QT5_QML
diff --git a/urdf_support/borunte_support/urdf/borunte.xacro b/urdf_support/borunte_support/urdf/borunte.xacro
deleted file mode 100644
index 420b901..0000000
--- a/urdf_support/borunte_support/urdf/borunte.xacro
+++ /dev/null
@@ -1,14 +0,0 @@
-<?xml version="1.0" ?>
-<robot name="borunte" xmlns:xacro="http://ros.org/wiki/xacro">
-    <xacro:include filename="$(find borunte_support)/urdf/borunte_none_macro.xacro"/>
-    <xacro:borunte_none_macro prefix=""/>
-
-    <!-- 'world' frame: default pose reference frame -->
-    <link name="world" />
-    <joint name="world-base_link" type="fixed">
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <axis xyz="0 0 1"/>
-      <child link="world"/>
-      <parent link="base_link"/>
-    </joint>
-</robot>
diff --git a/urdf_support/borunte_support/urdf/borunte_ezgripper_gen2_plus_macro.xacro b/urdf_support/borunte_support/urdf/borunte_ezgripper_gen2_plus_macro.xacro
deleted file mode 100644
index 26008ee..0000000
--- a/urdf_support/borunte_support/urdf/borunte_ezgripper_gen2_plus_macro.xacro
+++ /dev/null
@@ -1,67 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:macro name="ezgripper_gen2_plus_macro" params="prefix">
-    <xacro:include filename="$(find borunte_support)/urdf/borunte_macro.xacro"/>
-    <xacro:borunte_macro prefix="${prefix}"/>
-
-    <xacro:include filename="$(find ezgripper_driver)/urdf/ezgripper_dual_gen2_plus_articulated.urdf.xacro"/>
-    <!-- Add the gripper -->
-    <ezgripper_dual prefix="main" parent_link="${prefix}borunte_ezgripper_adapter">
-      <origin xyz="0 0 0.012" rpy="${pi} ${-pi/2.0} 0"/>
-    </ezgripper_dual>
-
-    <material name="${prefix}Black_Plastic">
-      <color rgba="0.1 0.1 0.1 0.99"/>
-    </material>
-
-    <link name="${prefix}borunte_ezgripper_adapter">
-      <visual>
-        <geometry>
-          <mesh filename="package://borunte_support/meshes/borunte_ezgripper_adapter.stl"/>
-        </geometry>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <material name="${prefix}Black_Plastic"/>
-      </visual>
-      <collision>
-        <geometry>
-          <mesh filename="package://borunte_support/meshes/borunte_ezgripper_adapter_collision.stl"/>
-        </geometry>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-      </collision>
-    </link>
-
-    <!-- Camera frame: location of wrist cameras -->
-    <link name="${prefix}rgb_camera_link" />
-    <joint name="${prefix}borunte_ezgripper_adapter-rgb_camera_link" type="fixed">
-      <origin xyz="0.042 0 0.027" rpy="0 0 ${pi/2.0}" />
-      <parent link="${prefix}borunte_ezgripper_adapter" />
-      <child link="${prefix}rgb_camera_link" />
-    </joint>
-
-    <link name="${prefix}depth_camera_link" />
-    <joint name="${prefix}borunte_ezgripper_adapter-depth_camera_link" type="fixed">
-      <origin xyz="0.074 0 0.0255" rpy="0 0 ${pi/2.0}" />
-      <parent link="${prefix}borunte_ezgripper_adapter" />
-      <child link="${prefix}depth_camera_link" />
-    </joint>
-
-    <!-- attach hand_e to eef -->
-    <!-- tool0 flange is set to correct dimensions in the robotiq_hand_e_macro.xacro -->
-    <!-- this assures that planning is done from the perspective of the fingers -->
-    <joint name="${prefix}flange-borunte_ezgripper_adapter" type="fixed">
-      <origin xyz="0 0 0" rpy="0 0 ${pi}" />
-      <parent link="${prefix}flange" />
-      <child link="${prefix}borunte_ezgripper_adapter" />
-    </joint>
-
-    <!-- ROS-Industrial 'tool0' frame: all-zeros tool frame -->
-    <link name="${prefix}tool0" />
-    <joint name="${prefix}flange-tool0" type="fixed">
-      <!-- marker -->
-      <origin xyz="0 0 0.195" rpy="0 ${pi*1} ${-pi/2.0}" />
-      <parent link="${prefix}flange" />
-      <child link="${prefix}tool0" />
-    </joint>
-
-  </xacro:macro>
-</robot>
diff --git a/urdf_support/borunte_support/urdf/borunte_hand_e.xacro b/urdf_support/borunte_support/urdf/borunte_hand_e.xacro
deleted file mode 100644
index 7277a6d..0000000
--- a/urdf_support/borunte_support/urdf/borunte_hand_e.xacro
+++ /dev/null
@@ -1,14 +0,0 @@
-<?xml version="1.0" ?>
-<robot name="borunte" xmlns:xacro="http://ros.org/wiki/xacro">
-    <xacro:include filename="$(find borunte_support)/urdf/borunte_hand_e_macro.xacro"/>
-    <xacro:borunte_hand_e_macro prefix=""/>
-
-        <!-- 'world' frame: default pose reference frame -->
-    <link name="world" />
-    <joint name="world-base_link" type="fixed">
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <axis xyz="0 0 1"/>
-      <child link="world"/>
-      <parent link="base_link"/>
-    </joint>
-</robot>
diff --git a/urdf_support/borunte_support/urdf/borunte_hand_e_fish_fingers_macro.xacro b/urdf_support/borunte_support/urdf/borunte_hand_e_fish_fingers_macro.xacro
deleted file mode 100644
index 7fe1b12..0000000
--- a/urdf_support/borunte_support/urdf/borunte_hand_e_fish_fingers_macro.xacro
+++ /dev/null
@@ -1,54 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:macro name="borunte_hand_e_macro" params="prefix">
-
-    <xacro:include filename="$(find borunte_support)/urdf/borunte_macro.xacro"/>
-    <xacro:borunte_macro prefix="${prefix}"/>
-
-    <xacro:include filename="$(find borunte_support)/urdf/robotiq_hand_e_fish_fingers_macro.xacro"/>
-    <xacro:robotiq_hand_e_macro prefix=""/>
-
-    <!-- attach hand_e to eef -->
-    <!-- tool0 flange is set to correct dimensions in the robotiq_hand_e_macro.xacro -->
-    <!-- this assures that planning is done from the perspective of the fingers -->
-    <joint name="${prefix}flange-borunte_robotiq_adapter" type="fixed">
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <parent link="${prefix}flange" />
-      <child link="${prefix}borunte_robotiq_adapter" />
-    </joint>
-
-      <!-- Camera frame: location of wrist camera -->
-    <link name="${prefix}rgb_camera_link" />
-    <joint name="${prefix}borunte_robotiq_adapter-rgb_camera_link" type="fixed">
-      <origin xyz="0.06 0 0.03" rpy="0 0 ${pi/2.0}" />
-      <parent link="${prefix}borunte_robotiq_adapter" />
-      <child link="${prefix}rgb_camera_link" />
-    </joint>
-
-    <!-- ROS-Industrial 'tool0' frame: all-zeros tool frame -->
-    <link name="${prefix}tool0" />
-    <joint name="${prefix}flange-tool0" type="fixed">
-      <!-- marker -->
-      <origin xyz="0.0 0.0 0.0" rpy="0 ${pi*1} 0" />
-      <parent link="${prefix}flange" />
-      <child link="${prefix}tool0" />
-    </joint>
-
-    <link name="${prefix}eef_tcp_simple_grip" />
