diff --git a/rbs_mill_assist/CMakeLists.txt b/rbs_mill_assist/CMakeLists.txt
index 62423de..ce3bc50 100644
--- a/rbs_mill_assist/CMakeLists.txt
+++ b/rbs_mill_assist/CMakeLists.txt
@@ -16,6 +16,7 @@ DESTINATION share/${PROJECT_NAME})
 add_subdirectory(src)
 add_subdirectory(scripts)
 add_subdirectory(bt)
+add_subdirectory(utils)
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)
diff --git a/rbs_mill_assist/utils/CMakeLists.txt b/rbs_mill_assist/utils/CMakeLists.txt
new file mode 100644
index 0000000..e69de29
diff --git a/rbs_mill_assist/utils/include/ps_manager.hpp b/rbs_mill_assist/utils/include/ps_manager.hpp
new file mode 100644
index 0000000..89c776f
--- /dev/null
+++ b/rbs_mill_assist/utils/include/ps_manager.hpp
@@ -0,0 +1,27 @@
+
+#include <rclcpp/node_options.hpp>
+#include <rclcpp/rclcpp.hpp>
+#include <rclcpp_action/rclcpp_action.hpp>
+#include <geometry_msgs/msg/pose.hpp>
+#include <moveit_msgs/msg/collision_object.hpp>
+#include <shape_msgs/msg/solid_primitive.hpp>
+#include <geometry_msgs/msg/quaternion.hpp>
+// #include "rbs_mill_interfaces/msg/
+
+
+namespace rbs_mill_utils {
+
+class ObjectManager : public rclcpp::Node {
+
+  public:
+
+  ObjectManager(const rclcpp::NodeOptions options);
+
+  private:
+
+  void attachDetachCallback();
+
+};
+
+
+}
diff --git a/rbs_mill_assist/utils/src/ps_manager.cpp b/rbs_mill_assist/utils/src/ps_manager.cpp
new file mode 100644
index 0000000..e69de29
diff --git a/rbs_mill_assist/world/inc/from_places.xacro b/rbs_mill_assist/world/inc/from_places.xacro
index 323a60f..3eceda5 100644
--- a/rbs_mill_assist/world/inc/from_places.xacro
+++ b/rbs_mill_assist/world/inc/from_places.xacro
@@ -5,24 +5,46 @@
     <xacro:if value="${models}">
       <xacro:property name="model" value="${models.pop(0)}" />
       <xacro:model model_name="${model['name']}" static="true">
-        <pose>
-          ${model["pose"]["position"]["x"]}
-          ${model["pose"]["position"]["y"]}
-          ${model["pose"]["position"]["z"]}
-          
-          <xacro:if value="${'orientation' in model['pose']}">
-            <xacro:property name="orientation" value="${model['pose']['orientation']}"/>
-            <xacro:if value="${'r' in orientation and 'p' in orientation and 'y' in orientation}">
-              ${orientation['r']}
-              ${orientation['p']}
-              ${orientation['y']}
+        <xacro:if value="${model.get('relative_to', None) is not None}" >
+          <pose relative_to="${model['relative_to']}">
+            ${model["pose"]["position"]["x"]}
+            ${model["pose"]["position"]["y"]}
+            ${model["pose"]["position"]["z"]}
+            
+            <xacro:if value="${'orientation' in model['pose']}">
+              <xacro:property name="orientation" value="${model['pose']['orientation']}"/>
+              <xacro:if value="${'r' in orientation and 'p' in orientation and 'y' in orientation}">
+                ${orientation['r']}
+                ${orientation['p']}
+                ${orientation['y']}
+              </xacro:if>
             </xacro:if>
-          </xacro:if>
-          
-          <xacro:unless value="${'orientation' in model['pose']}">
-            0 0 0
-          </xacro:unless>
-        </pose>
+            
+            <xacro:unless value="${'orientation' in model['pose']}">
+              0 0 0
+            </xacro:unless>
+          </pose>
+        </xacro:if>
+        <xacro:unless value="${model.get('relative_to', None) is not None}">
+          <pose>
+            ${model["pose"]["position"]["x"]}
+            ${model["pose"]["position"]["y"]}
+            ${model["pose"]["position"]["z"]}
+            
+            <xacro:if value="${'orientation' in model['pose']}">
+              <xacro:property name="orientation" value="${model['pose']['orientation']}"/>
+              <xacro:if value="${'r' in orientation and 'p' in orientation and 'y' in orientation}">
+                ${orientation['r']}
+                ${orientation['p']}
+                ${orientation['y']}
+              </xacro:if>
+            </xacro:if>
+            
+            <xacro:unless value="${'orientation' in model['pose']}">
+              0 0 0
+            </xacro:unless>
+          </pose>
+        </xacro:unless>
       </xacro:model>
       <xacro:from_places />
     </xacro:if>
diff --git a/rbs_mill_assist/world/inc/generate_shildiks.xacro b/rbs_mill_assist/world/inc/generate_shildiks.xacro
