diff --git a/.idea/misc.xml b/.idea/misc.xml
index 9de2865..0ace756 100644
--- a/.idea/misc.xml
+++ b/.idea/misc.xml
@@ -3,5 +3,5 @@
   <component name="Black">
     <option name="sdkName" value="Python 3.10" />
   </component>
-  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.10" project-jdk-type="Python SDK" />
+  <component name="ProjectRootManager" version="2" project-jdk-name="Python 3.10 (UR_Robotiq)" project-jdk-type="Python SDK" />
 </project>
\ No newline at end of file
diff --git a/.idea/ws_universal_robotics.iml b/.idea/ws_universal_robotics.iml
index 5fdd65b..fa6c41a 100644
--- a/.idea/ws_universal_robotics.iml
+++ b/.idea/ws_universal_robotics.iml
@@ -1,8 +1,12 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <module type="PYTHON_MODULE" version="4">
   <component name="NewModuleRootManager">
-    <content url="file://$MODULE_DIR$" />
-    <orderEntry type="inheritedJdk" />
+    <content url="file://$MODULE_DIR$">
+      <excludeFolder url="file://$MODULE_DIR$/venv" />
+    </content>
+    <content url="file:///opt/ros/humble/lib/python3.10/site-packages" />
+    <content url="file:///opt/ros/humble/local/lib/python3.10/dist-packages" />
+    <orderEntry type="jdk" jdkName="Python 3.10 (UR_Robotiq)" jdkType="Python SDK" />
     <orderEntry type="sourceFolder" forTests="false" />
   </component>
   <component name="PyDocumentationSettings">
diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json
new file mode 100644
index 0000000..13f0a13
--- /dev/null
+++ b/.vscode/c_cpp_properties.json
@@ -0,0 +1,66 @@
+{
+  "configurations": [
+    {
+      "browse": {
+        "databaseFilename": "${default}",
+        "limitSymbolsToIncludedHeaders": false
+      },
+      "includePath": [
+        "/home/fotis/UR_Robotiq/install/ur_calibration/include/**",
+        "/home/fotis/UR_Robotiq/install/ur_robot_driver/include/**",
+        "/home/fotis/UR_Robotiq/install/ur_controllers/include/**",
+        "/home/fotis/UR_Robotiq/install/ur_dashboard_msgs/include/**",
+        "/home/fotis/UR_Robotiq/install/robotiq_driver/include/**",
+        "/home/fotis/UR_Robotiq/install/serial/include/**",
+        "/home/fotis/UR_Robotiq/install/robotiq_controllers/include/**",
+        "/home/fotis/ws_moveit2/install/pilz_industrial_motion_planner_testutils/include/**",
+        "/home/fotis/ws_moveit2/install/pilz_industrial_motion_planner/include/**",
+        "/home/fotis/ws_moveit2/install/moveit_visual_tools/include/**",
+        "/home/fotis/ws_moveit2/install/moveit_task_constructor_visualization/include/**",
+        "/home/fotis/ws_moveit2/install/moveit_task_constructor_demo/include/**",
+        "/home/fotis/ws_moveit2/install/moveit_task_constructor_core/include/**",
+        "/home/fotis/ws_moveit2/install/moveit_ros_control_interface/include/**",
+        "/home/fotis/ws_moveit2/install/moveit_simple_controller_manager/include/**",
+        "/home/fotis/ws_moveit2/install/moveit_setup_assistant/include/**",
+        "/home/fotis/ws_moveit2/install/moveit_setup_srdf_plugins/include/**",
+        "/home/fotis/ws_moveit2/install/moveit_setup_core_plugins/include/**",
+        "/home/fotis/ws_moveit2/install/moveit_setup_controllers/include/**",
+        "/home/fotis/ws_moveit2/install/moveit_setup_app_plugins/include/**",
+        "/home/fotis/ws_moveit2/install/moveit_setup_framework/include/**",
+        "/home/fotis/ws_moveit2/install/moveit_servo/include/**",
+        "/home/fotis/ws_moveit2/install/moveit_ros_visualization/include/**",
+        "/home/fotis/ws_moveit2/install/moveit_hybrid_planning/include/**",
+        "/home/fotis/ws_moveit2/install/moveit_ros_planning_interface/include/**",
+        "/home/fotis/ws_moveit2/install/moveit_ros_benchmarks/include/**",
+        "/home/fotis/ws_moveit2/install/moveit_ros_warehouse/include/**",
+        "/home/fotis/ws_moveit2/install/moveit_ros_robot_interaction/include/**",
+        "/home/fotis/ws_moveit2/install/moveit_ros_perception/include/**",
+        "/home/fotis/ws_moveit2/install/moveit_ros_move_group/include/**",
+        "/home/fotis/ws_moveit2/install/moveit_planners_ompl/include/**",
+        "/home/fotis/ws_moveit2/install/moveit_ros_planning/include/**",
+        "/home/fotis/ws_moveit2/install/moveit_ros_occupancy_map_monitor/include/**",
+        "/home/fotis/ws_moveit2/install/moveit_kinematics/include/**",
+        "/home/fotis/ws_moveit2/install/chomp_motion_planner/include/**",
+        "/home/fotis/ws_moveit2/install/moveit_core/include/**",
+        "/home/fotis/ws_moveit2/install/srdfdom/include/**",
+        "/home/fotis/ws_moveit2/install/rviz_marker_tools/include/**",
+        "/home/fotis/ws_moveit2/install/rosparam_shortcuts/include/**",
+        "/home/fotis/ws_moveit2/install/moveit_task_constructor_msgs/include/**",
+        "/opt/ros/humble/include/**",
+        "/home/fotis/UR_Robotiq/src/Universal_Robots_ROS2_Driver/ur_calibration/include/**",
+        "/home/fotis/UR_Robotiq/src/Universal_Robots_ROS2_Driver/ur_controllers/include/**",
+        "/home/fotis/UR_Robotiq/src/Universal_Robots_ROS2_Driver/ur_robot_driver/include/**",
+        "/home/fotis/UR_Robotiq/src/ros2_robotiq_gripper/robotiq_controllers/include/**",
+        "/home/fotis/UR_Robotiq/src/ros2_robotiq_gripper/robotiq_driver/include/**",
+        "/home/fotis/UR_Robotiq/src/serial/include/**",
+        "/usr/include/**"
+      ],
+      "name": "ROS",
+      "intelliSenseMode": "gcc-x64",
+      "compilerPath": "/usr/bin/gcc",
+      "cStandard": "gnu11",
+      "cppStandard": "c++14"
+    }
+  ],
+  "version": 4
+}
\ No newline at end of file
diff --git a/.vscode/settings.json b/.vscode/settings.json
new file mode 100644
index 0000000..cea386d
--- /dev/null
+++ b/.vscode/settings.json
@@ -0,0 +1,26 @@
+{
+    "python.autoComplete.extraPaths": [
+        "/home/fotis/UR_Robotiq/install/ur_robot_driver/local/lib/python3.10/dist-packages",
+        "/home/fotis/UR_Robotiq/install/ur_moveit_config/local/lib/python3.10/dist-packages",
+        "/home/fotis/UR_Robotiq/install/ur_dashboard_msgs/local/lib/python3.10/dist-packages",
+        "/home/fotis/UR_Robotiq/install/my-test-package/lib/python3.10/site-packages",
+        "/home/fotis/ws_moveit2/install/moveit_configs_utils/lib/python3.10/site-packages",
+        "/home/fotis/ws_moveit2/install/srdfdom/local/lib/python3.10/dist-packages",
+        "/home/fotis/ws_moveit2/install/moveit_task_constructor_msgs/local/lib/python3.10/dist-packages",