-    <joint name="${prefix}flange-eef_tcp_simple_grip" type="fixed">
-      <!-- marker -->
-      <origin xyz="0.0468199 0.0 0.158734" rpy="0 ${pi*5/4} 0" />
-      <parent link="${prefix}flange" />
-      <child link="${prefix}eef_tcp_simple_grip" />
-    </joint>
-
-    <link name="${prefix}eef_tcp_fish_grip" />
-    <joint name="${prefix}flange-eef_tcp_fish_grip" type="fixed">
-      <!-- marker -->
-      <origin xyz="-0.119652 0.0 0.230152" rpy="0 ${pi*3/4} 0" />
-      <parent link="${prefix}flange" />
-      <child link="${prefix}eef_tcp_fish_grip" />
-    </joint>
-
-  </xacro:macro>
-</robot>
diff --git a/urdf_support/borunte_support/urdf/borunte_hand_e_macro.xacro b/urdf_support/borunte_support/urdf/borunte_hand_e_macro.xacro
deleted file mode 100644
index a00a8c4..0000000
--- a/urdf_support/borunte_support/urdf/borunte_hand_e_macro.xacro
+++ /dev/null
@@ -1,38 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:macro name="borunte_hand_e_macro" params="prefix">
-
-    <xacro:include filename="$(find borunte_support)/urdf/borunte_macro.xacro"/>
-    <xacro:borunte_macro prefix="${prefix}"/>
-
-    <xacro:include filename="$(find borunte_support)/urdf/robotiq_hand_e_macro.xacro"/>
-    <xacro:robotiq_hand_e_macro prefix=""/>
-
-    <!-- attach hand_e to eef -->
-    <!-- tool0 flange is set to correct dimensions in the robotiq_hand_e_macro.xacro -->
-    <!-- this assures that planning is done from the perspective of the fingers -->
-    <joint name="${prefix}flange-borunte_robotiq_adapter" type="fixed">
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <parent link="${prefix}flange" />
-      <child link="${prefix}borunte_robotiq_adapter" />
-    </joint>
-
-    <!-- Camera frame: location of wrist camera -->
-    <link name="${prefix}rgb_camera_link" />
-    <joint name="${prefix}borunte_robotiq_adapter-rgb_camera_link" type="fixed">
-      <origin xyz="0.06 0 0.03" rpy="0 0 ${pi/2.0}" />
-      <parent link="${prefix}borunte_robotiq_adapter" />
-      <child link="${prefix}rgb_camera_link" />
-    </joint>
-
-    <!-- ROS-Industrial 'tool0' frame: all-zeros tool frame -->
-    <link name="${prefix}tool0" />
-    <joint name="${prefix}flange-tool0" type="fixed">
-      <!-- marker -->
-      <origin xyz="0 0 0.1605" rpy="0 ${pi*1} ${-pi/2.0}" />
-      <parent link="${prefix}flange" />
-      <child link="${prefix}tool0" />
-    </joint>
-
-  </xacro:macro>
-</robot>
diff --git a/urdf_support/borunte_support/urdf/borunte_macro.xacro b/urdf_support/borunte_support/urdf/borunte_macro.xacro
deleted file mode 100644
index 0d4180c..0000000
--- a/urdf_support/borunte_support/urdf/borunte_macro.xacro
+++ /dev/null
@@ -1,218 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:macro name="borunte_macro" params="prefix">
-    <material name="${prefix}Black">
-      <color rgba="0.1 0.1 0.1 0.99"/>
-    </material>
-    <material name="${prefix}DarkRed">
-      <color rgba="0.5 0.0 0.0 0.99"/>
-    </material>
-
-    <!-- link list -->
-    <link name="${prefix}base_link">
-      <visual>
-        <geometry>
-          <mesh filename="package://borunte_support/meshes/base_link.stl"/>
-        </geometry>
-        <origin rpy="0.0 0 0.0" xyz="0 0 0"/>
-        <material name="${prefix}Black"/>
-      </visual>
-      <collision>
-        <geometry>
-          <mesh filename="package://borunte_support/meshes/base_link_collision.stl"/>
-        </geometry>
-        <origin rpy="0.0 0 0.0" xyz="0 0 0"/>
-      </collision>
-    </link>
-
-    <link name="${prefix}link_1">
-      <visual>
-        <geometry>
-          <mesh filename="package://borunte_support/meshes/link_1.stl"/>
-        </geometry>
-        <origin rpy="0.0 0 0.0" xyz="0 0 0"/>
-        <material name="${prefix}DarkRed"/>
-      </visual>
-      <collision>
-        <geometry>
-          <mesh filename="package://borunte_support/meshes/link_1_collision.stl"/>
-        </geometry>
-        <origin rpy="0.0 0 0.0" xyz="0 0 0"/>
-      </collision>
-      <inertial>
-        <mass value="100"/>
-        <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
-      </inertial>
-    </link>
-
-    <link name="${prefix}link_2">
-      <visual>
-        <geometry>
-          <mesh filename="package://borunte_support/meshes/link_2.stl"/>
-        </geometry>
-        <origin rpy="0.0 0 0.0" xyz="0 0 0"/>
-        <material name="${prefix}DarkRed"/>
-      </visual>
-      <collision>
-        <geometry>
-          <mesh filename="package://borunte_support/meshes/link_2_collision.stl"/>
-        </geometry>
-        <origin rpy="0.0 0 0.0" xyz="0 0 0"/>
-      </collision>
-      <inertial>
-        <mass value="100"/>
-        <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
-      </inertial>
-    </link>
-
-    <link name="${prefix}link_3">
-      <visual>
-        <geometry>
-          <mesh filename="package://borunte_support/meshes/link_3.stl"/>
-        </geometry>
-        <origin rpy="0.0 0 0.0" xyz="0 0.01 0"/>
-        <material name="${prefix}DarkRed"/>
-      </visual>
-      <collision>
-        <geometry>
-          <mesh filename="package://borunte_support/meshes/link_3_collision.stl"/>
-        </geometry>
-        <origin rpy="0.0 0 0.0" xyz="0 0.01 0"/>
-      </collision>
-      <inertial>
-        <mass value="100"/>
-        <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
-      </inertial>
-    </link>
-
-    <link name="${prefix}link_4">
-      <visual>
-        <geometry>
-          <mesh filename="package://borunte_support/meshes/link_4.stl"/>
-        </geometry>
-        <origin rpy="0.0 0.0 0.0" xyz="0 0 0"/>
-        <material name="${prefix}DarkRed"/>
-      </visual>
-      <collision>
-        <geometry>
-          <mesh filename="package://borunte_support/meshes/link_4_collision.stl"/>
-        </geometry>
-        <origin rpy="0.0 0 0.0" xyz="0 0 0"/>
-      </collision>
-      <inertial>
-        <mass value="100"/>
-        <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
-      </inertial>
-    </link>
-
-    <link name="${prefix}link_5">
-      <visual>
-        <geometry>
-          <mesh filename="package://borunte_support/meshes/link_5.stl"/>
-        </geometry>
-        <origin rpy="0 0 0" xyz="0 0 0"/>
-        <material name="${prefix}DarkRed"/>
-      </visual>
-      <collision>
-        <geometry>
-          <mesh filename="package://borunte_support/meshes/link_5_collision.stl"/>
-        </geometry>
-        <origin rpy="0 0 0" xyz="0 0 0"/>
