diff --git a/CMakeLists.txt b/CMakeLists.txt
index 8c6fdf40eeab1b28028f1061cb71984d568ec4bf..52fbc61977967f91efb429a7ccf75459b52eff12 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -168,8 +168,8 @@ add_executable(robot_models_node
         src/datalink/quaternion.h
 
         )
-add_executable(testappm
-                                                           src/testappm.cpp
+add_executable(safetytest
+                                                           src/safetytest.cpp
                                                            src/datalink/abstractobject.h
                                                            src/datalink/graspobject.h
                                                            src/datalink/hand.h
@@ -183,7 +183,20 @@ add_executable(testappm
                                                            src/datalink/quaternion.h
 
         )
-
+add_executable(worldsafety
+        src/worldsafety.cpp
+        src/datalink/abstractobject.h
+        src/datalink/graspobject.h
+        src/datalink/hand.h
+        src/datalink/humanspace.h
+        src/datalink/joint.h
+        src/datalink/obstacle.h
+        src/datalink/robot.h
+        src/datalink/robotfpe.h
+        src/datalink/world.h
+        src/datalink/worldobject.h
+        src/datalink/quaternion.h
+        )
 
 
 ## Rename C++ executable without prefix
@@ -197,10 +210,9 @@ add_executable(testappm
 
 
 ## Specify libraries to link a library or executable target against
-
-target_link_libraries(testappm ${catkin_LIBRARIES} )
-==== BASE ====
-==== BASE ====
+target_link_libraries(robot_models_node ${catkin_LIBRARIES} )
+target_link_libraries(worldsafety ${catkin_LIBRARIES} )
+target_link_libraries(safetytest ${catkin_LIBRARIES} )
 #add_dependencies(robot_models_node ${catkin_LIBRARIES})
 
 #############
diff --git a/cmake-build-debug/CMakeCache.txt b/cmake-build-debug/CMakeCache.txt
index 0c0fda051458975e315e3699f682b9d87cdff139..409aacb6c173776ef6b26dccadf114a9866d9a10 100644
--- a/cmake-build-debug/CMakeCache.txt
+++ b/cmake-build-debug/CMakeCache.txt
@@ -576,7 +576,7 @@ xmlrpcpp_DIR:PATH=/opt/ros/melodic/share/xmlrpcpp/cmake
 ########################
 
 //catkin environment
-CATKIN_ENV:INTERNAL=
+CATKIN_ENV:INTERNAL=/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/catkin_generated/env_cached.sh
 CATKIN_TEST_RESULTS_DIR:INTERNAL=/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/test_results
 //ADVANCED property for variable: CMAKE_AR
 CMAKE_AR-ADVANCED:INTERNAL=1
diff --git a/cmake-build-debug/CMakeFiles/Makefile.cmake b/cmake-build-debug/CMakeFiles/Makefile.cmake
index 11084518c80103c26add7237d232ca02a06db052..c4159cf89842278ec8a6de893e948b29a13d45c3 100644
--- a/cmake-build-debug/CMakeFiles/Makefile.cmake
+++ b/cmake-build-debug/CMakeFiles/Makefile.cmake
@@ -324,6 +324,8 @@ set(CMAKE_MAKEFILE_PRODUCTS
 
 # Dependency information for all targets:
 set(CMAKE_DEPEND_INFO_FILES
+  "CMakeFiles/worldsafety.dir/DependInfo.cmake"
+  "CMakeFiles/safetytest.dir/DependInfo.cmake"
   "CMakeFiles/moveit_ros_manipulation_gencfg.dir/DependInfo.cmake"
   "CMakeFiles/moveit_ros_planning_gencfg.dir/DependInfo.cmake"
   "CMakeFiles/graph_msgs_generate_messages_nodejs.dir/DependInfo.cmake"
@@ -342,13 +344,11 @@ set(CMAKE_DEPEND_INFO_FILES
   "CMakeFiles/octomap_msgs_generate_messages_nodejs.dir/DependInfo.cmake"
   "CMakeFiles/object_recognition_msgs_generate_messages_py.dir/DependInfo.cmake"
   "CMakeFiles/std_srvs_generate_messages_nodejs.dir/DependInfo.cmake"
-  "CMakeFiles/appmod.dir/DependInfo.cmake"
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   "CMakeFiles/sensor_msgs_generate_messages_lisp.dir/DependInfo.cmake"
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   "CMakeFiles/actionlib_generate_messages_lisp.dir/DependInfo.cmake"
   "CMakeFiles/geometry_msgs_generate_messages_cpp.dir/DependInfo.cmake"
-  "CMakeFiles/safety_model.dir/DependInfo.cmake"
   "CMakeFiles/moveit_msgs_generate_messages_cpp.dir/DependInfo.cmake"
   "CMakeFiles/std_msgs_generate_messages_nodejs.dir/DependInfo.cmake"
   "CMakeFiles/octomap_msgs_generate_messages_py.dir/DependInfo.cmake"
@@ -386,6 +386,7 @@ set(CMAKE_DEPEND_INFO_FILES
   "CMakeFiles/object_recognition_msgs_generate_messages_cpp.dir/DependInfo.cmake"
   "CMakeFiles/gazebo_msgs_generate_messages_nodejs.dir/DependInfo.cmake"
   "CMakeFiles/rosgraph_msgs_generate_messages_eus.dir/DependInfo.cmake"
+  "CMakeFiles/robot_models_node.dir/DependInfo.cmake"
   "CMakeFiles/rosgraph_msgs_generate_messages_lisp.dir/DependInfo.cmake"
   "CMakeFiles/dynamic_reconfigure_generate_messages_cpp.dir/DependInfo.cmake"
   "CMakeFiles/tf_generate_messages_py.dir/DependInfo.cmake"
@@ -393,7 +394,6 @@ set(CMAKE_DEPEND_INFO_FILES
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   "CMakeFiles/std_msgs_generate_messages_eus.dir/DependInfo.cmake"
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-  "CMakeFiles/testappm.dir/DependInfo.cmake"
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   "CMakeFiles/sensor_msgs_generate_messages_cpp.dir/DependInfo.cmake"
   "CMakeFiles/sensor_msgs_generate_messages_eus.dir/DependInfo.cmake"
diff --git a/cmake-build-debug/CMakeFiles/Makefile2 b/cmake-build-debug/CMakeFiles/Makefile2
index d0435a53f10d35c3693948e8c6bb5a12870941e8..f048ac584ffd09b748422cd280ec939497a524e2 100644
--- a/cmake-build-debug/CMakeFiles/Makefile2
+++ b/cmake-build-debug/CMakeFiles/Makefile2
@@ -53,14 +53,16 @@ CMAKE_BINARY_DIR = /home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debu
 # Directory level rules for the build root directory
 
 # The main recursive "all" target.
-all: CMakeFiles/appmod.dir/all
-all: CMakeFiles/safety_model.dir/all
-all: CMakeFiles/testappm.dir/all
+all: CMakeFiles/worldsafety.dir/all
+all: CMakeFiles/safetytest.dir/all
+all: CMakeFiles/robot_models_node.dir/all
 all: gtest/all
 
 .PHONY : all
 
 # The main recursive "clean" target.
+clean: CMakeFiles/worldsafety.dir/clean
+clean: CMakeFiles/safetytest.dir/clean
 clean: CMakeFiles/moveit_ros_manipulation_gencfg.dir/clean
 clean: CMakeFiles/moveit_ros_planning_gencfg.dir/clean
 clean: CMakeFiles/graph_msgs_generate_messages_nodejs.dir/clean
@@ -79,13 +81,11 @@ clean: CMakeFiles/std_srvs_generate_messages_py.dir/clean
 clean: CMakeFiles/octomap_msgs_generate_messages_nodejs.dir/clean
 clean: CMakeFiles/object_recognition_msgs_generate_messages_py.dir/clean
 clean: CMakeFiles/std_srvs_generate_messages_nodejs.dir/clean
-clean: CMakeFiles/appmod.dir/clean
 clean: CMakeFiles/geometry_msgs_generate_messages_py.dir/clean
 clean: CMakeFiles/sensor_msgs_generate_messages_lisp.dir/clean
 clean: CMakeFiles/geometry_msgs_generate_messages_lisp.dir/clean
 clean: CMakeFiles/actionlib_generate_messages_lisp.dir/clean
 clean: CMakeFiles/geometry_msgs_generate_messages_cpp.dir/clean
-clean: CMakeFiles/safety_model.dir/clean
 clean: CMakeFiles/moveit_msgs_generate_messages_cpp.dir/clean
 clean: CMakeFiles/std_msgs_generate_messages_nodejs.dir/clean
 clean: CMakeFiles/octomap_msgs_generate_messages_py.dir/clean
@@ -123,6 +123,7 @@ clean: CMakeFiles/actionlib_msgs_generate_messages_cpp.dir/clean
 clean: CMakeFiles/object_recognition_msgs_generate_messages_cpp.dir/clean
 clean: CMakeFiles/gazebo_msgs_generate_messages_nodejs.dir/clean
 clean: CMakeFiles/rosgraph_msgs_generate_messages_eus.dir/clean
+clean: CMakeFiles/robot_models_node.dir/clean
 clean: CMakeFiles/rosgraph_msgs_generate_messages_lisp.dir/clean
 clean: CMakeFiles/dynamic_reconfigure_generate_messages_cpp.dir/clean
 clean: CMakeFiles/tf_generate_messages_py.dir/clean
@@ -130,7 +131,6 @@ clean: CMakeFiles/sensor_msgs_generate_messages_py.dir/clean
 clean: CMakeFiles/visualization_msgs_generate_messages_lisp.dir/clean
 clean: CMakeFiles/std_msgs_generate_messages_eus.dir/clean
 clean: CMakeFiles/trajectory_msgs_generate_messages_py.dir/clean
-clean: CMakeFiles/testappm.dir/clean
 clean: CMakeFiles/rosgraph_msgs_generate_messages_nodejs.dir/clean
 clean: CMakeFiles/sensor_msgs_generate_messages_cpp.dir/clean
 clean: CMakeFiles/sensor_msgs_generate_messages_eus.dir/clean
@@ -178,6 +178,60 @@ preinstall: gtest/preinstall
 
 .PHONY : preinstall
 
+#=============================================================================
+# Target rules for target CMakeFiles/worldsafety.dir
+
+# All Build rule for target.
+CMakeFiles/worldsafety.dir/all:
+	$(MAKE) -f CMakeFiles/worldsafety.dir/build.make CMakeFiles/worldsafety.dir/depend
+	$(MAKE) -f CMakeFiles/worldsafety.dir/build.make CMakeFiles/worldsafety.dir/build
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --progress-dir=/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/CMakeFiles --progress-num=16,17 "Built target worldsafety"
+.PHONY : CMakeFiles/worldsafety.dir/all
+
+# Build rule for subdir invocation for target.
+CMakeFiles/worldsafety.dir/rule: cmake_check_build_system
+	$(CMAKE_COMMAND) -E cmake_progress_start /home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/CMakeFiles 2
+	$(MAKE) -f CMakeFiles/Makefile2 CMakeFiles/worldsafety.dir/all
+	$(CMAKE_COMMAND) -E cmake_progress_start /home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/CMakeFiles 0
+.PHONY : CMakeFiles/worldsafety.dir/rule
+
+# Convenience name for target.
+worldsafety: CMakeFiles/worldsafety.dir/rule
+
+.PHONY : worldsafety
+
+# clean rule for target.
+CMakeFiles/worldsafety.dir/clean:
+	$(MAKE) -f CMakeFiles/worldsafety.dir/build.make CMakeFiles/worldsafety.dir/clean
+.PHONY : CMakeFiles/worldsafety.dir/clean
+
+#=============================================================================
+# Target rules for target CMakeFiles/safetytest.dir
+
+# All Build rule for target.
+CMakeFiles/safetytest.dir/all:
+	$(MAKE) -f CMakeFiles/safetytest.dir/build.make CMakeFiles/safetytest.dir/depend
+	$(MAKE) -f CMakeFiles/safetytest.dir/build.make CMakeFiles/safetytest.dir/build
+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --progress-dir=/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/CMakeFiles --progress-num=14,15 "Built target safetytest"
+.PHONY : CMakeFiles/safetytest.dir/all
+
+# Build rule for subdir invocation for target.
+CMakeFiles/safetytest.dir/rule: cmake_check_build_system
+	$(CMAKE_COMMAND) -E cmake_progress_start /home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/CMakeFiles 2
+	$(MAKE) -f CMakeFiles/Makefile2 CMakeFiles/safetytest.dir/all
+	$(CMAKE_COMMAND) -E cmake_progress_start /home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/CMakeFiles 0
+.PHONY : CMakeFiles/safetytest.dir/rule
+
+# Convenience name for target.
+safetytest: CMakeFiles/safetytest.dir/rule
+
+.PHONY : safetytest
+
+# clean rule for target.
+CMakeFiles/safetytest.dir/clean:
+	$(MAKE) -f CMakeFiles/safetytest.dir/build.make CMakeFiles/safetytest.dir/clean
+.PHONY : CMakeFiles/safetytest.dir/clean
+
 #=============================================================================
 # Target rules for target CMakeFiles/moveit_ros_manipulation_gencfg.dir
 