+        "/home/fotis/ws_moveit2/install/launch_param_builder/lib/python3.10/site-packages",
+        "/opt/ros/humble/lib/python3.10/site-packages",
+        "/opt/ros/humble/local/lib/python3.10/dist-packages"
+    ],
+    "python.analysis.extraPaths": [
+        "/home/fotis/UR_Robotiq/install/ur_robot_driver/local/lib/python3.10/dist-packages",
+        "/home/fotis/UR_Robotiq/install/ur_moveit_config/local/lib/python3.10/dist-packages",
+        "/home/fotis/UR_Robotiq/install/ur_dashboard_msgs/local/lib/python3.10/dist-packages",
+        "/home/fotis/UR_Robotiq/install/my-test-package/lib/python3.10/site-packages",
+        "/home/fotis/ws_moveit2/install/moveit_configs_utils/lib/python3.10/site-packages",
+        "/home/fotis/ws_moveit2/install/srdfdom/local/lib/python3.10/dist-packages",
+        "/home/fotis/ws_moveit2/install/moveit_task_constructor_msgs/local/lib/python3.10/dist-packages",
+        "/home/fotis/ws_moveit2/install/launch_param_builder/lib/python3.10/site-packages",
+        "/opt/ros/humble/lib/python3.10/site-packages",
+        "/opt/ros/humble/local/lib/python3.10/dist-packages"
+    ]
+}
\ No newline at end of file
diff --git a/src/ur_robotiq_description/CMakeLists.txt b/src/ur_robotiq_description/CMakeLists.txt
index 5e86e05..5fd7cc4 100644
--- a/src/ur_robotiq_description/CMakeLists.txt
+++ b/src/ur_robotiq_description/CMakeLists.txt
@@ -5,6 +5,10 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
+install(DIRECTORY urdf/
+        DESTINATION share/${PROJECT_NAME}/urdf)
+
+
 # find dependencies
 find_package(ament_cmake REQUIRED)
 # uncomment the following section in order to fill in
diff --git a/src/ur_robotiq_description/urdf/ur_robotiq.urdf b/src/ur_robotiq_description/urdf/ur_robotiq.urdf
index 7678bf1..2b63c0c 100644
--- a/src/ur_robotiq_description/urdf/ur_robotiq.urdf
+++ b/src/ur_robotiq_description/urdf/ur_robotiq.urdf
@@ -591,7 +591,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="file:///home/niko/PycharmProjects/ws_universal_robotics/install/robotiq_description/share/robotiq_description/meshes/visual/2f_140/robotiq_2f_140_base_link.stl"/>
+        <mesh filename="file:///home/fotis/UR_Robotiq/install/robotiq_description/share/robotiq_description/meshes/visual/2f_140/robotiq_2f_140_base_link.stl"/>
       </geometry>
       <material name="">
         <color rgba="0.1 0.1 0.1 1"/>
@@ -600,7 +600,7 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="file:///home/niko/PycharmProjects/ws_universal_robotics/install/robotiq_description/share/robotiq_description/meshes/collision/2f_140/robotiq_2f_140_base_link.stl"/>
+        <mesh filename="file:///home/fotis/UR_Robotiq/install/robotiq_description/share/robotiq_description/meshes/collision/2f_140/robotiq_2f_140_base_link.stl"/>
       </geometry>
     </collision>
   </link>
@@ -618,7 +618,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="file:///home/niko/PycharmProjects/ws_universal_robotics/install/robotiq_description/share/robotiq_description/meshes/visual/2f_140/robotiq_2f_140_outer_knuckle.stl"/>
+        <mesh filename="file:///home/fotis/UR_Robotiq/install/robotiq_description/share/robotiq_description/meshes/visual/2f_140/robotiq_2f_140_outer_knuckle.stl"/>
       </geometry>
       <material name="">
         <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
@@ -627,7 +627,7 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="file:///home/niko/PycharmProjects/ws_universal_robotics/install/robotiq_description/share/robotiq_description/meshes/collision/2f_140/robotiq_2f_140_outer_knuckle.stl"/>
+        <mesh filename="file:///home/fotis/UR_Robotiq/install/robotiq_description/share/robotiq_description/meshes/collision/2f_140/robotiq_2f_140_outer_knuckle.stl"/>
       </geometry>
     </collision>
   </link>
@@ -640,7 +640,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="file:///home/niko/PycharmProjects/ws_universal_robotics/install/robotiq_description/share/robotiq_description/meshes/visual/2f_140/robotiq_2f_140_outer_finger.stl"/>
+        <mesh filename="file:///home/fotis/UR_Robotiq/install/robotiq_description/share/robotiq_description/meshes/visual/2f_140/robotiq_2f_140_outer_finger.stl"/>
       </geometry>
       <material name="">
         <color rgba="0.1 0.1 0.1 1"/>
@@ -649,7 +649,7 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="file:///home/niko/PycharmProjects/ws_universal_robotics/install/robotiq_description/share/robotiq_description/meshes/collision/2f_140/robotiq_2f_140_outer_finger.stl"/>
+        <mesh filename="file:///home/fotis/UR_Robotiq/install/robotiq_description/share/robotiq_description/meshes/collision/2f_140/robotiq_2f_140_outer_finger.stl"/>
       </geometry>
     </collision>
   </link>
@@ -662,7 +662,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="file:///home/niko/PycharmProjects/ws_universal_robotics/install/robotiq_description/share/robotiq_description/meshes/visual/2f_140/robotiq_2f_140_inner_finger.stl"/>
+        <mesh filename="file:///home/fotis/UR_Robotiq/install/robotiq_description/share/robotiq_description/meshes/visual/2f_140/robotiq_2f_140_inner_finger.stl"/>
       </geometry>
       <material name="">
         <color rgba="0.1 0.1 0.1 1"/>
@@ -671,7 +671,7 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="file:///home/niko/PycharmProjects/ws_universal_robotics/install/robotiq_description/share/robotiq_description/meshes/collision/2f_140/robotiq_2f_140_inner_finger.stl"/>
+        <mesh filename="file:///home/fotis/UR_Robotiq/install/robotiq_description/share/robotiq_description/meshes/collision/2f_140/robotiq_2f_140_inner_finger.stl"/>
       </geometry>
     </collision>
   </link>
@@ -704,7 +704,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="file:///home/niko/PycharmProjects/ws_universal_robotics/install/robotiq_description/share/robotiq_description/meshes/visual/2f_140/robotiq_2f_140_inner_knuckle.stl"/>
+        <mesh filename="file:///home/fotis/UR_Robotiq/install/robotiq_description/share/robotiq_description/meshes/visual/2f_140/robotiq_2f_140_inner_knuckle.stl"/>
       </geometry>
       <material name="">
         <color rgba="0.1 0.1 0.1 1"/>
@@ -713,7 +713,7 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="file:///home/niko/PycharmProjects/ws_universal_robotics/install/robotiq_description/share/robotiq_description/meshes/collision/2f_140/robotiq_2f_140_inner_knuckle.stl"/>