-      </collision>
-      <inertial>
-        <mass value="100"/>
-        <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
-      </inertial>
-    </link>
-
-    <link name="${prefix}link_6">
-      <visual>
-        <geometry>
-          <mesh filename="package://borunte_support/meshes/link_6.stl"/>
-        </geometry>
-        <origin rpy="0 0 0.0" xyz="0 0 0"/>
-        <material name="${prefix}DarkRed"/>
-      </visual>
-      <collision>
-        <geometry>
-          <mesh filename="package://borunte_support/meshes/link_6_collision.stl"/>
-        </geometry>
-        <origin rpy="0 0 0.0" xyz="0 0 0"/>
-      </collision>
-      <inertial>
-        <mass value="100"/>
-        <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
-      </inertial>
-    </link>
-
-    <!-- joint list -->
-    <joint name="${prefix}joint_1" type="revolute">
-      <limit effort="1000.0" lower="-3.076" upper="3.076" velocity="3.14"/>
-      <parent link="base_link"/>
-      <child link="link_1"/>
-      <axis xyz="0 0 1"/>
-      <origin rpy="0.0 0.0 0.0" xyz="0 0 0.24"/>
-    </joint>
-
-    <joint name="${prefix}joint_2" type="revolute">
-      <!-- actual limit -1.74, reduced to reduce config problems -->
-      <limit effort="1000.0" lower="-1.0" upper="2.35" velocity="1.0"/>
-      <parent link="link_1"/>
-      <child link="link_2"/>
-      <axis xyz="0 1 0"/>
-      <origin rpy="0.0 0.0 0.0" xyz="0.07 0.09 0.165"/>
-    </joint>
-
-    <joint name="${prefix}joint_3" type="revolute">
-      <limit effort="1000.0" lower="-2.094" upper="1.570" velocity="1.3"/>
-      <parent link="link_2"/>
-      <child link="link_3"/>
-      <axis xyz="0 1 0"/>
-      <origin rpy="0.0 ${pi/2.0} 0.0" xyz="0.0 0.0 0.39"/>
-    </joint>
-
-    <joint name="${prefix}joint_4" type="revolute">
-      <!-- actual limit +-2.094, reduced to reduce config problems -->
-      <limit effort="1000.0" lower="${-pi/2.0}" upper="${pi/2.0}" velocity="2.0"/>
-      <parent link="link_3"/>
-      <child link="link_4"/>
-      <axis xyz="0 0 1"/>
-      <origin rpy="0.0 0.0 0.0" xyz="-0.125 -0.09 0.075"/>
-    </joint>
-
-    <joint name="${prefix}joint_5" type="revolute">
-      <limit effort="1000.0" lower="-1.919" upper="2.094" velocity="2.35"/>
-      <parent link="link_4"/>
-      <child link="link_5"/>
-      <axis xyz="0 1 0"/>
-      <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.0 0.31"/>
-    </joint>
-
-    <joint name="${prefix}joint_6" type="revolute">
-      <limit effort="1000.0" lower="${-pi}" upper="${pi}" velocity="2.35"/>
-      <parent link="link_5"/>
-      <child link="link_6"/>
-      <axis xyz="0 0 1"/>
-      <origin rpy="0.0 0.0 0.0" xyz="0 0 0.104"/>
-    </joint>
-
-
-    <!-- ROS-Industrial 'base' frame: base_link to Fanuc World Coordinates transform -->
-    <link name="${prefix}base" />
-    <joint name="${prefix}base_link-base" type="fixed">
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <axis xyz="0 0 1"/>
-      <parent link="${prefix}base_link"/>
-      <child link="${prefix}base"/>
-    </joint>
-
-    <!-- ROS-Industrial 'flange' frame: attachment point for EEF models -->
-    <link name="${prefix}flange"/>
-    <joint name="${prefix}joint_6-flange" type="fixed">
-      <origin xyz="0 0 0.015" rpy="0 0 0" />
-      <parent link="${prefix}link_6" />
-      <child link="${prefix}flange" />
-    </joint>
-
-  </xacro:macro>
-</robot>
diff --git a/urdf_support/borunte_support/urdf/borunte_none_macro.xacro b/urdf_support/borunte_support/urdf/borunte_none_macro.xacro
deleted file mode 100644
index c539274..0000000
--- a/urdf_support/borunte_support/urdf/borunte_none_macro.xacro
+++ /dev/null
@@ -1,18 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:macro name="borunte_none_macro" params="prefix">
-
-    <xacro:include filename="$(find borunte_support)/urdf/borunte_macro.xacro"/>
-    <xacro:borunte_macro prefix="${prefix}"/>
-
-    <!-- ROS-Industrial 'tool0' frame: all-zeros tool frame -->
-    <link name="${prefix}tool0" />
-    <joint name="${prefix}flange-tool0" type="fixed">
-      <!-- marker -->
-      <origin xyz="0 0 0" rpy="0 ${pi*1} 0" />
-      <parent link="${prefix}flange" />
-      <child link="${prefix}tool0" />
-    </joint>
-
-  </xacro:macro>
-</robot>
diff --git a/urdf_support/borunte_support/urdf/borunte_on_stand.xacro b/urdf_support/borunte_support/urdf/borunte_on_stand.xacro
deleted file mode 100644
index 119d9f7..0000000
--- a/urdf_support/borunte_support/urdf/borunte_on_stand.xacro
+++ /dev/null
@@ -1,14 +0,0 @@
-<?xml version="1.0" ?>
-<robot name="borunte_on_stand" xmlns:xacro="http://ros.org/wiki/xacro">
-	<xacro:include filename="$(find borunte_support)/urdf/borunte_on_stand_macro.xacro"/>
-	<xacro:borunte_on_stand_macro robotprefix="" standprefix="" tool="$(arg tool)"/>
-
-    <!-- 'world' frame: default pose reference frame -->
-    <link name="world" />
-    <joint name="world-borunte_stand_link" type="fixed">
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <axis xyz="0 0 1"/>
-      <child link="world"/>
-      <parent link="borunte_stand_link"/>
-    </joint>
-</robot>
diff --git a/urdf_support/borunte_support/urdf/borunte_on_stand_macro.xacro b/urdf_support/borunte_support/urdf/borunte_on_stand_macro.xacro
deleted file mode 100644
index e330ab6..0000000
--- a/urdf_support/borunte_support/urdf/borunte_on_stand_macro.xacro
+++ /dev/null
@@ -1,37 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:macro name="borunte_on_stand_macro" params="robotprefix standprefix tool">
-
-    <xacro:if value="${tool == 'none'}">
-      <xacro:include filename="$(find borunte_support)/urdf/borunte_none_macro.xacro"/>
-      <xacro:borunte_none_macro prefix="${robotprefix}"/>
-    </xacro:if>
-
-    <xacro:if value="${tool == 'hand_e'}">
-      <xacro:include filename="$(find borunte_support)/urdf/borunte_hand_e_macro.xacro"/>
-      <xacro:borunte_hand_e_macro prefix="${robotprefix}"/>
-    </xacro:if>
-
-    <xacro:if value="${tool == 'hand_e_fish_fingers'}">
-      <xacro:include filename="$(find borunte_support)/urdf/borunte_hand_e_fish_fingers_macro.xacro"/>
-      <xacro:borunte_hand_e_macro prefix="${robotprefix}"/>
-    </xacro:if>
-
-    <xacro:if value="${tool == 'ezgripper_gen2_plus'}">
-      <xacro:include filename="$(find borunte_support)/urdf/borunte_ezgripper_gen2_plus_macro.xacro"/>
-      <xacro:ezgripper_gen2_plus_macro prefix="${robotprefix}"/>
-    </xacro:if>
-
