diff --git a/src/robot_models_node.cpp b/src/robot_models_node.cpp
index 9b4d1bcb8edc732ed8d81a6827c2e839140f1767..c5a90f0d9675b6508735ac430271be483c80d94e 100644
--- a/src/robot_models_node.cpp
+++ b/src/robot_models_node.cpp
@@ -54,28 +54,60 @@
         world o9;
         worldobject o10;
 
-
-        o5a.name = "panda_link1";
-        o5b.name = "panda_link2";
-        o5c.name = "panda_link3";
-        o5d.name = "panda_link4";
-        o5e.name = "panda_link5";
-        o5f.name = "panda_link6";
-        o5g.name = "panda_link7";
-        o5a.or2 = {1.2,5.3,6.5,7.4};
-        o5b.or2 = {2.5,3.6,5.8,4.9};
-        o5c.or2 = {5.1,1.2,9.9,6.8};
-        o5d.or2 = {6.3,3.4,8.5,9.6};
-        o5e.or2 = {8.2,2.6,7.9,5.5};
-        o5f.or2 = {7.3,4.4,6.7,4.0};
-        o5g.or2 = {9.0,5.2,5.5,8.7};
-        o5a.p1 = {1.3, 10.1, 9.4};
-        o5b.p1 = {14.7, 11.3, 6.5};
-        o5c.p1 = {4.9, 13.8, 7.7};
-        o5d.p1 = {2.4, 12.5, 1.6};
-        o5e.p1 = {3.1, 16.2, 5.3};
-        o5f.p1 = {11.5, 15.4, 3.4};
-        o5g.p1 = {5.1, 18.3, 4.2};
+        o7.jo1->name= "panda_link1";
+        o7.jo2->name= "panda_link2";
+        o7.jo3->name= "panda_link3";
+        o7.jo4->name= "panda_link4";
+        o7.jo5->name= "panda_link5";
+        o7.jo6->name= "panda_link6";
+        o7.jo7->name= "panda_link7";
+
+        //o5a.name = "panda_link1";
+        //o5b.name = "panda_link2";
+        //o5c.name = "panda_link3";
+        //o5d.name = "panda_link4";
+        //o5e.name = "panda_link5";
+        //o5f.name = "panda_link6";
+        //o5g.name = "panda_link7";
+        o7.jo1->or2= {1.2,5.3,6.5,7.4};
+        o7.jo2->or2= {2.5,3.6,5.8,4.9};
+        o7.jo3->or2= {5.1,1.2,9.9,6.8};
+        o7.jo4->or2= {6.3,3.4,8.5,9.6};
+        o7.jo5->or2= {8.2,2.6,7.9,5.5};
+        o7.jo6->or2= {7.3,4.4,6.7,4.0};
+        o7.jo7->or2= {7.3,4.4,6.7,4.0};
+
+
+        //o5a.or2 = {1.2,5.3,6.5,7.4};
+        //o5b.or2 = {2.5,3.6,5.8,4.9};
+        //o5c.or2 = {5.1,1.2,9.9,6.8};
+        //o5d.or2 = {6.3,3.4,8.5,9.6};
+        //o5e.or2 = {8.2,2.6,7.9,5.5};
+        //o5f.or2 = {7.3,4.4,6.7,4.0};
+        //o5g.or2 = {9.0,5.2,5.5,8.7};
+
+        //o5a.p1 = {1.3, 10.1, 9.4};
+        //o5b.p1 = {14.7, 11.3, 6.5};
+        //o5c.p1 = {4.9, 13.8, 7.7};
+        //o5d.p1 = {2.4, 12.5, 1.6};
+        //o5e.p1 = {3.1, 16.2, 5.3};
+        //o5f.p1 = {11.5, 15.4, 3.4};
+        //o5g.p1 = {5.1, 18.3, 4.2};
+
+        o7.jo1->p1= {1.3, 10.1, 9.4};
+        o7.jo2->p1= {14.7, 11.3, 6.5};
+        o7.jo3->p1= {4.9, 13.8, 7.7};
+        o7.jo4->p1= {2.4, 12.5, 1.6};
+        o7.jo5->p1= {3.1, 16.2, 5.3};
+        o7.jo6->p1= {11.5, 15.4, 3.4};
+        o7.jo7->p1= {5.1, 18.3, 4.2};
+        //o5a.p1 = {1.3, 10.1, 9.4};
+        //o5b.p1 = {14.7, 11.3, 6.5};
+        //o5c.p1 = {4.9, 13.8, 7.7};
+        //o5d.p1 = {2.4, 12.5, 1.6};
+        //o5e.p1 = {3.1, 16.2, 5.3};
+        //o5f.p1 = {11.5, 15.4, 3.4};
+        //o5g.p1 = {5.1, 18.3, 4.2};
 
         o9.c->robname="Robot FPE";
 
@@ -94,7 +126,7 @@
         o9.b1->name="Cube";
 
         o9.b1->size={5.2, 7.5, 9.1};
-        ;
+
         o9.b1->p1= {13.2, 14.1, 17.5};
 
         o9.b1->x= 2.3;
@@ -135,13 +167,13 @@
                 geometry_msgs::TransformStamped transformStamped7;
 