+        <mesh filename="file:///home/fotis/UR_Robotiq/install/robotiq_description/share/robotiq_description/meshes/collision/2f_140/robotiq_2f_140_inner_knuckle.stl"/>
       </geometry>
     </collision>
   </link>
@@ -726,7 +726,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="file:///home/niko/PycharmProjects/ws_universal_robotics/install/robotiq_description/share/robotiq_description/meshes/visual/2f_140/robotiq_2f_140_outer_knuckle.stl"/>
+        <mesh filename="file:///home/fotis/UR_Robotiq/install/robotiq_description/share/robotiq_description/meshes/visual/2f_140/robotiq_2f_140_outer_knuckle.stl"/>
       </geometry>
       <material name="">
         <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
@@ -735,7 +735,7 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="file:///home/niko/PycharmProjects/ws_universal_robotics/install/robotiq_description/share/robotiq_description/meshes/collision/2f_140/robotiq_2f_140_outer_knuckle.stl"/>
+        <mesh filename="file:///home/fotis/UR_Robotiq/install/robotiq_description/share/robotiq_description/meshes/collision/2f_140/robotiq_2f_140_outer_knuckle.stl"/>
       </geometry>
     </collision>
   </link>
@@ -748,7 +748,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="file:///home/niko/PycharmProjects/ws_universal_robotics/install/robotiq_description/share/robotiq_description/meshes/visual/2f_140/robotiq_2f_140_outer_finger.stl"/>
+        <mesh filename="file:///home/fotis/UR_Robotiq/install/robotiq_description/share/robotiq_description/meshes/visual/2f_140/robotiq_2f_140_outer_finger.stl"/>
       </geometry>
       <material name="">
         <color rgba="0.1 0.1 0.1 1"/>
@@ -757,7 +757,7 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="file:///home/niko/PycharmProjects/ws_universal_robotics/install/robotiq_description/share/robotiq_description/meshes/collision/2f_140/robotiq_2f_140_outer_finger.stl"/>
+        <mesh filename="file:///home/fotis/UR_Robotiq/install/robotiq_description/share/robotiq_description/meshes/collision/2f_140/robotiq_2f_140_outer_finger.stl"/>
       </geometry>
     </collision>
   </link>
@@ -770,7 +770,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="file:///home/niko/PycharmProjects/ws_universal_robotics/install/robotiq_description/share/robotiq_description/meshes/visual/2f_140/robotiq_2f_140_inner_finger.stl"/>
+        <mesh filename="file:///home/fotis/UR_Robotiq/install/robotiq_description/share/robotiq_description/meshes/visual/2f_140/robotiq_2f_140_inner_finger.stl"/>
       </geometry>
       <material name="">
         <color rgba="0.1 0.1 0.1 1"/>
@@ -779,7 +779,7 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="file:///home/niko/PycharmProjects/ws_universal_robotics/install/robotiq_description/share/robotiq_description/meshes/collision/2f_140/robotiq_2f_140_inner_finger.stl"/>
+        <mesh filename="file:///home/fotis/UR_Robotiq/install/robotiq_description/share/robotiq_description/meshes/collision/2f_140/robotiq_2f_140_inner_finger.stl"/>
       </geometry>
     </collision>
   </link>
@@ -812,7 +812,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="file:///home/niko/PycharmProjects/ws_universal_robotics/install/robotiq_description/share/robotiq_description/meshes/visual/2f_140/robotiq_2f_140_inner_knuckle.stl"/>
+        <mesh filename="file:///home/fotis/UR_Robotiq/install/robotiq_description/share/robotiq_description/meshes/visual/2f_140/robotiq_2f_140_inner_knuckle.stl"/>
       </geometry>
       <material name="">
         <color rgba="0.1 0.1 0.1 1"/>
@@ -821,7 +821,7 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="file:///home/niko/PycharmProjects/ws_universal_robotics/install/robotiq_description/share/robotiq_description/meshes/collision/2f_140/robotiq_2f_140_inner_knuckle.stl"/>
+        <mesh filename="file:///home/fotis/UR_Robotiq/install/robotiq_description/share/robotiq_description/meshes/collision/2f_140/robotiq_2f_140_inner_knuckle.stl"/>
       </geometry>
     </collision>
   </link>
diff --git a/src/ur_robotiq_moveit_config/.setup_assistant b/src/ur_robotiq_moveit_config/.setup_assistant
new file mode 100644
index 0000000..411385c
--- /dev/null
+++ b/src/ur_robotiq_moveit_config/.setup_assistant
@@ -0,0 +1,27 @@
+moveit_setup_assistant_config:
+  urdf:
+    package: ur_robotiq_description
+    relative_path: urdf/ur_robotiq.urdf
+  srdf:
+    relative_path: config/ur3e_robotiq.srdf
+  package_settings:
+    author_name: Fotios Lygerakis
+    author_email: fotios.lygerakis@unileoben.ac.at
+    generated_timestamp: 1709822028
+  control_xacro:
+    command:
+      - position
+      - velocity
+    state:
+      - position
+      - velocity
+  modified_urdf:
+    xacros:
+      - control_xacro
+  control_xacro:
+    command:
+      - position
+      - velocity
+    state:
+      - position
+      - velocity
\ No newline at end of file
diff --git a/src/ur_robotiq_moveit_config/CMakeLists.txt b/src/ur_robotiq_moveit_config/CMakeLists.txt
new file mode 100644
index 0000000..2c40b44
--- /dev/null
+++ b/src/ur_robotiq_moveit_config/CMakeLists.txt
@@ -0,0 +1,11 @@
+cmake_minimum_required(VERSION 3.22)
+project(ur_robotiq_moveit_config)
+
+find_package(ament_cmake REQUIRED)
+
+ament_package()
+
+install(DIRECTORY launch DESTINATION share/${PROJECT_NAME}
+  PATTERN "setup_assistant.launch" EXCLUDE)
+install(DIRECTORY config DESTINATION share/${PROJECT_NAME})
+install(FILES .setup_assistant DESTINATION share/${PROJECT_NAME})
diff --git a/src/ur_robotiq_moveit_config/config/initial_positions.yaml b/src/ur_robotiq_moveit_config/config/initial_positions.yaml
new file mode 100644
index 0000000..2e29228
--- /dev/null
+++ b/src/ur_robotiq_moveit_config/config/initial_positions.yaml
@@ -0,0 +1,10 @@
+# Default initial positions for ur3e_robotiq's ros2_control fake system
+
+initial_positions:
+  elbow_joint: 0
+  finger_joint: 0
+  shoulder_lift_joint: 0
+  shoulder_pan_joint: 0
+  wrist_1_joint: 0
+  wrist_2_joint: 0
+  wrist_3_joint: 0
\ No newline at end of file
diff --git a/src/ur_robotiq_moveit_config/config/joint_limits.yaml b/src/ur_robotiq_moveit_config/config/joint_limits.yaml
new file mode 100644
index 0000000..bc7e250
--- /dev/null
+++ b/src/ur_robotiq_moveit_config/config/joint_limits.yaml
@@ -0,0 +1,45 @@
+# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
+
+# For beginners, we downscale velocity and acceleration limits.
