diff --git a/myArm/myarm_c650/config/myarm.rviz b/myArm/myarm_c650/config/myarm_c650.rviz
similarity index 83%
rename from myArm/myarm_c650/config/myarm.rviz
rename to myArm/myarm_c650/config/myarm_c650.rviz
index b237a4d..d999386 100755
--- a/myArm/myarm_c650/config/myarm.rviz
+++ b/myArm/myarm_c650/config/myarm_c650.rviz
@@ -10,7 +10,7 @@ Panels:
         - /TF1
         - /TF1/Frames1
       Splitter Ratio: 0.5
-    Tree Height: 603
+    Tree Height: 523
   - Class: rviz/Selection
     Name: Selection
   - Class: rviz/Tool Properties
@@ -69,6 +69,11 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
+        endeffector:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
         joint1:
           Alpha: 1
           Show Axes: false
@@ -94,16 +99,6 @@ Visualization Manager:
           Show Axes: false
           Show Trail: false
           Value: true
-        joint6:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        joint7:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
       Name: RobotModel
       Robot Description: robot_description
       TF Prefix: ""
@@ -125,25 +120,23 @@ Visualization Manager:
       Filter (whitelist): ""
       Frame Timeout: 15
       Frames:
-        All Enabled: true
+        All Enabled: false
         base:
           Value: true
+        endeffector:
+          Value: false
         joint1:
-          Value: true
+          Value: false
         joint2:
-          Value: true
+          Value: false
         joint3:
-          Value: true
+          Value: false
         joint4:
-          Value: true
+          Value: false
         joint5:
-          Value: true
-        joint6:
-          Value: true
-        joint7:
-          Value: true
+          Value: false
       Marker Alpha: 1
-      Marker Scale: 0.20000000298023224
+      Marker Scale: 0.5
       Name: TF
       Show Arrows: true
       Show Axes: true
@@ -155,9 +148,8 @@ Visualization Manager:
               joint3:
                 joint4:
                   joint5:
-                    joint6:
-                      joint7:
-                        {}
+                    endeffector:
+                      {}
       Update Interval: 0
       Value: true
   Enabled: true
@@ -188,7 +180,7 @@ Visualization Manager:
   Views:
     Current:
       Class: rviz/Orbit
-      Distance: 1.2526283264160156
+      Distance: 1.7395164966583252
       Enable Stereo Rendering:
         Stereo Eye Separation: 0.05999999865889549
         Stereo Focal Distance: 1
@@ -204,17 +196,17 @@ Visualization Manager:
       Invert Z Axis: false
       Name: Current View
       Near Clip Distance: 0.009999999776482582
-      Pitch: 0.2103991061449051
+      Pitch: 0.5348014831542969
       Target Frame: <Fixed Frame>
-      Yaw: 2.6453990936279297
+      Yaw: 1.529981255531311
     Saved: ~
 Window Geometry:
   Displays:
     collapsed: false
-  Height: 900
+  Height: 820
   Hide Left Dock: false
   Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd000000040000000000000156000002e6fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002e6000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002e6fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002e6000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007380000003efc0100000002fb0000000800540069006d0065010000000000000738000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000004c7000002e600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  QMainWindow State: 000000ff00000000fd00000004000000000000015600000296fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000296000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000296fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d00000296000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000061b0000003efc0100000002fb0000000800540069006d006501000000000000061b000003bc00fffffffb0000000800540069006d00650100000000000004500000000000000000000003aa0000029600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
   Selection:
     collapsed: false
   Time:
@@ -223,6 +215,6 @@ Window Geometry:
     collapsed: false
   Views:
     collapsed: false
-  Width: 1848
+  Width: 1563
   X: 72
   Y: 27
diff --git a/myArm/myarm_c650/scripts/slider_control.py b/myArm/myarm_c650/scripts/slider_control.py
index 64bdecb..b06b8c5 100755
--- a/myArm/myarm_c650/scripts/slider_control.py
+++ b/myArm/myarm_c650/scripts/slider_control.py
@@ -14,6 +14,7 @@ import rospy
 from sensor_msgs.msg import JointState
 