                 try {
-                    transformStamped1 = tfBuffer.lookupTransform("world", o5a.name, ros::Time(0));
-                    transformStamped2 = tfBuffer.lookupTransform("world", o5b.name, ros::Time(0));
-                    transformStamped3 = tfBuffer.lookupTransform("world", o5c.name, ros::Time(0));
-                    transformStamped4 = tfBuffer.lookupTransform("world", o5d.name, ros::Time(0));
-                    transformStamped5 = tfBuffer.lookupTransform("world", o5e.name, ros::Time(0));
-                    transformStamped6 = tfBuffer.lookupTransform("world", o5f.name, ros::Time(0));
-                    transformStamped7 = tfBuffer.lookupTransform("world", o5g.name, ros::Time(0));
+                    transformStamped1 = tfBuffer.lookupTransform("world", o7.jo1->name, ros::Time(0));
+                    transformStamped2 = tfBuffer.lookupTransform("world", o7.jo2->name, ros::Time(0));
+                    transformStamped3 = tfBuffer.lookupTransform("world", o7.jo3->name, ros::Time(0));
+                    transformStamped4 = tfBuffer.lookupTransform("world", o7.jo4->name, ros::Time(0));
+                    transformStamped5 = tfBuffer.lookupTransform("world", o7.jo5->name, ros::Time(0));
+                    transformStamped6 = tfBuffer.lookupTransform("world", o7.jo6->name, ros::Time(0));
+                    transformStamped7 = tfBuffer.lookupTransform("world", o7.jo7->name, ros::Time(0));
                 } catch (tf2::TransformException &ex) {
                     ROS_WARN("%s", ex.what());
                     ros::Duration(0.1).sleep();
@@ -149,64 +181,113 @@
 
                 }
 
-                o5a.p1[0]=0.0;
-                o5a.p1[1]=0.0;
-                o5a.p1[2]=0.0;
-                o5b.p1[0]=0.0;
-                o5b.p1[1]=0.0;
-                o5b.p1[2]=0.0;
-                o5c.p1[0]=0.0;
-                o5c.p1[1]=0.0;
-                o5c.p1[2]=0.0;
-                o5d.p1[0]=0.0;
-                o5d.p1[1]=0.0;
-                o5d.p1[2]=0.0;
-                o5e.p1[0]=0.0;
-                o5e.p1[1]=0.0;
-                o5e.p1[2]=0.0;
-                o5f.p1[0]=0.0;
-                o5f.p1[1]=0.0;
-                o5f.p1[2]=0.0;
-                o5g.p1[0]=0.0;
-                o5g.p1[1]=0.0;
-                o5g.p1[2]=0.0;
-
-                o5a.p1[0]=transformStamped1.transform.translation.x;
-                o5a.p1[1]=transformStamped1.transform.translation.y;
-                o5a.p1[2]=transformStamped1.transform.translation.z;
-                ROS_INFO_STREAM("panda_link1 Position is " <<" x = "<< o5a.p1[0] << ", y = "<< o5a.p1[1]<<", z = "<<o5a.p1[2]);
-
-                o5b.p1[0]=transformStamped2.transform.translation.x;
-                o5b.p1[1]=transformStamped2.transform.translation.y;
-                o5b.p1[2]=transformStamped2.transform.translation.z;
-                ROS_INFO_STREAM("panda_link2 Position is " <<" x = "<< o5b.p1[0] << ", y = "<< o5b.p1[1]<<", z = "<<o5b.p1[2]);
-
-                o5c.p1[0]=transformStamped3.transform.translation.x;
-                o5c.p1[1]=transformStamped3.transform.translation.y;
-                o5c.p1[2]=transformStamped3.transform.translation.z;