+# You can always specify higher scaling factors (<= 1.0) in your motion requests.  # Increase the values below to 1.0 to always move at maximum speed.
+default_velocity_scaling_factor: 0.1
+default_acceleration_scaling_factor: 0.1
+
+# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
+# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
+joint_limits:
+  elbow_joint:
+    has_velocity_limits: true
+    max_velocity: 3.1415926535897931
+    has_acceleration_limits: false
+    max_acceleration: 0
+  finger_joint:
+    has_velocity_limits: true
+    max_velocity: 2
+    has_acceleration_limits: false
+    max_acceleration: 0
+  shoulder_lift_joint:
+    has_velocity_limits: true
+    max_velocity: 3.1415926535897931
+    has_acceleration_limits: false
+    max_acceleration: 0
+  shoulder_pan_joint:
+    has_velocity_limits: true
+    max_velocity: 3.1415926535897931
+    has_acceleration_limits: false
+    max_acceleration: 0
+  wrist_1_joint:
+    has_velocity_limits: true
+    max_velocity: 6.2831853071795862
+    has_acceleration_limits: false
+    max_acceleration: 0
+  wrist_2_joint:
+    has_velocity_limits: true
+    max_velocity: 6.2831853071795862
+    has_acceleration_limits: false
+    max_acceleration: 0
+  wrist_3_joint:
+    has_velocity_limits: true
+    max_velocity: 6.2831853071795862
+    has_acceleration_limits: false
+    max_acceleration: 0
\ No newline at end of file
diff --git a/src/ur_robotiq_moveit_config/config/kinematics.yaml b/src/ur_robotiq_moveit_config/config/kinematics.yaml
new file mode 100644
index 0000000..2f6bb96
--- /dev/null
+++ b/src/ur_robotiq_moveit_config/config/kinematics.yaml
@@ -0,0 +1,4 @@
+arm:
+  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+  kinematics_solver_search_resolution: 0.0050000000000000001
+  kinematics_solver_timeout: 0.0050000000000000001
\ No newline at end of file
diff --git a/src/ur_robotiq_moveit_config/config/moveit.rviz b/src/ur_robotiq_moveit_config/config/moveit.rviz
new file mode 100644
index 0000000..f31651e
--- /dev/null
+++ b/src/ur_robotiq_moveit_config/config/moveit.rviz
@@ -0,0 +1,51 @@
+Panels:
+  - Class: rviz_common/Displays
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /MotionPlanning1
+  - Class: rviz_common/Help
+    Name: Help
+  - Class: rviz_common/Views
+    Name: Views
+Visualization Manager:
+  Displays:
+    - Class: rviz_default_plugins/Grid
+      Name: Grid
+      Value: true
+    - Class: moveit_rviz_plugin/MotionPlanning
+      Name: MotionPlanning
+      Planned Path:
+        Loop Animation: true
+        State Display Time: 0.05 s
+        Trajectory Topic: display_planned_path
+      Planning Scene Topic: monitored_planning_scene
+      Robot Description: robot_description
+      Scene Geometry:
+        Scene Alpha: 1
+      Scene Robot:
+        Robot Alpha: 0.5
+      Value: true
+  Global Options:
+    Fixed Frame: world
+  Tools:
+    - Class: rviz_default_plugins/Interact
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 2.0
+      Focal Point:
+        X: -0.1
+        Y: 0.25
+        Z: 0.30
+      Name: Current View
+      Pitch: 0.5
+      Target Frame: world
+      Yaw: -0.623
+Window Geometry:
+  Height: 975
+  QMainWindow State: 000000ff00000000fd0000000100000000000002b400000375fc0200000005fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000004100fffffffb000000100044006900730070006c006100790073010000003d00000123000000c900fffffffb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e00670100000166000001910000018800fffffffb0000000800480065006c0070000000029a0000006e0000006e00fffffffb0000000a0056006900650077007301000002fd000000b5000000a400ffffff000001f60000037500000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Width: 1200
diff --git a/src/ur_robotiq_moveit_config/config/moveit_controllers.yaml b/src/ur_robotiq_moveit_config/config/moveit_controllers.yaml
new file mode 100644
index 0000000..5b39bf6
--- /dev/null
+++ b/src/ur_robotiq_moveit_config/config/moveit_controllers.yaml
@@ -0,0 +1,26 @@
+# MoveIt uses this configuration for controller management
+
+moveit_controller_manager: moveit_simple_controller_manager/MoveItSimpleControllerManager
+
+moveit_simple_controller_manager:
+  controller_names:
+    - arm_controller
+    - gripper_controller
+
+  arm_controller:
+    type: FollowJointTrajectory
+    action_ns: follow_joint_trajectory
+    default: true
+    joints:
+      - shoulder_pan_joint
+      - shoulder_lift_joint
+      - elbow_joint
+      - wrist_1_joint
+      - wrist_2_joint
+      - wrist_3_joint
+  gripper_controller:
+    type: FollowJointTrajectory
+    action_ns: follow_joint_trajectory
+    default: true
+    joints:
+      - finger_joint
\ No newline at end of file
diff --git a/src/ur_robotiq_moveit_config/config/pilz_cartesian_limits.yaml b/src/ur_robotiq_moveit_config/config/pilz_cartesian_limits.yaml
new file mode 100644
index 0000000..b2997ca
--- /dev/null
+++ b/src/ur_robotiq_moveit_config/config/pilz_cartesian_limits.yaml
@@ -0,0 +1,6 @@
+# Limits for the Pilz planner
+cartesian_limits:
+  max_trans_vel: 1.0
+  max_trans_acc: 2.25
+  max_trans_dec: -5.0
+  max_rot_vel: 1.57
diff --git a/src/ur_robotiq_moveit_config/config/ros2_controllers.yaml b/src/ur_robotiq_moveit_config/config/ros2_controllers.yaml
new file mode 100644
index 0000000..20bb825
--- /dev/null
+++ b/src/ur_robotiq_moveit_config/config/ros2_controllers.yaml
@@ -0,0 +1,41 @@
+# This config file is used by ros2_control
+controller_manager:
+  ros__parameters:
+    update_rate: 100  # Hz
+
+    arm_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+
+    gripper_controller:
+      type: joint_trajectory_controller/JointTrajectoryController
+
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+arm_controller:
+  ros__parameters:
+    joints:
+      - shoulder_pan_joint
+      - shoulder_lift_joint
+      - elbow_joint
+      - wrist_1_joint
+      - wrist_2_joint
+      - wrist_3_joint
+    command_interfaces:
+      - position
+      - velocity
+    state_interfaces:
+      - position
+      - velocity
+gripper_controller:
+  ros__parameters:
+    joints:
+      - finger_joint
+    command_interfaces:
+      - position
+      - velocity
+    state_interfaces:
+      - position
+      - velocity
\ No newline at end of file
diff --git a/src/ur_robotiq_moveit_config/config/ur3e_robotiq.ros2_control.xacro b/src/ur_robotiq_moveit_config/config/ur3e_robotiq.ros2_control.xacro
new file mode 100644
