diff --git a/chindplugin/.deps/ufunczoneobst.d b/chindplugin/.deps/ufunczoneobst.d
deleted file mode 100644
index 7e8f41e3f8afabd37ee0f0bc5878133e809b336d..0000000000000000000000000000000000000000
--- a/chindplugin/.deps/ufunczoneobst.d
+++ /dev/null
@@ -1 +0,0 @@
-.deps/ufunczoneobst.d ufunczoneobst.o: ufunczoneobst.cpp ufunczoneobst.h
diff --git a/chindplugin/Makefile b/chindplugin/Makefile
deleted file mode 100644
index ceb9232d29a7f3bb20a9559b9ca1479940639b5c..0000000000000000000000000000000000000000
--- a/chindplugin/Makefile
+++ /dev/null
@@ -1,72 +0,0 @@
-# makefile
-#
-# libraryname (for shared library?)
-libname = auzoneobst.so
-#
-# AU Robot Server location (if this is placed outside aurobotservers folder
-AUROBOTDIR = ../../aurobotservers/trunk
-BINDIR = ../bin
-#
-# preprocessor flags like -I(include dir)
-CPPFLAGS =  -I$(AUROBOTDIR)/include  -I/usr/include/opencv2
-#
-# linker flags like e.g. -lpthread and -L/usr/local/lib
-LDFLAGS = -g0 -shared -Wl,-soname,$(libname)
-#
-# extra preprocessor defines (mainly for module testcode)
-DEFINES = -D LIBRARY_OPEN_NEEDED
-#
-# C++ compiler flags
-CXXFLAGS = -g3 -O0 -Wall -pedantic -fPIC $(DEFINES)
-#CXXFLAGS += -Wno-unused-but-set-variable
-include ../../aurobotservers/trunk/include/opencv.mk
-include ../../aurobotservers/trunk/include/opencv_flags.mk
-# ifeq ($(OPENCV),2.1)
-#   export OPENCV=
-# endif
-# ifeq ($(OPENCV),)
-# else
-#   CXXFLAGS += `pkg-config opencv-$(OPENCV) --cflags`
-# endif
-#
-# Object files to produce before link
-objects = ufunczoneobst.o
-
-# shared library file name (version 0)
-shlib = $(libname).0
-
-# compile all - all objects depend on all other (objects)
-all: $(objects)
-	c++ -o $(shlib) $(objects) $(LDFLAGS)
-  
-.PHONY : clean install
-clean :
-	rm -f $(shlib) $(objects)
-	-@rm -fr *~ .deps
-
-
-install:
-	cp $(shlib) ../bin
-
-######################################################################
-#
-# Automatic dependencies
-
-DEPS_MAGIC := $(shell mkdir -p .deps)
-
-
-%.o: .deps/%.d
-
-.deps/%.d: src/%.c
-	@cc $(CFLAGS) -MM $< | sed 's#^$(@F:%.d=%.o):#$@ $(@:.deps/%.d=%.o):#' 
-
-.deps/%.d: %.cpp
-	@g++ $(CFLAGS) -MM $< | sed 's#^$(@F:%.d=%.o):#$@ $(@:.deps/%.d=%.o):#' > $@
-
-
-
-######################################################################
-#
-# Include automatic dependencies
-
--include $(patsubst %.o, .deps/%.d, $(objects))
diff --git a/chindplugin/auzoneobst.so.0 b/chindplugin/auzoneobst.so.0
deleted file mode 100644
index a5098dac389654abbcb8bdf71699360cbfdc4da3..0000000000000000000000000000000000000000
Binary files a/chindplugin/auzoneobst.so.0 and /dev/null differ
diff --git a/chindplugin/ufunczoneobst.cpp b/chindplugin/ufunczoneobst.cpp
deleted file mode 100644
index 9864f23e3a5bd1b4d1a9f0b13036b64a6a5247b0..0000000000000000000000000000000000000000
--- a/chindplugin/ufunczoneobst.cpp
+++ /dev/null
@@ -1,109 +0,0 @@
-/***************************************************************************
- *   Copyright (C) 2005 by Christian Andersen and DTU                      *
- *   jca@oersted.dtu.dk                                                    *
- *                                                                         *
- *   This program is free software; you can redistribute it and/or modify  *
- *   it under the terms of the GNU General Public License as published by  *
- *   the Free Software Foundation; either version 2 of the License, or     *
- *   (at your option) any later version.                                   *
- *                                                                         *
- *   This program is distributed in the hope that it will be useful,       *
- *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
- *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
- *   GNU General Public License for more details.                          *
- *                                                                         *
- *   You should have received a copy of the GNU General Public License     *
- *   along with this program; if not, write to the                         *
- *   Free Software Foundation, Inc.,                                       *