-    <xacro:include filename="$(find borunte_support)/urdf/borunte_stand_macro.xacro"/>
-    <xacro:borunte_stand_macro prefix="${standprefix}"/>
-
-    <!-- attach robot to stand flange -->
-    <joint name="${robotprefix}robot_attach_joint" type="fixed">
-      <parent link="borunte_stand_flange"/>
-      <child link="${robotprefix}base_link"/>
-      <axis xyz="0 0 0"/>
-      <origin rpy="0.0 0.0 0.0" xyz="0 0 0"/>
-    </joint>
-
-  </xacro:macro>
-</robot>
diff --git a/urdf_support/borunte_support/urdf/borunte_stand_macro.xacro b/urdf_support/borunte_support/urdf/borunte_stand_macro.xacro
deleted file mode 100644
index a63eec2..0000000
--- a/urdf_support/borunte_support/urdf/borunte_stand_macro.xacro
+++ /dev/null
@@ -1,36 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:macro name="borunte_stand_macro" params="prefix">
-    <material name="${prefix}DarkGray">
-      <color rgba="0.5 0.5 0.5 0.75"/>
-    </material>
-
-    <!-- link list  -->
-    <link name="${prefix}borunte_stand_link">
-      <visual>
-        <geometry>
-          <mesh filename="package://borunte_support/meshes/borunte_carriage.stl"/>
-        </geometry>
-        <origin rpy="0.0 0 0.0" xyz="0 0 0"/>
-        <material name="${prefix}DarkGray"/>
-      </visual>
-      <collision>
-        <geometry>
-          <mesh filename="package://borunte_support/meshes/borunte_carriage.stl"/>
-        </geometry>
-        <origin rpy="0.0 0 0.0" xyz="0 0 0.0"/>
-      </collision>
-    </link>
-
-    <!-- link the robot is going to be attached to -->
-    <link name="${prefix}borunte_stand_flange" />
-
-    <joint name="${prefix}borunte_stand_joint" type="fixed">
-      <parent link="${prefix}borunte_stand_link"/>
-      <child link="${prefix}borunte_stand_flange"/>
-      <axis xyz="0 0 0"/>
-      <origin rpy="0.0 0.0 ${pi/4.0}" xyz="0.0 0.0 0.735"/>
-    </joint>
-
-  </xacro:macro>
-</robot>
diff --git a/urdf_support/borunte_support/urdf/robotiq_hand_e.xacro b/urdf_support/borunte_support/urdf/robotiq_hand_e.xacro
deleted file mode 100644
index a80b58c..0000000
--- a/urdf_support/borunte_support/urdf/robotiq_hand_e.xacro
+++ /dev/null
@@ -1,5 +0,0 @@
-<?xml version="1.0" ?>
-<robot name="borunte" xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:include filename="$(find borunte_support)/urdf/robotiq_hand_e_macro.xacro"/>
-  <xacro:robotiq_hand_e_macro prefix=""/>
-</robot>
diff --git a/urdf_support/borunte_support/urdf/robotiq_hand_e_base_macro.xacro b/urdf_support/borunte_support/urdf/robotiq_hand_e_base_macro.xacro
deleted file mode 100644
index 55aa5d8..0000000
--- a/urdf_support/borunte_support/urdf/robotiq_hand_e_base_macro.xacro
+++ /dev/null
@@ -1,52 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:macro name="robotiq_hand_e_base_macro" params="prefix">
-
-    <material name="${prefix}Black_Aluminum">
-      <color rgba="0.1 0.1 0.1 0.99"/>
-    </material>
-
-    <material name="${prefix}White_Plastic">
-      <color rgba="0.9 0.9 0.9 0.99"/>
-    </material>
-
-    <link name="${prefix}borunte_robotiq_adapter">
-      <visual>
-        <geometry>
-          <mesh filename="package://borunte_support/meshes/robotiq_adapter.stl"/>
-        </geometry>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-        <material name="${prefix}White_Plastic"/>
-      </visual>
-      <collision>
-        <geometry>
-          <mesh filename="package://borunte_support/meshes/robotiq_adapter_collision.stl"/>
-        </geometry>
-        <origin xyz="0 0 0" rpy="0 0 0" />
-      </collision>
-    </link>
-
-    <link name="${prefix}robotiq_hand_e">
-      <visual>
-        <geometry>
-          <mesh filename="package://borunte_support/meshes/robotiq_hand-e_gripper.stl"/>
-        </geometry>
-        <origin xyz="0 0 -0.003" rpy="0 0 0"/>
-        <material name="${prefix}Black_Aluminum"/>
-      </visual>
-      <collision>
-        <geometry>
-          <mesh filename="package://borunte_support/meshes/robotiq_hand-e_gripper_collision.stl"/>
-        </geometry>
-        <origin xyz="0 0 0" rpy="0 0 0"/>
-      </collision>
-    </link>
-    <joint name="${prefix}borunte_robotiq_adapter-robotiq_hand_e" type="fixed">
-      <parent link="${prefix}borunte_robotiq_adapter" />
-      <child link="${prefix}robotiq_hand_e" />
-      <axis xyz="0 0 1"/>
-      <origin xyz="0 0 0.015" rpy="${pi} ${pi} ${pi/2.0}" />
-    </joint>
-
-    </xacro:macro>
-</robot>
diff --git a/urdf_support/borunte_support/urdf/robotiq_hand_e_fish_fingers_macro.xacro b/urdf_support/borunte_support/urdf/robotiq_hand_e_fish_fingers_macro.xacro
deleted file mode 100644
index a1afa6d..0000000
--- a/urdf_support/borunte_support/urdf/robotiq_hand_e_fish_fingers_macro.xacro
+++ /dev/null
@@ -1,145 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:macro name="robotiq_hand_e_macro" params="prefix">
-
-    <xacro:include filename="$(find borunte_support)/urdf/robotiq_hand_e_base_macro.xacro"/>
-    <xacro:robotiq_hand_e_base_macro prefix="${prefix}"/>
-
-    <material name="${prefix}Blue_Rubber">
-      <color rgba="0.1 0.1 1.0 0.99"/>
-    </material>
-
-    <link name="${prefix}fish_finger_adapter_left">
-      <visual>
-        <geometry>
-          <mesh filename="package://borunte_support/meshes/fish_finger_adapter_left.stl"/>
-        </geometry>
-        <origin xyz="0 0 0" rpy="0 0 0"/>
-        <material name="${prefix}Black_Aluminum"/>
-      </visual>
-      <collision>
-        <geometry>
-          <mesh filename="package://borunte_support/meshes/fish_finger_adapter_left_collision.stl"/>
-        </geometry>
-        <origin xyz="0 0 0" rpy="0 0 0.0"/>
-      </collision>
-    </link>
-    <joint name="${prefix}robotiq_hand_e-fish_finger_adapter_left" type="fixed">
-      <parent link="${prefix}robotiq_hand_e" />
-      <child link="${prefix}fish_finger_adapter_left" />
-      <axis xyz="0 0 1"/>
-      <origin xyz="0 0 0.0965" rpy="0 0 ${pi/2.0}" />
-    </joint>
-
-    <link name="${prefix}fish_finger_adapter_right">
-      <visual>
-        <geometry>
-          <mesh filename="package://borunte_support/meshes/fish_finger_adapter_right.stl"/>
-        </geometry>
-        <origin xyz="0 0 0" rpy="0 0 ${pi}"/>
-        <material name="${prefix}Black_Aluminum"/>
-      </visual>
-      <collision>
-        <geometry>
-          <mesh filename="package://borunte_support/meshes/fish_finger_adapter_right_collision.stl"/>
-        </geometry>
-        <origin xyz="0 0 0" rpy="0 0 ${pi}"/>
-      </collision>
-    </link>