index 0000000..4c73aec
--- /dev/null
+++ b/src/ur_robotiq_moveit_config/config/ur3e_robotiq.ros2_control.xacro
@@ -0,0 +1,70 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <xacro:macro name="ur3e_robotiq_ros2_control" params="name initial_positions_file">
+        <xacro:property name="initial_positions" value="${load_yaml(initial_positions_file)['initial_positions']}"/>
+
+        <ros2_control name="${name}" type="system">
+            <hardware>
+                <!-- By default, set up controllers for simulation. This won't work on real hardware -->
+                <plugin>mock_components/GenericSystem</plugin>
+            </hardware>
+            <joint name="shoulder_pan_joint">
+                <command_interface name="position"/>
+                <command_interface name="velocity"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['shoulder_pan_joint']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+            <joint name="shoulder_lift_joint">
+                <command_interface name="position"/>
+                <command_interface name="velocity"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['shoulder_lift_joint']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+            <joint name="elbow_joint">
+                <command_interface name="position"/>
+                <command_interface name="velocity"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['elbow_joint']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+            <joint name="wrist_1_joint">
+                <command_interface name="position"/>
+                <command_interface name="velocity"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['wrist_1_joint']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+            <joint name="wrist_2_joint">
+                <command_interface name="position"/>
+                <command_interface name="velocity"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['wrist_2_joint']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+            <joint name="wrist_3_joint">
+                <command_interface name="position"/>
+                <command_interface name="velocity"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['wrist_3_joint']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+            <joint name="finger_joint">
+                <command_interface name="position"/>
+                <command_interface name="velocity"/>
+                <state_interface name="position">
+                  <param name="initial_value">${initial_positions['finger_joint']}</param>
+                </state_interface>
+                <state_interface name="velocity"/>
+            </joint>
+
+        </ros2_control>
+    </xacro:macro>
+</robot>
diff --git a/src/ur_robotiq_moveit_config/config/ur3e_robotiq.srdf b/src/ur_robotiq_moveit_config/config/ur3e_robotiq.srdf
new file mode 100644
index 0000000..537e9b8
--- /dev/null
+++ b/src/ur_robotiq_moveit_config/config/ur3e_robotiq.srdf
@@ -0,0 +1,164 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!--This does not replace URDF, and is not an extension of URDF.
+    This is a format for representing semantic information about the robot structure.
+    A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
+-->
+<robot name="ur3e_robotiq">
+    <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
+    <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
+    <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
+    <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
+    <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
+    <group name="arm">
+        <joint name="shoulder_pan_joint"/>
+        <joint name="shoulder_lift_joint"/>
+        <joint name="elbow_joint"/>
+        <joint name="wrist_1_joint"/>
+        <joint name="wrist_2_joint"/>
+        <joint name="wrist_3_joint"/>
+    </group>
+    <group name="gripper">
+        <joint name="finger_joint"/>
+    </group>
+    <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
+    <group_state name="arm_default" group="arm">
+        <joint name="elbow_joint" value="0"/>
+        <joint name="shoulder_lift_joint" value="0"/>
+        <joint name="shoulder_pan_joint" value="0"/>
+        <joint name="wrist_1_joint" value="0"/>
+        <joint name="wrist_2_joint" value="0"/>
+        <joint name="wrist_3_joint" value="0"/>
+    </group_state>
+    <group_state name="arm_up" group="arm">
+        <joint name="elbow_joint" value="0"/>
+        <joint name="shoulder_lift_joint" value="-1.57"/>
+        <joint name="shoulder_pan_joint" value="0"/>
+        <joint name="wrist_1_joint" value="0"/>
+        <joint name="wrist_2_joint" value="0"/>
+        <joint name="wrist_3_joint" value="0"/>
+    </group_state>
+    <group_state name="gripper_open" group="gripper">
+        <joint name="finger_joint" value="0"/>
+    </group_state>
+    <group_state name="gripper_closed" group="gripper">
+        <joint name="finger_joint" value="0.7"/>
+    </group_state>
+    <!--END EFFECTOR: Purpose: Represent information about an end effector.-->
+    <end_effector name="ee" parent_link="wrist_3_link" group="gripper" parent_group="arm"/>
+    <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
+    <virtual_joint name="virtual_base" type="fixed" parent_frame="world" child_link="base_link"/>
+    <!--PASSIVE JOINT: Purpose: this element is used to mark joints that are not actuated-->
+    <passive_joint name="left_inner_finger_joint"/>
+    <passive_joint name="left_inner_knuckle_joint"/>
+    <passive_joint name="right_inner_knuckle_joint"/>
+    <passive_joint name="right_outer_knuckle_joint"/>
+    <passive_joint name="right_inner_finger_joint"/>
+    <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
+    <disable_collisions link1="base_link_inertia" link2="shoulder_link" reason="Adjacent"/>
+    <disable_collisions link1="base_link_inertia" link2="upper_arm_link" reason="Never"/>
+    <disable_collisions link1="base_link_inertia" link2="wrist_1_link" reason="Never"/>
+    <disable_collisions link1="base_link_inertia" link2="wrist_2_link" reason="Never"/>
+    <disable_collisions link1="forearm_link" link2="upper_arm_link" reason="Adjacent"/>
+    <disable_collisions link1="forearm_link" link2="wrist_1_link" reason="Adjacent"/>
+    <disable_collisions link1="left_inner_finger" link2="left_inner_finger" reason="Default"/>