 from pymycobot.myarm import MyArm
+from pymycobot.myarmc import MyArmC
 
 
 mc = None
diff --git a/mycobot_description/urdf/myarm_c650/myarm_c650.urdf b/mycobot_description/urdf/myarm_c650/myarm_c650.urdf
index 9ad4481..06ce238 100644
--- a/mycobot_description/urdf/myarm_c650/myarm_c650.urdf
+++ b/mycobot_description/urdf/myarm_c650/myarm_c650.urdf
@@ -24,13 +24,13 @@
       <geometry>
        <mesh filename="package://mycobot_description/urdf/myarm_c650/joint1.dae"/>
       </geometry>
-      <origin xyz = "0.0 0 -0.085 " rpy = " 0 0 0"/>
+      <origin xyz = "0.0 0 -0.092 " rpy = " 0 0 0"/>
     </visual>
     <collision>
      <geometry>
        <mesh filename="package://mycobot_description/urdf/myarm_c650/joint1.dae"/>
       </geometry>
-      <origin xyz = "0.0 0 -0.085 " rpy = " 0 0 0"/>
+      <origin xyz = "0.0 0 -0.092 " rpy = " 0 0 0"/>
     </collision>
   </link>
 
@@ -39,13 +39,13 @@
       <geometry>
        <mesh filename="package://mycobot_description/urdf/myarm_c650/joint2.dae"/>
       </geometry>
-    <origin xyz = "0.0 0 0.0 " rpy = " 3.14159 0 -1.5708 "/>
+    <origin xyz = "0.0 0.006 0.0 " rpy = " 3.14159 0 -1.5708 "/>
     </visual>
     <collision>
       <geometry>
        <mesh filename="package://mycobot_description/urdf/myarm_c650/joint2.dae"/>
       </geometry>
-      <origin xyz = "0.0 0 0.0 " rpy = " 3.14159 0 -1.5708"/>
+      <origin xyz = "0.0 0.006 0.0 " rpy = " 3.14159 0 -1.5708"/>
     </collision>
   </link>
 
@@ -55,13 +55,13 @@
        
        <mesh filename="package://mycobot_description/urdf/myarm_c650/joint3.dae"/>
       </geometry>
-      <origin xyz = "0.0 0 -0.054 " rpy = " 0 0 0"/>
+      <origin xyz = "0.0 -0.001 0.004 " rpy = " 0 0 0"/>
     </visual>
     <collision>
       <geometry>
        <mesh filename="package://mycobot_description/urdf/myarm_c650/joint3.dae"/>
       </geometry>
-      <origin xyz = "0.0 0 -0.054" rpy = " 0 0 0"/>
+      <origin xyz = "0.0 -0.001 0.004" rpy = " 0 0 0"/>
     </collision>
   </link>
 
@@ -71,13 +71,13 @@
       <geometry>
        <mesh filename="package://mycobot_description/urdf/myarm_c650/joint4.dae"/>
       </geometry>
-    <origin xyz = "0.0 0 0 " rpy = " 0 0 -1.5708"/>
+    <origin xyz = "0.0 0 0 " rpy = " 0 0 3.14159"/>
     </visual>
     <collision>
        <geometry>
        <mesh filename="package://mycobot_description/urdf/myarm_c650/joint4.dae"/>
       </geometry>
-      <origin xyz = "0.0 0 0 " rpy = " 0 0 -1.5708"/>
+      <origin xyz = "0.0 0 0 " rpy = " 0 0 3.14159"/>
     </collision>
   </link>
 
@@ -88,47 +88,47 @@
        
        <mesh filename="package://mycobot_description/urdf/myarm_c650/joint5.dae"/>
       </geometry>
-    <origin xyz = "0 0.00 -0.051 " rpy = " 0 0 3.14159"/>
+    <origin xyz = "0 0 0 " rpy = " 0 0 1.5708"/>
     </visual>
     <collision>
       <geometry>
        
