diff --git a/scripts/follow_and_pump.py b/scripts/follow_and_pump.py
index b2fc2dd..0bf6b15 100755
--- a/scripts/follow_and_pump.py
+++ b/scripts/follow_and_pump.py
@@ -80,7 +80,7 @@ def grippercallback(data):
 
         x -= x_offset
         y -= y_offset
-        pub_coords(x, y, 280)
+        pub_coords(x-20, y, 280)
         time.sleep(.1)
 
         temp_x, temp_y, temp_z = x, y, z
@@ -91,7 +91,7 @@ def grippercallback(data):
         # detect heigth + pump height + limit height + offset
         x += x_offset
         y += y_offset
-        z = z  + 88 + 25 + z_offset
+        z = z  + 88  + z_offset
 
 
         pub_coords(x, y, z)
diff --git a/scripts/slider_control.py b/scripts/slider_control.py
index 3da56fa..bb2db53 100755
--- a/scripts/slider_control.py
+++ b/scripts/slider_control.py
@@ -14,7 +14,7 @@ mc = None
 
 def callback(data):
     #rospy.loginfo(rospy.get_caller_id() + "%s", data.position)
-    # print(data.position)
+    print(data.position)
     data_list = []
     for index, value in enumerate(data.position):
         data_list.append(value)
diff --git a/urdf/320_urdf/mycobot_pro_320.urdf b/urdf/320_urdf/mycobot_pro_320.urdf
index c96a6b0..0e4d90d 100644
--- a/urdf/320_urdf/mycobot_pro_320.urdf
+++ b/urdf/320_urdf/mycobot_pro_320.urdf
@@ -43,9 +43,9 @@
       <origin xyz = "0 0 0.0587 " rpy = " 0 0 3.1415926"/>
     </visual>
     <collision>
-     <origin xyz = "0.04 0 0.095 " rpy = " 0 -1.5708 0"/>
+     <origin xyz = "0.07 0 0.095 " rpy = " 0 -1.5708 0"/>
       <geometry>
-        <cylinder length="0.21" radius="0.036"/>
+        <cylinder length="0.18" radius="0.036"/>
       </geometry>
     </collision>
   </link>
@@ -59,9 +59,9 @@
       <origin xyz = "0 0 0.038 " rpy = " 0 0 3.1415926"/>
     </visual>
     <collision>
-      <origin xyz = "0.034 0 0 " rpy = " 0 -1.5708 0"/>
+      <origin xyz = "0.044 0 0 " rpy = " 0 -1.5708 0"/>
       <geometry>
-        <cylinder length="0.119" radius="0.0305"/>
+        <cylinder length="0.14" radius="0.0305"/>
       </geometry>
     </collision>
   </link>
@@ -76,9 +76,9 @@
       <origin xyz = "0 -0.001 0 " rpy = " 0 0 0"/>
     </visual>
     <collision>
-      <origin xyz = "0.0 -0.012 0 " rpy = " 0 -1.5708 1.5708"/>
+      <origin xyz = "0.0 -0.014 0 " rpy = " 0 -1.5708 1.5708"/>
       <geometry>
-        <cylinder length="0.085" radius="0.029"/>
+        <cylinder length="0.083" radius="0.029"/>
       </geometry>
     </collision>
   </link>