- *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
- ***************************************************************************/
-#include "ufunczoneobst.h"
-
-#ifdef LIBRARY_OPEN_NEEDED
-
-/**
- * This function is needed by the server to create a version of this plugin */
-UFunctionBase * createFunc()
-{ // create an object of this type
-  /** replace 'UFunczoneobst' with your class name */
-  return new UFunczoneobst();
-}
-#endif
-
-///////////////////////////////////////////////////
-///////////////////////////////////////////////////
-///////////////////////////////////////////////////
-///////////////////////////////////////////////////
-// #define SMRWIDTH 0.4
-bool UFunczoneobst::handleCommand(UServerInMsg * msg, void * extra)
-{  // handle a plugin command
-  const int MRL = 500;
-  char reply[MRL];
-  bool ask4help;
-  const int MVL = 30;
-  char value[MVL];
-  ULaserData * data;
-  //
-  int i,j,imax;
-  double r,delta;
-  double minRange; // min range in meter
-  // double minAngle = 0.0; // degrees
-//   double d,robotwidth;
-  double zone[9];
-  // check for parameters - one parameter is tested for - 'help'
-  ask4help = msg->tag.getAttValue("help", value, MVL);
-  if (ask4help)
-  { // create the reply in XML-like (html - like) format
-    sendHelpStart(msg, "zoneobst");
-    sendText("--- available zoneobst options\n");
-    sendText("help            This message\n");
-    sendText("fake=F          Fake some data 1=random, 2-4 a fake corridor\n");
-    sendText("device=N        Laser device to use (see: SCANGET help)\n");
-    sendText("see also: SCANGET and SCANSET\n");
-    sendHelpDone();
-  }
-  else
-  { // do some action and send a reply
-    data = getScan(msg, (ULaserData*)extra);
-    //
-    if (data->isValid())
-    { // make analysis for closest measurement
-      minRange = 1000; // long range in meters
-      imax=data->getRangeCnt();
-      delta=imax/9.0;
-      for (j=0;j<9;j++)
-	 zone[j]=minRange;
-      for(j=0;j<9;j++){
-      for (i = 0+(int)(j*delta); i < (int)((j+1)*delta); i++)
-      { // range are stored as an integer in current units
-	r = data->getRangeMeter(i);
-        if (r >= 0.020)
-        { // less than 20 units is a flag value for URG scanner
-          if (r<zone[j])
-	     zone[j]=r;
-        }
-      }
-      }
-      /* SMRCL reply format */
-      snprintf(reply, MRL, "<laser l0=\"%g\" l1=\"%g\" l2=\"%g\" l3=\"%g\" l4=\"%g\" "
-                                  "l5=\"%g\" l6=\"%g\" l7=\"%g\" l8=\"%g\" />\n", 
-	                   zone[0],zone[1],zone[2],zone[3],zone[4],
-                           zone[5],zone[6],zone[7],zone[8]);
-      // send this string as the reply to the client
-      sendMsg(msg, reply);
-      // save also as gloabl variable
-      for(i = 0; i < 9; i++)
-        var_zone->setValued(zone[i], i);
-    }
-    else
-      sendWarning(msg, "No scandata available");
-  }
-  // return true if the function is handled with a positive result
-  // used if scanpush or push has a count of positive results
-  return true;
-}
-
-void UFunczoneobst::createBaseVar()
-{ // add also a global variable (global on laser scanner server) with latest data
-  var_zone = addVarA("zone", "0 0 0 0 0 0 0 0 0", "d", "Value of each laser zone. Updated by zoneobst.");
-}
diff --git a/chindplugin/ufunczoneobst.h b/chindplugin/ufunczoneobst.h
deleted file mode 100644
index 038cbd92ffca361b3d5356cdf7935261ced74277..0000000000000000000000000000000000000000
--- a/chindplugin/ufunczoneobst.h
+++ /dev/null
@@ -1,61 +0,0 @@
-/***************************************************************************
- *   Copyright (C) 2005 by Christian Andersen and DTU                             *
- *   jca@oersted.dtu.dk                                                    *
- *                                                                         *
- *   This program is free software; you can redistribute it and/or modify  *
- *   it under the terms of the GNU General Public License as published by  *
- *   the Free Software Foundation; either version 2 of the License, or     *
- *   (at your option) any later version.                                   *
- *                                                                         *