-    <joint name="${prefix}robotiq_hand_e-fish_finger_adapter_right" type="fixed">
-      <parent link="${prefix}robotiq_hand_e" />
-      <child link="${prefix}fish_finger_adapter_right" />
-      <axis xyz="0 0 1"/>
-      <origin xyz="0 0 0.0965" rpy="0 0 -${pi/2.0}" />
-    </joint>
-
-    <link name="${prefix}simple_grip_finger_left">
-      <visual>
-        <geometry>
-          <mesh filename="package://borunte_support/meshes/simple_grip_finger.stl"/>
-        </geometry>
-        <origin xyz="0 0 0" rpy="0 0 0"/>
-        <material name="${prefix}Black_Aluminum"/>
-      </visual>
-      <collision>
-        <geometry>
-          <mesh filename="package://borunte_support/meshes/simple_grip_finger_collision.stl"/>
-        </geometry>
-        <origin xyz="0 0 0" rpy="0 0 0.0"/>
-      </collision>
-    </link>
-    <joint name="${prefix}robotiq_hand_e-simple_grip_finger_left" type="fixed">
-      <parent link="${prefix}fish_finger_adapter_left" />
-      <child link="${prefix}simple_grip_finger_left" />
-      <axis xyz="0 0 1"/>
-      <origin xyz="0.014293 0.0005 0.014707" rpy="0 ${pi/4.0} 0" />
-    </joint>
-
-    <link name="${prefix}fish_finger_left">
-      <visual>
-        <geometry>
-          <mesh filename="package://borunte_support/meshes/fish_finger.stl"/>
-        </geometry>
-        <origin xyz="0 0 0" rpy="0 0 0"/>
-        <material name="${prefix}Blue_Rubber"/>
-      </visual>
-      <collision>
-        <geometry>
-          <mesh filename="package://borunte_support/meshes/fish_finger_collision.stl"/>
-        </geometry>
-        <origin xyz="0 0 0" rpy="0 0 0.0"/>
-      </collision>
-    </link>
-    <joint name="${prefix}fish_finger_adapter_left-fish_finger_left" type="fixed">
-      <parent link="${prefix}fish_finger_adapter_left" />
-      <child link="${prefix}fish_finger_left" />
-      <axis xyz="0 0 1"/>
-      <origin xyz="-0.015 -0.026 0.014" rpy="0 ${pi/4.0} ${pi}" />
-    </joint>
-
-    <link name="${prefix}simple_grip_finger_right">
-      <visual>
-        <geometry>
-          <mesh filename="package://borunte_support/meshes/simple_grip_finger.stl"/>
-        </geometry>
-        <origin xyz="0 0 0" rpy="0 0 0"/>
-        <material name="${prefix}Black_Aluminum"/>
-      </visual>
-      <collision>
-        <geometry>
-          <mesh filename="package://borunte_support/meshes/simple_grip_finger_collision.stl"/>
-        </geometry>
-        <origin xyz="0 0 0" rpy="0 0 0.0"/>
-      </collision>
-    </link>
-    <joint name="${prefix}fish_finger_adapter_right-simple_grip_finger_right" type="fixed">
-      <parent link="${prefix}fish_finger_adapter_right" />
-      <child link="${prefix}simple_grip_finger_right" />
-      <axis xyz="0 0 1"/>
-      <origin xyz="-0.014293 0.0005 0.014707" rpy="0 -${pi/4.0} 0" />
-    </joint>
-
-        <link name="${prefix}fish_finger_right">
-      <visual>
-        <geometry>
-          <mesh filename="package://borunte_support/meshes/fish_finger.stl"/>
-        </geometry>
-        <origin xyz="0 0 0" rpy="0 0 0"/>
-        <material name="${prefix}Blue_Rubber"/>
-      </visual>
-      <collision>
-        <geometry>
-          <mesh filename="package://borunte_support/meshes/fish_finger_collision.stl"/>
-        </geometry>
-        <origin xyz="0 0 0" rpy="0 0 0.0"/>
-      </collision>
-    </link>
-    <joint name="${prefix}fish_finger_adapter_right-fish_finger_right" type="fixed">
-      <parent link="${prefix}fish_finger_adapter_right" />
-      <child link="${prefix}fish_finger_right" />
-      <axis xyz="0 0 1"/>
-      <origin xyz="0.015 -0.026 0.014" rpy="0 -${pi/4.0} ${pi}" />
-    </joint>
-
-  </xacro:macro>
-</robot>
diff --git a/urdf_support/borunte_support/urdf/robotiq_hand_e_macro.xacro b/urdf_support/borunte_support/urdf/robotiq_hand_e_macro.xacro
deleted file mode 100644
index 76218f6..0000000
--- a/urdf_support/borunte_support/urdf/robotiq_hand_e_macro.xacro
+++ /dev/null
@@ -1,53 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:macro name="robotiq_hand_e_macro" params="prefix">
-
-    <xacro:include filename="$(find borunte_support)/urdf/robotiq_hand_e_base_macro.xacro"/>
-    <xacro:robotiq_hand_e_base_macro prefix="${prefix}"/>
-
-    <link name="${prefix}simple_grip_finger_left">
-      <visual>
-        <geometry>
-          <mesh filename="package://borunte_support/meshes/simple_grip_finger.stl"/>
-        </geometry>
-        <origin xyz="0 0 0" rpy="0 0 0"/>
-        <material name="${prefix}Black_Aluminum"/>
-      </visual>
-      <collision>
-        <geometry>
-          <mesh filename="package://borunte_support/meshes/simple_grip_finger_collision.stl"/>
-        </geometry>
-        <origin xyz="0 0 0" rpy="0 0 0.0"/>
-      </collision>
-    </link>
-    <joint name="${prefix}robotiq_hand_e-simple_grip_finger_left" type="fixed">
-      <parent link="${prefix}robotiq_hand_e" />
-      <child link="${prefix}simple_grip_finger_left" />
-      <axis xyz="0 0 1"/>
-      <origin xyz="0 0 0.0965" rpy="0 0 ${pi/2.0}" />
-    </joint>
-
-    <link name="${prefix}simple_grip_finger_right">
-      <visual>
-        <geometry>
-          <mesh filename="package://borunte_support/meshes/simple_grip_finger.stl"/>
-        </geometry>
-        <origin xyz="0 0 0" rpy="0 0 0"/>
-        <material name="${prefix}Black_Aluminum"/>
-      </visual>
-      <collision>
-        <geometry>
-          <mesh filename="package://borunte_support/meshes/simple_grip_finger_collision.stl"/>
-        </geometry>
-        <origin xyz="0 0 0" rpy="0 0 0.0"/>
-      </collision>
-    </link>
-    <joint name="${prefix}robotiq_hand_e-simple_grip_finger_right" type="fixed">
-      <parent link="${prefix}robotiq_hand_e" />
-      <child link="${prefix}simple_grip_finger_right" />
-      <axis xyz="0 0 1"/>
-      <origin xyz="0 0 0.0965" rpy="0 0 -${pi/2.0}" />
-    </joint>
-
-  </xacro:macro>
-</robot>
diff --git a/urdf_support/fanuc_lrmate200ib_support/fanucLRMate200ib.rights b/urdf_support/fanuc_lrmate200ib_support/fanucLRMate200ib.rights
deleted file mode 100644
index 81669a6..0000000
--- a/urdf_support/fanuc_lrmate200ib_support/fanucLRMate200ib.rights
+++ /dev/null
@@ -1,32 +0,0 @@
-Software License Agreement (BSD License)
-
-Copyright (c) 2012-2015, TU Delft Robotics Institute
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions
-are met:
-
- * Redistributions of source code must retain the above copyright
-   notice, this list of conditions and the following disclaimer.