index 2f271c8..fafb75f 100644
--- a/rbs_mill_assist/world/inc/generate_shildiks.xacro
+++ b/rbs_mill_assist/world/inc/generate_shildiks.xacro
@@ -6,26 +6,27 @@
       <xacro:if value="${index &lt; len(ref_frames)}">
         <!-- Extract the slot by index -->
         <xacro:property name="slot" value="${ref_frames[index]}" />
+          <!-- If slot exist in ref_pose name-->
+          <xacro:if value="${'slot' in slot['name']}">
+            <xacro:model model_name="shildik" scene_name="shildik${count}">
+              <xacro:if value="${slot['relative_to'] is not None}">
+                <pose relative_to="${slot['relative_to']}">
+                  ${slot["pose"]["position"]["x"]} ${slot["pose"]["position"]["y"]} ${slot["pose"]["position"]["z"] + z_offset} ${rpy}
+                </pose>
+              </xacro:if>
+              <xacro:unless value="${slot['relative_to'] is not None}">
+                <pose>${slot["pose"]["position"]["x"]} ${slot["pose"]["position"]["y"]} ${slot["pose"]["position"]["z"] + z_offset} ${rpy}</pose>
+              </xacro:unless>
+            </xacro:model>
 
-        <xacro:model model_name="shildik" scene_name="shildik${count}">
-          <xacro:if value="${slot['relative_to'] is not None}">
-            <pose relative_to="${slot['relative_to']}">
-              ${slot["pose"]["position"]["x"]} ${slot["pose"]["position"]["y"]} ${slot["pose"]["position"]["z"] + z_offset} ${rpy}
-            </pose>
+            <!-- Recursive call for the next slot -->
+            <xacro:shildiks_to_bunker 
+              count="${count - 1}" 
+              ref_frames="${ref_frames}" 
+              index="${index + 1}" 
+              rpy="${rpy}" 
+              z_offset="${z_offset}" />
           </xacro:if>
-          <xacro:unless value="${slot['relative_to'] is not None}">
-            <pose>${slot["pose"]["position"]["x"]} ${slot["pose"]["position"]["y"]} ${slot["pose"]["position"]["z"] + z_offset} ${rpy}</pose>
-          </xacro:unless>
-        </xacro:model>
-
-        <!-- Recursive call for the next slot -->
-        <xacro:shildiks_to_bunker 
-          count="${count - 1}" 
-          ref_frames="${ref_frames}" 
-          index="${index + 1}" 
-          rpy="${rpy}" 
-          z_offset="${z_offset}"
-        />
       </xacro:if>
 
       <!-- If slots are finished, increase z_offset and start over -->
diff --git a/rbs_mill_assist/world/world.sdf b/rbs_mill_assist/world/world.sdf
new file mode 100644
index 0000000..d326853
--- /dev/null
+++ b/rbs_mill_assist/world/world.sdf
@@ -0,0 +1,46 @@
+<?xml version="1.0" ?><!-- =================================================================================== --><!-- |    This document was autogenerated by xacro from /home/narenmak/rbs_ws/install/rbs_mill_assist/share/rbs_mill_assist/world/world.xacro | --><!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | --><!-- =================================================================================== --><sdf version="1.7"><world name="rbs_freazer_world"><scene><ambient>1.0 1.0 1.0</ambient><grid>false</grid></scene><physics name="1ms" type="ignored"><max_step_size>0.001</max_step_size><real_time_factor>1.0</real_time_factor></physics><plugin filename="gz-sim-physics-system" name="gz::sim::systems::Physics"><engine><filename>gz-physics-dartsim-plugin</filename></engine></plugin><plugin filename="gz-sim-sensors-system" name="gz::sim::systems::Sensors"><render_engine>ogre2</render_engine></plugin><plugin filename="gz-sim-user-commands-system" name="gz::sim::systems::UserCommands">
+    </plugin><plugin filename="gz-sim-scene-broadcaster-system" name="gz::sim::systems::SceneBroadcaster">
+    </plugin><plugin filename="gz-sim-contact-system" name="gz::sim::systems::Contact">
+    </plugin><light name="sun" type="directional"><cast_shadows>false</cast_shadows><pose>0 0 10 0 0 0</pose><diffuse>0.8 0.8 0.8 1</diffuse><specular>0.2 0.2 0.2 1</specular><attenuation><range>1000</range><constant>0.9</constant><linear>0.01</linear><quadratic>0.001</quadratic></attenuation><direction>-0.5 0.1 -0.9</direction></light><include><name>shildik5</name><static>False</static><pose relative_to="bunker_4_slots">
+                  0.0 0.066 0.01 0 0 0
+                </pose><uri>model://shildik</uri></include><include><name>shildik4</name><static>False</static><pose relative_to="bunker_4_slots">
+                  0.0 0.022 0.01 0 0 0