- *   This program is distributed in the hope that it will be useful,       *
- *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
- *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
- *   GNU General Public License for more details.                          *
- *                                                                         *
- *   You should have received a copy of the GNU General Public License     *
- *   along with this program; if not, write to the                         *
- *   Free Software Foundation, Inc.,                                       *
- *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
- ***************************************************************************/
-#ifndef UFUNC_MRCOBST_H
-#define UFUNC_MRCOBST_H
-
-#include <cstdlib>
-
-#include <ulms4/ufunclaserbase.h>
-
-////////////////////////////////////////////////////////
-////////////////////////////////////////////////////////
-////////////////////////////////////////////////////////
-
-/**
- * Laserscanner function to demonstrate
- * simple laser scanner data handling and analysis
- * @author Christian Andersen
-*/
-class UFunczoneobst : public UFuncLaserBase
-{
-public:
-  /**
-  Constructor */
-  UFunczoneobst()
-  { // set the command (or commands) handled by this plugin
-    setCommand("zoneobst", "zoneobstif", "obstacle detect for MRC (Compiled " __DATE__ " " __TIME__ ")");
-    createBaseVar();
-  }
-  /**
-  Handle incomming command
-  (intended for command separation)
-  Must return true if the function is handled -
-  otherwise the client will get a failed - reply */
-  virtual bool handleCommand(UServerInMsg * msg, void * extra);
-  
-  protected:
-    void createBaseVar();
-    UVariable *var_zone;
-};
-
-
-
-#endif
-
diff --git a/chindplugin/ufunczoneobst.o b/chindplugin/ufunczoneobst.o
deleted file mode 100644
index a10ac6be094f936aee6306818d7212b40410be00..0000000000000000000000000000000000000000
Binary files a/chindplugin/ufunczoneobst.o and /dev/null differ
diff --git a/objConfig.yaml b/config/objConfig.yaml
similarity index 100%
rename from objConfig.yaml
rename to config/objConfig.yaml
diff --git a/laserlogs.log b/laserlogs.log
new file mode 100644
index 0000000000000000000000000000000000000000..07ac06a6a1a162f22d7d00677f80477f575d59fc
--- /dev/null
+++ b/laserlogs.log
@@ -0,0 +1,2896 @@
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+44	2.614
+45	2.559
+46	2.507
+47	2.456
+48	2.408
+49	2.362
+50	2.318
+51	2.275
+52	3.602
+53	3.618
+54	3.634
+55	3.65
+56	3.667
+57	3.684
+58	0.001
+59	0.001
+60	0.001
+61	0.001
+62	3.066
+63	3.022
+64	2.98
+65	2.939
+66	2.9
+67	2.861
+68	2.824
+69	2.788
+70	2.754
+71	2.72
+72	2.687
+73	2.655
+74	2.625
+75	2.595
+76	3.348
+77	3.371
+78	3.395
+79	3.419
+80	3.444
+81	3.47
+82	3.496
+83	3.523
+84	3.55
+85	0.001
+86	0.001
+87	0.001
+88	0.001
+89	0.001
+90	0.001
+91	0.001
+92	0.001
+93	0.001
+94	0.001
+95	0.001
+96	0.001
+97	0.001
+98	0.001
+99	0.001
+100	0.001
+101	0.001
+102	0.001
+103	0.001
+104	0.001
+105	0.001
+106	0.001
+107	0.001
+108	2.122
+109	2.121
+110	2.12
+111	2.12
+112	2.119
+113	2.119
+114	2.119
+115	2.119
+116	2.119
+117	2.119
+118	2.12
+119	2.121
+120	2.121
+121	2.122
+122	2.123
+123	2.125
+124	2.126
+125	2.128
+126	0.001
+127	0.001
+128	0.001
+129	0.001
+130	0.001
+131	0.001
+132	0.001
+133	0.001
+134	0.001
+135	0.001
+136	3.537
+137	3.525
+138	3.513
+139	3.502
+140	3.491
+141	3.48
+142	3.469
+143	3.459
+144	3.449
+145	3.439
+146	3.43
+147	3.421
+148	3.412
+149	3.404
+150	3.396
+151	3.388
+152	3.381
+153	3.374
+154	3.367
+155	3.36
+156	3.354
+157	3.348
+158	3.342
+159	3.336
+160	3.331
+161	3.326
+162	3.321
+163	3.317
+164	3.313
+165	3.309
+166	3.305
+167	3.302
+168	3.299
+169	3.296
+170	3.293
+171	3.291
+172	3.289
+173	3.287
+174	3.285
+175	3.284
+176	3.283
+177	3.282
+178	3.281
+179	3.281
+180	3.281
+181	3.281
+182	3.281
+183	3.282
+184	3.283
+185	3.284
+186	3.286
+187	3.287
+188	3.289
+189	3.291
+190	3.294
+191	3.296
+192	3.299
+193	3.302
+194	3.306
+195	3.31
+196	3.308
+197	3.116
+198	2.945
+199	2.792
+200	2.654
+201	2.53
+202	2.416
+203	2.313
+204	2.218
+205	2.131
+206	2.051
+207	1.976
+208	1.907