@@ -664,33 +718,6 @@ CMakeFiles/std_srvs_generate_messages_nodejs.dir/clean:
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-	$(CMAKE_COMMAND) -E cmake_progress_start /home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/CMakeFiles 2
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 .PHONY : CMakeFiles/rosgraph_msgs_generate_messages_eus.dir/clean
 
+#=============================================================================
+# Target rules for target CMakeFiles/robot_models_node.dir
+
+# All Build rule for target.
+CMakeFiles/robot_models_node.dir/all:
+	$(MAKE) -f CMakeFiles/robot_models_node.dir/build.make CMakeFiles/robot_models_node.dir/depend
+	$(MAKE) -f CMakeFiles/robot_models_node.dir/build.make CMakeFiles/robot_models_node.dir/build
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+
+# Build rule for subdir invocation for target.
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+	$(CMAKE_COMMAND) -E cmake_progress_start /home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/CMakeFiles 2
+	$(MAKE) -f CMakeFiles/Makefile2 CMakeFiles/robot_models_node.dir/all
+	$(CMAKE_COMMAND) -E cmake_progress_start /home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/CMakeFiles 0
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+# Convenience name for target.
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+
+.PHONY : robot_models_node
+
+# clean rule for target.
+CMakeFiles/robot_models_node.dir/clean:
+	$(MAKE) -f CMakeFiles/robot_models_node.dir/build.make CMakeFiles/robot_models_node.dir/clean
+.PHONY : CMakeFiles/robot_models_node.dir/clean
+
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 # Target rules for target CMakeFiles/rosgraph_msgs_generate_messages_lisp.dir
 
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+	@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --progress-dir=/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/CMakeFiles --progress-num=10,11 "Built target gtest_main"
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+-
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-/opt/ros/melodic/include/ros/exception.h
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-/opt/ros/melodic/include/ros/exceptions.h
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-/opt/ros/melodic/include/ros/forwards.h
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 string
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 vector
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 map
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 -
-boost/make_shared.hpp
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-boost/weak_ptr.hpp
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+/opt/ros/melodic/include/moveit/robot_model/joint_model_group.h
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 -
-boost/function.hpp
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-ros/time.h
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-ros/macros.h
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+-
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-/opt/ros/melodic/include/ros/init.h
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-/opt/ros/melodic/include/ros/internal/condition_variable.h
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 -
 
-/opt/ros/melodic/include/ros/macros.h
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-/opt/ros/melodic/include/ros/master.h
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-/opt/ros/melodic/include/ros/message.h
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-
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-ros/message_traits.h
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+eigen_stl_containers/eigen_stl_containers.h
 -
 boost/function.hpp
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+set
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-/opt/ros/melodic/include/ros/message_forward.h
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 -
-memory
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-
-/opt/ros/melodic/include/ros/message_operations.h
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-
-/opt/ros/melodic/include/ros/message_traits.h
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-boost/utility/enable_if.hpp
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 -
 
-/opt/ros/melodic/include/ros/names.h
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-
-/opt/ros/melodic/include/ros/node_handle.h
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 -
-xmlrpcpp/XmlRpcValue.h
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+-
+map
+-
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+-
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+-
+ros/builtin_message_traits.h
+-
+ros/message_operations.h
 -
 
-/opt/ros/melodic/include/ros/param.h
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-/opt/ros/melodic/include/ros/forwards.h
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-/opt/ros/melodic/include/ros/common.h
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-/opt/ros/melodic/include/ros/xmlrpcpp/XmlRpcValue.h
+/opt/ros/melodic/include/moveit_msgs/AllowedCollisionMatrix.h
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+-
 vector
 -
 map
 -
-
-/opt/ros/melodic/include/ros/parameter_adapter.h
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-/opt/ros/melodic/include/ros/ros/forwards.h
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-/opt/ros/melodic/include/ros/ros/message_event.h
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 -
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 -
-boost/type_traits/remove_const.hpp
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 -
-boost/type_traits/remove_reference.hpp
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 -
-
-/opt/ros/melodic/include/ros/platform.h
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 -
+
+/opt/ros/melodic/include/moveit_msgs/AttachedCollisionObject.h
 string
 -
-
-/opt/ros/melodic/include/ros/publisher.h
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-/opt/ros/melodic/include/ros/ros/message.h
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+-
+map
+-
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+-
 ros/serialization.h
-/opt/ros/melodic/include/ros/ros/serialization.h
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+-
+ros/builtin_message_traits.h
+-
+ros/message_operations.h
+-
+moveit_msgs/CollisionObject.h
+-
+trajectory_msgs/JointTrajectory.h
 -
 
-/opt/ros/melodic/include/ros/rate.h
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-
-/opt/ros/melodic/include/ros/ros.h
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-
-/opt/ros/melodic/include/ros/roscpp_serialization_macros.h
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 -
-
-/opt/ros/melodic/include/ros/rostime_decl.h
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+-
+map
 -
-
-/opt/ros/melodic/include/ros/serialization.h
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-/opt/ros/melodic/include/ros/roscpp_serialization_macros.h
 ros/types.h
 -
-ros/time.h
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 -
-serialized_message.h
-/opt/ros/melodic/include/ros/serialized_message.h
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-/opt/ros/melodic/include/ros/ros/message_traits.h
 ros/builtin_message_traits.h
-/opt/ros/melodic/include/ros/ros/builtin_message_traits.h
-ros/exception.h
-/opt/ros/melodic/include/ros/ros/exception.h
-ros/datatypes.h
-/opt/ros/melodic/include/ros/ros/datatypes.h
+-
+ros/message_operations.h
+-
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+-
+geometry_msgs/Pose.h
+-
+shape_msgs/Mesh.h
+-
+geometry_msgs/Pose.h
+-
+
+/opt/ros/melodic/include/moveit_msgs/CollisionObject.h
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+-
 vector
 -
 map
 -
-boost/array.hpp
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 -
-boost/call_traits.hpp
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 -
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 -
-boost/mpl/or.hpp
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 -
-boost/mpl/not.hpp
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 -
-cstring
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-
-/opt/ros/melodic/include/ros/serialized_message.h
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-/opt/ros/melodic/include/ros/roscpp_serialization_macros.h
-boost/shared_array.hpp
+geometry_msgs/Pose.h
 -
-boost/shared_ptr.hpp
+shape_msgs/Mesh.h
+-
+geometry_msgs/Pose.h
+-
+shape_msgs/Plane.h
+-
+geometry_msgs/Pose.h
 -
 
-/opt/ros/melodic/include/ros/service.h
+/opt/ros/melodic/include/moveit_msgs/Constraints.h
 string
 -
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-
-/opt/ros/melodic/include/ros/service_callback_helper.h
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-
-/opt/ros/melodic/include/ros/service_client.h
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-/opt/ros/melodic/include/ros/ros/service_traits.h
 ros/serialization.h
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-/opt/ros/melodic/include/ros/service_client_options.h
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-/opt/ros/melodic/include/ros/service_server.h
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-/opt/ros/melodic/include/ros/service_traits.h
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-
-/opt/ros/melodic/include/ros/single_subscriber_publisher.h
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-
-/opt/ros/melodic/include/ros/spinner.h
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-/opt/ros/melodic/include/ros/common.h
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 -
-
-/opt/ros/melodic/include/ros/static_assert.h
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-
-/opt/ros/melodic/include/ros/steady_timer.h
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-/opt/ros/melodic/include/ros/steady_timer_options.h
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-/opt/ros/melodic/include/ros/subscribe_options.h
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-/opt/ros/melodic/include/ros/subscriber.h
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-/opt/ros/melodic/include/ros/subscription_callback_helper.h
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-/opt/ros/melodic/include/ros/ros/message_event.h
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 -
-boost/type_traits/add_const.hpp
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+/opt/ros/melodic/include/moveit_msgs/Grasp.h
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 -
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 -
-boost/type_traits/remove_reference.hpp
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 -
-boost/type_traits/is_base_of.hpp
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 -
-boost/utility/enable_if.hpp
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 -
-boost/make_shared.hpp
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 -
-
-/opt/ros/melodic/include/ros/this_node.h
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-/opt/ros/melodic/include/ros/forwards.h
-
-/opt/ros/melodic/include/ros/time.h
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 -
-iostream
+trajectory_msgs/JointTrajectory.h
 -
-cmath
+trajectory_msgs/JointTrajectory.h
 -
-ros/exception.h
+geometry_msgs/PoseStamped.h
 -
-duration.h
-/opt/ros/melodic/include/ros/duration.h
-boost/math/special_functions/round.hpp
+moveit_msgs/GripperTranslation.h
 -
-rostime_decl.h
-/opt/ros/melodic/include/ros/rostime_decl.h
-sys/timeb.h
+moveit_msgs/GripperTranslation.h
 -
-sys/time.h
+moveit_msgs/GripperTranslation.h
 -
 
-/opt/ros/melodic/include/ros/timer.h
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-/opt/ros/melodic/include/ros/common.h
-forwards.h
-/opt/ros/melodic/include/ros/forwards.h
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-/opt/ros/melodic/include/ros/timer_options.h
-
-/opt/ros/melodic/include/ros/timer_options.h
-common.h
-/opt/ros/melodic/include/ros/common.h
-ros/forwards.h
-/opt/ros/melodic/include/ros/ros/forwards.h
-
-/opt/ros/melodic/include/ros/topic.h
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-/opt/ros/melodic/include/ros/common.h
-node_handle.h
-/opt/ros/melodic/include/ros/node_handle.h
-boost/shared_ptr.hpp
+/opt/ros/melodic/include/moveit_msgs/GripperTranslation.h
+string
 -
-
-/opt/ros/melodic/include/ros/transport_hints.h
-common.h
-/opt/ros/melodic/include/ros/common.h
-ros/forwards.h
-/opt/ros/melodic/include/ros/ros/forwards.h
-boost/lexical_cast.hpp
+vector
 -
-
-/opt/ros/melodic/include/ros/types.h
-stdint.h
+map
+-
+ros/types.h
+-
+ros/serialization.h
+-
+ros/builtin_message_traits.h
+-
+ros/message_operations.h
+-
+geometry_msgs/Vector3Stamped.h
 -
 
-/opt/ros/melodic/include/ros/wall_timer.h
-common.h
-/opt/ros/melodic/include/ros/common.h
-forwards.h
-/opt/ros/melodic/include/ros/forwards.h
-wall_timer_options.h
-/opt/ros/melodic/include/ros/wall_timer_options.h
-
-/opt/ros/melodic/include/ros/wall_timer_options.h
-common.h
-/opt/ros/melodic/include/ros/common.h
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-/opt/ros/melodic/include/ros/ros/forwards.h
-
-/opt/ros/melodic/include/rosconsole/macros_generated.h
-
-/opt/ros/melodic/include/std_msgs/Empty.h
+/opt/ros/melodic/include/moveit_msgs/JointConstraint.h
 string
 -
 vector
@@ -1154,7 +1128,7 @@ ros/builtin_message_traits.h
 ros/message_operations.h
 -
 