- * Redistributions in binary form must reproduce the above
-   copyright notice, this list of conditions and the following
-   disclaimer in the documentation and/or other materials provided
-   with the distribution.
- * Neither the name of the TU Delft Robotics Institute nor the names 
-   of its contributors may be used to endorse or promote products 
-   derived from this software without specific prior written 
-   permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-POSSIBILITY OF SUCH DAMAGE.
diff --git a/urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/collision/base_link.stl b/urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/collision/base_link.stl
deleted file mode 100644
index 1fec063..0000000
Binary files a/urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/collision/base_link.stl and /dev/null differ
diff --git a/urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/collision/link_1.stl b/urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/collision/link_1.stl
deleted file mode 100644
index b1fb657..0000000
Binary files a/urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/collision/link_1.stl and /dev/null differ
diff --git a/urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/collision/link_2.stl b/urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/collision/link_2.stl
deleted file mode 100644
index 2793ae6..0000000
Binary files a/urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/collision/link_2.stl and /dev/null differ
diff --git a/urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/collision/link_3.stl b/urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/collision/link_3.stl
deleted file mode 100644
index 94e4542..0000000
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diff --git a/urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/collision/link_4.stl b/urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/collision/link_4.stl
deleted file mode 100644
index b273c24..0000000
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diff --git a/urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/collision/link_5.stl b/urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/collision/link_5.stl
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index 8b5cf8a..0000000
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diff --git a/urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/collision/link_6.stl b/urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/collision/link_6.stl
deleted file mode 100644
index 249ea6c..0000000
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diff --git a/urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/visual/base_link.stl b/urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/visual/base_link.stl
deleted file mode 100644
index 1fec063..0000000
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diff --git a/urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/visual/link_1.stl b/urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/visual/link_1.stl
deleted file mode 100644
index b1fb657..0000000
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diff --git a/urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/visual/link_2.stl b/urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/visual/link_2.stl
deleted file mode 100644
index 2793ae6..0000000
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diff --git a/urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/visual/link_3.stl b/urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/visual/link_3.stl
deleted file mode 100644
index 94e4542..0000000
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diff --git a/urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/visual/link_4.stl b/urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/visual/link_4.stl
deleted file mode 100644
index b273c24..0000000
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diff --git a/urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/visual/link_5.stl b/urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/visual/link_5.stl
deleted file mode 100644
index 8b5cf8a..0000000
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diff --git a/urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/visual/link_6.stl b/urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib/visual/link_6.stl
deleted file mode 100644
index 249ea6c..0000000
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diff --git a/urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib3l/collision/link_4.stl b/urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib3l/collision/link_4.stl
deleted file mode 100644
index 7ddb9f9..0000000
Binary files a/urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib3l/collision/link_4.stl and /dev/null differ
diff --git a/urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib3l/visual/link_4.stl b/urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib3l/visual/link_4.stl
deleted file mode 100644
index 7ddb9f9..0000000
Binary files a/urdf_support/fanuc_lrmate200ib_support/meshes/lrmate200ib3l/visual/link_4.stl and /dev/null differ
diff --git a/urdf_support/fanuc_lrmate200ib_support/meta-information.json b/urdf_support/fanuc_lrmate200ib_support/meta-information.json
deleted file mode 100644
index 93082eb..0000000
--- a/urdf_support/fanuc_lrmate200ib_support/meta-information.json
+++ /dev/null
@@ -1,16 +0,0 @@
-{
-    "robots": [
-        {
-            "name": "LR Mate 200iB",
-            "type": "robotic arm",
-            "manufacturer": "Fanuc",
-            "xacro-generated": false,
-            "urdf": [
-                "urdf/fanucLRMate200ib.urdf"
-            ],
-            "variant": null,
-            "source-link": "https://se.mathworks.com/matlabcentral/fileexchange/98714-robotics-system-toolbox-robot-library-data",
-            "id": 12
-        }
-    ]
-}
\ No newline at end of file
diff --git a/urdf_support/fanuc_lrmate200ib_support/urdf/fanucLRMate200ib.urdf b/urdf_support/fanuc_lrmate200ib_support/urdf/fanucLRMate200ib.urdf
deleted file mode 100644
index 023de79..0000000
--- a/urdf_support/fanuc_lrmate200ib_support/urdf/fanucLRMate200ib.urdf
+++ /dev/null
@@ -1,191 +0,0 @@
-<?xml version="1.0" ?>
-<!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from lrmate200ib.xacro              | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
-<!-- =================================================================================== -->
-<robot name="fanuc_lrmate200ib" xmlns:xacro="http://ros.org/wiki/xacro">
-  <!-- links: main serial chain -->
-  <link name="base_link">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="../meshes/lrmate200ib/visual/base_link.stl"/>
-      </geometry>
-      <material name="">
-        <color rgba="0.96 0.76 0.13 1.0"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="../meshes/lrmate200ib/collision/base_link.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="link_1">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="../meshes/lrmate200ib/visual/link_1.stl"/>
-      </geometry>
-      <material name="">
-        <color rgba="0.96 0.76 0.13 1.0"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="../meshes/lrmate200ib/collision/link_1.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="link_2">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="../meshes/lrmate200ib/visual/link_2.stl"/>
-      </geometry>
-      <material name="">
-        <color rgba="0.96 0.76 0.13 1.0"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="../meshes/lrmate200ib/collision/link_2.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="link_3">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="../meshes/lrmate200ib/visual/link_3.stl"/>
-      </geometry>
-      <material name="">