+209	1.843
+210	1.783
+211	1.727
+212	1.675
+213	1.625
+214	1.579
+215	0.001
+216	0.001
+217	0.001
+218	0.001
+219	0.001
+220	0.001
+221	0.001
+222	0.001
+223	0.001
+224	0.001
+225	0.001
+226	0.001
+227	1.159
+228	1.136
+229	1.114
+230	1.093
+231	1.073
+232	1.054
+233	1.036
+234	1.018
+235	1.001
+236	0.984
+237	0.968
+238	0.953
+239	0.938
+240	0.924
+241	0.911
+242	0.897
+243	0.884
+244	0.872
+245	0.86
+246	0.849
+247	0.837
+248	0.827
+249	0.816
+250	0.806
+251	0.796
+252	0.786
+253	0.777
+254	0.768
+255	0.759
+256	0.751
+257	0.743
+258	0.735
+259	0.727
+260	0.719
+261	0.712
+262	0.705
+263	0.698
+264	0.691
+265	0.684
+266	0.678
+267	0.672
+268	0.665
+269	0.66
+270	0.654
+271	0.648
+272	0.643
+273	0.637
+274	0.632
+275	0.627
+276	0.622
+277	0.617
+278	0.613
+279	0.608
+280	0.604
+281	0.599
+282	0.595
+283	0.591
+284	0.587
+285	0.583
+286	0.579
+287	0.575
+288	0.571
+289	0.568
+290	0.564
+291	0.561
+292	0.558
+293	0.554
+294	0.551
+295	0.548
+296	0.545
+297	0.542
+298	0.539
+299	0.537
+300	0.534
+301	0.531
+302	0.529
+303	0.526
+304	0.524
+305	0.521
+306	0.519
+307	0.517
+308	0.514
+309	0.512
+310	0.51
+311	0.508
+312	0.506
+313	0.504
+314	0.502
+315	0.5
+316	0.499
+317	0.497
+318	0.495
+319	0.494
+320	0.492
+321	0.491
+322	0.489
+323	0.488
+324	0.486
+325	0.485
+326	0.484
+327	0.482
+328	0.481
+329	0.48
+330	0.479
+331	0.478
+332	0.477
+333	0.476
+334	0.475
+335	0.474
+336	0.473
+337	0.472
+338	0.471
+339	0.47
+340	0.47
+341	0.469
+342	0.468
+343	0.468
+344	0.467
+345	0.466
+346	0.466
+347	0.465
+348	0.465
+349	0.465
+350	0.464
+351	0.464
+352	0.464
+353	0.463
+354	0.463
+355	0.463
+356	0.463
+357	0.463
+358	0.463
+359	0.463
+360	0.462
+
diff --git a/main.sh b/main.sh
index ec4436f20a673f0d890cf908d5cfbfe730e363ad..2afadcdcab00da37c488ef09301aa4e7c9819fd2 100644
--- a/main.sh
+++ b/main.sh
@@ -1,5 +1,6 @@
 #!usr/bin/bash
-# install gnome-terminal
+
+# config the environment
 if ! [ -x "$(command -v pip)" ]; then
 sudo apt install python-pip
 sleep 1
@@ -7,30 +8,49 @@ pip install numpy
 pip install PyYAML
 sleep 1
 fi
+
 if ! [ -x "$(command -v gnome-terminal)" ]; then
   sudo apt-get update
   sudo apt-get install gnome-terminal
   sleep 1
 fi
-# terminal 0: add object
+
+# make sure we run the scripts in /sim folder
+if ! [ ${PWD##*/} = "sim" ];then
+   mkdir ../sim
+   cp -r . ../sim
+   cd ../sim
+fi
+
+# initialize log files
+if [ -f laserlogs.log ]; then
+    rm -f laserlogs.log
+fi
+
+# add object
 python spawnObjs.py
 sleep 1
+
 # terminal 1: laser server
 gnome-terminal -t "laser server" -x bash -c "cd /home/smr/sim/bash_src/;
 sh laser.sh;exec bash;"
 sleep 1
+
 # terminal 2: run the simulator
 gnome-terminal -t "simulator" -x bash -c "cd /home/smr/sim/bash_src/;
 sh sim.sh;exec bash;"
 sleep 1
+
 # terminal 3: run the client
 gnome-terminal -t "client" -x bash -c "cd /home/smr/sim/bash_src/;
 sh client.sh;exec bash;"
 sleep 1
+
 # terminal 4: run mrc scripts
 gnome-terminal -t "mrc" -x bash -c "cd /home/smr/sim/bash_src/;
 sh mov.sh;exec bash;"
 sleep 1
+
 # terminate
 ## show processes
 echo "processes"
@@ -39,32 +59,31 @@ ps
 while true;do
 echo "Enter 'e' to exit"
 read flag
-echo $flag
-    if [ ! -n "$flag" ]
+if [ ! -n "$flag" ]
+then
+    echo "Invalid input"
+else
+    if [ $flag = 'e' ]
     then
-        echo "Invalid input"
-    else
-        if [ $flag=='e' ]
-        then
-	  ## clean logg files
-          rm -r *.logg
-	  ## restore config files
-          if [ -f 388project_temp ]; then
-	  rm -r 388project
+	## clean logg files
+        rm -r *.logg
+	## restore config files
+        if [ -f 388project_temp ]; then
+	  rm -f 388project
           mv 388project_temp 388project
-	  fi
-	  sleep 1
-          cd mrc_src
-	  if [ -f createWalls_temp ];then
-          rm -r createWalls
+	fi
+	sleep 1
+        cd mrc_src
+	if [ -f createWalls_temp ];then
+          rm -f createWalls
           mv createWalls_temp createWalls
-          fi
-          ## kill all terminal processes
-	  gnome-terminal -t "close client" -x killall -9 qclient
-          gnome-terminal -t "clear all" -x killall -9 bash  
-          break
         fi
+        ## kill all terminal processes
