diff --git a/CMakeLists.txt b/CMakeLists.txt
index 86d90cb..a17e800 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -9,6 +9,7 @@ catkin_package()
 ## in contrast to setup.py, you can choose the destination
 catkin_install_python(PROGRAMS
    teleop_twist_keyboard.py
+   teleop_twist_keyboard_6D.py
    DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
 )
 
diff --git a/README.md b/README.md
index 1b0dd84..2d2f764 100644
--- a/README.md
+++ b/README.md
@@ -1,4 +1,4 @@
-# teleop_twist_keyboard
+# teleop_twist_keyboard [deprecated, to be deleted]
 Generic Keyboard Teleop for ROS
 
 # Launch
diff --git a/teleop_twist_keyboard_6D.py b/teleop_twist_keyboard_6D.py
new file mode 100755
index 0000000..ed465d1
--- /dev/null
+++ b/teleop_twist_keyboard_6D.py
@@ -0,0 +1,162 @@
+#!/usr/bin/env python
+
+from __future__ import print_function
+
+import roslib; roslib.load_manifest('teleop_twist_keyboard')
+import rospy
+
+from geometry_msgs.msg import Twist, TwistStamped
+
+import sys, select, termios, tty
+
+msg = """
+Reading from the keyboard  and Publishing to TwistStamped!
+---------------------------
+Moving around:
+   u    i    o
+   j    k    l
+   m    ,    .
+
+For Holonomic mode (strafing), hold down the shift key:
+---------------------------
+   U    I    O
+   J    K    L
+   M    <    >
+
+t : up (+z)
+b : down (-z)
+
+For Holonomic mode (strafing), hold down the shift key:
+---------------------------
+        8     
+   4    5    6
+        2    
+
+7 : roll left (-x)
+9 : roll right (+x)
+
+anything else : stop
+
+q/z : increase/decrease max speeds by 10%
+w/x : increase/decrease only linear speed by 10%
+e/c : increase/decrease only angular speed by 10%
+
+CTRL-C to quit
+"""
+
+moveBindings = {
+        # [Translation] Basic moving mode 
+        'i':(1,0,0,0,0,0),
+        'o':(1,0,0,0,0,-1),
+        'j':(0,0,0,0,0,1),
+        'l':(0,0,0,0,0,-1),
+        'u':(1,0,0,0,0,1),
+        ',':(-1,0,0,0,0,0),
+        '.':(-1,0,0,0,0,1),
+        'm':(-1,0,0,0,0,-1),
+        # [Translation] Holonomic moving mode
+        'O':(1,-1,0,0,0,0),
+        'I':(1,0,0,0,0,0),
+        'J':(0,1,0,0,0,0),
+        'L':(0,-1,0,0,0,0),
+        'U':(1,1,0,0,0,0),
+        '<':(-1,0,0,0,0,0),
+        '>':(-1,-1,0,0,0,0),
+        'M':(-1,1,0,0,0,0),
+        # [Translation] height change
+        't':(0,0,1,0,0,0),
+        'b':(0,0,-1,0,0,0),
+        # [Orientation]
+        '8':(0,0,0,0,1,0),
+        '2':(0,0,0,0,-1,0),
+        '4':(0,0,0,0,0,1),
+        '6':(0,0,0,0,0,-1),
+        '7':(0,0,0,-1,0,0),
+        '9':(0,0,0,1,0,0),         
+    }
+
+speedBindings={
+        'q':(1.1,1.1),
+        'z':(.9,.9),
+        'w':(1.1,1),
+        'x':(.9,1),
+        'e':(1,1.1),
+        'c':(1,.9),
+    }
+
+def getKey():
+    tty.setraw(sys.stdin.fileno())
+    select.select([sys.stdin], [], [], 0)
+    key = sys.stdin.read(1)
+    termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
+    return key
+
+
+def vels(speed,turn):
+    return "currently:\tspeed %s\tturn %s " % (speed,turn)
+
+if __name__=="__main__":
+    settings = termios.tcgetattr(sys.stdin)
+
+    pub = rospy.Publisher('CartesianVelocityMove', TwistStamped, queue_size = 1)
+    rospy.init_node('teleop_twist_keyboard')
+
+    speed = rospy.get_param("~speed", 0.01)
+    turn = rospy.get_param("~turn", 0.05)
+    x = 0
+    y = 0
+    z = 0
+    roll = 0
+    pitch = 0
+    yaw = 0
+    status = 0
+
+    try:
+        print(msg)
+        print(vels(speed,turn))
+        while(1):
+            key = getKey()
+            if key in moveBindings.keys():
+                x = moveBindings[key][0]
+                y = moveBindings[key][1]
+                z = moveBindings[key][2]
+                roll = moveBindings[key][3]
+                pitch = moveBindings[key][4]
+                yaw = moveBindings[key][5]
+            elif key in speedBindings.keys():
+                speed = speed * speedBindings[key][0]
+                turn = turn * speedBindings[key][1]
+
+                print(vels(speed,turn))
+                if (status == 14):
+                    print(msg)
+                status = (status + 1) % 15
+            else:
+                x = 0
+                y = 0
+                z = 0
+                roll = 0
+                pitch = 0
+                yaw = 0
+                if (key == '\x03'):
+                    break
+
+            twist = Twist()
+            twist.linear.x = x*speed; twist.linear.y = y*speed; twist.linear.z = z*speed;
+            twist.angular.x = roll*turn; twist.angular.y = pitch*turn; twist.angular.z = yaw*turn
+            twist_pub = TwistStamped()
+            twist_pub.twist = twist
+            pub.publish(twist_pub)
+
+    except Exception as e:
+        print(e)
+
+    finally:
+        twist = Twist()
+        twist.linear.x = 0; twist.linear.y = 0; twist.linear.z = 0
+        twist.angular.x = 0; twist.angular.y = 0; twist.angular.z = 0
+        twist_pub = TwistStamped()
+        twist_pub.twist = twist
+        pub.publish(twist_pub)
+
+        termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)