+    <disable_collisions link1="left_inner_finger" link2="left_inner_finger_pad" reason="Adjacent"/>
+    <disable_collisions link1="left_inner_finger" link2="left_inner_knuckle" reason="Default"/>
+    <disable_collisions link1="left_inner_finger" link2="left_outer_finger" reason="Adjacent"/>
+    <disable_collisions link1="left_inner_finger" link2="left_outer_knuckle" reason="Never"/>
+    <disable_collisions link1="left_inner_finger" link2="right_inner_finger" reason="Never"/>
+    <disable_collisions link1="left_inner_finger" link2="right_inner_finger_pad" reason="Never"/>
+    <disable_collisions link1="left_inner_finger" link2="right_inner_knuckle" reason="Never"/>
+    <disable_collisions link1="left_inner_finger" link2="right_outer_finger" reason="Never"/>
+    <disable_collisions link1="left_inner_finger" link2="right_outer_knuckle" reason="Never"/>
+    <disable_collisions link1="left_inner_finger" link2="robotiq_140_base_link" reason="Never"/>
+    <disable_collisions link1="left_inner_finger" link2="wrist_1_link" reason="Never"/>
+    <disable_collisions link1="left_inner_finger" link2="wrist_2_link" reason="Never"/>
+    <disable_collisions link1="left_inner_finger" link2="wrist_3_link" reason="Never"/>
+    <disable_collisions link1="left_inner_finger_pad" link2="left_inner_finger_pad" reason="Default"/>
+    <disable_collisions link1="left_inner_finger_pad" link2="left_outer_knuckle" reason="Never"/>
+    <disable_collisions link1="left_inner_finger_pad" link2="right_inner_finger" reason="Never"/>
+    <disable_collisions link1="left_inner_finger_pad" link2="right_inner_knuckle" reason="Never"/>
+    <disable_collisions link1="left_inner_finger_pad" link2="right_outer_finger" reason="Never"/>
+    <disable_collisions link1="left_inner_finger_pad" link2="right_outer_knuckle" reason="Never"/>
+    <disable_collisions link1="left_inner_finger_pad" link2="robotiq_140_base_link" reason="Never"/>
+    <disable_collisions link1="left_inner_finger_pad" link2="wrist_1_link" reason="Never"/>
+    <disable_collisions link1="left_inner_finger_pad" link2="wrist_2_link" reason="Never"/>
+    <disable_collisions link1="left_inner_finger_pad" link2="wrist_3_link" reason="Never"/>
+    <disable_collisions link1="left_inner_knuckle" link2="left_inner_knuckle" reason="Default"/>
+    <disable_collisions link1="left_inner_knuckle" link2="left_outer_knuckle" reason="Default"/>
+    <disable_collisions link1="left_inner_knuckle" link2="right_inner_finger" reason="Never"/>
+    <disable_collisions link1="left_inner_knuckle" link2="right_inner_finger_pad" reason="Never"/>
+    <disable_collisions link1="left_inner_knuckle" link2="right_inner_knuckle" reason="Never"/>
+    <disable_collisions link1="left_inner_knuckle" link2="right_outer_finger" reason="Never"/>
+    <disable_collisions link1="left_inner_knuckle" link2="right_outer_knuckle" reason="Never"/>
+    <disable_collisions link1="left_inner_knuckle" link2="robotiq_140_base_link" reason="Adjacent"/>
+    <disable_collisions link1="left_inner_knuckle" link2="wrist_1_link" reason="Never"/>
+    <disable_collisions link1="left_inner_knuckle" link2="wrist_2_link" reason="Never"/>
+    <disable_collisions link1="left_inner_knuckle" link2="wrist_3_link" reason="Never"/>
+    <disable_collisions link1="left_outer_finger" link2="left_outer_finger" reason="Default"/>
+    <disable_collisions link1="left_outer_finger" link2="left_outer_knuckle" reason="Adjacent"/>
+    <disable_collisions link1="left_outer_finger" link2="right_inner_finger" reason="Never"/>
+    <disable_collisions link1="left_outer_finger" link2="right_inner_finger_pad" reason="Never"/>
+    <disable_collisions link1="left_outer_finger" link2="right_inner_knuckle" reason="Never"/>
+    <disable_collisions link1="left_outer_finger" link2="right_outer_finger" reason="Never"/>
+    <disable_collisions link1="left_outer_finger" link2="right_outer_knuckle" reason="Never"/>
+    <disable_collisions link1="left_outer_finger" link2="robotiq_140_base_link" reason="Never"/>
+    <disable_collisions link1="left_outer_finger" link2="wrist_1_link" reason="Never"/>
+    <disable_collisions link1="left_outer_finger" link2="wrist_2_link" reason="Never"/>
+    <disable_collisions link1="left_outer_finger" link2="wrist_3_link" reason="Never"/>
+    <disable_collisions link1="left_outer_knuckle" link2="left_outer_knuckle" reason="Default"/>
+    <disable_collisions link1="left_outer_knuckle" link2="right_inner_finger" reason="Never"/>
+    <disable_collisions link1="left_outer_knuckle" link2="right_inner_finger_pad" reason="Never"/>
+    <disable_collisions link1="left_outer_knuckle" link2="right_inner_knuckle" reason="Never"/>
+    <disable_collisions link1="left_outer_knuckle" link2="right_outer_finger" reason="Never"/>
+    <disable_collisions link1="left_outer_knuckle" link2="right_outer_knuckle" reason="Never"/>
+    <disable_collisions link1="left_outer_knuckle" link2="robotiq_140_base_link" reason="Adjacent"/>
+    <disable_collisions link1="left_outer_knuckle" link2="wrist_1_link" reason="Never"/>
+    <disable_collisions link1="left_outer_knuckle" link2="wrist_2_link" reason="Never"/>
+    <disable_collisions link1="left_outer_knuckle" link2="wrist_3_link" reason="Never"/>
+    <disable_collisions link1="right_inner_finger" link2="right_inner_finger" reason="Default"/>
+    <disable_collisions link1="right_inner_finger" link2="right_inner_finger_pad" reason="Adjacent"/>
+    <disable_collisions link1="right_inner_finger" link2="right_inner_knuckle" reason="Default"/>
+    <disable_collisions link1="right_inner_finger" link2="right_outer_finger" reason="Adjacent"/>
+    <disable_collisions link1="right_inner_finger" link2="right_outer_knuckle" reason="Never"/>
+    <disable_collisions link1="right_inner_finger" link2="robotiq_140_base_link" reason="Never"/>
+    <disable_collisions link1="right_inner_finger" link2="wrist_1_link" reason="Never"/>
+    <disable_collisions link1="right_inner_finger" link2="wrist_2_link" reason="Never"/>
+    <disable_collisions link1="right_inner_finger" link2="wrist_3_link" reason="Never"/>
+    <disable_collisions link1="right_inner_finger_pad" link2="right_inner_finger_pad" reason="Default"/>
+    <disable_collisions link1="right_inner_finger_pad" link2="right_inner_knuckle" reason="Never"/>
+    <disable_collisions link1="right_inner_finger_pad" link2="right_outer_finger" reason="Never"/>