+	gnome-terminal -t "close client" -x killall -9 qclient
+        gnome-terminal -t "clear all" -x killall -9 bash  
+        break
     fi
+fi
 done
 exit 0
 
diff --git a/mrc_src/data.debug b/mrc_src/data.debug
index ac76d3b320ea36537187306f51546bef75854e80..b1713bfb320de0a47507c9ab17e571c4f5036e6c 100644
--- a/mrc_src/data.debug
+++ b/mrc_src/data.debug
@@ -1,6 +1,6 @@
 Debug file for the robot initialization
 ---------------------------------------
-Tue May 26 19:14:40 2020
+Wed May 27 18:58:01 2020
 ---------------------------------------
 
 Module : robotinfo
diff --git a/mrc_src/main b/mrc_src/main
index 8c821e35327decd5d41cd271564cf5ab0665f508..29736c70fee3d7e3ae7b881e9e7e9dae6ab10047 100644
--- a/mrc_src/main
+++ b/mrc_src/main
@@ -18,7 +18,7 @@ gmno = 13
 %% - 1: subtask1, follow the guidemarks
 %% - 2: subtask2, recognize unknown object
 %% - 0: finish the full task, subtask1->subtask2
-task = 1
+task = 2
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
 % prior guidemark information
@@ -76,6 +76,36 @@ gmth[14]=0
 %% get cost for graph planner
 laser "calculatecost"
 
+%% path for detecting the object
+array "dox" 8
+array "doy" 8
+array "doth" 8
+dox[1] = 0.5
+doy[1] = 1.5
+doth[1] = 0
+dox[2] = 1
+doy[2] = 2.5
+doth[2] = -pi/4
+dox[3] = 1.5
+doy[3] = 4
+doth[3] = 0
+dox[4] = 3
+doy[4] = 2.5
+doth[4] = -3*pi/4
+dox[5] = 3.5
+doy[5] = 1.5
+doth[5] = pi
+dox[6] = 3
+doy[6] = 0.5
+doth[6] = 3*pi/4
+dox[7] = 2
+doy[7] = 0.5
+doth[7] = pi/2
+dox[8] = 1
+doy[8] = 0.5
+doth[8] = pi/4
+
+
 %% set initial odopose
 set "$odox" 0
 set "$odoy" 0
@@ -105,7 +135,7 @@ call "backToOrig"
 goto "end"
 case 2
 call "subtask2"
-call "backToOrig"
+%call "backToOrig"
 goto "end"
 %%%%%%%%%%%%%%%%%%%%%%%%%%%%
 
@@ -144,7 +174,32 @@ goto "top"
 % function: subtask2
 % recoggnize unknow objects
 label "subtask2"
+counter = 1
+label "detectLoop"
+xEnd = dox[counter]
+yEnd = doy[counter]
+thEnd = doth[counter]
+wait 0.5
+call "plan"
+counter=counter+1
+if (counter==4) "spPoint"
+wait 1
+laser "zoneobst logOn"
+if (counter<9) "detectLoop"
 return
+label "spPoint"
+fwd -0.32 @v 0.1
+wait 1
+xEnd = 2
+yEnd = 3.4
+thEnd = -pi/2
+call "plan"
+fwd 1 @v 0.1 
+stop
+wait 1
+laser "zoneobst logOn"
+goto "detectLoop"
+
 
 % function: update
 % get the robot position in world coordinates
@@ -278,6 +333,5 @@ laser "scanset logclose"
 laser "odopose log=false"
 return
 
-
 label "end"
 stop
diff --git a/mrc_src/spawnNodes b/mrc_src/spawnNodes
index e62911f612a029a90f22e8ea222ff2c79ed0a519..8d5083683c8100cde5e0124fa2b3497d38d14a19 100644
--- a/mrc_src/spawnNodes
+++ b/mrc_src/spawnNodes
@@ -12,7 +12,7 @@ laser "addpoint pno=5 x=3.5 y=1.5"
 laser "addpoint pno=6 x=4.5 y=1.5"
 laser "addpoint pno=7 x=-0.5 y=2.5"
 laser "addpoint pno=8 x=0.5 y=2.5"
-laser "addpoint pno=9 x=2 y=2"
+laser "addpoint pno=9 x=2 y=2.2"
 laser "addpoint pno=10 x=3.5 y=2.5"
 laser "addpoint pno=11 x=4.5 y=2.5"
 laser "addpoint pno=12 x=-0.5 y=3.5"
@@ -29,13 +29,13 @@ laser "addpoint pno=22 x=3.5 y=4.5"
 laser "addpoint pno=23 x=1.5 y=4"
 laser "addpoint pno=24 x=2.5 y=4"
 laser "addpoint pno=25 x=2 y=0.5"
+laser "addpoint pno=26 x=1 y=2.5"
+laser "addpoint pno=27 x=3 y=2.5"
+laser "addpoint pno=28 x=1 y=0.5"
+laser "addpoint pno=29 x=3 y=0.5"
 
 %%% add connections
-laser "addcon pno1=1 pno2=25"
-laser "addcon pno1=25 pno2=1"
 laser "addcon pno1=1 pno2=4"
-laser "addcon pno1=2 pno2=25"
-laser "addcon pno1=25 pno2=2"
 laser "addcon pno1=2 pno2=5"
 laser "addcon pno1=3 pno2=7"
 laser "addcon pno1=4 pno2=1"
@@ -48,13 +48,13 @@ laser "addcon pno1=7 pno2=8"
 laser "addcon pno1=7 pno2=12"
 laser "addcon pno1=8 pno2=4"
 laser "addcon pno1=8 pno2=7"
-laser "addcon pno1=8 pno2=9"
+%laser "addcon pno1=8 pno2=9"
 laser "addcon pno1=8 pno2=13"
-laser "addcon pno1=9 pno2=8"
-laser "addcon pno1=9 pno2=10"
+%laser "addcon pno1=9 pno2=8"
+%laser "addcon pno1=9 pno2=10"
 laser "addcon pno1=9 pno2=15"
 laser "addcon pno1=10 pno2=5"
-laser "addcon pno1=10 pno2=9"
+%laser "addcon pno1=10 pno2=9"
 laser "addcon pno1=10 pno2=11"
 laser "addcon pno1=10 pno2=17"
 laser "addcon pno1=11 pno2=6"
@@ -81,4 +81,20 @@ laser "addcon pno1=22 pno2=21"
 laser "addcon pno1=19 pno2=23"
 laser "addcon pno1=20 pno2=24"