+                </pose><uri>model://shildik</uri></include><include><name>shildik3</name><static>False</static><pose relative_to="bunker_4_slots">
+                  0.0 -0.022 0.01 0 0 0
+                </pose><uri>model://shildik</uri></include><include><name>shildik2</name><static>False</static><pose relative_to="bunker_4_slots">
+                  0.0 -0.066 0.01 0 0 0
+                </pose><uri>model://shildik</uri></include><include><name>bunker</name><static>True</static><pose>
+            -0.31
+            0.25
+            0.0
+            
+            
+                0.0
+                0.0
+                1.57
+              </pose><uri>model://bunker</uri></include><include><name>bunker_4_slots</name><static>True</static><pose>
+            -0.15
+            0.25
+            0.0
+            
+            
+                0.0
+                0.0
+                1.57
+              </pose><uri>model://bunker_4_slots</uri></include><include><name>conductor</name><static>True</static><pose>
+            0.22
+            -0.17
+            0.01
+            
+            
+              0 0 0
+            </pose><uri>model://conductor</uri></include><include><name>laser</name><static>True</static><pose>
+            0.25
+            -0.17
+            0.0
+            
+            
+                0.0
+                0.0
+                3.14159
+              </pose><uri>model://laser</uri></include><!----><!-- <xacro:model model_name="laser" static="true"> --><!--   <pose>0.350 -0.170 0 0 0 3.14159</pose> --><!-- </xacro:model> --><!----><!-- <xacro:model model_name="bunker" static="true"> --><!--   <pose>-0.310 0.250 0.0 0.0 0.0 1.57</pose> --><!-- </xacro:model> --><!----><!-- <xacro:model model_name="bunker_4_slots" static="true"> --><!--   <pose>-0.150 0.250 0 0 0 1.57</pose> --><!-- </xacro:model> --><!----><!-- <xacro:model model_name="conductor" static="true"> --><!--   <pose>0.350 -0.170 0.01 0 0 1.57</pose> --><!-- </xacro:model> --><model name="rgbd_camera"><pose>0 -0.93 0.42 0 0.4 1.81</pose><static>1</static><link name="rgbd_camera_link"><visual name="visual"><pose>0 0 0 0 0 0</pose><geometry><box><size>0.01 0.01 0.01</size></box></geometry><material><ambient>0 0 0 1</ambient><diffuse>0 0 0 1</diffuse><specular>0 0 0 1</specular></material></visual><collision name="collision"><pose>0 0 0 0 0 0</pose><geometry><box><size>0.01 0.01 0.01</size></box></geometry></collision><sensor name="rgbd_camera_sensor" type="rgbd_camera"><camera><horizontal_fov>1.047</horizontal_fov><image><width>1920</width><height>1080</height><format>R8G8B8</format></image><clip><near>0.1</near><far>3</far></clip><depth_camera><output>depth</output></depth_camera></camera><always_on>1</always_on><update_rate>30</update_rate><visualize>true</visualize><topic>/rgbd_camera/image</topic><enable_metrics>true</enable_metrics></sensor></link></model><model name="table"><static>1</static><link name="table_link"><pose>0 0 -0.40000000000000002 0 0 0</pose><inertial><pose>0 0 0 0 0 0</pose><mass>10</mass><inertia><ixx>4.708333333333333</ixx><ixy>0</ixy><ixz>0</ixz><iyy>8.6666666666666661</iyy><iyz>0</iyz><izz>8.0416666666666661</izz></inertia></inertial><collision name="table_link_collision"><density>1000</density><pose>0 0 0 0 0 0</pose><geometry><box><size>1.2 0.69999999999999996 0.80000000000000004</size></box></geometry><surface><friction><ode><mu>1.0</mu><mu2>1.0</mu2></ode></friction><bounce/><contact><ode><soft_cfm>0.00001</soft_cfm><soft_erp>0.8</soft_erp><kp>1e5</kp><kd>1e3</kd></ode></contact></surface></collision><visual name="table_link_visual"><pose>0 0 0 0 0 0</pose><geometry><box><size>1.2 0.69999999999999996 0.80000000000000004</size></box></geometry><material><diffuse>0.6 0.4 0.2 1</diffuse><ambient>0.6 0.4 0.2 1</ambient><specular>0.1 0.1 0.1 1</specular><emissive>0 0 0 1</emissive></material></visual><enable_wind>false</enable_wind></link></model></world></sdf>
\ No newline at end of file
diff --git a/rbs_mill_assist/world/world_macro.xacro b/rbs_mill_assist/world/world_macro.xacro
index d7647d9..471b60f 100644
--- a/rbs_mill_assist/world/world_macro.xacro
+++ b/rbs_mill_assist/world/world_macro.xacro
@@ -24,7 +24,7 @@
       <xacro:light />
 
 
-      <xacro:property name="yaml_file" value="$(find rbs_mill_assist)/world/config/slots.yaml" />
+      <xacro:property name="yaml_file" value="$(find rbs_mill_assist)/world/config/ref_frames.yaml" />