-/opt/ros/melodic/include/std_msgs/Header.h
+/opt/ros/melodic/include/moveit_msgs/JointLimits.h
 string
 -
 vector
@@ -1170,153 +1144,109 @@ ros/builtin_message_traits.h
 ros/message_operations.h
 -
 
-/opt/ros/melodic/include/tf2/LinearMath/Matrix3x3.h
-Vector3.h
-/opt/ros/melodic/include/tf2/LinearMath/Vector3.h
-Quaternion.h
-/opt/ros/melodic/include/tf2/LinearMath/Quaternion.h
-
-/opt/ros/melodic/include/tf2/LinearMath/MinMax.h
-
-/opt/ros/melodic/include/tf2/LinearMath/QuadWord.h
-Scalar.h
-/opt/ros/melodic/include/tf2/LinearMath/Scalar.h
-MinMax.h
-/opt/ros/melodic/include/tf2/LinearMath/MinMax.h
-altivec.h
+/opt/ros/melodic/include/moveit_msgs/LinkPadding.h
+string
 -
-
-/opt/ros/melodic/include/tf2/LinearMath/Quaternion.h
-Vector3.h
-/opt/ros/melodic/include/tf2/LinearMath/Vector3.h
-QuadWord.h
-/opt/ros/melodic/include/tf2/LinearMath/QuadWord.h
-
-/opt/ros/melodic/include/tf2/LinearMath/Scalar.h
-math.h
+vector
 -
-stdlib.h
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 -
-cstdlib
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 -
-cfloat
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 -
-float.h
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-ppcintrinsics.h
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+/opt/ros/melodic/include/moveit_msgs/LinkScale.h
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-assert.h
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-
-/opt/ros/melodic/include/tf2/LinearMath/Transform.h
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-/opt/ros/melodic/include/tf2/LinearMath/Matrix3x3.h
-
-/opt/ros/melodic/include/tf2/LinearMath/Vector3.h
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-/opt/ros/melodic/include/tf2/LinearMath/Scalar.h
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-/opt/ros/melodic/include/tf2/LinearMath/MinMax.h
-
-/opt/ros/melodic/include/tf2/buffer_core.h
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-/opt/ros/melodic/include/tf2/transform_storage.h
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+-
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 string
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-
-/opt/ros/melodic/include/tf2/convert.h
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-/opt/ros/melodic/include/tf2/impl/convert.h
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-/opt/ros/melodic/include/tf2/transform_storage.h
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 ros/types.h
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-
-/opt/ros/melodic/include/tf2_geometry_msgs/tf2_geometry_msgs.h
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-tf2/LinearMath/Transform.h
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-geometry_msgs/QuaternionStamped.h
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 -
-geometry_msgs/TransformStamped.h
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-geometry_msgs/PoseWithCovarianceStamped.h
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 -
-geometry_msgs/Wrench.h
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 -
-
-/opt/ros/melodic/include/tf2_msgs/FrameGraph.h
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-tf2_msgs/FrameGraphRequest.h
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 -
-tf2_msgs/FrameGraphResponse.h
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 -
 
-/opt/ros/melodic/include/tf2_msgs/FrameGraphRequest.h
+/opt/ros/melodic/include/moveit_msgs/MoveGroupActionGoal.h
 string
 -
 vector
@@ -1331,8 +1261,14 @@ ros/builtin_message_traits.h
 -
 ros/message_operations.h
 -
+std_msgs/Header.h
+-
+actionlib_msgs/GoalID.h
+-
+moveit_msgs/MoveGroupGoal.h
+-
 
-/opt/ros/melodic/include/tf2_msgs/FrameGraphResponse.h
+/opt/ros/melodic/include/moveit_msgs/MoveGroupActionResult.h
 string
 -
 vector
@@ -1347,8 +1283,14 @@ ros/builtin_message_traits.h
 -
 ros/message_operations.h
 -
+std_msgs/Header.h
+-
+actionlib_msgs/GoalStatus.h
+-
+moveit_msgs/MoveGroupResult.h
+-
 
-/opt/ros/melodic/include/tf2_msgs/TFMessage.h
+/opt/ros/melodic/include/moveit_msgs/MoveGroupFeedback.h
 string
 -
 vector
@@ -1363,66 +1305,1556 @@ ros/builtin_message_traits.h
 -
 ros/message_operations.h
 -
-geometry_msgs/TransformStamped.h
--
 
-/opt/ros/melodic/include/tf2_ros/buffer.h
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--
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--
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-
-/opt/ros/melodic/include/tf2_ros/buffer_interface.h
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-tf2/transform_datatypes.h
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 -
-tf2/exceptions.h
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 -
-geometry_msgs/TransformStamped.h
+ros/message_operations.h
 -
-sstream
+moveit_msgs/MotionPlanRequest.h
 -
-tf2/convert.h
+moveit_msgs/PlanningOptions.h
 -
 
-/opt/ros/melodic/include/tf2_ros/message_filter.h
-tf2/buffer_core.h
--
+/opt/ros/melodic/include/moveit_msgs/MoveGroupResult.h
 string
 -
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--
 vector
 -
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-boost/shared_ptr.hpp
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 -
-boost/thread.hpp
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-message_filters/connection.h
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 -
-message_filters/simple_filter.h
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 -
-ros/node_handle.h
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 -
-ros/callback_queue_interface.h
+moveit_msgs/RobotTrajectory.h
 -
-ros/init.h
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 -
 
-/opt/ros/melodic/include/tf2_ros/static_transform_broadcaster.h
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+-
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@@ -1448,6 +2880,160 @@ tf2_ros/buffer.h
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+#=============================================================================
+# Target rules for targets named safetytest
+
+# Build rule for target.
+safetytest: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 safetytest
+.PHONY : safetytest
+
+# fast build rule for target.
+safetytest/fast:
+	$(MAKE) -f CMakeFiles/safetytest.dir/build.make CMakeFiles/safetytest.dir/build
+.PHONY : safetytest/fast
+
 #=============================================================================
 # Target rules for targets named moveit_ros_manipulation_gencfg
 
@@ -401,19 +427,6 @@ std_srvs_generate_messages_nodejs/fast:
 	$(MAKE) -f CMakeFiles/std_srvs_generate_messages_nodejs.dir/build.make CMakeFiles/std_srvs_generate_messages_nodejs.dir/build
 .PHONY : std_srvs_generate_messages_nodejs/fast
 
-#=============================================================================
-# Target rules for targets named appmod
-
-# Build rule for target.
-appmod: cmake_check_build_system
-	$(MAKE) -f CMakeFiles/Makefile2 appmod
-.PHONY : appmod
-
-# fast build rule for target.
-appmod/fast:
-	$(MAKE) -f CMakeFiles/appmod.dir/build.make CMakeFiles/appmod.dir/build
-.PHONY : appmod/fast
-
 #=============================================================================
 # Target rules for targets named geometry_msgs_generate_messages_py
 
@@ -479,19 +492,6 @@ geometry_msgs_generate_messages_cpp/fast:
 	$(MAKE) -f CMakeFiles/geometry_msgs_generate_messages_cpp.dir/build.make CMakeFiles/geometry_msgs_generate_messages_cpp.dir/build
 .PHONY : geometry_msgs_generate_messages_cpp/fast
 
-#=============================================================================
-# Target rules for targets named safety_model
-
-# Build rule for target.
-safety_model: cmake_check_build_system
-	$(MAKE) -f CMakeFiles/Makefile2 safety_model
-.PHONY : safety_model
-
-# fast build rule for target.
-safety_model/fast:
-	$(MAKE) -f CMakeFiles/safety_model.dir/build.make CMakeFiles/safety_model.dir/build
-.PHONY : safety_model/fast
-
 #=============================================================================
 # Target rules for targets named moveit_msgs_generate_messages_cpp
 
@@ -973,6 +973,19 @@ rosgraph_msgs_generate_messages_eus/fast:
 	$(MAKE) -f CMakeFiles/rosgraph_msgs_generate_messages_eus.dir/build.make CMakeFiles/rosgraph_msgs_generate_messages_eus.dir/build
 .PHONY : rosgraph_msgs_generate_messages_eus/fast
 
+#=============================================================================
+# Target rules for targets named robot_models_node
+
+# Build rule for target.
+robot_models_node: cmake_check_build_system
+	$(MAKE) -f CMakeFiles/Makefile2 robot_models_node
+.PHONY : robot_models_node
+
+# fast build rule for target.
+robot_models_node/fast:
+	$(MAKE) -f CMakeFiles/robot_models_node.dir/build.make CMakeFiles/robot_models_node.dir/build
+.PHONY : robot_models_node/fast
+
 #=============================================================================
 # Target rules for targets named rosgraph_msgs_generate_messages_lisp
 
@@ -1064,19 +1077,6 @@ trajectory_msgs_generate_messages_py/fast:
 	$(MAKE) -f CMakeFiles/trajectory_msgs_generate_messages_py.dir/build.make CMakeFiles/trajectory_msgs_generate_messages_py.dir/build
 .PHONY : trajectory_msgs_generate_messages_py/fast
 
-#=============================================================================
-# Target rules for targets named testappm
-
-# Build rule for target.
-testappm: cmake_check_build_system
-	$(MAKE) -f CMakeFiles/Makefile2 testappm
-.PHONY : testappm
-
-# fast build rule for target.
-testappm/fast:
-	$(MAKE) -f CMakeFiles/testappm.dir/build.make CMakeFiles/testappm.dir/build
-.PHONY : testappm/fast
-
 #=============================================================================
 # Target rules for targets named rosgraph_msgs_generate_messages_nodejs
 
@@ -1623,86 +1623,86 @@ gtest/fast:
 	$(MAKE) -f gtest/googlemock/gtest/CMakeFiles/gtest.dir/build.make gtest/googlemock/gtest/CMakeFiles/gtest.dir/build
 .PHONY : gtest/fast
 
-src/appmod.o: src/appmod.cpp.o
+src/robot_models_node.o: src/robot_models_node.cpp.o
 
-.PHONY : src/appmod.o
+.PHONY : src/robot_models_node.o
 
 # target to build an object file
-src/appmod.cpp.o:
-	$(MAKE) -f CMakeFiles/appmod.dir/build.make CMakeFiles/appmod.dir/src/appmod.cpp.o
-.PHONY : src/appmod.cpp.o
+src/robot_models_node.cpp.o:
+	$(MAKE) -f CMakeFiles/robot_models_node.dir/build.make CMakeFiles/robot_models_node.dir/src/robot_models_node.cpp.o
+.PHONY : src/robot_models_node.cpp.o
 
-src/appmod.i: src/appmod.cpp.i
+src/robot_models_node.i: src/robot_models_node.cpp.i
 
-.PHONY : src/appmod.i
+.PHONY : src/robot_models_node.i
 
 # target to preprocess a source file
-src/appmod.cpp.i:
-	$(MAKE) -f CMakeFiles/appmod.dir/build.make CMakeFiles/appmod.dir/src/appmod.cpp.i
-.PHONY : src/appmod.cpp.i
+src/robot_models_node.cpp.i:
+	$(MAKE) -f CMakeFiles/robot_models_node.dir/build.make CMakeFiles/robot_models_node.dir/src/robot_models_node.cpp.i
+.PHONY : src/robot_models_node.cpp.i
 
-src/appmod.s: src/appmod.cpp.s
+src/robot_models_node.s: src/robot_models_node.cpp.s
 
-.PHONY : src/appmod.s
+.PHONY : src/robot_models_node.s
 
 # target to generate assembly for a file
-src/appmod.cpp.s:
-	$(MAKE) -f CMakeFiles/appmod.dir/build.make CMakeFiles/appmod.dir/src/appmod.cpp.s
-.PHONY : src/appmod.cpp.s
+src/robot_models_node.cpp.s:
+	$(MAKE) -f CMakeFiles/robot_models_node.dir/build.make CMakeFiles/robot_models_node.dir/src/robot_models_node.cpp.s
+.PHONY : src/robot_models_node.cpp.s
 