 laser "addcon pno1=23 pno2=19"
-laser "addcon pno1=24 pno2=20"
\ No newline at end of file
+laser "addcon pno1=24 pno2=20"
+laser "addcon pno1=1 pno2=28"
+laser "addcon pno1=28 pno2=1"
+laser "addcon pno1=28 pno2=25"
+laser "addcon pno1=25 pno2=28"
+laser "addcon pno1=29 pno2=25"
+laser "addcon pno1=25 pno2=29"
+laser "addcon pno1=2 pno2=29"
+laser "addcon pno1=29 pno2=2"
+laser "addcon pno1=8 pno2=26"
+laser "addcon pno1=26 pno2=8"
+laser "addcon pno1=9 pno2=26"
+laser "addcon pno1=26 pno2=9"
+laser "addcon pno1=9 pno2=27"
+laser "addcon pno1=27 pno2=9"
+laser "addcon pno1=10 pno2=27"
+laser "addcon pno1=27 pno2=10"
\ No newline at end of file
diff --git a/nodes.vsdx b/nodes.vsdx
deleted file mode 100644
index abc0c95b3a85d2b2c2c4e7b48143bda3c12787af..0000000000000000000000000000000000000000
Binary files a/nodes.vsdx and /dev/null differ
diff --git a/objectDetect.so.0 b/objectDetect.so.0
new file mode 100644
index 0000000000000000000000000000000000000000..29e6e3d32e4aee191380d538298bf7c045c3c6f9
Binary files /dev/null and b/objectDetect.so.0 differ
diff --git a/spawnLog.log b/spawnLog.log
index 75acc249a89a3ca1fbe31ab0b9c457e85480b323..dcd6a4392d602759a0a936054b417172ad915edc 100644
--- a/spawnLog.log
+++ b/spawnLog.log
@@ -1 +1 @@
-shape: Triangle	center: [[2.57248992 1.74175571]]	width: 0.3	height: 0.2	angle: 2.11407176003
\ No newline at end of file
+shape: Triangle	center: [[2.68476934 1.56584345]]	width: 0.3	height: 0.15	angle: 2.60124991477
\ No newline at end of file
diff --git a/spawnObjs.py b/spawnObjs.py
index 00fc3cd4b92d273f368ed30613940e9fad12b9a5..ee13b7b7e09bf4c8f4780a55cd2bba98bbc03f03 100644
--- a/spawnObjs.py
+++ b/spawnObjs.py
@@ -30,10 +30,6 @@ def read_config(config_path):
         cfg = yaml.load(f.read(), Loader=yaml.FullLoader)
     return cfg or {}
 
-# initialize logfile
-if os.path.exists('./spawnLog.log'):
-    os.remove('./spawnLog.log')
-
 # create temp files for revision
 shutil.copy(PROJ_NAME, PROJ_NAME+'_temp')
 shutil.copy(MRC_NAME, MRC_NAME+'_temp')
@@ -136,7 +132,7 @@ class Trian(MyObj):
 
 def spawn():
     # read confiugrations
-    cfg = read_config('./objConfig.yaml')
+    cfg = read_config('./config/objConfig.yaml')
     RANDOM = cfg['RANDOM']
     INDEX = cfg['INDEX']
     shape_bin = ['Rectangle','Triangle']
@@ -149,12 +145,12 @@ def spawn():
         shape = INDEX//3
         idx = 1-INDEX%2
     if shape:
+        obj = Trian(BOUND, TRIAN_WIDTH[idx], TRIAN_HEIGHT[idx])
+    else:
         # rectangle
         obj = Rect(BOUND, RECT_WIDTH[idx], RECT_HEIGHT[idx])
-    else:
-        obj = Trian(BOUND, TRIAN_WIDTH[idx], TRIAN_HEIGHT[idx])
     # write log files
-    with open('./spawnLog.log', 'a+') as f:
+    with open('./spawnLog.log', 'w') as f:
         f.write('shape: '+shape_bin[shape]+'\tcenter: '+str(obj.origin.reshape((1,-1)))+'\twidth: '+str(obj.width)+'\theight: '+str(obj.height)+'\tangle: '+str(obj.angle))
 
 if __name__ == "__main__":
diff --git a/ufunczoneobst.cpp b/ufunczoneobst.cpp
deleted file mode 100644
index 29f0e9bb1bfb178b816365259ec1beea18a121dd..0000000000000000000000000000000000000000
--- a/ufunczoneobst.cpp
+++ /dev/null
@@ -1,147 +0,0 @@
-/***************************************************************************
- *   Copyright (C) 2005 by Christian Andersen and DTU                      *
- *   jca@oersted.dtu.dk                                                    *
- *                                                                         *
- *   This program is free software; you can redistribute it and/or modify  *
- *   it under the terms of the GNU General Public License as published by  *
- *   the Free Software Foundation; either version 2 of the License, or     *
- *   (at your option) any later version.                                   *
- *                                                                         *
- *   This program is distributed in the hope that it will be useful,       *
- *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
- *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
- *   GNU General Public License for more details.                          *
- *                                                                         *