        <mesh filename="package://mycobot_description/urdf/myarm_c650/joint5.dae"/>
       </geometry>
-    <origin xyz = "0 0.00 -0.051 " rpy = " 0 0 3.14159"/>
+    <origin xyz = "0 0 0 " rpy = " 0 0 1.5708"/>
     </collision>
   </link>
 
 
-  <link name="joint6">
+  <link name="endeffector">
     <visual>
       <geometry>
        
        <mesh filename="package://mycobot_description/urdf/myarm_c650/endeffector.dae"/>
       </geometry>
-    <origin xyz = "0.0 0 -0.0 " rpy = " 0 0 -1.5708"/>
+    <origin xyz = "0 0 -0.003 " rpy = " 0 0 0"/>
     </visual>
     <collision>
       <geometry>
        
        <mesh filename="package://mycobot_description/urdf/myarm_c650/endeffector.dae"/>
       </geometry>
-    <origin xyz = "0.0 0 -0.0 " rpy = " 0 0 -1.5708"/>
+    <origin xyz = "0 0 -0.003 " rpy = " 0 0 0"/>
     </collision>
   </link>
 
-    <!-- <link name="joint7">
+  <!-- <link name="endeffector">
     <visual>
       <geometry>
        
-       <mesh filename="package://mycobot_description/urdf/myarm_c650/j7.dae"/>
+       <mesh filename="package://mycobot_description/urdf/myarm_c650/endeffector.dae"/>
       </geometry>
     <origin xyz = "0.0 0 -0.009 " rpy = " 0 0 -1.5708"/>
     </visual>
     <collision>
       <geometry>
        
-       <mesh filename="package://mycobot_description/urdf/myarm_c650/j7.dae"/>
+       <mesh filename="package://mycobot_description/urdf/myarm_c650/endeffector.dae"/>
       </geometry>
     <origin xyz = "0.0 0 -0.009 " rpy = " 0 0 -1.5708"/>
     </collision>
@@ -160,7 +160,7 @@
     <limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
     <parent link="joint2"/>
     <child link="joint3"/>
-    <origin xyz= "0 -0.11 0   " rpy = "1.5708 0 0"/>  
+    <origin xyz= "0.0565 -0.296 0   " rpy = "0 0 0"/>  
   </joint>
 
 
@@ -170,7 +170,7 @@
     <limit effort = "1000.0" lower = "-1.7453" upper = "1.3962" velocity = "0"/>
     <parent link="joint3"/>
     <child link="joint4"/>
-    <origin xyz= "0.0 0 0.0" rpy = "-1.5708 0 3.14159"/>  
+    <origin xyz= "0.081 0 0.0" rpy = "0 1.5708 0"/>  
   </joint>
 
 
@@ -179,23 +179,23 @@
     <limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
     <parent link="joint4"/>
     <child link="joint5"/>
-    <origin xyz= "0 -0.126 0" rpy = "1.5708 0 0"/>  
+    <origin xyz= "0.0 0.0003 0.2517" rpy = "1.5708 0 1.5708"/>  
   </joint>
 
  
-  <joint name="joint6_to_joint5" type="revolute">
+  <joint name="endeffector_to_joint5" type="revolute">
     <axis xyz="0 0 1"/>
     <limit effort = "1000.0" lower = "-1.9198" upper = "1.9198" velocity = "0"/>
     <parent link="joint5"/>
-    <child link="joint6"/>
-    <origin xyz= "0 0.0 0" rpy = "-1.5708 0 0"/>  
+    <child link="endeffector"/>
+    <origin xyz= "0 0.055 0" rpy = "-1.5708 0 0"/>  
   </joint>
 
-  <!-- <joint name="joint7_to_joint6" type="revolute">
+  <!-- <joint name="endeffector_to_endeffector" type="revolute">
     <axis xyz="0 0 1"/>
     <limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
-    <parent link="joint6"/>
-    <child link="joint7"/>
+    <parent link="endeffector"/>
+    <child link="endeffector"/>
     <origin xyz= "0 -0.056 0" rpy = "1.5708 0 0"/>  
   </joint> -->