-src/safety_model.o: src/safety_model.cpp.o
+src/safetytest.o: src/safetytest.cpp.o
 
-.PHONY : src/safety_model.o
+.PHONY : src/safetytest.o
 
 # target to build an object file
-src/safety_model.cpp.o:
-	$(MAKE) -f CMakeFiles/safety_model.dir/build.make CMakeFiles/safety_model.dir/src/safety_model.cpp.o
-.PHONY : src/safety_model.cpp.o
+src/safetytest.cpp.o:
+	$(MAKE) -f CMakeFiles/safetytest.dir/build.make CMakeFiles/safetytest.dir/src/safetytest.cpp.o
+.PHONY : src/safetytest.cpp.o
 
-src/safety_model.i: src/safety_model.cpp.i
+src/safetytest.i: src/safetytest.cpp.i
 
-.PHONY : src/safety_model.i
+.PHONY : src/safetytest.i
 
 # target to preprocess a source file
-src/safety_model.cpp.i:
-	$(MAKE) -f CMakeFiles/safety_model.dir/build.make CMakeFiles/safety_model.dir/src/safety_model.cpp.i
-.PHONY : src/safety_model.cpp.i
+src/safetytest.cpp.i:
+	$(MAKE) -f CMakeFiles/safetytest.dir/build.make CMakeFiles/safetytest.dir/src/safetytest.cpp.i
+.PHONY : src/safetytest.cpp.i
 
-src/safety_model.s: src/safety_model.cpp.s
+src/safetytest.s: src/safetytest.cpp.s
 
-.PHONY : src/safety_model.s
+.PHONY : src/safetytest.s
 
 # target to generate assembly for a file
-src/safety_model.cpp.s:
-	$(MAKE) -f CMakeFiles/safety_model.dir/build.make CMakeFiles/safety_model.dir/src/safety_model.cpp.s
-.PHONY : src/safety_model.cpp.s
+src/safetytest.cpp.s:
+	$(MAKE) -f CMakeFiles/safetytest.dir/build.make CMakeFiles/safetytest.dir/src/safetytest.cpp.s
+.PHONY : src/safetytest.cpp.s
 
-src/testappm.o: src/testappm.cpp.o
+src/worldsafety.o: src/worldsafety.cpp.o
 
-.PHONY : src/testappm.o
+.PHONY : src/worldsafety.o
 
 # target to build an object file
-src/testappm.cpp.o:
-	$(MAKE) -f CMakeFiles/testappm.dir/build.make CMakeFiles/testappm.dir/src/testappm.cpp.o
-.PHONY : src/testappm.cpp.o
+src/worldsafety.cpp.o:
+	$(MAKE) -f CMakeFiles/worldsafety.dir/build.make CMakeFiles/worldsafety.dir/src/worldsafety.cpp.o
+.PHONY : src/worldsafety.cpp.o
 
-src/testappm.i: src/testappm.cpp.i
+src/worldsafety.i: src/worldsafety.cpp.i
 
-.PHONY : src/testappm.i
+.PHONY : src/worldsafety.i
 
 # target to preprocess a source file
-src/testappm.cpp.i:
-	$(MAKE) -f CMakeFiles/testappm.dir/build.make CMakeFiles/testappm.dir/src/testappm.cpp.i
-.PHONY : src/testappm.cpp.i
+src/worldsafety.cpp.i:
+	$(MAKE) -f CMakeFiles/worldsafety.dir/build.make CMakeFiles/worldsafety.dir/src/worldsafety.cpp.i
+.PHONY : src/worldsafety.cpp.i
 
-src/testappm.s: src/testappm.cpp.s
+src/worldsafety.s: src/worldsafety.cpp.s
 
-.PHONY : src/testappm.s
+.PHONY : src/worldsafety.s
 
 # target to generate assembly for a file
-src/testappm.cpp.s:
-	$(MAKE) -f CMakeFiles/testappm.dir/build.make CMakeFiles/testappm.dir/src/testappm.cpp.s
-.PHONY : src/testappm.cpp.s
+src/worldsafety.cpp.s:
+	$(MAKE) -f CMakeFiles/worldsafety.dir/build.make CMakeFiles/worldsafety.dir/src/worldsafety.cpp.s
+.PHONY : src/worldsafety.cpp.s
 
 # Help Target
 help:
@@ -1715,6 +1715,8 @@ help:
 	@echo "... install"
 	@echo "... list_install_components"
 	@echo "... test"
+	@echo "... worldsafety"
+	@echo "... safetytest"
 	@echo "... moveit_ros_manipulation_gencfg"
 	@echo "... moveit_ros_planning_gencfg"
 	@echo "... graph_msgs_generate_messages_nodejs"
@@ -1733,13 +1735,11 @@ help:
 	@echo "... octomap_msgs_generate_messages_nodejs"
 	@echo "... object_recognition_msgs_generate_messages_py"
 	@echo "... std_srvs_generate_messages_nodejs"
-	@echo "... appmod"
 	@echo "... geometry_msgs_generate_messages_py"
 	@echo "... sensor_msgs_generate_messages_lisp"
 	@echo "... geometry_msgs_generate_messages_lisp"
 	@echo "... actionlib_generate_messages_lisp"
 	@echo "... geometry_msgs_generate_messages_cpp"
-	@echo "... safety_model"
 	@echo "... moveit_msgs_generate_messages_cpp"
 	@echo "... std_msgs_generate_messages_nodejs"
 	@echo "... octomap_msgs_generate_messages_py"
@@ -1778,6 +1778,7 @@ help:
 	@echo "... object_recognition_msgs_generate_messages_cpp"
 	@echo "... gazebo_msgs_generate_messages_nodejs"
 	@echo "... rosgraph_msgs_generate_messages_eus"
+	@echo "... robot_models_node"
 	@echo "... rosgraph_msgs_generate_messages_lisp"
 	@echo "... dynamic_reconfigure_generate_messages_cpp"
 	@echo "... tf_generate_messages_py"
@@ -1786,7 +1787,6 @@ help:
 	@echo "... visualization_msgs_generate_messages_lisp"
 	@echo "... std_msgs_generate_messages_eus"
 	@echo "... trajectory_msgs_generate_messages_py"
-	@echo "... testappm"
 	@echo "... rosgraph_msgs_generate_messages_nodejs"
 	@echo "... sensor_msgs_generate_messages_cpp"
 	@echo "... sensor_msgs_generate_messages_eus"
@@ -1829,15 +1829,15 @@ help:
 	@echo "... gmock"
 	@echo "... gtest_main"
 	@echo "... gtest"
-	@echo "... src/appmod.o"
-	@echo "... src/appmod.i"
-	@echo "... src/appmod.s"
-	@echo "... src/safety_model.o"
-	@echo "... src/safety_model.i"
-	@echo "... src/safety_model.s"
-	@echo "... src/testappm.o"
-	@echo "... src/testappm.i"
-	@echo "... src/testappm.s"
+	@echo "... src/robot_models_node.o"
+	@echo "... src/robot_models_node.i"
+	@echo "... src/robot_models_node.s"
+	@echo "... src/safetytest.o"
+	@echo "... src/safetytest.i"
+	@echo "... src/safetytest.s"
+	@echo "... src/worldsafety.o"
+	@echo "... src/worldsafety.i"
+	@echo "... src/worldsafety.s"
 .PHONY : help
 
 
diff --git a/cmake-build-debug/atomic_configure/_setup_util.py b/cmake-build-debug/atomic_configure/_setup_util.py
index 35a5c46b9f34411b4ef70607309af3327c49642a..760f26fce17a722beebe8ed52d7c773383fe14a3 100755
--- a/cmake-build-debug/atomic_configure/_setup_util.py
+++ b/cmake-build-debug/atomic_configure/_setup_util.py
@@ -268,7 +268,7 @@ if __name__ == '__main__':
 
         if not args.local:
             # environment at generation time
-            CMAKE_PREFIX_PATH = ''.split(';')
+            CMAKE_PREFIX_PATH = '/opt/ros/melodic'.split(';')
         else:
             # don't consider any other prefix path than this one
             CMAKE_PREFIX_PATH = []
diff --git a/cmake-build-debug/catkin_generated/generate_cached_setup.py b/cmake-build-debug/catkin_generated/generate_cached_setup.py
index 2789737475def4ca1275a6b0b2d8d37ce6f5a052..4040389a1cd3dbf82e7557ddd962b08ef9abed5d 100644
--- a/cmake-build-debug/catkin_generated/generate_cached_setup.py
+++ b/cmake-build-debug/catkin_generated/generate_cached_setup.py
@@ -12,7 +12,7 @@ try:
     from catkin.environment_cache import generate_environment_script
 except ImportError:
     # search for catkin package in all workspaces and prepend to path
-    for workspace in ''.split(';'):
+    for workspace in '/opt/ros/melodic'.split(';'):
         python_path = os.path.join(workspace, 'lib/python2.7/dist-packages')
         if os.path.isdir(os.path.join(python_path, 'catkin')):
             sys.path.insert(0, python_path)
diff --git a/cmake-build-debug/catkin_generated/installspace/_setup_util.py b/cmake-build-debug/catkin_generated/installspace/_setup_util.py
index 35a5c46b9f34411b4ef70607309af3327c49642a..760f26fce17a722beebe8ed52d7c773383fe14a3 100755
--- a/cmake-build-debug/catkin_generated/installspace/_setup_util.py
+++ b/cmake-build-debug/catkin_generated/installspace/_setup_util.py
@@ -268,7 +268,7 @@ if __name__ == '__main__':
 
         if not args.local:
             # environment at generation time
-            CMAKE_PREFIX_PATH = ''.split(';')
+            CMAKE_PREFIX_PATH = '/opt/ros/melodic'.split(';')
         else:
             # don't consider any other prefix path than this one
             CMAKE_PREFIX_PATH = []
diff --git a/cmake-build-debug/catkin_generated/stamps/robot_models/_setup_util.py.stamp b/cmake-build-debug/catkin_generated/stamps/robot_models/_setup_util.py.stamp
index 35a5c46b9f34411b4ef70607309af3327c49642a..760f26fce17a722beebe8ed52d7c773383fe14a3 100755
--- a/cmake-build-debug/catkin_generated/stamps/robot_models/_setup_util.py.stamp
+++ b/cmake-build-debug/catkin_generated/stamps/robot_models/_setup_util.py.stamp
@@ -268,7 +268,7 @@ if __name__ == '__main__':
 