-                ROS_INFO_STREAM("panda_link3 Position is " <<" x = "<< o5c.p1[0] << ", y = "<< o5c.p1[1]<<", z = "<<o5c.p1[2]);
-
-                o5d.p1[0]=transformStamped4.transform.translation.x;
-                o5d.p1[1]=transformStamped4.transform.translation.y;
-                o5d.p1[2]=transformStamped4.transform.translation.z;
-                ROS_INFO_STREAM("panda_link4 Position is " <<" x = "<< o5d.p1[0] << ", y = "<< o5d.p1[1]<<", z = "<<o5d.p1[2]);
-
-                o5e.p1[0]=transformStamped5.transform.translation.x;
-                o5e.p1[1]=transformStamped5.transform.translation.y;
-                o5e.p1[2]=transformStamped5.transform.translation.z;
-                ROS_INFO_STREAM("panda_link5 Position is " <<" x = "<< o5e.p1[0] << ", y = "<< o5e.p1[1]<<", z = "<<o5e.p1[2]);
-
-                o5f.p1[0]=transformStamped6.transform.translation.x;
-                o5f.p1[1]=transformStamped6.transform.translation.y;
-                o5f.p1[2]=transformStamped6.transform.translation.z;
-                ROS_INFO_STREAM("panda_link6 Position is " <<" x = "<< o5f.p1[0] << ", y = "<< o5f.p1[1]<<", z = "<<o5f.p1[2]);
-
-                o5g.p1[0]=transformStamped7.transform.translation.x;
-                o5g.p1[1]=transformStamped7.transform.translation.y;
-                o5g.p1[2]=transformStamped7.transform.translation.z;
-                ROS_INFO_STREAM("panda_link7 Position is " <<" x = "<< o5g.p1[0] << ", y = "<< o5g.p1[1]<<", z = "<<o5g.p1[2]);
-
-                o5a.or2.w=0.0;
+                o7.jo1->p1[0]=0.0;
+                o7.jo1->p1[1]=0.0;
+                o7.jo1->p1[2]=0.0;
+                o7.jo2->p1[0]=0.0;
+                o7.jo2->p1[1]=0.0;
+                o7.jo2->p1[2]=0.0;
+                o7.jo3->p1[0]=0.0;
+                o7.jo3->p1[1]=0.0;
+                o7.jo3->p1[2]=0.0;
+                o7.jo4->p1[0]=0.0;
+                o7.jo4->p1[1]=0.0;
+                o7.jo4->p1[2]=0.0;
+                o7.jo5->p1[0]=0.0;
+                o7.jo5->p1[1]=0.0;
+                o7.jo5->p1[2]=0.0;
+                o7.jo6->p1[0]=0.0;
+                o7.jo6->p1[1]=0.0;
+                o7.jo6->p1[2]=0.0;
+                o7.jo7->p1[0]=0.0;
+                o7.jo7->p1[1]=0.0;
+                o7.jo7->p1[2]=0.0;
+               // o5a.p1[0]=0.0;
+                // o5a.p1[1]=0.0;
+                // o5a.p1[2]=0.0;
+                // o5b.p1[0]=0.0;
+                //o5b.p1[1]=0.0;
+                //               o5b.p1[2]=0.0;//
+                //o5c.p1[0]=0.0;
+                // o5c.p1[1]=0.0;
+                //o5c.p1[2]=0.0;
+                //o5d.p1[0]=0.0;
+                // o5d.p1[1]=0.0;
+                //o5d.p1[2]=0.0;
+                //o5e.p1[0]=0.0;
+                //o5e.p1[1]=0.0;
+                // o5e.p1[2]=0.0;
+                // o5f.p1[0]=0.0;
+                // o5f.p1[1]=0.0;
+                //o5f.p1[2]=0.0;
+                //o5g.p1[0]=0.0;
+                //o5g.p1[1]=0.0;
+                //o5g.p1[2]=0.0;
+
+                o7.jo1->p1[0]=transformStamped1.transform.translation.x;
+                o7.jo1->p1[1]=transformStamped1.transform.translation.y;
+                o7.jo1->p1[2]=transformStamped1.transform.translation.z;