+    <disable_collisions link1="right_inner_finger_pad" link2="right_outer_knuckle" reason="Never"/>
+    <disable_collisions link1="right_inner_finger_pad" link2="robotiq_140_base_link" reason="Never"/>
+    <disable_collisions link1="right_inner_finger_pad" link2="wrist_1_link" reason="Never"/>
+    <disable_collisions link1="right_inner_finger_pad" link2="wrist_2_link" reason="Never"/>
+    <disable_collisions link1="right_inner_finger_pad" link2="wrist_3_link" reason="Never"/>
+    <disable_collisions link1="right_inner_knuckle" link2="right_inner_knuckle" reason="Default"/>
+    <disable_collisions link1="right_inner_knuckle" link2="right_outer_finger" reason="Never"/>
+    <disable_collisions link1="right_inner_knuckle" link2="right_outer_knuckle" reason="Default"/>
+    <disable_collisions link1="right_inner_knuckle" link2="robotiq_140_base_link" reason="Adjacent"/>
+    <disable_collisions link1="right_inner_knuckle" link2="wrist_1_link" reason="Never"/>
+    <disable_collisions link1="right_inner_knuckle" link2="wrist_2_link" reason="Never"/>
+    <disable_collisions link1="right_inner_knuckle" link2="wrist_3_link" reason="Never"/>
+    <disable_collisions link1="right_outer_finger" link2="right_outer_finger" reason="Default"/>
+    <disable_collisions link1="right_outer_finger" link2="right_outer_knuckle" reason="Adjacent"/>
+    <disable_collisions link1="right_outer_finger" link2="robotiq_140_base_link" reason="Never"/>
+    <disable_collisions link1="right_outer_finger" link2="wrist_1_link" reason="Never"/>
+    <disable_collisions link1="right_outer_finger" link2="wrist_2_link" reason="Never"/>
+    <disable_collisions link1="right_outer_finger" link2="wrist_3_link" reason="Never"/>
+    <disable_collisions link1="right_outer_knuckle" link2="right_outer_knuckle" reason="Default"/>
+    <disable_collisions link1="right_outer_knuckle" link2="robotiq_140_base_link" reason="Adjacent"/>
+    <disable_collisions link1="right_outer_knuckle" link2="wrist_1_link" reason="Never"/>
+    <disable_collisions link1="right_outer_knuckle" link2="wrist_2_link" reason="Never"/>
+    <disable_collisions link1="right_outer_knuckle" link2="wrist_3_link" reason="Never"/>
+    <disable_collisions link1="robotiq_140_base_link" link2="robotiq_140_base_link" reason="Adjacent"/>
+    <disable_collisions link1="robotiq_140_base_link" link2="wrist_1_link" reason="Never"/>
+    <disable_collisions link1="robotiq_140_base_link" link2="wrist_2_link" reason="Never"/>
+    <disable_collisions link1="robotiq_140_base_link" link2="wrist_3_link" reason="Adjacent"/>
+    <disable_collisions link1="shoulder_link" link2="upper_arm_link" reason="Adjacent"/>
+    <disable_collisions link1="shoulder_link" link2="wrist_1_link" reason="Never"/>
+    <disable_collisions link1="shoulder_link" link2="wrist_2_link" reason="Never"/>
+    <disable_collisions link1="wrist_1_link" link2="wrist_2_link" reason="Adjacent"/>
+    <disable_collisions link1="wrist_1_link" link2="wrist_3_link" reason="Never"/>
+    <disable_collisions link1="wrist_2_link" link2="wrist_3_link" reason="Adjacent"/>
+</robot>
diff --git a/src/ur_robotiq_moveit_config/config/ur3e_robotiq.urdf.xacro b/src/ur_robotiq_moveit_config/config/ur3e_robotiq.urdf.xacro
new file mode 100644
index 0000000..f7bf8ed
--- /dev/null
+++ b/src/ur_robotiq_moveit_config/config/ur3e_robotiq.urdf.xacro
@@ -0,0 +1,14 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="ur3e_robotiq">
+    <xacro:arg name="initial_positions_file" default="initial_positions.yaml" />
+
+    <!-- Import ur3e_robotiq urdf file -->
+    <xacro:include filename="$(find ur_robotiq_description)/urdf/ur_robotiq.urdf" />
+
+    <!-- Import control_xacro -->
+    <xacro:include filename="ur3e_robotiq.ros2_control.xacro" />
+
+
+    <xacro:ur3e_robotiq_ros2_control name="FakeSystem" initial_positions_file="$(arg initial_positions_file)"/>
+
+</robot>
diff --git a/src/ur_robotiq_moveit_config/launch/demo.launch.py b/src/ur_robotiq_moveit_config/launch/demo.launch.py
new file mode 100644
index 0000000..b714053
--- /dev/null
+++ b/src/ur_robotiq_moveit_config/launch/demo.launch.py
@@ -0,0 +1,9 @@
+from moveit_configs_utils import MoveItConfigsBuilder
+from moveit_configs_utils.launches import generate_demo_launch
+
+
+def generate_launch_description():
+    builder = MoveItConfigsBuilder("ur3_robotiq_2f_140.urdf", robot_description= "urdf/ur_robotiq.urdf", package_name="ur_robotiq_moveit_config")
+    print(builder)
+    moveit_config = builder.to_moveit_configs()
+    return generate_demo_launch(moveit_config)
diff --git a/src/ur_robotiq_moveit_config/launch/move_group.launch.py b/src/ur_robotiq_moveit_config/launch/move_group.launch.py
new file mode 100644
index 0000000..38076e8
--- /dev/null
+++ b/src/ur_robotiq_moveit_config/launch/move_group.launch.py
@@ -0,0 +1,7 @@
+from moveit_configs_utils import MoveItConfigsBuilder
+from moveit_configs_utils.launches import generate_move_group_launch
+
+
+def generate_launch_description():
+    moveit_config = MoveItConfigsBuilder("ur3e_robotiq", package_name="ur_robotiq_moveit_config").to_moveit_configs()
+    return generate_move_group_launch(moveit_config)
diff --git a/src/ur_robotiq_moveit_config/launch/moveit_rviz.launch.py b/src/ur_robotiq_moveit_config/launch/moveit_rviz.launch.py
new file mode 100644
index 0000000..72a9368
--- /dev/null
+++ b/src/ur_robotiq_moveit_config/launch/moveit_rviz.launch.py
@@ -0,0 +1,9 @@
+from moveit_configs_utils import MoveItConfigsBuilder
+from moveit_configs_utils.launches import generate_moveit_rviz_launch
+
+
+def generate_launch_description():
+    moveit_config = MoveItConfigsBuilder("ur3e_robotiq", package_name="ur_robotiq_moveit_config").to_moveit_configs()
+    print(moveit_config.robot_description_kinematics)
+    return generate_moveit_rviz_launch(moveit_config)
+
diff --git a/src/ur_robotiq_moveit_config/launch/rsp.launch.py b/src/ur_robotiq_moveit_config/launch/rsp.launch.py
new file mode 100644
index 0000000..b2dfc9c
--- /dev/null
+++ b/src/ur_robotiq_moveit_config/launch/rsp.launch.py
@@ -0,0 +1,7 @@
+from moveit_configs_utils import MoveItConfigsBuilder
+from moveit_configs_utils.launches import generate_rsp_launch
+
+
+def generate_launch_description():
+    moveit_config = MoveItConfigsBuilder("ur3e_robotiq", package_name="ur_robotiq_moveit_config").to_moveit_configs()
+    return generate_rsp_launch(moveit_config)
diff --git a/src/ur_robotiq_moveit_config/launch/setup_assistant.launch.py b/src/ur_robotiq_moveit_config/launch/setup_assistant.launch.py