         if not args.local:
             # environment at generation time
-            CMAKE_PREFIX_PATH = ''.split(';')
+            CMAKE_PREFIX_PATH = '/opt/ros/melodic'.split(';')
         else:
             # don't consider any other prefix path than this one
             CMAKE_PREFIX_PATH = []
diff --git a/cmake-build-debug/catkin_generated/stamps/robot_models/package.xml.stamp b/cmake-build-debug/catkin_generated/stamps/robot_models/package.xml.stamp
index bfd7934054c76a7c19e41cf4e697b284417f1abb..2396dbb9305dfd06cd818441d187c1a18976a0ee 100644
--- a/cmake-build-debug/catkin_generated/stamps/robot_models/package.xml.stamp
+++ b/cmake-build-debug/catkin_generated/stamps/robot_models/package.xml.stamp
@@ -1,48 +1,64 @@
 <?xml version="1.0"?>
-<?xml-model
-  href="http://download.ros.org/schema/package_format3.xsd"
-  schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
-  <name>catkin</name>
-  <version>0.7.28</version>
-  <description>Low-level build system macros and infrastructure for ROS.</description>
-  <maintainer email="dthomas@osrfoundation.org">Dirk Thomas</maintainer>
-  <license>BSD</license>
-
-  <url type="website">http://wiki.ros.org/catkin</url>
-  <url type="bugtracker">https://github.com/ros/catkin/issues</url>
-  <url type="repository">https://github.com/ros/catkin</url>
-
-  <author>Troy Straszheim</author>
-  <author>Morten Kjaergaard</author>
-  <author>Brian Gerkey</author>
-  <author>Dirk Thomas</author>
-
-  <depend condition="$ROS_PYTHON_VERSION == 2">python-argparse</depend>
-  <depend condition="$ROS_PYTHON_VERSION == 2" version_gt="0.4.3">python-catkin-pkg</depend>
-  <depend condition="$ROS_PYTHON_VERSION == 3" version_gt="0.4.3">python3-catkin-pkg</depend>
-  <depend condition="$ROS_PYTHON_VERSION == 2">python-empy</depend>
-  <depend condition="$ROS_PYTHON_VERSION == 3">python3-empy</depend>
-
-  <buildtool_depend>cmake</buildtool_depend>
-  <buildtool_depend condition="$ROS_PYTHON_VERSION == 2">python-setuptools</buildtool_depend>
-  <buildtool_depend condition="$ROS_PYTHON_VERSION == 3">python3-setuptools</buildtool_depend>
-
-  <buildtool_export_depend>cmake</buildtool_export_depend>
-  <buildtool_export_depend condition="$ROS_PYTHON_VERSION == 3">python3-setuptools</buildtool_export_depend>
-
-  <build_export_depend>google-mock</build_export_depend>
-  <build_export_depend>gtest</build_export_depend>
-  <build_export_depend condition="$ROS_PYTHON_VERSION == 2">python-nose</build_export_depend>
-  <build_export_depend condition="$ROS_PYTHON_VERSION == 3">python3-nose</build_export_depend>
-
-  <test_depend condition="$ROS_PYTHON_VERSION == 2">python-mock</test_depend>
-  <test_depend condition="$ROS_PYTHON_VERSION == 3">python3-mock</test_depend>
-  <test_depend condition="$ROS_PYTHON_VERSION == 2">python-nose</test_depend>
-  <test_depend condition="$ROS_PYTHON_VERSION == 3">python3-nose</test_depend>
+<package format="2">
+  <name>robot_models</name>
+  <version>0.1.0</version>
+  <description>The robot_models package</description>
 
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="nikhil.ambardar@tu-dresden.de">Nikhil Ambardar</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>MIT</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/robot_models</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+  <author email="nikhil.ambardar@tu-dresden.de">Nikhil Ambardar</author>
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <depend>gazebo_ros</depend>
+  <depend>moveit_core</depend>
+  <depend>moveit_visual_tools</depend>
+  <depend>moveit_ros_planning_interface</depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
   <export>
-    <rosdoc config="rosdoc.yaml"/>
-    <architecture_independent/>
+    <!-- Other tools can request additional information be placed here -->
+
   </export>
 </package>
diff --git a/cmake-build-debug/devel/_setup_util.py b/cmake-build-debug/devel/_setup_util.py
index 35a5c46b9f34411b4ef70607309af3327c49642a..760f26fce17a722beebe8ed52d7c773383fe14a3 100755
--- a/cmake-build-debug/devel/_setup_util.py
+++ b/cmake-build-debug/devel/_setup_util.py
@@ -268,7 +268,7 @@ if __name__ == '__main__':
 
