diff --git a/mycobot_280/mycobot_280jn/config/mycobot_jn.rviz b/mycobot_280/mycobot_280jn/config/mycobot_jn.rviz
old mode 100644
new mode 100755
diff --git a/mycobot_280/mycobot_280jn/config/mycobot_with_marker.rviz b/mycobot_280/mycobot_280jn/config/mycobot_with_marker.rviz
old mode 100644
new mode 100755
diff --git a/mycobot_280/mycobot_280jn/launch/detect_marker.launch b/mycobot_280/mycobot_280jn/launch/detect_marker.launch
old mode 100644
new mode 100755
diff --git a/mycobot_280/mycobot_280jn/launch/detect_marker_with_topic.launch b/mycobot_280/mycobot_280jn/launch/detect_marker_with_topic.launch
old mode 100644
new mode 100755
diff --git a/mycobot_280/mycobot_280jn/launch/mycobot_follow.launch b/mycobot_280/mycobot_280jn/launch/mycobot_follow.launch
old mode 100644
new mode 100755
diff --git a/mycobot_280/mycobot_280jn/launch/simple_gui.launch b/mycobot_280/mycobot_280jn/launch/simple_gui.launch
old mode 100644
new mode 100755
diff --git a/mycobot_280/mycobot_280jn/launch/slider_control.launch b/mycobot_280/mycobot_280jn/launch/slider_control.launch
old mode 100644
new mode 100755
diff --git a/mycobot_280/mycobot_280jn/launch/teleop_keyboard.launch b/mycobot_280/mycobot_280jn/launch/teleop_keyboard.launch
old mode 100644
new mode 100755
diff --git a/mycobot_280/mycobot_280jn/launch/test.launch b/mycobot_280/mycobot_280jn/launch/test.launch
old mode 100644
new mode 100755
diff --git a/mycobot_280/mycobot_280jn/src/camera_display.cpp b/mycobot_280/mycobot_280jn/src/camera_display.cpp
old mode 100644
new mode 100755
diff --git a/mycobot_280/mycobot_280jn/src/opencv_camera.cpp b/mycobot_280/mycobot_280jn/src/opencv_camera.cpp
old mode 100644
new mode 100755
diff --git a/mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_gripper_parallel.urdf b/mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_gripper_parallel.urdf
index 3a7395b..24af1e5 100644
--- a/mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_gripper_parallel.urdf
+++ b/mycobot_description/urdf/mycobot_280_m5/mycobot_280m5_with_gripper_parallel.urdf
@@ -169,7 +169,7 @@
       <geometry>
        <mesh filename="package://mycobot_description/urdf/mycobot_280_m5/gripper_left1.dae"/>
       </geometry>
-        <origin xyz = "-0.039 -0.0133 -0.012 " rpy = " 0 0 0"/>
+        <origin xyz = "0.039 -0.0133 -0.012 " rpy = " 0 0 0"/>
     </collision>
   </link>
 
@@ -184,7 +184,7 @@
       <geometry>
        <mesh filename="package://mycobot_description/urdf/mycobot_280_m5/gripper_left2.dae"/>
       </geometry>
-        <origin xyz = "-0.005 -0.0195 -0.012 " rpy = " 0 0 0"/>
+        <origin xyz = "0.005 -0.0195 -0.012 " rpy = " 0 0 0"/>
     </collision>
   </link>
 
@@ -194,14 +194,12 @@
        <mesh filename="package://mycobot_description/urdf/mycobot_280_m5/gripper_left3.dae"/>
       </geometry>
     <origin xyz = "0.012 0.0025 -0.012 " rpy = " 0 0 0"/>
-    <!-- <origin xyz = "0.0 0 0 " rpy = " 0 0 0"/> -->
-
     </visual>
     <collision>
       <geometry>
        <mesh filename="package://mycobot_description/urdf/mycobot_280_m5/gripper_left3.dae"/>
       </geometry>
-    <origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
+    <origin xyz = "0.012 0.0025 -0.012 " rpy = " 0 0 0"/>
     </collision>
   </link>
 
@@ -267,7 +265,6 @@
     <origin xyz= "0 0 0.13156" rpy = "0 0 0"/>  
   </joint>
 
-
   <joint name="joint3_to_joint2" type="revolute">
     <axis xyz="0 0 1"/>
     <limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
@@ -276,7 +273,6 @@
     <origin xyz= "0 0  0" rpy = "0 1.5708 -1.5708"/>  
   </joint>
 
-
   <joint name="joint4_to_joint3" type="revolute">
     <axis xyz=" 0 0 1"/>
     <limit effort = "1000.0" lower = "-2.879793" upper = "2.879793" velocity = "0"/>
@@ -310,12 +306,12 @@
     <origin xyz= "0 0.0456 0" rpy = "-1.5708 0 0"/>  
   </joint>
 
+
   <joint name="joint6output_to_gripper_base" type="fixed">
     <!-- <axis xyz="0 0 1"/>
     <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/> -->
     <parent link="joint6_flange"/>
     <child link="gripper_base"/>
-    <!-- <origin xyz= "0 0.0 0" rpy = "-1.5708 0 0"/>   -->
     <origin xyz= "0 0 0.034" rpy = "1.579 0 0"/>  
   </joint>
 
@@ -346,7 +342,6 @@
     <mimic joint="gripper_controller" multiplier="-1.0" offset="0" />
   </joint>
 
-
   <joint name="gripper_base_to_gripper_right3" type="revolute">
     <axis xyz="0 0 1"/>
     <limit effort = "1000.0" lower = "-0.15" upper = "0.7" velocity = "0"/>
@@ -373,6 +368,6 @@
     <origin xyz= "0.027 0.016 0" rpy = "0 0 0"/> 
     <mimic joint="gripper_controller" multiplier="1.0" offset="0" />
   </joint>
-
+  
 </robot>