new file mode 100644
index 0000000..5c1f832
--- /dev/null
+++ b/src/ur_robotiq_moveit_config/launch/setup_assistant.launch.py
@@ -0,0 +1,7 @@
+from moveit_configs_utils import MoveItConfigsBuilder
+from moveit_configs_utils.launches import generate_setup_assistant_launch
+
+
+def generate_launch_description():
+    moveit_config = MoveItConfigsBuilder("ur3e_robotiq", package_name="ur_robotiq_moveit_config").to_moveit_configs()
+    return generate_setup_assistant_launch(moveit_config)
diff --git a/src/ur_robotiq_moveit_config/launch/spawn_controllers.launch.py b/src/ur_robotiq_moveit_config/launch/spawn_controllers.launch.py
new file mode 100644
index 0000000..e716754
--- /dev/null
+++ b/src/ur_robotiq_moveit_config/launch/spawn_controllers.launch.py
@@ -0,0 +1,7 @@
+from moveit_configs_utils import MoveItConfigsBuilder
+from moveit_configs_utils.launches import generate_spawn_controllers_launch
+
+
+def generate_launch_description():
+    moveit_config = MoveItConfigsBuilder("ur3e_robotiq", package_name="ur_robotiq_moveit_config").to_moveit_configs()
+    return generate_spawn_controllers_launch(moveit_config)
diff --git a/src/ur_robotiq_moveit_config/launch/static_virtual_joint_tfs.launch.py b/src/ur_robotiq_moveit_config/launch/static_virtual_joint_tfs.launch.py
new file mode 100644
index 0000000..35f8b7d
--- /dev/null
+++ b/src/ur_robotiq_moveit_config/launch/static_virtual_joint_tfs.launch.py
@@ -0,0 +1,7 @@
+from moveit_configs_utils import MoveItConfigsBuilder
+from moveit_configs_utils.launches import generate_static_virtual_joint_tfs_launch
+
+
+def generate_launch_description():
+    moveit_config = MoveItConfigsBuilder("ur3e_robotiq", package_name="ur_robotiq_moveit_config").to_moveit_configs()
+    return generate_static_virtual_joint_tfs_launch(moveit_config)
diff --git a/src/ur_robotiq_moveit_config/launch/ur3e_robotiq_description.launch.py b/src/ur_robotiq_moveit_config/launch/ur3e_robotiq_description.launch.py
new file mode 100644
index 0000000..c423602
--- /dev/null
+++ b/src/ur_robotiq_moveit_config/launch/ur3e_robotiq_description.launch.py
@@ -0,0 +1,40 @@
+from launch import LaunchDescription
+from launch_ros.actions import Node
+import os
+from ament_index_python.packages import get_package_share_directory
+import xacro
+
+def generate_launch_description():
+
+    # Define the path to the Xacro file
+    ur_robotiq_desc_pkg_path = get_package_share_directory('ur_robotiq_description')
+    xacro_file_path = os.path.join(ur_robotiq_desc_pkg_path, 'urdf', 'ur_robotiq.urdf.xacro')
+
+    # Process the Xacro file to generate URDF
+    doc = xacro.process_file(xacro_file_path)
+    robot_description = {'robot_description': doc.toxml()}
+
+    # Node to publish robot state to TF
+    robot_state_publisher_node = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        output='both',
+        parameters=[robot_description],
+    )
+
+    # Node to launch RViz
+    rviz_node = Node(
+        package='rviz2',
+        executable='rviz2',
+        name='rviz2',
+        arguments=['-d', os.path.join(ur_robotiq_desc_pkg_path, 'rviz', 'ur3e_robotiq.rviz')],
+        output='screen'
+    )
+
+    # Define and return LaunchDescription
+    return LaunchDescription([
+        robot_state_publisher_node,
+        rviz_node,
+        # Add other necessary nodes and configurations here
+    ])
+
diff --git a/src/ur_robotiq_moveit_config/launch/warehouse_db.launch.py b/src/ur_robotiq_moveit_config/launch/warehouse_db.launch.py
new file mode 100644
index 0000000..55ea6df
--- /dev/null
+++ b/src/ur_robotiq_moveit_config/launch/warehouse_db.launch.py
@@ -0,0 +1,7 @@
+from moveit_configs_utils import MoveItConfigsBuilder
+from moveit_configs_utils.launches import generate_warehouse_db_launch
+
+
+def generate_launch_description():
+    moveit_config = MoveItConfigsBuilder("ur3e_robotiq", package_name="ur_robotiq_moveit_config").to_moveit_configs()
+    return generate_warehouse_db_launch(moveit_config)
diff --git a/src/ur_robotiq_moveit_config/package.xml b/src/ur_robotiq_moveit_config/package.xml
new file mode 100644
index 0000000..5a075b7
--- /dev/null
+++ b/src/ur_robotiq_moveit_config/package.xml
@@ -0,0 +1,53 @@
+<?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>ur_robotiq_moveit_config</name>
+  <version>0.3.0</version>
+  <description>
+     An automatically generated package with all the configuration and launch files for using the ur3e_robotiq with the MoveIt Motion Planning Framework
+  </description>
+  <maintainer email="fotios.lygerakis@unileoben.ac.at">Fotios Lygerakis</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">http://moveit.ros.org/</url>
+  <url type="bugtracker">https://github.com/ros-planning/moveit2/issues</url>
+  <url type="repository">https://github.com/ros-planning/moveit2</url>
+
+  <author email="fotios.lygerakis@unileoben.ac.at">Fotios Lygerakis</author>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <exec_depend>moveit_ros_move_group</exec_depend>
+  <exec_depend>moveit_kinematics</exec_depend>
+  <exec_depend>moveit_planners</exec_depend>
+  <exec_depend>moveit_simple_controller_manager</exec_depend>
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>joint_state_publisher_gui</exec_depend>
+  <exec_depend>tf2_ros</exec_depend>
+  <exec_depend>xacro</exec_depend>
+  <!-- The next 2 packages are required for the gazebo simulation.
+       We don't include them by default to prevent installing gazebo and all its dependencies. -->
+  <!-- <exec_depend>joint_trajectory_controller</exec_depend> -->
+  <!-- <exec_depend>gazebo_ros_control</exec_depend> -->
+  <exec_depend>controller_manager</exec_depend>
+  <exec_depend>moveit_configs_utils</exec_depend>
+  <exec_depend>moveit_ros_move_group</exec_depend>
+  <exec_depend>moveit_ros_visualization</exec_depend>
+  <exec_depend>moveit_ros_warehouse</exec_depend>
+  <exec_depend>moveit_setup_assistant</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>rviz2</exec_depend>
+  <exec_depend>rviz_common</exec_depend>
+  <exec_depend>rviz_default_plugins</exec_depend>
+  <exec_depend>tf2_ros</exec_depend>
+  <exec_depend>ur_robotiq_description</exec_depend>
+  <exec_depend>warehouse_ros_mongo</exec_depend>
+  <exec_depend>xacro</exec_depend>
+  <exec_depend>ament_index_python</exec_depend>
+
+
+  <export>
+      <build_type>ament_cmake</build_type>
+  </export>
+</package>