         if not args.local:
             # environment at generation time
-            CMAKE_PREFIX_PATH = ''.split(';')
+            CMAKE_PREFIX_PATH = '/opt/ros/melodic'.split(';')
         else:
             # don't consider any other prefix path than this one
             CMAKE_PREFIX_PATH = []
diff --git a/cmake-build-debug/devel/lib/robot_models/robot_models_node b/cmake-build-debug/devel/lib/robot_models/robot_models_node
index 9a91c4b8a443be9049f97d021a55f2d59811edf1..d23265e6b24e7dfc254e7e7cb5220a18cdc71ea8 100755
Binary files a/cmake-build-debug/devel/lib/robot_models/robot_models_node and b/cmake-build-debug/devel/lib/robot_models/robot_models_node differ
diff --git a/cmake-build-debug/devel/lib/robot_models/safetytest b/cmake-build-debug/devel/lib/robot_models/safetytest
new file mode 100755
index 0000000000000000000000000000000000000000..5362be4b38b4635cbedf4166d0987eb40b37eb47
Binary files /dev/null and b/cmake-build-debug/devel/lib/robot_models/safetytest differ
diff --git a/cmake-build-debug/devel/lib/robot_models/worldsafety b/cmake-build-debug/devel/lib/robot_models/worldsafety
new file mode 100755
index 0000000000000000000000000000000000000000..ca9496db546e34f15a3eab45017772dda682b84e
Binary files /dev/null and b/cmake-build-debug/devel/lib/robot_models/worldsafety differ
diff --git a/cmake-build-debug/gtest/googlemock/CMakeFiles/gmock.dir/progress.make b/cmake-build-debug/gtest/googlemock/CMakeFiles/gmock.dir/progress.make
index f326497053cb0e78ddb3878986e7e6bc73ab3cba..6a9dc74f48190611094be92ae37d081d83beb533 100644
--- a/cmake-build-debug/gtest/googlemock/CMakeFiles/gmock.dir/progress.make
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diff --git a/cmake-build-debug/gtest/googlemock/CMakeFiles/gmock_main.dir/progress.make b/cmake-build-debug/gtest/googlemock/CMakeFiles/gmock_main.dir/progress.make
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--- a/cmake-build-debug/gtest/googlemock/CMakeFiles/gmock_main.dir/progress.make
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diff --git a/cmake-build-debug/gtest/googlemock/gtest/CMakeFiles/gtest.dir/progress.make b/cmake-build-debug/gtest/googlemock/gtest/CMakeFiles/gtest.dir/progress.make
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diff --git a/cmake-build-debug/gtest/googlemock/gtest/CMakeFiles/gtest_main.dir/progress.make b/cmake-build-debug/gtest/googlemock/gtest/CMakeFiles/gtest_main.dir/progress.make
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--- a/cmake-build-debug/gtest/googlemock/gtest/CMakeFiles/gtest_main.dir/progress.make
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diff --git a/cmake-build-debug/robot_models.cbp b/cmake-build-debug/robot_models.cbp
index f712822338d400f6c9b25fdebebf769f7f827f62..ca5d9be45955a2baa4c4525131d04fadcd3a4705 100644
--- a/cmake-build-debug/robot_models.cbp
+++ b/cmake-build-debug/robot_models.cbp
@@ -67,6 +67,130 @@
 					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
 				</MakeCommands>
 			</Target>
+			<Target title="worldsafety">
+				<Option output="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models/worldsafety" prefix_auto="0" extension_auto="0"/>
+				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models"/>
+				<Option object_output="./"/>
+				<Option type="1"/>
+				<Option compiler="gcc"/>
+				<Compiler>
+					<Add option="-DROS_BUILD_SHARED_LIBS=1"/>
+					<Add option="-DROS_PACKAGE_NAME=&quot;robot_models&quot;"/>
+					<Add option="-DROSCONSOLE_BACKEND_LOG4CXX"/>
+					<Add directory="/opt/ros/melodic/include"/>
+					<Add directory="/opt/ros/melodic/share/xmlrpcpp/cmake/../../../include/xmlrpcpp"/>
+					<Add directory="/opt/ros/melodic/share/orocos_kdl/cmake/../../../include"/>
+					<Add directory="/usr/include/eigen3"/>
+					<Add directory="/usr/include/OGRE"/>
+					<Add directory="/usr/include/c++/7"/>
+					<Add directory="/usr/include/x86_64-linux-gnu/c++/7"/>
+					<Add directory="/usr/include/c++/7/backward"/>
+					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include"/>
+					<Add directory="/usr/local/include"/>
+					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include-fixed"/>
+					<Add directory="/usr/include/x86_64-linux-gnu"/>
+					<Add directory="/usr/include"/>
+				</Compiler>
+				<MakeCommands>
+					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 worldsafety"/>
+					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
+					<Clean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
+					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
+				</MakeCommands>
+			</Target>
+			<Target title="worldsafety/fast">
+				<Option output="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models/worldsafety" prefix_auto="0" extension_auto="0"/>
+				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models"/>
+				<Option object_output="./"/>
+				<Option type="1"/>
+				<Option compiler="gcc"/>
+				<Compiler>
+					<Add option="-DROS_BUILD_SHARED_LIBS=1"/>
+					<Add option="-DROS_PACKAGE_NAME=&quot;robot_models&quot;"/>
+					<Add option="-DROSCONSOLE_BACKEND_LOG4CXX"/>
+					<Add directory="/opt/ros/melodic/include"/>
+					<Add directory="/opt/ros/melodic/share/xmlrpcpp/cmake/../../../include/xmlrpcpp"/>
+					<Add directory="/opt/ros/melodic/share/orocos_kdl/cmake/../../../include"/>
+					<Add directory="/usr/include/eigen3"/>
+					<Add directory="/usr/include/OGRE"/>
+					<Add directory="/usr/include/c++/7"/>
+					<Add directory="/usr/include/x86_64-linux-gnu/c++/7"/>
+					<Add directory="/usr/include/c++/7/backward"/>
+					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include"/>
+					<Add directory="/usr/local/include"/>
+					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include-fixed"/>
+					<Add directory="/usr/include/x86_64-linux-gnu"/>
+					<Add directory="/usr/include"/>
+				</Compiler>
+				<MakeCommands>
+					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 worldsafety/fast"/>
+					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
+					<Clean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
+					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
+				</MakeCommands>
+			</Target>
+			<Target title="safetytest">
+				<Option output="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models/safetytest" prefix_auto="0" extension_auto="0"/>
+				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models"/>
+				<Option object_output="./"/>
+				<Option type="1"/>
+				<Option compiler="gcc"/>
+				<Compiler>
+					<Add option="-DROS_BUILD_SHARED_LIBS=1"/>
+					<Add option="-DROS_PACKAGE_NAME=&quot;robot_models&quot;"/>
+					<Add option="-DROSCONSOLE_BACKEND_LOG4CXX"/>
+					<Add directory="/opt/ros/melodic/include"/>
+					<Add directory="/opt/ros/melodic/share/xmlrpcpp/cmake/../../../include/xmlrpcpp"/>
+					<Add directory="/opt/ros/melodic/share/orocos_kdl/cmake/../../../include"/>
+					<Add directory="/usr/include/eigen3"/>
+					<Add directory="/usr/include/OGRE"/>
+					<Add directory="/usr/include/c++/7"/>
+					<Add directory="/usr/include/x86_64-linux-gnu/c++/7"/>
+					<Add directory="/usr/include/c++/7/backward"/>
+					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include"/>
+					<Add directory="/usr/local/include"/>
+					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include-fixed"/>
+					<Add directory="/usr/include/x86_64-linux-gnu"/>
+					<Add directory="/usr/include"/>
+				</Compiler>
+				<MakeCommands>
+					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 safetytest"/>
+					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
+					<Clean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
+					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
+				</MakeCommands>
+			</Target>
+			<Target title="safetytest/fast">
+				<Option output="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models/safetytest" prefix_auto="0" extension_auto="0"/>
+				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models"/>
+				<Option object_output="./"/>
+				<Option type="1"/>
+				<Option compiler="gcc"/>
+				<Compiler>
+					<Add option="-DROS_BUILD_SHARED_LIBS=1"/>
+					<Add option="-DROS_PACKAGE_NAME=&quot;robot_models&quot;"/>
+					<Add option="-DROSCONSOLE_BACKEND_LOG4CXX"/>
+					<Add directory="/opt/ros/melodic/include"/>
+					<Add directory="/opt/ros/melodic/share/xmlrpcpp/cmake/../../../include/xmlrpcpp"/>
+					<Add directory="/opt/ros/melodic/share/orocos_kdl/cmake/../../../include"/>
+					<Add directory="/usr/include/eigen3"/>
+					<Add directory="/usr/include/OGRE"/>
+					<Add directory="/usr/include/c++/7"/>
+					<Add directory="/usr/include/x86_64-linux-gnu/c++/7"/>
+					<Add directory="/usr/include/c++/7/backward"/>
+					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include"/>
+					<Add directory="/usr/local/include"/>
+					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include-fixed"/>
+					<Add directory="/usr/include/x86_64-linux-gnu"/>
+					<Add directory="/usr/include"/>
+				</Compiler>
+				<MakeCommands>
+					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 safetytest/fast"/>
+					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
+					<Clean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
+					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
+				</MakeCommands>
+			</Target>
 			<Target title="moveit_ros_manipulation_gencfg">
 				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug"/>
 				<Option type="4"/>
@@ -247,68 +371,6 @@
 					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
 				</MakeCommands>
 			</Target>
-			<Target title="appmod">
-				<Option output="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models/appmod" prefix_auto="0" extension_auto="0"/>
-				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models"/>
-				<Option object_output="./"/>
-				<Option type="1"/>
-				<Option compiler="gcc"/>
-				<Compiler>
-					<Add option="-DROS_BUILD_SHARED_LIBS=1"/>
-					<Add option="-DROS_PACKAGE_NAME=&quot;robot_models&quot;"/>
-					<Add option="-DROSCONSOLE_BACKEND_LOG4CXX"/>
-					<Add directory="/opt/ros/melodic/include"/>
-					<Add directory="/opt/ros/melodic/share/xmlrpcpp/cmake/../../../include/xmlrpcpp"/>
-					<Add directory="/opt/ros/melodic/share/orocos_kdl/cmake/../../../include"/>
-					<Add directory="/usr/include/eigen3"/>
-					<Add directory="/usr/include/OGRE"/>
-					<Add directory="/usr/include/c++/7"/>
-					<Add directory="/usr/include/x86_64-linux-gnu/c++/7"/>
-					<Add directory="/usr/include/c++/7/backward"/>
-					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include"/>
-					<Add directory="/usr/local/include"/>
-					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include-fixed"/>
-					<Add directory="/usr/include/x86_64-linux-gnu"/>
-					<Add directory="/usr/include"/>
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-				<MakeCommands>
-					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 appmod"/>
-					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
-					<Clean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
-					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
-				</MakeCommands>
-			</Target>
-			<Target title="appmod/fast">
-				<Option output="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models/appmod" prefix_auto="0" extension_auto="0"/>
-				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models"/>
-				<Option object_output="./"/>
-				<Option type="1"/>
-				<Option compiler="gcc"/>
-				<Compiler>
-					<Add option="-DROS_BUILD_SHARED_LIBS=1"/>
-					<Add option="-DROS_PACKAGE_NAME=&quot;robot_models&quot;"/>
-					<Add option="-DROSCONSOLE_BACKEND_LOG4CXX"/>
-					<Add directory="/opt/ros/melodic/include"/>
-					<Add directory="/opt/ros/melodic/share/xmlrpcpp/cmake/../../../include/xmlrpcpp"/>
-					<Add directory="/opt/ros/melodic/share/orocos_kdl/cmake/../../../include"/>
-					<Add directory="/usr/include/eigen3"/>
-					<Add directory="/usr/include/OGRE"/>
-					<Add directory="/usr/include/c++/7"/>
-					<Add directory="/usr/include/x86_64-linux-gnu/c++/7"/>
-					<Add directory="/usr/include/c++/7/backward"/>
-					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include"/>
-					<Add directory="/usr/local/include"/>
-					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include-fixed"/>
-					<Add directory="/usr/include/x86_64-linux-gnu"/>
-					<Add directory="/usr/include"/>
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-				<MakeCommands>
-					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 appmod/fast"/>
-					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
-					<Clean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
-					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
-				</MakeCommands>
-			</Target>
 			<Target title="geometry_msgs_generate_messages_py">
 				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug"/>
 				<Option type="4"/>
@@ -359,68 +421,6 @@
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-			<Target title="safety_model">
-				<Option output="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models/safety_model" prefix_auto="0" extension_auto="0"/>
-				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models"/>
-				<Option object_output="./"/>
-				<Option type="1"/>
-				<Option compiler="gcc"/>
-				<Compiler>
-					<Add option="-DROS_BUILD_SHARED_LIBS=1"/>
-					<Add option="-DROS_PACKAGE_NAME=&quot;robot_models&quot;"/>
-					<Add option="-DROSCONSOLE_BACKEND_LOG4CXX"/>
-					<Add directory="/opt/ros/melodic/include"/>
-					<Add directory="/opt/ros/melodic/share/xmlrpcpp/cmake/../../../include/xmlrpcpp"/>
-					<Add directory="/opt/ros/melodic/share/orocos_kdl/cmake/../../../include"/>
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-					<Add directory="/usr/include/OGRE"/>
-					<Add directory="/usr/include/c++/7"/>
-					<Add directory="/usr/include/x86_64-linux-gnu/c++/7"/>
-					<Add directory="/usr/include/c++/7/backward"/>
-					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include"/>
-					<Add directory="/usr/local/include"/>
-					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include-fixed"/>
-					<Add directory="/usr/include/x86_64-linux-gnu"/>
-					<Add directory="/usr/include"/>
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-					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 safety_model"/>
-					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
-					<Clean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
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-					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
-					<Clean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
-					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
-				</MakeCommands>
-			</Target>
 			<Target title="moveit_msgs_generate_messages_cpp">
 				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug"/>
 				<Option type="4"/>
@@ -801,6 +801,68 @@
 					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
 				</MakeCommands>
 			</Target>
+			<Target title="robot_models_node">
+				<Option output="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models/robot_models_node" prefix_auto="0" extension_auto="0"/>
+				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models"/>
+				<Option object_output="./"/>
+				<Option type="1"/>
+				<Option compiler="gcc"/>
+				<Compiler>
+					<Add option="-DROS_BUILD_SHARED_LIBS=1"/>
+					<Add option="-DROS_PACKAGE_NAME=&quot;robot_models&quot;"/>
+					<Add option="-DROSCONSOLE_BACKEND_LOG4CXX"/>
+					<Add directory="/opt/ros/melodic/include"/>
+					<Add directory="/opt/ros/melodic/share/xmlrpcpp/cmake/../../../include/xmlrpcpp"/>
+					<Add directory="/opt/ros/melodic/share/orocos_kdl/cmake/../../../include"/>
+					<Add directory="/usr/include/eigen3"/>
+					<Add directory="/usr/include/OGRE"/>
+					<Add directory="/usr/include/c++/7"/>
+					<Add directory="/usr/include/x86_64-linux-gnu/c++/7"/>
+					<Add directory="/usr/include/c++/7/backward"/>
+					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include"/>
+					<Add directory="/usr/local/include"/>
+					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include-fixed"/>
+					<Add directory="/usr/include/x86_64-linux-gnu"/>
+					<Add directory="/usr/include"/>
+				</Compiler>
+				<MakeCommands>
+					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 robot_models_node"/>
+					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
+					<Clean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
+					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
+				</MakeCommands>
+			</Target>
+			<Target title="robot_models_node/fast">
+				<Option output="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models/robot_models_node" prefix_auto="0" extension_auto="0"/>
+				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models"/>
+				<Option object_output="./"/>
+				<Option type="1"/>
+				<Option compiler="gcc"/>
+				<Compiler>
+					<Add option="-DROS_BUILD_SHARED_LIBS=1"/>
+					<Add option="-DROS_PACKAGE_NAME=&quot;robot_models&quot;"/>
+					<Add option="-DROSCONSOLE_BACKEND_LOG4CXX"/>
+					<Add directory="/opt/ros/melodic/include"/>
+					<Add directory="/opt/ros/melodic/share/xmlrpcpp/cmake/../../../include/xmlrpcpp"/>
+					<Add directory="/opt/ros/melodic/share/orocos_kdl/cmake/../../../include"/>
+					<Add directory="/usr/include/eigen3"/>
+					<Add directory="/usr/include/OGRE"/>
+					<Add directory="/usr/include/c++/7"/>
+					<Add directory="/usr/include/x86_64-linux-gnu/c++/7"/>
+					<Add directory="/usr/include/c++/7/backward"/>
+					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include"/>
+					<Add directory="/usr/local/include"/>
+					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include-fixed"/>
+					<Add directory="/usr/include/x86_64-linux-gnu"/>
+					<Add directory="/usr/include"/>
+				</Compiler>
+				<MakeCommands>
+					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 robot_models_node/fast"/>
+					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
+					<Clean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
+					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
+				</MakeCommands>
+			</Target>
 			<Target title="rosgraph_msgs_generate_messages_lisp">
 				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug"/>
 				<Option type="4"/>
@@ -881,68 +943,6 @@
 					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
 				</MakeCommands>
 			</Target>
-			<Target title="testappm">
-				<Option output="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models/testappm" prefix_auto="0" extension_auto="0"/>
-				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models"/>
-				<Option object_output="./"/>
-				<Option type="1"/>
-				<Option compiler="gcc"/>
-				<Compiler>
-					<Add option="-DROS_BUILD_SHARED_LIBS=1"/>
-					<Add option="-DROS_PACKAGE_NAME=&quot;robot_models&quot;"/>
-					<Add option="-DROSCONSOLE_BACKEND_LOG4CXX"/>
-					<Add directory="/opt/ros/melodic/include"/>
-					<Add directory="/opt/ros/melodic/share/xmlrpcpp/cmake/../../../include/xmlrpcpp"/>
-					<Add directory="/opt/ros/melodic/share/orocos_kdl/cmake/../../../include"/>
-					<Add directory="/usr/include/eigen3"/>
-					<Add directory="/usr/include/OGRE"/>
-					<Add directory="/usr/include/c++/7"/>
-					<Add directory="/usr/include/x86_64-linux-gnu/c++/7"/>
-					<Add directory="/usr/include/c++/7/backward"/>
-					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include"/>
-					<Add directory="/usr/local/include"/>
-					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include-fixed"/>
-					<Add directory="/usr/include/x86_64-linux-gnu"/>
-					<Add directory="/usr/include"/>
-				</Compiler>
-				<MakeCommands>
-					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 testappm"/>
-					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
-					<Clean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
-					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
-				</MakeCommands>
-			</Target>
-			<Target title="testappm/fast">
-				<Option output="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models/testappm" prefix_auto="0" extension_auto="0"/>
-				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/devel/lib/robot_models"/>
-				<Option object_output="./"/>
-				<Option type="1"/>
-				<Option compiler="gcc"/>
-				<Compiler>
-					<Add option="-DROS_BUILD_SHARED_LIBS=1"/>
-					<Add option="-DROS_PACKAGE_NAME=&quot;robot_models&quot;"/>
-					<Add option="-DROSCONSOLE_BACKEND_LOG4CXX"/>
-					<Add directory="/opt/ros/melodic/include"/>
-					<Add directory="/opt/ros/melodic/share/xmlrpcpp/cmake/../../../include/xmlrpcpp"/>
-					<Add directory="/opt/ros/melodic/share/orocos_kdl/cmake/../../../include"/>
-					<Add directory="/usr/include/eigen3"/>
-					<Add directory="/usr/include/OGRE"/>
-					<Add directory="/usr/include/c++/7"/>
-					<Add directory="/usr/include/x86_64-linux-gnu/c++/7"/>
-					<Add directory="/usr/include/c++/7/backward"/>
-					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include"/>
-					<Add directory="/usr/local/include"/>
-					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include-fixed"/>
-					<Add directory="/usr/include/x86_64-linux-gnu"/>
-					<Add directory="/usr/include"/>
-				</Compiler>
-				<MakeCommands>
-					<Build command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 testappm/fast"/>
-					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
-					<Clean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
-					<DistClean command="/usr/bin/make -j4 -f &quot;/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
-				</MakeCommands>
-			</Target>
 			<Target title="rosgraph_msgs_generate_messages_nodejs">
 				<Option working_dir="/home/nikhil/panda_gazebo_workspace/src/zero/cmake-build-debug"/>
 				<Option type="4"/>
@@ -1540,69 +1540,69 @@
 				</MakeCommands>
 			</Target>
 		</Build>
-		<Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/appmod.cpp">
-			<Option target="appmod"/>
-		</Unit>
 		<Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/abstractobject.h">
-			<Option target="appmod"/>
-			<Option target="safety_model"/>
-			<Option target="testappm"/>
+			<Option target="worldsafety"/>
+			<Option target="safetytest"/>
+			<Option target="robot_models_node"/>
 		</Unit>
 		<Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/graspobject.h">
-			<Option target="appmod"/>
-			<Option target="safety_model"/>
-			<Option target="testappm"/>
+			<Option target="worldsafety"/>
+			<Option target="safetytest"/>
+			<Option target="robot_models_node"/>
 		</Unit>
 		<Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/hand.h">
-			<Option target="appmod"/>
-			<Option target="safety_model"/>
-			<Option target="testappm"/>
+			<Option target="worldsafety"/>
+			<Option target="safetytest"/>
+			<Option target="robot_models_node"/>
 		</Unit>
 		<Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/humanspace.h">
-			<Option target="appmod"/>
-			<Option target="safety_model"/>
-			<Option target="testappm"/>
+			<Option target="worldsafety"/>
+			<Option target="safetytest"/>
+			<Option target="robot_models_node"/>
 		</Unit>
 		<Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/joint.h">
-			<Option target="appmod"/>
-			<Option target="safety_model"/>
-			<Option target="testappm"/>
+			<Option target="worldsafety"/>
+			<Option target="safetytest"/>
+			<Option target="robot_models_node"/>
 		</Unit>
 		<Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/obstacle.h">
-			<Option target="appmod"/>
-			<Option target="safety_model"/>
-			<Option target="testappm"/>
+			<Option target="worldsafety"/>
+			<Option target="safetytest"/>
+			<Option target="robot_models_node"/>
 		</Unit>
 		<Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/quaternion.h">
-			<Option target="appmod"/>
-			<Option target="safety_model"/>
-			<Option target="testappm"/>
+			<Option target="worldsafety"/>
+			<Option target="safetytest"/>
+			<Option target="robot_models_node"/>
 		</Unit>
 		<Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/robot.h">
-			<Option target="appmod"/>
-			<Option target="safety_model"/>
-			<Option target="testappm"/>
+			<Option target="worldsafety"/>
+			<Option target="safetytest"/>
+			<Option target="robot_models_node"/>
 		</Unit>
 		<Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/robotfpe.h">
-			<Option target="appmod"/>
-			<Option target="safety_model"/>
-			<Option target="testappm"/>
+			<Option target="worldsafety"/>
+			<Option target="safetytest"/>
+			<Option target="robot_models_node"/>
 		</Unit>
 		<Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/world.h">
-			<Option target="appmod"/>
-			<Option target="safety_model"/>
-			<Option target="testappm"/>
+			<Option target="worldsafety"/>
+			<Option target="safetytest"/>
+			<Option target="robot_models_node"/>
 		</Unit>
 		<Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/datalink/worldobject.h">
-			<Option target="appmod"/>
-			<Option target="safety_model"/>
-			<Option target="testappm"/>
+			<Option target="worldsafety"/>
+			<Option target="safetytest"/>
+			<Option target="robot_models_node"/>
+		</Unit>
+		<Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/robot_models_node.cpp">
+			<Option target="robot_models_node"/>
 		</Unit>
-		<Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/safety_model.cpp">
-			<Option target="safety_model"/>
+		<Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/safetytest.cpp">
+			<Option target="safetytest"/>
 		</Unit>
-		<Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/testappm.cpp">
-			<Option target="testappm"/>
+		<Unit filename="/home/nikhil/panda_gazebo_workspace/src/zero/src/worldsafety.cpp">
+			<Option target="worldsafety"/>
 		</Unit>
 		<Unit filename="/usr/src/googletest/googlemock/src/gmock-all.cc">
 			<Option target="gmock_main"/>
diff --git a/src/robot_models_node.cpp b/src/robot_models_node.cpp
index e729ff27d25f17efe9fcee7eced6598cb6f66515..10294f478cd4381cf7f761fa846f68e20729800c 100644
--- a/src/robot_models_node.cpp
+++ b/src/robot_models_node.cpp
@@ -33,14 +33,10 @@
         spinner.start();
         ROS_INFO("HELLO, WORLD");
 