+                ROS_INFO_STREAM("panda_link1 Position is " <<" x = "<< o7.jo1->p1[0] << ", y = "<< o7.jo1->p1[1]<<", z = "<<o7.jo1->p1[2]);
+
+                o7.jo2->p1[0]=transformStamped2.transform.translation.x;
+                o7.jo2->p1[1]=transformStamped2.transform.translation.y;
+                o7.jo2->p1[2]=transformStamped2.transform.translation.z;
+                ROS_INFO_STREAM("panda_link2 Position is " <<" x = "<< o7.jo2->p1[0] << ", y = "<< o7.jo2->p1[1]<<", z = "<<o7.jo2->p1[2]);
+
+                o7.jo3->p1[0]=transformStamped3.transform.translation.x;
+                o7.jo3->p1[1]=transformStamped3.transform.translation.y;
+                o7.jo3->p1[2]=transformStamped3.transform.translation.z;
+                ROS_INFO_STREAM("panda_link3 Position is " <<" x = "<< o7.jo3->p1[0] << ", y = "<< o7.jo3->p1[1]<<", z = "<<o7.jo3->p1[2]);
+
+                o7.jo4->p1[0]=transformStamped4.transform.translation.x;
+                o7.jo4->p1[1]=transformStamped4.transform.translation.y;
+                o7.jo4->p1[2]=transformStamped4.transform.translation.z;
+                ROS_INFO_STREAM("panda_link4 Position is " <<" x = "<< o7.jo4->p1[0] << ", y = "<< o7.jo4->p1[1]<<", z = "<<o7.jo4->p1[2]);
+
+                o7.jo5->p1[0]=transformStamped5.transform.translation.x;
+                o7.jo5->p1[1]=transformStamped5.transform.translation.y;
+                o7.jo5->p1[2]=transformStamped5.transform.translation.z;
+                ROS_INFO_STREAM("panda_link5 Position is " <<" x = "<< o7.jo5->p1[0] << ", y = "<< o7.jo5->p1[1]<<", z = "<<o7.jo5->p1[2]);
+
+                o7.jo6->p1[0]=transformStamped6.transform.translation.x;
+                o7.jo6->p1[1]=transformStamped6.transform.translation.y;
+                o7.jo6->p1[2]=transformStamped6.transform.translation.z;
+                ROS_INFO_STREAM("panda_link6 Position is " <<" x = "<< o7.jo6->p1[0] << ", y = "<< o7.jo6->p1[1]<<", z = "<<o7.jo6->p1[2]);
+
+                o7.jo7->p1[0]=transformStamped7.transform.translation.x;
+                o7.jo7->p1[0]=transformStamped7.transform.translation.y;
+                o7.jo7->p1[0]=transformStamped7.transform.translation.z;
+                ROS_INFO_STREAM("panda_link7 Position is " <<" x = "<< o7.jo7->p1[0] << ", y = "<< o7.jo7->p1[1]<<", z = "<<o7.jo7->p1[2]);
+
+                o7.jo1->or2.w=0.0;
+                o7.jo1->or2.x=0.0;
+                o7.jo1->or2.y=0.0;
+                o7.jo1->or2.z=0.0;
+                o7.jo2->or2.w=0.0;
+                o7.jo2->or2.x=0.0;
+                o7.jo2->or2.y=0.0;
+                o7.jo2->or2.z=0.0;
+                o7.jo3->or2.w=0.0;
+                o7.jo3->or2.x=0.0;
+                o7.jo3->or2.y=0.0;
+                o7.jo3->or2.z=0.0;
+                o7.jo4->or2.w=0.0;
+                o7.jo4->or2.x=0.0;
+                o7.jo4->or2.y=0.0;
+                o7.jo4->or2.z=0.0;
+                o7.jo5->or2.w=0.0;
+                o7.jo5->or2.x=0.0;
+                o7.jo5->or2.y=0.0;
+                o7.jo5->or2.z=0.0;
+                o7.jo6->or2.w=0.0;
+                o7.jo6->or2.x=0.0;
+                o7.jo6->or2.y=0.0;
+                o7.jo6->or2.z=0.0;
+                o7.jo7->or2.w=0.0;
+                o7.jo7->or2.x=0.0;
+                o7.jo7->or2.y=0.0;