- *   You should have received a copy of the GNU General Public License     *
- *   along with this program; if not, write to the                         *
- *   Free Software Foundation, Inc.,                                       *
- *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
- ***************************************************************************/
-#include "ufunczoneobst.h"
-
-#ifdef LIBRARY_OPEN_NEEDED
-
-/**
- * This function is needed by the server to create a version of this plugin */
-UFunctionBase * createFunc()
-{ // create an object of this type
-  /** replace 'UFunczoneobst' with your class name */
-  return new UFunczoneobst();
-}
-#endif
-
-bool UFunczoneobst::setResource(UResBase * resource, bool remove) { // load resource as provided by the server (or other plugins)
-	bool result = true;
-
-	if (resource->isA(UResPoseHist::getOdoPoseID())) { // pointer to server the resource that this plugin can provide too
-		// but as there might be more plugins that can provide the same resource
-		// use the provided
-		if (remove)
-			// the resource is unloaded, so reference must be removed
-			poseHist = NULL;
-		else if (poseHist != (UResPoseHist *) resource)
-			// resource is new or is moved, save the new reference
-			poseHist = (UResPoseHist *) resource;
-		else
-			// reference is not used
-			result = false;
-	}
-
-	// other resource types may be needed by base function.
-	result = UFunctionBase::setResource(resource, remove);
-	return result;
-}
-
-
-
-///////////////////////////////////////////////////
-///////////////////////////////////////////////////
-///////////////////////////////////////////////////
-///////////////////////////////////////////////////
-// #define SMRWIDTH 0.4
-bool UFunczoneobst::handleCommand(UServerInMsg * msg, void * extra)
-{  // handle a plugin command
-  const int MRL = 500;
-  char reply[MRL];
-  bool ask4help;
-  const int MVL = 30;
-  char value[MVL];
-  ULaserData * data;
-  double robotwidth;
-  //
-  int i,j,imax;
-  double r,delta;
-  double minRange; // min range in meter
-  // double minAngle = 0.0; // degrees
-//   double d,robotwidth;
-  double zone[9];
-  // check for parameters - one parameter is tested for - 'help'
-  ask4help = msg->tag.getAttValue("help", value, MVL);
-  if (ask4help)
-  { // create the reply in XML-like (html - like) format
-    sendHelpStart(msg, "zoneobst");
-    sendText("--- available zoneobst options\n");
-    sendText("help            This message\n");
-    sendText("fake=F          Fake some data 1=random, 2-4 a fake corridor\n");
-    sendText("device=N        Laser device to use (see: SCANGET help)\n");
-    sendText("see also: SCANGET and SCANSET\n");
-    sendHelpDone();
-  }
-  else
-  { // do some action and send a reply
-    data = getScan(msg, (ULaserData*)extra);
-    // 
-    if (data->isValid())
-    {
-    // check if a attribute (parameter) with name width exists and if so get its value
-       bool gotwidth = msg->tag.getAttValue("width", value, MVL);
-       if (gotwidth) {
-        	robotwidth=strtod(value, NULL);   
-       }
-       else {
-        	robotwidth=0.26;
-      }
-      UPose poseAtScan = poseHist->getPoseAtTime(data->getScanTime());
-      // Gets the odometry pose at the time when the laserscan was taken, poseAtScan.x poseAtScan.y poseAtScan.a (x,y,angle)
-      // make analysis for closest measurement
-      minRange = 1000; // long range in meters
-      imax=data->getRangeCnt();
-      delta=imax/9.0;
-      for (j=0;j<9;j++)
-	 zone[j]=minRange;
-      for(j=0;j<9;j++){
-      for (i = 0+(int)(j*delta); i < (int)((j+1)*delta); i++)
-      { // range are stored as an integer in current units
-	r = data->getRangeMeter(i);
-        if (r >= 0.020)
-        { // less than 20 units is a flag value for URG scanner
-          if (r<zone[j])
-	     zone[j]=r;
-        }
-      }
-      }
-      /* SMRCL reply format */
-      //snprintf(reply, MRL, "<laser l10=\"%g\" l11=\"%g\" l12=\"%g\" l13=\"%g\" l14=\"%g\" "
-      //                            "l15=\"%g\" l16=\"%g\" l17=\"%g\" l18=\"%g\" />\n", 
-      snprintf(reply, MRL, "<laser l1=\"%g\" l1=\"%g\" l2=\"%g\" l3=\"%g\" l4=\"%g\" "