-
-
-
         abstractobject o1;
         graspobject o2;
         hand o3;
         humanspace o4;
-
         joint o5a;
         joint o5b;
         joint o5c;
@@ -48,14 +44,20 @@
         joint o5e;
         joint o5f;
         joint o5g;
-
         obstacle o6;
         robot o7;
         robotfpe o8;
         world o9;
         worldobject o10;
 
-        o7.jo1->name= "panda_link1";
+        o7.jo.push_back(o5a);
+        o7.jo.push_back(o5b);
+        o7.jo.push_back(o5c);
+        o7.jo.push_back(o5d);
+        o7.jo.push_back(o5e);
+        o7.jo.push_back(o5f);
+        o7.jo.push_back(o5g);
+        /*o7.jo1->name= "panda_link1";
         o7.jo2->name= "panda_link2";
         o7.jo3->name= "panda_link3";
         o7.jo4->name= "panda_link4";
@@ -77,7 +79,17 @@
         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};
+        o7.jo7->p1= {5.1, 18.3, 4.2};*/
+
+        int yx=0;
+        o7.jo[++yx].name= "panda_link1";
+        o7.jo[++yx].name= "panda_link2";
+        o7.jo[++yx].name= "panda_link3";
+        o7.jo[++yx].name= "panda_link4";
+        o7.jo[++yx].name= "panda_link5";
+        o7.jo[++yx].name= "panda_link6";
+        o7.jo[++yx].name= "panda_link7";
+
 
         o9.c->robname="Robot FPE";
         o9.c->of=true;
@@ -122,146 +134,146 @@
                 geometry_msgs::TransformStamped transformStamped7;
 
                 try {
-                    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));
+                    transformStamped1 = tfBuffer.lookupTransform("world", o7.jo[1].name, ros::Time(0));
+                    transformStamped2 = tfBuffer.lookupTransform("world", o7.jo[2].name, ros::Time(0));
+                    transformStamped3 = tfBuffer.lookupTransform("world", o7.jo[3].name, ros::Time(0));
+                    transformStamped4 = tfBuffer.lookupTransform("world", o7.jo[4].name, ros::Time(0));
+                    transformStamped5 = tfBuffer.lookupTransform("world", o7.jo[5].name, ros::Time(0));
+                    transformStamped6 = tfBuffer.lookupTransform("world", o7.jo[6].name, ros::Time(0));
+                    transformStamped7 = tfBuffer.lookupTransform("world", o7.jo[7].name, ros::Time(0));
                 } catch (tf2::TransformException &ex) {
                     ROS_WARN("%s", ex.what());
                     ros::Duration(0.1).sleep();
                     continue;
                 }
 
-                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;
-
-                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;
-
-                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);
+                o7.jo[1].p1[0]=0.0;
+                o7.jo[1].p1[1]=0.0;
+                o7.jo[1].p1[2]=0.0;
+                o7.jo[2].p1[0]=0.0;
+                o7.jo[2].p1[1]=0.0;
+                o7.jo[2].p1[2]=0.0;
+                o7.jo[3].p1[0]=0.0;
+                o7.jo[3].p1[1]=0.0;
+                o7.jo[3].p1[2]=0.0;
+                o7.jo[4].p1[0]=0.0;
+                o7.jo[4].p1[1]=0.0;
+                o7.jo[4].p1[2]=0.0;
+                o7.jo[5].p1[0]=0.0;
+                o7.jo[5].p1[1]=0.0;
+                o7.jo[5].p1[2]=0.0;
+                o7.jo[6].p1[0]=0.0;
+                o7.jo[6].p1[1]=0.0;
+                o7.jo[6].p1[2]=0.0;
+                o7.jo[7].p1[0]=0.0;
+                o7.jo[7].p1[1]=0.0;
+                o7.jo[7].p1[2]=0.0;
+
+                o7.jo[1].p1[0]=transformStamped1.transform.translation.x;
+                o7.jo[1].p1[1]=transformStamped1.transform.translation.y;
+                o7.jo[1].p1[2]=transformStamped1.transform.translation.z;
+                ROS_INFO_STREAM("panda_link1 Position is " <<" x = "<< o7.jo[1].p1[0] << ", y = "<< o7.jo[1].p1[1]<<", z = "<<o7.jo[1].p1[2]);
+
+                o7.jo[2].p1[0]=transformStamped2.transform.translation.x;
+                o7.jo[2].p1[1]=transformStamped2.transform.translation.y;
+                o7.jo[2].p1[2]=transformStamped2.transform.translation.z;
+                ROS_INFO_STREAM("panda_link2 Position is " <<" x = "<< o7.jo[2].p1[0] << ", y = "<< o7.jo[2].p1[1]<<", z = "<<o7.jo[2].p1[2]);
+
+                o7.jo[3].p1[0]=transformStamped3.transform.translation.x;
+                o7.jo[3].p1[1]=transformStamped3.transform.translation.y;
+                o7.jo[3].p1[2]=transformStamped3.transform.translation.z;
+                ROS_INFO_STREAM("panda_link3 Position is " <<" x = "<< o7.jo[3].p1[0] << ", y = "<< o7.jo[3].p1[1]<<", z = "<<o7.jo[3].p1[2]);
+
+                o7.jo[4].p1[0]=transformStamped4.transform.translation.x;
+                o7.jo[4].p1[1]=transformStamped4.transform.translation.y;
+                o7.jo[4].p1[2]=transformStamped4.transform.translation.z;
+                ROS_INFO_STREAM("panda_link4 Position is " <<" x = "<< o7.jo[4].p1[0] << ", y = "<< o7.jo[4].p1[1]<<", z = "<<o7.jo[4].p1[2]);
+
+                o7.jo[5].p1[0]=transformStamped5.transform.translation.x;
+                o7.jo[5].p1[1]=transformStamped5.transform.translation.y;
+                o7.jo[5].p1[2]=transformStamped5.transform.translation.z;
+                ROS_INFO_STREAM("panda_link5 Position is " <<" x = "<< o7.jo[5].p1[0] << ", y = "<< o7.jo[5].p1[1]<<", z = "<<o7.jo[5].p1[2]);
+
+                o7.jo[6].p1[0]=transformStamped6.transform.translation.x;
+                o7.jo[6].p1[1]=transformStamped6.transform.translation.y;
+                o7.jo[6].p1[2]=transformStamped6.transform.translation.z;
+                ROS_INFO_STREAM("panda_link6 Position is " <<" x = "<< o7.jo[6].p1[0] << ", y = "<< o7.jo[6].p1[1]<<", z = "<<o7.jo[6].p1[2]);
+
+                o7.jo[7].p1[0]=transformStamped7.transform.translation.x;
+                o7.jo[7].p1[0]=transformStamped7.transform.translation.y;
+                o7.jo[7].p1[0]=transformStamped7.transform.translation.z;
+                ROS_INFO_STREAM("panda_link7 Position is " <<" x = "<< o7.jo[7].p1[0] << ", y = "<< o7.jo[7].p1[1]<<", z = "<<o7.jo[7].p1[2]);
+
+                o7.jo[1].or2.w=0.0;
+                o7.jo[1].or2.x=0.0;
+                o7.jo[1].or2.y=0.0;
+                o7.jo[1].or2.z=0.0;
+                o7.jo[2].or2.w=0.0;
+                o7.jo[2].or2.x=0.0;
+                o7.jo[2].or2.y=0.0;
+                o7.jo[2].or2.z=0.0;
+                o7.jo[3].or2.w=0.0;
+                o7.jo[3].or2.x=0.0;
+                o7.jo[3].or2.y=0.0;
+                o7.jo[3].or2.z=0.0;
+                o7.jo[4].or2.w=0.0;
+                o7.jo[4].or2.x=0.0;
+                o7.jo[4].or2.y=0.0;
+                o7.jo[4].or2.z=0.0;
+                o7.jo[5].or2.w=0.0;
+                o7.jo[5].or2.x=0.0;
+                o7.jo[5].or2.y=0.0;
+                o7.jo[5].or2.z=0.0;
+                o7.jo[6].or2.w=0.0;
+                o7.jo[6].or2.x=0.0;
+                o7.jo[6].or2.y=0.0;
+                o7.jo[6].or2.z=0.0;
+                o7.jo[7].or2.w=0.0;
+                o7.jo[7].or2.x=0.0;
+                o7.jo[7].or2.y=0.0;
+                o7.jo[7].or2.z=0.0;
+
+                o7.jo[1].or2.w=transformStamped1.transform.rotation.w;
+                o7.jo[1].or2.x=transformStamped1.transform.rotation.x;
+                o7.jo[1].or2.y=transformStamped1.transform.rotation.y;
+                o7.jo[1].or2.z=transformStamped1.transform.rotation.z;
+                ROS_INFO_STREAM("panda_link1 Orientation is " <<" w = "<< o7.jo[1].or2.w<<", x = "<<o7.jo[1].or2.x<<", y = "<<o7.jo[1].or2.y<<", z = "<<o7.jo[1].or2.z);
+
+                o7.jo[2].or2.w=transformStamped2.transform.rotation.w;
+                o7.jo[2].or2.x=transformStamped2.transform.rotation.x;
+                o7.jo[2].or2.y=transformStamped2.transform.rotation.y;
+                o7.jo[2].or2.z=transformStamped2.transform.rotation.z;
+                ROS_INFO_STREAM("panda_link2 Orientation is " <<" w = "<<  o7.jo[2].or2.w<<", x = "<< o7.jo[2].or2.x<<", y = "<< o7.jo[2].or2.y<<", z = "<< o7.jo[2].or2.z);
+
+                o7.jo[3].or2.w=transformStamped3.transform.rotation.w;
+                o7.jo[3].or2.x=transformStamped3.transform.rotation.x;
+                o7.jo[3].or2.y=transformStamped3.transform.rotation.y;
+                o7.jo[3].or2.z=transformStamped3.transform.rotation.z;
+                ROS_INFO_STREAM("panda_link3 Orientation is " <<" w = "<< o7.jo[3].or2.w<<", x = "<<o7.jo[3].or2.x<<", y = "<<o7.jo[3].or2.y<<", z = "<<o7.jo[3].or2.z);
+
+                o7.jo[4].or2.w=transformStamped4.transform.rotation.w;
+                o7.jo[4].or2.x=transformStamped4.transform.rotation.x;
+                o7.jo[4].or2.y=transformStamped4.transform.rotation.y;
+                o7.jo[4].or2.z=transformStamped4.transform.rotation.z;
+                ROS_INFO_STREAM("panda_link4 Orientation is " <<" w = "<<o7.jo[4].or2.w<<", x = "<<o7.jo[4].or2.x<<", y = "<<o7.jo[4].or2.y<<", z = "<<o7.jo[4].or2.z);
+
+                o7.jo[5].or2.w=transformStamped5.transform.rotation.w;
+                o7.jo[5].or2.x=transformStamped5.transform.rotation.x;
+                o7.jo[5].or2.y=transformStamped5.transform.rotation.y;
+                o7.jo[5].or2.z=transformStamped5.transform.rotation.z;
+                ROS_INFO_STREAM("panda_link5 Orientation is " <<" w = "<< o7.jo[5].or2.w<<", x = "<<o7.jo[5].or2.x<<", y = "<<o7.jo[5].or2.y<<", z = "<<o7.jo[5].or2.z);
+
+                o7.jo[6].or2.w=transformStamped6.transform.rotation.w;
+                o7.jo[6].or2.x=transformStamped6.transform.rotation.x;
+                o7.jo[6].or2.y=transformStamped6.transform.rotation.y;
+                o7.jo[6].or2.z=transformStamped6.transform.rotation.z;
+                ROS_INFO_STREAM("panda_link6 Orientation is " <<" w = "<< o7.jo[6].or2.w<<", x = "<<o7.jo[6].or2.x<<", y = "<<o7.jo[6].or2.y<<", z = "<<o7.jo[6].or2.z);
+
+                o7.jo[7].or2.w=transformStamped7.transform.rotation.w;
+                o7.jo[7].or2.x=transformStamped7.transform.rotation.x;
+                o7.jo[7].or2.y=transformStamped7.transform.rotation.y;
+                o7.jo[7].or2.z=transformStamped7.transform.rotation.z;
+                ROS_INFO_STREAM("panda_link7 Orientation is " <<" w = "<<o7.jo[7].or2.w<<", x = "<<o7.jo[7].or2.x<<", y = "<<o7.jo[7].or2.y<<", z = "<<o7.jo[7].or2.z);
               }
             rate.sleep();
         }
diff --git a/src/testappm.cpp b/src/safetytest.cpp
similarity index 100%
rename from src/testappm.cpp
rename to src/safetytest.cpp
diff --git a/src/appmod.cpp b/src/worldsafety.cpp
similarity index 56%
rename from src/appmod.cpp
rename to src/worldsafety.cpp
index fc18dee646501024a3610d0d12e443bb9dc19afc..c212bcb551dba27520ba684aff57d1c70d1c7457 100644
--- a/src/appmod.cpp
+++ b/src/worldsafety.cpp
@@ -31,8 +31,8 @@
 #include <moveit/trajectory_processing/iterative_time_parameterization.h>
 #include <trajectory_msgs/JointTrajectoryPoint.h>
 