-        <color rgba="0.96 0.76 0.13 1.0"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="../meshes/lrmate200ib/collision/link_3.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="link_4">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="../meshes/lrmate200ib/visual/link_4.stl"/>
-      </geometry>
-      <material name="">
-        <color rgba="0.96 0.76 0.13 1.0"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="../meshes/lrmate200ib/collision/link_4.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="link_5">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="../meshes/lrmate200ib/visual/link_5.stl"/>
-      </geometry>
-      <material name="">
-        <color rgba="0.96 0.76 0.13 1.0"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="../meshes/lrmate200ib/collision/link_5.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="link_6">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="../meshes/lrmate200ib/visual/link_6.stl"/>
-      </geometry>
-      <material name="">
-        <color rgba="0.15 0.15 0.15 1.0"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="../meshes/lrmate200ib/collision/link_6.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <!-- joints: main serial chain -->
-  <joint name="joint_1" type="revolute">
-    <origin rpy="0 0 0" xyz="0 0 0.350"/>
-    <parent link="base_link"/>
-    <child link="link_1"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="0" lower="-2.7925" upper="2.7925" velocity="3.1415"/>
-  </joint>
-  <joint name="joint_2" type="revolute">
-    <origin rpy="0 0 0" xyz="0.150 0 0"/>
-    <parent link="link_1"/>
-    <child link="link_2"/>
-    <axis xyz="0 1 0"/>
-    <limit effort="0" lower="-0.5759" upper="2.6529" velocity="3.1415"/>
-  </joint>
-  <joint name="joint_3" type="revolute">
-    <origin rpy="0 0 0" xyz="0 0 0.250"/>
-    <parent link="link_2"/>
-    <child link="link_3"/>
-    <axis xyz="0 -1 0"/>
-    <limit effort="0" lower="-2.6145" upper="2.8797" velocity="3.9269"/>
-  </joint>
-  <joint name="joint_4" type="revolute">
-    <origin rpy="0 0 0" xyz="0 0 0.075"/>
-    <parent link="link_3"/>
-    <child link="link_4"/>
-    <axis xyz="-1 0 0"/>
-    <limit effort="0" lower="-3.3161" upper="3.3161" velocity="6.9813"/>
-  </joint>
-  <joint name="joint_5" type="revolute">
-    <origin rpy="0 0 0" xyz="0.290 0 0"/>
-    <parent link="link_4"/>
-    <child link="link_5"/>
-    <axis xyz="0 -1 0"/>
-    <limit effort="0" lower="-2.0943" upper="2.0943" velocity="5.7595"/>
-  </joint>
-  <joint name="joint_6" type="revolute">
-    <origin rpy="0 0 0" xyz="0.080 0 0"/>
-    <parent link="link_5"/>
-    <child link="link_6"/>
-    <axis xyz="-1 0 0"/>
-    <limit effort="0" lower="-6.2831" upper="6.2831" velocity="8.3775"/>
-  </joint>
-  <!-- ROS base_link to Fanuc World Coordinates transform -->
-  <link name="base"/>
-  <joint name="base_link-base" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0 0.350"/>
-    <parent link="base_link"/>
-    <child link="base"/>
-  </joint>
-  <!-- ROS-Industrial 'flange' frame: attachment point for EEF models -->
-  <link name="flange"/>
-  <joint name="joint_6-flange" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <parent link="link_6"/>
-    <child link="flange"/>
-  </joint>
-  <!-- ROS-Industrial 'tool0' frame: all-zeros tool frame -->
-  <link name="tool0"/>
-  <joint name="link_6-tool0" type="fixed">
-    <origin rpy="3.14159265359 -1.57079632679 0" xyz="0 0 0"/>
-    <parent link="link_6"/>
-    <child link="tool0"/>
-  </joint>
-</robot>
diff --git a/urdf_support/fanuc_m16ib_support/fanucM16ib.rights b/urdf_support/fanuc_m16ib_support/fanucM16ib.rights
deleted file mode 100644
index e4277af..0000000
--- a/urdf_support/fanuc_m16ib_support/fanucM16ib.rights
+++ /dev/null
@@ -1,32 +0,0 @@
-Software License Agreement (BSD License)
-
-Copyright (c) 2012, 2013, TU Delft Robotics Institute
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions
-are met:
-
- * Redistributions of source code must retain the above copyright
-   notice, this list of conditions and the following disclaimer.
- * Redistributions in binary form must reproduce the above
-   copyright notice, this list of conditions and the following
-   disclaimer in the documentation and/or other materials provided
-   with the distribution.
- * Neither the name of the TU Delft Robotics Institute nor the names 
-   of its contributors may be used to endorse or promote products 
-   derived from this software without specific prior written 
-   permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-"AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-POSSIBILITY OF SUCH DAMAGE.
\ No newline at end of file
diff --git a/urdf_support/fanuc_m16ib_support/meshes/m16ib20/collision/base_link.stl b/urdf_support/fanuc_m16ib_support/meshes/m16ib20/collision/base_link.stl
deleted file mode 100644
index 605b8fa..0000000
Binary files a/urdf_support/fanuc_m16ib_support/meshes/m16ib20/collision/base_link.stl and /dev/null differ
diff --git a/urdf_support/fanuc_m16ib_support/meshes/m16ib20/collision/link_1.stl b/urdf_support/fanuc_m16ib_support/meshes/m16ib20/collision/link_1.stl
deleted file mode 100644
index 5e31465..0000000
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diff --git a/urdf_support/fanuc_m16ib_support/meshes/m16ib20/collision/link_2.stl b/urdf_support/fanuc_m16ib_support/meshes/m16ib20/collision/link_2.stl
deleted file mode 100644
index 44d3e1e..0000000
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diff --git a/urdf_support/fanuc_m16ib_support/meshes/m16ib20/collision/link_3.stl b/urdf_support/fanuc_m16ib_support/meshes/m16ib20/collision/link_3.stl
deleted file mode 100644
index 658d54c..0000000
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diff --git a/urdf_support/fanuc_m16ib_support/meshes/m16ib20/collision/link_4.stl b/urdf_support/fanuc_m16ib_support/meshes/m16ib20/collision/link_4.stl
deleted file mode 100644
index 8a921ad..0000000
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diff --git a/urdf_support/fanuc_m16ib_support/meshes/m16ib20/collision/link_5.stl b/urdf_support/fanuc_m16ib_support/meshes/m16ib20/collision/link_5.stl
deleted file mode 100644
index 582b60f..0000000
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diff --git a/urdf_support/fanuc_m16ib_support/meshes/m16ib20/collision/link_6.stl b/urdf_support/fanuc_m16ib_support/meshes/m16ib20/collision/link_6.stl
deleted file mode 100644
index b2684ba..0000000
Binary files a/urdf_support/fanuc_m16ib_support/meshes/m16ib20/collision/link_6.stl and /dev/null differ
diff --git a/urdf_support/fanuc_m16ib_support/meshes/m16ib20/visual/base_link.stl b/urdf_support/fanuc_m16ib_support/meshes/m16ib20/visual/base_link.stl
deleted file mode 100644
index 605b8fa..0000000
Binary files a/urdf_support/fanuc_m16ib_support/meshes/m16ib20/visual/base_link.stl and /dev/null differ
diff --git a/urdf_support/fanuc_m16ib_support/meshes/m16ib20/visual/link_1.stl b/urdf_support/fanuc_m16ib_support/meshes/m16ib20/visual/link_1.stl
deleted file mode 100644
index 5e31465..0000000
Binary files a/urdf_support/fanuc_m16ib_support/meshes/m16ib20/visual/link_1.stl and /dev/null differ
diff --git a/urdf_support/fanuc_m16ib_support/meshes/m16ib20/visual/link_2.stl b/urdf_support/fanuc_m16ib_support/meshes/m16ib20/visual/link_2.stl
deleted file mode 100644
index 44d3e1e..0000000
Binary files a/urdf_support/fanuc_m16ib_support/meshes/m16ib20/visual/link_2.stl and /dev/null differ
diff --git a/urdf_support/fanuc_m16ib_support/meshes/m16ib20/visual/link_3.stl b/urdf_support/fanuc_m16ib_support/meshes/m16ib20/visual/link_3.stl
deleted file mode 100644
index 658d54c..0000000
Binary files a/urdf_support/fanuc_m16ib_support/meshes/m16ib20/visual/link_3.stl and /dev/null differ
diff --git a/urdf_support/fanuc_m16ib_support/meshes/m16ib20/visual/link_4.stl b/urdf_support/fanuc_m16ib_support/meshes/m16ib20/visual/link_4.stl