+                o7.jo7->or2.z=0.0;
+               /*o5a.or2.w=0.0;
                 o5a.or2.x=0.0;
                 o5a.or2.y=0.0;
                 o5a.or2.z=0.0;
@@ -233,49 +314,49 @@
                 o5g.or2.w=0.0;
                 o5g.or2.x=0.0;
                 o5g.or2.y=0.0;
-                o5g.or2.z=0.0;
-
-                o5a.or2.w=transformStamped1.transform.rotation.w;
-                o5a.or2.x=transformStamped1.transform.rotation.x;
-                o5a.or2.y=transformStamped1.transform.rotation.y;
-                o5a.or2.z=transformStamped1.transform.rotation.z;
-                ROS_INFO_STREAM("panda_link1 Orientation is " <<" w = "<< o5a.or2.w<<", x = "<<o5a.or2.x<<", y = "<<o5a.or2.y<<", z = "<<o5a.or2.z);
-
-                o5b.or2.w=transformStamped2.transform.rotation.w;
-                o5b.or2.x=transformStamped2.transform.rotation.x;
-                o5b.or2.y=transformStamped2.transform.rotation.y;
-                o5b.or2.z=transformStamped2.transform.rotation.z;
-                ROS_INFO_STREAM("panda_link2 Orientation is " <<" w = "<< o5b.or2.w<<", x = "<<o5b.or2.x<<", y = "<<o5b.or2.y<<", z = "<<o5b.or2.z);
-
-                o5c.or2.w=transformStamped3.transform.rotation.w;
-                o5c.or2.x=transformStamped3.transform.rotation.x;
-                o5c.or2.y=transformStamped3.transform.rotation.y;
-                o5c.or2.z=transformStamped3.transform.rotation.z;
-                ROS_INFO_STREAM("panda_link3 Orientation is " <<" w = "<< o5c.or2.w<<", x = "<<o5c.or2.x<<", y = "<<o5c.or2.y<<", z = "<<o5c.or2.z);
-
-                o5d.or2.w=transformStamped4.transform.rotation.w;
-                o5d.or2.x=transformStamped4.transform.rotation.x;
-                o5d.or2.y=transformStamped4.transform.rotation.y;
-                o5d.or2.z=transformStamped4.transform.rotation.z;
-                ROS_INFO_STREAM("panda_link4 Orientation is " <<" w = "<< o5d.or2.w<<", x = "<<o5d.or2.x<<", y = "<<o5d.or2.y<<", z = "<<o5d.or2.z);
-
-                o5e.or2.w=transformStamped5.transform.rotation.w;
-                o5e.or2.x=transformStamped5.transform.rotation.x;
-                o5e.or2.y=transformStamped5.transform.rotation.y;
-                o5e.or2.z=transformStamped5.transform.rotation.z;
-                ROS_INFO_STREAM("panda_link5 Orientation is " <<" w = "<< o5e.or2.w<<", x = "<<o5e.or2.x<<", y = "<<o5e.or2.y<<", z = "<<o5e.or2.z);
-
-                o5f.or2.w=transformStamped6.transform.rotation.w;
-                o5f.or2.x=transformStamped6.transform.rotation.x;
-                o5f.or2.y=transformStamped6.transform.rotation.y;
-                o5f.or2.z=transformStamped6.transform.rotation.z;
-                ROS_INFO_STREAM("panda_link6 Orientation is " <<" w = "<< o5f.or2.w<<", x = "<<o5f.or2.x<<", y = "<<o5f.or2.y<<", z = "<<o5f.or2.z);
-
-                o5g.or2.w=transformStamped7.transform.rotation.w;
-                o5g.or2.x=transformStamped7.transform.rotation.x;
-                o5g.or2.y=transformStamped7.transform.rotation.y;
-                o5g.or2.z=transformStamped7.transform.rotation.z;
-                ROS_INFO_STREAM("panda_link7 Orientation is " <<" w = "<< o5g.or2.w<<", x = "<<o5g.or2.x<<", y = "<<o5g.or2.y<<", z = "<<o5g.or2.z);