-int main(int argc, char** argv) {
-
+int main(int argc, char** argv)
+{
     ros::init(argc, argv, "Safety_Model");
     ros::NodeHandle node_handle;
     ros::AsyncSpinner spinner(1);
@@ -64,7 +64,7 @@ int main(int argc, char** argv) {
     o7.jo.push_back(o5f);
     o7.jo.push_back(o5g);
 
-    // test if the robot contains 7 joints
+    // test if the robot contains 7 joints static test
     if (o7.jo.size() == 5) {
         ROS_INFO("SIZE IS 5");
     } else {
@@ -79,9 +79,36 @@ int main(int argc, char** argv) {
     o7.jo[++yx].name= "panda_link5";
     o7.jo[++yx].name= "panda_link6";
     o7.jo[++yx].name= "panda_link7";
-// Check Robot Motion
+
+    o9.c->robname="Robot FPE";
+    o9.c->of=true;
+    o9.c->moving=false;
+    o9.c->grasppos=true;
+    o9.c->planninggrp= "Panda Teaching";
+
+    o8.h->grippos= {12.1, 14.3, 18.2};
+    o3.grippos={1.1,2.3,2.1};
+
+    o9.a->humannum = 1;
+    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;
+    o9.b1->y = 1.2;
+    o9.b1->z = 0.2;
+    o9.b1->w = 0.1;
+    o9.b2->name="Ball";
+    o9.b2->size={1.3, 2.1, 3.2};
+    o9.b2->p1= {12.5, 16.4, 17.3};
+    o9.b2->x= 1.1;
+    o9.b2->y = 1.4;
+    o9.b2->z = 1.6;
+    o9.b2->w = 1.9;
+
+    // Check Robot Motion if moved to a specific point or not
     // setup the planning environment
-    static const std::string PLANNING_GROUP = "panda_arm";
+
+   /* static const std::string PLANNING_GROUP = "panda_arm";
     moveit::planning_interface::MoveGroupInterface move_group(PLANNING_GROUP);
     moveit::planning_interface::PlanningSceneInterface planning_scene_interface;
 
@@ -101,9 +128,9 @@ int main(int argc, char** argv) {
     ROS_INFO("Visualizing plan %s", success ? "" : "FAILED");
 
     // Move the (simulated) robot in gazebo
-    move_group.move();
+    move_group.move();*/
 
-     tf2_ros::Buffer tfBuffer;
+    tf2_ros::Buffer tfBuffer;
     tf2_ros::TransformListener tfListener(tfBuffer);
 
     ros::Rate rate(10);
@@ -114,58 +141,77 @@ int main(int argc, char** argv) {
         {
             geometry_msgs::TransformStamped transformStamped[7];
 
-            try { transformStamped[++i] = tfBuffer.lookupTransform("world", o7.jo[++ho].name, ros::Time(0));
+            try {
+                transformStamped[++i] = tfBuffer.lookupTransform("world", o7.jo[++ho].name, ros::Time(0));
             } catch (tf2::TransformException &ex) {
                 ROS_WARN("%s", ex.what());
                 ros::Duration(0.1).sleep();
                 continue;
             }
+            //Checking if robot moved to position or not
+            if (o7.jo[7].p1[2] == 0.9)
+                ROS_INFO_STREAM(" THE ROBOT HAS MOVED TO POSITION AS INTENDED ");
+            else
+                ROS_ERROR_STREAM("THE ROBOT HAS NOT MOVED TO THE POSITION AS INTENDED");
+            ros::shutdown();
 
-            if(o7.jo[7].p1[2]==0.9)
-        ROS_INFO(" THE ROBOT HAS MOVED TO POSITION AS INTENDED ");
-    else
-        ROS_INFO("THE ROBOT HAS NOT MOVED TO THE POSITION AS INTENDED");
-
-    ros::shutdown();
-// Segmentation errors
-            int i=0;
-            int ho=0;
-    while (node_handle.ok()) {
-        {
-            geometry_msgs::TransformStamped transformStamped[7];
-
-            try { transformStamped[++i] = tfBuffer.lookupTransform("world", o7.jo[++ho].name, ros::Time(0));
-            } catch (tf2::TransformException &ex) {
-                ROS_WARN("%s", ex.what());
-                ros::Duration(0.1).sleep();
-                continue;
-            }
-            if(ho==7)
+// World Model Safety Test Cases to check Segmentation errors
+            ros::Rate rate(10);
+// test the properties of the model that do not change over time, such as the structure of you model
+            if (o7.jo.size() == 7)
                 ROS_INFO_STREAM(" TEST CASE SUCCESSFUL. ROBOT FPE HAS 7 JOINTS ");
             else
-                ROS_ERROR_STREAM(" TEST CASE FAILED. ROBOT FPE HAS WRONG NUMBER OF JOINTS = "<<ho);
+                ROS_ERROR_STREAM(" TEST CASE FAILED. ROBOT FPE HAS WRONG NUMBER OF JOINTS = " << o7.jo.size());
 
-            if(o8.h==nullptr)
+            if (o8.h == nullptr)
                 ROS_ERROR("ERROR IN HAND POINTER IN ROBOT FPE CLASS AGGREGATION RELATION");
 
-            if(o9.a== nullptr)
+            if (o9.a == nullptr)
                 ROS_ERROR("ERROR IN POINTER WORLD HUMANSPACE AGGREGATION");
 
-            if(o9.c== nullptr)
+            if (o9.c == nullptr)
                 ROS_ERROR("ERROR IN ROBOT CLASS AGGREGATION");
 
-            if(o9.b1== nullptr)
+            if (o9.b1 == nullptr)
                 ROS_ERROR("ERROR IN ABSTRACT OBJECT CLASS AGGREGATION RELATION");
 
-            if(o9.b2== nullptr)
+            if (o9.b2 == nullptr)
                 ROS_ERROR("ERROR IN ABSTRACT OBJECT CLASS AGGREGATION RELATION");
 
+            while (node_handle.ok()) {
+                {
+                    // update the model data like in the application model node
+
+                    // test the dynamic parts here, i.e., if the model data is consistent with the position of the robot
+
+                    static const std::string PLANNING_GROUP = "panda_arm";
+                    moveit::planning_interface::MoveGroupInterface move_group(PLANNING_GROUP);
+                    moveit::planning_interface::PlanningSceneInterface planning_scene_interface;
+
+                    ros::Duration(3.0).sleep();
+
+                    move_group.setStartStateToCurrentState();
 
+                    geometry_msgs::Pose another_pose;
+                    another_pose.orientation.w = 1.0;
+                    another_pose.position.x = 0.4;
+                    another_pose.position.y = -0.4;
+                    another_pose.position.z = 0.9;
+                    move_group.setPoseTarget(another_pose);
 
+                    moveit::planning_interface::MoveGroupInterface::Plan my_plan;
+                    bool success = (move_group.plan(my_plan) == moveit::planning_interface::MoveItErrorCode::SUCCESS);
+                    ROS_INFO("Visualizing plan %s", success ? "" : "FAILED");
+
+                    // Move the (simulated) robot in gazebo
+                    move_group.move();
+                }
+
+            }
+            rate.sleep();
         }
-        rate.sleep();
-    }
 
 
-    return 0;
+        return 0;
+    }
 }