diff --git a/mycobot_description/urdf/mecharm_pi/mecharm_pi.urdf b/mycobot_description/urdf/mecharm_pi/mecharm_pi.urdf
index 7db3976..d8bf905 100644
--- a/mycobot_description/urdf/mecharm_pi/mecharm_pi.urdf
+++ b/mycobot_description/urdf/mecharm_pi/mecharm_pi.urdf
@@ -42,25 +42,26 @@
       <geometry>    
        <mesh filename="package://mycobot_description/urdf/mecharm_pi/link2.dae"/>
       </geometry>
-      <origin xyz = "-0.005 -0.21 -0.002  " rpy = " 1.5708 0 3.1415926"/>
+      <origin xyz = "-0.005 0.21 0.002  " rpy = " 1.5708 -3.1415926 0"/>
 
     </visual>
     <collision>
       <geometry>    
        <mesh filename="package://mycobot_description/urdf/mecharm_pi/link2.dae"/>
       </geometry>
-      <origin xyz = "-0.005  -0.21 -0.002  " rpy = " 1.5708 0 3.1415926"/>
+      <origin xyz = "-0.005  -0.21 0.002  " rpy = " 1.5708 -3.1415926 0"/>
       
     </collision>     
   </link>
 
   <link name="link3">
     <visual>
-      <geometry>
+      <geometry> 
        <!--- 0.0 0 -0.04 -->
        <mesh filename="package://mycobot_description/urdf/mecharm_pi/link3.dae"/>
       </geometry>
       <origin xyz = "-0.09 0.306 0.005 " rpy = "1.5708 3.1415926  0"/>
+      <!-- <origin xyz = "-0.0 0.0 0.000 " rpy = "0 0  0"/> -->
     </visual>
     <collision>
       <geometry>
@@ -94,13 +95,13 @@
        <!--- 0.0 0 -0.04 -->
        <mesh filename="package://mycobot_description/urdf/mecharm_pi/link5.dae"/>
       </geometry>
-      <origin xyz = "-0.292 -0.318 -0.009" rpy = " 1.5708 0 3.1415926"/>
+      <origin xyz = "-0.292 -0.318 -0.007" rpy = " 1.5708 0 3.1415926"/>
     </visual>
     <collision>
       <geometry>
        <mesh filename="package://mycobot_description/urdf/mecharm_pi/link5.dae"/>
       </geometry>
-      <origin xyz = "-0.292 -0.318 -0.009 " rpy = " 1.5708 0 3.1415926"/>
+      <origin xyz = "-0.292 -0.318 -0.007 " rpy = " 1.5708 0 3.1415926"/>
     </collision>
   </link>
 
@@ -110,13 +111,13 @@
        <!--- 0.0 0 -0.04 -->
        <mesh filename="package://mycobot_description/urdf/mecharm_pi/link6.dae"/>
       </geometry>
-      <origin xyz = "-0.1625 0.0536 -0.211 " rpy = " 0 1.5708 0"/>
+      <origin xyz = "-0.1645 0.0536 -0.211 " rpy = " 0 1.5708 0"/>
     </visual>
     <collision>
       <geometry>
        <mesh filename="package://mycobot_description/urdf/mecharm_pi/link6.dae"/>
       </geometry>
-      <origin xyz = "-0.1625 0.0536 -0.211 " rpy = " 0 1.5708 0"/>
+      <origin xyz = "-0.1645 0.0536 -0.211 " rpy = " 0 1.5708 0"/>
     </collision>
   </link>
 
@@ -132,19 +133,19 @@
 
   <joint name="joint2_to_joint1" type="revolute">
     <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-1.570796" upper = "1.570796" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-1.48353" upper = "1.570796" velocity = "0"/>
     <parent link="link1"/>
     <child link="link2"/>
-    <origin xyz= "0 0 0.038" rpy = " 1.5708 0 0 "/>  
+    <origin xyz= "0 0 0.038" rpy = " -1.5708 0 0 "/>  
   </joint>
 
 
   <joint name="joint3_to_joint2" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-3.08" upper = "0.785398" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-3.14" upper = "0.785398" velocity = "0"/>
     <parent link="link2"/>
     <child link="link3"/>
-    <origin xyz= "0.0 0.1 0   " rpy = "3.1415926 0 0 "/>  
+    <origin xyz= "0.0 -0.1 0   " rpy = "0 0 0 "/>  
   </joint>
 
   <joint name="joint4_to_joint3" type="revolute">
@@ -160,7 +161,7 @@
     <limit effort = "1000.0" lower = "-1.745329" upper = "1.745329" velocity = "0"/>
     <parent link="link4"/>
     <child link="link5"/>
-    <origin xyz= " -0.001 0 0.0" rpy = "  0 -1.5708 3.1415926"/>  
+    <origin xyz= " -0.001 0 0.0" rpy = "  0 -1.5708 0"/>  
   </joint>
 
   <joint name="joint6_to_joint5" type="revolute">
@@ -168,6 +169,7 @@
     <limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
     <parent link="link5"/>
     <child link="link6"/>
-    <origin xyz= " 0.06 0.00 -0.0" rpy = "  0 1.5708 0 "/>    </joint>
+    <origin xyz= " 0.06 0.00 -0.0" rpy = "  0 1.5708 0 "/>  
+  </joint>
   
 </robot>
\ No newline at end of file