+                o5g.or2.z=0.0;*/
+
+                o7.jo1->or2.w=transformStamped1.transform.rotation.w;
+                o7.jo1->or2.x=transformStamped1.transform.rotation.x;
+                o7.jo1->or2.y=transformStamped1.transform.rotation.y;
+                o7.jo1->or2.z=transformStamped1.transform.rotation.z;
+                ROS_INFO_STREAM("panda_link1 Orientation is " <<" w = "<< o7.jo1->or2.w<<", x = "<<o7.jo1->or2.x<<", y = "<<o7.jo1->or2.y<<", z = "<<o7.jo1->or2.z);
+
+                o7.jo2->or2.w=transformStamped2.transform.rotation.w;
+                o7.jo2->or2.x=transformStamped2.transform.rotation.x;
+                o7.jo2->or2.y=transformStamped2.transform.rotation.y;
+                o7.jo2->or2.z=transformStamped2.transform.rotation.z;
+                ROS_INFO_STREAM("panda_link2 Orientation is " <<" w = "<<  o7.jo2->or2.w<<", x = "<< o7.jo2->or2.x<<", y = "<< o7.jo2->or2.y<<", z = "<< o7.jo2->or2.z);
+
+                o7.jo3->or2.w=transformStamped3.transform.rotation.w;
+                o7.jo3->or2.x=transformStamped3.transform.rotation.x;
+                o7.jo3->or2.y=transformStamped3.transform.rotation.y;
+                o7.jo3->or2.z=transformStamped3.transform.rotation.z;
+                ROS_INFO_STREAM("panda_link3 Orientation is " <<" w = "<< o7.jo3->or2.w<<", x = "<<o7.jo3->or2.x<<", y = "<<o7.jo3->or2.y<<", z = "<<o7.jo3->or2.z);
+
+                o7.jo4->or2.w=transformStamped4.transform.rotation.w;
+                o7.jo4->or2.x=transformStamped4.transform.rotation.x;
+                o7.jo4->or2.y=transformStamped4.transform.rotation.y;
+                o7.jo4->or2.z=transformStamped4.transform.rotation.z;
+                ROS_INFO_STREAM("panda_link4 Orientation is " <<" w = "<<o7.jo4->or2.w<<", x = "<<o7.jo4->or2.x<<", y = "<<o7.jo4->or2.y<<", z = "<<o7.jo4->or2.z);
+
+                o7.jo5->or2.w=transformStamped5.transform.rotation.w;
+                o7.jo5->or2.x=transformStamped5.transform.rotation.x;
+                o7.jo5->or2.y=transformStamped5.transform.rotation.y;
+                o7.jo5->or2.z=transformStamped5.transform.rotation.z;
+                ROS_INFO_STREAM("panda_link5 Orientation is " <<" w = "<< o7.jo5->or2.w<<", x = "<<o7.jo5->or2.x<<", y = "<<o7.jo5->or2.y<<", z = "<<o7.jo5->or2.z);
+
+                o7.jo6->or2.w=transformStamped6.transform.rotation.w;
+                o7.jo6->or2.x=transformStamped6.transform.rotation.x;
+                o7.jo6->or2.y=transformStamped6.transform.rotation.y;
+                o7.jo6->or2.z=transformStamped6.transform.rotation.z;
+                ROS_INFO_STREAM("panda_link6 Orientation is " <<" w = "<< o7.jo6->or2.w<<", x = "<<o7.jo6->or2.x<<", y = "<<o7.jo6->or2.y<<", z = "<<o7.jo6->or2.z);
+
+                o7.jo7->or2.w=transformStamped7.transform.rotation.w;
+                o7.jo7->or2.x=transformStamped7.transform.rotation.x;
+                o7.jo7->or2.y=transformStamped7.transform.rotation.y;
+                o7.jo7->or2.z=transformStamped7.transform.rotation.z;
+                ROS_INFO_STREAM("panda_link7 Orientation is " <<" w = "<<o7.jo7->or2.w<<", x = "<<o7.jo7->or2.x<<", y = "<<o7.jo7->or2.y<<", z = "<<o7.jo7->or2.z);
 
               }
             rate.sleep();