-                                  "l5=\"%g\" l6=\"%g\" l7=\"%g\" l8=\"%g\" />\n", 
-	                  zone[0],zone[1],zone[2],zone[3],zone[4],
-                           zone[5],zone[6],zone[7],zone[8]);
-      // send this string as the reply to the client
-      sendMsg(msg, reply);
-      // save also as gloabl variable
-      for(i = 0; i < 9; i++)
-        var_zone->setValued(zone[i], i);
-    }
-    else
-      sendWarning(msg, "No scandata available");
-  }
-  // return true if the function is handled with a positive result
-  // used if scanpush or push has a count of positive results
-  return true;
-}
-
-void UFunczoneobst::createBaseVar()
-{ // add also a global variable (global on laser scanner server) with latest data
-  var_zone = addVarA("zone", "0 0 0 0 0 0 0 0 0", "d", "Value of each laser zone. Updated by zoneobst.");
-}
diff --git a/ufunczoneobst.h b/ufunczoneobst.h
deleted file mode 100644
index cbb1e90f511f577b2ef96e4ede52ed07df026a72..0000000000000000000000000000000000000000
--- a/ufunczoneobst.h
+++ /dev/null
@@ -1,65 +0,0 @@
-/***************************************************************************
- *   Copyright (C) 2005 by Christian Andersen and DTU                             *
- *   jca@oersted.dtu.dk                                                    *
- *                                                                         *
- *   This program is free software; you can redistribute it and/or modify  *
- *   it under the terms of the GNU General Public License as published by  *
- *   the Free Software Foundation; either version 2 of the License, or     *
- *   (at your option) any later version.                                   *
- *                                                                         *
- *   This program is distributed in the hope that it will be useful,       *
- *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
- *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         *
- *   GNU General Public License for more details.                          *
- *                                                                         *
- *   You should have received a copy of the GNU General Public License     *
- *   along with this program; if not, write to the                         *
- *   Free Software Foundation, Inc.,                                       *
- *   59 Temple Place - Suite 330, Boston, MA  02111-1307, USA.             *
- ***************************************************************************/
-#ifndef UFUNC_MRCOBST_H
-#define UFUNC_MRCOBST_H
-
-#include <cstdlib>
-
-#include <ulms4/ufunclaserbase.h>
-#include <urob4/uresposehist.h>
-
-
-////////////////////////////////////////////////////////
-////////////////////////////////////////////////////////
-////////////////////////////////////////////////////////
-
-/**
- * Laserscanner function to demonstrate
- * simple laser scanner data handling and analysis
- * @author Christian Andersen
-*/
-class UFunczoneobst : public UFuncLaserBase
-{
-public:
-  /**
-  Constructor */
-  UFunczoneobst()
-  { // set the command (or commands) handled by this plugin
-    setCommand("zoneobst", "zoneobstif", "obstacle detect for MRC (Compiled " __DATE__ " " __TIME__ ")");
-    createBaseVar();
-  }
-  virtual bool setResource(UResBase * resource, bool remove);
-  /**
-  Handle incomming command
-  (intended for command separation)
-  Must return true if the function is handled -
-  otherwise the client will get a failed - reply */
-  virtual bool handleCommand(UServerInMsg * msg, void * extra);
-  
-  protected:
-    void createBaseVar();
-    UVariable *var_zone;
-    UResPoseHist * poseHist;
-};
-
-
-
-#endif
-
diff --git a/ulmsserver.ini b/ulmsserver.ini
index 3e2a76532d0d3bd1ea2a5dd2030d8aa72a73692f..d08c8efc88d47994eb8c0bf16cbc4acfbe708155 100644
--- a/ulmsserver.ini
+++ b/ulmsserver.ini
@@ -36,7 +36,8 @@ scanset log=used
 ## log navigation module
 module load="aupoly.so.0"
 module load="aulocalize.so.0"
-module load='auplan.so.0'
+module load="auplan.so.0"
+module load="objectDetect.so.0"
 ## initialize graph planner
 resetplanner
 ## set Kalman parameters