deleted file mode 100644
index 8a921ad..0000000
Binary files a/urdf_support/fanuc_m16ib_support/meshes/m16ib20/visual/link_4.stl and /dev/null differ
diff --git a/urdf_support/fanuc_m16ib_support/meshes/m16ib20/visual/link_5.stl b/urdf_support/fanuc_m16ib_support/meshes/m16ib20/visual/link_5.stl
deleted file mode 100644
index 582b60f..0000000
Binary files a/urdf_support/fanuc_m16ib_support/meshes/m16ib20/visual/link_5.stl and /dev/null differ
diff --git a/urdf_support/fanuc_m16ib_support/meshes/m16ib20/visual/link_6.stl b/urdf_support/fanuc_m16ib_support/meshes/m16ib20/visual/link_6.stl
deleted file mode 100644
index b2684ba..0000000
Binary files a/urdf_support/fanuc_m16ib_support/meshes/m16ib20/visual/link_6.stl and /dev/null differ
diff --git a/urdf_support/fanuc_m16ib_support/meta-information.json b/urdf_support/fanuc_m16ib_support/meta-information.json
deleted file mode 100644
index 0dd62f5..0000000
--- a/urdf_support/fanuc_m16ib_support/meta-information.json
+++ /dev/null
@@ -1,16 +0,0 @@
-{
-    "robots": [
-        {
-            "name": "M-16iB",
-            "type": "robotic arm",
-            "manufacturer": "Fanuc",
-            "xacro-generated": false,
-            "urdf": [
-                "urdf/fanucM16ib.urdf"
-            ],
-            "variant": null,
-            "source-link": "https://se.mathworks.com/matlabcentral/fileexchange/98714-robotics-system-toolbox-robot-library-data",
-            "id": 13
-        }
-    ]
-}
\ No newline at end of file
diff --git a/urdf_support/fanuc_m16ib_support/urdf/fanucM16ib.urdf b/urdf_support/fanuc_m16ib_support/urdf/fanucM16ib.urdf
deleted file mode 100644
index 5ad9dc1..0000000
--- a/urdf_support/fanuc_m16ib_support/urdf/fanucM16ib.urdf
+++ /dev/null
@@ -1,174 +0,0 @@
-<?xml version="1.0" ?>
-<!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from m16ib20.xacro                  | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
-<!-- =================================================================================== -->
-<robot name="fanuc_m16ib20" xmlns:xacro="http://ros.org/wiki/xacro">
-  <link name="base_link">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="../meshes/fanuc_m16ib_support/meshes/m16ib20/visual/base_link.stl"/>
-      </geometry>
-      <material name="">
-        <color rgba="0.96 0.76 0.13 1.0"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="../meshes/fanuc_m16ib_support/meshes/m16ib20/collision/base_link.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="link_1">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="../meshes/fanuc_m16ib_support/meshes/m16ib20/visual/link_1.stl"/>
-      </geometry>
-      <material name="">
-        <color rgba="0.96 0.76 0.13 1.0"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="../meshes/fanuc_m16ib_support/meshes/m16ib20/collision/link_1.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="link_2">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="../meshes/fanuc_m16ib_support/meshes/m16ib20/visual/link_2.stl"/>
-      </geometry>
-      <material name="">
-        <color rgba="0.96 0.76 0.13 1.0"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="../meshes/fanuc_m16ib_support/meshes/m16ib20/collision/link_2.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="link_3">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="../meshes/fanuc_m16ib_support/meshes/m16ib20/visual/link_3.stl"/>
-      </geometry>
-      <material name="">
-        <color rgba="0.96 0.76 0.13 1.0"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="../meshes/fanuc_m16ib_support/meshes/m16ib20/collision/link_3.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="link_4">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="../meshes/fanuc_m16ib_support/meshes/m16ib20/visual/link_4.stl"/>
-      </geometry>
-      <material name="">
-        <color rgba="0.96 0.76 0.13 1.0"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="../meshes/fanuc_m16ib_support/meshes/m16ib20/collision/link_4.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="link_5">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="../meshes/fanuc_m16ib_support/meshes/m16ib20/visual/link_5.stl"/>
-      </geometry>
-      <material name="">
-        <color rgba="0.96 0.76 0.13 1.0"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="../meshes/fanuc_m16ib_support/meshes/m16ib20/collision/link_5.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="link_6">
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="../meshes/fanuc_m16ib_support/meshes/m16ib20/visual/link_6.stl"/>
-      </geometry>
-      <material name="">
-        <color rgba="0.15 0.15 0.15 1.0"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="../meshes/fanuc_m16ib_support/meshes/m16ib20/collision/link_6.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="tool0"/>
-  <joint name="joint_1" type="revolute">
-    <origin rpy="0 0 0" xyz="0 0 0.245"/>
-    <parent link="base_link"/>
-    <child link="link_1"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="0" lower="-2.9671" upper="2.9671" velocity="2.8798"/>
-  </joint>
-  <joint name="joint_2" type="revolute">
-    <origin rpy="0 0 0" xyz="0.15 0.18759 0.28"/>
-    <parent link="link_1"/>
-    <child link="link_2"/>
-    <axis xyz="0 1 0"/>
-    <limit effort="0" lower="-1.5708" upper="2.7925" velocity="2.8798"/>
-  </joint>
-  <joint name="joint_3" type="revolute">
-    <origin rpy="0 0 0" xyz="0 -0.18759 0.77"/>
-    <parent link="link_2"/>
-    <child link="link_3"/>
-    <axis xyz="0 -1 0"/>
-    <limit effort="0" lower="-2.9671" upper="5.0615" velocity="3.0543"/>
-  </joint>
-  <joint name="joint_4" type="revolute">
-    <origin rpy="0 0 0" xyz="0.18425 0 0.1"/>
-    <parent link="link_3"/>
-    <child link="link_4"/>
-    <axis xyz="-1 0 0"/>
-    <limit effort="0" lower="-3.4907" upper="3.4907" velocity="6.1087"/>
-  </joint>
-  <joint name="joint_5" type="revolute">
-    <origin rpy="0 0 0" xyz="0.55575 0 0"/>
-    <parent link="link_4"/>
-    <child link="link_5"/>
-    <axis xyz="0 -1 0"/>
-    <limit effort="0" lower="-2.4435" upper="2.4435" velocity="5.9341"/>
-  </joint>
-  <joint name="joint_6" type="revolute">
-    <origin rpy="0 0 0" xyz="0.1 0 0"/>
-    <parent link="link_5"/>
-    <child link="link_6"/>
-    <axis xyz="-1 0 0"/>
-    <limit effort="0" lower="-7.8540" upper="7.8540" velocity="9.0757"/>
-  </joint>
-  <joint name="joint_6-tool0" type="fixed">
-    <parent link="link_6"/>
-    <child link="tool0"/>
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-  </joint>
-</robot>
diff --git a/utils/pybullet_server.py b/utils/pybullet_server.py
index 19bb763..5f67e65 100644
--- a/utils/pybullet_server.py
+++ b/utils/pybullet_server.py
@@ -24,7 +24,7 @@ def main(type="SHARED_MEMORY_SERVER"):
         except Exception as e:
             print(f"Ошибка в pybullet_server{e}")
             time.sleep(1)
-        time.sleep(1/24)
+        time.sleep(1/240)
 
 
 if __name__ == "__main__":
diff --git a/utils/test_socket_server.py b/utils/test_socket_server.py
index 9d8b81f..c23916f 100644
--- a/utils/test_socket_server.py
+++ b/utils/test_socket_server.py
@@ -85,21 +85,6 @@ c_angles = [
         "axis": [-17.409513, 10.897068, -33.003525, 176.892288, 38.957874, -159.934479],
     },
 ]
-tool_angles = [
-    {
-        "world": [1292.602, -119.999, 1023.335, 20.742, 0.367, -91.615],
-        "axis": [-9.053, 37.962, -47.169, -44.937, 12.879, 44.209],
-    },
-    {
-        "world": [1084.151, 643.621, 644.947, 20.743, 0.367, -91.616],
-        "axis": [45.855, 19.494, -55.437, 60.337, 55.666, -44.703],
-    },
-    {
-        "world": [768.497, -577.398, 1688.266, 20.738, 0.382, -91.610],
-        "axis": [-63.241, 38.711, -11.748, -102.888, 66.357, 119.693],
-    },
-]
-c_angles = tool_angles
 coordinates_index = 0