       <xacro:property name="slots" value="${xacro.load_yaml(yaml_file)}" />
 
       <xacro:shildiks_to_bunker
diff --git a/rbs_mill_interfaces/CMakeLists.txt b/rbs_mill_interfaces/CMakeLists.txt
new file mode 100644
index 0000000..ac47416
--- /dev/null
+++ b/rbs_mill_interfaces/CMakeLists.txt
@@ -0,0 +1,31 @@
+cmake_minimum_required(VERSION 3.8)
+project(rbs_mill_interfaces)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(geometry_msgs REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+    "msg/GraspingPose.msg"
+    "srv/GetGraspingPose.srv"
+    DEPENDENCIES geometry_msgs
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
diff --git a/rbs_mill_interfaces/LICENSE b/rbs_mill_interfaces/LICENSE
new file mode 100644
index 0000000..d645695
--- /dev/null
+++ b/rbs_mill_interfaces/LICENSE
@@ -0,0 +1,202 @@
+
+                                 Apache License
+                           Version 2.0, January 2004
+                        http://www.apache.org/licenses/
+
+   TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+   1. Definitions.
+
+      "License" shall mean the terms and conditions for use, reproduction,
+      and distribution as defined by Sections 1 through 9 of this document.
+
+      "Licensor" shall mean the copyright owner or entity authorized by
+      the copyright owner that is granting the License.
+
+      "Legal Entity" shall mean the union of the acting entity and all
+      other entities that control, are controlled by, or are under common
+      control with that entity. For the purposes of this definition,
+      "control" means (i) the power, direct or indirect, to cause the
+      direction or management of such entity, whether by contract or
+      otherwise, or (ii) ownership of fifty percent (50%) or more of the
+      outstanding shares, or (iii) beneficial ownership of such entity.
+
+      "You" (or "Your") shall mean an individual or Legal Entity
+      exercising permissions granted by this License.
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+
+      "Work" shall mean the work of authorship, whether in Source or
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+      "Derivative Works" shall mean any work, whether in Source or Object
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+      editorial revisions, annotations, elaborations, or other modifications
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+   2. Grant of Copyright License. Subject to the terms and conditions of
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+      replaced with your own identifying information. (Don't include
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+      comment syntax for the file format. We also recommend that a
+      file or class name and description of purpose be included on the
+      same "printed page" as the copyright notice for easier
+      identification within third-party archives.
+
+   Copyright [yyyy] [name of copyright owner]
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+       http://www.apache.org/licenses/LICENSE-2.0
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.
diff --git a/rbs_mill_interfaces/msg/GraspingPose.msg b/rbs_mill_interfaces/msg/GraspingPose.msg
new file mode 100644
index 0000000..74631dd
--- /dev/null
+++ b/rbs_mill_interfaces/msg/GraspingPose.msg
@@ -0,0 +1,4 @@
+geometry_msgs/Pose pose
+geometry_msgs/Pose pre_pose
+geometry_msgs/Pose post_pose
+
diff --git a/rbs_mill_interfaces/package.xml b/rbs_mill_interfaces/package.xml
new file mode 100644
index 0000000..f0e73db
--- /dev/null
+++ b/rbs_mill_interfaces/package.xml
@@ -0,0 +1,23 @@
+<?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>rbs_mill_interfaces</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="ur.narmak@gmail.com">narenmak</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <depend>geometry_msgs</depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/rbs_mill_interfaces/srv/AttachDetachObject.srv b/rbs_mill_interfaces/srv/AttachDetachObject.srv
new file mode 100644
index 0000000..e69de29
diff --git a/rbs_mill_interfaces/srv/GetGraspingPose.srv b/rbs_mill_interfaces/srv/GetGraspingPose.srv
new file mode 100644
index 0000000..9e8c03e
--- /dev/null
+++ b/rbs_mill_interfaces/srv/GetGraspingPose.srv
@@ -0,0 +1,8 @@
+string pose_name
+string relative_to
+string action_type
+---
+rbs_mill_interfaces/GraspingPose grasp_poses
+rbs_mill_interfaces/GraspingPose place_poses
+bool ok
+