diff --git a/mycobot_description/urdf/cobotx_b450/cobotx_b450.urdf b/mycobot_description/urdf/cobotx_b450/cobotx_b450.urdf
index dbee360..c46c4dc 100644
--- a/mycobot_description/urdf/cobotx_b450/cobotx_b450.urdf
+++ b/mycobot_description/urdf/cobotx_b450/cobotx_b450.urdf
@@ -9,13 +9,13 @@
       <geometry>
        <mesh filename="package://mycobot_description/urdf/cobotx_b450/base.dae"/>
       </geometry>
-      <origin xyz = "0.0 0 0 " rpy = " 0 0 0"/>
+      <origin xyz = "0 0 0 " rpy = " 0 0 0"/>
     </visual>
     <collision>
       <geometry>
        <mesh filename="package://mycobot_description/urdf/cobotx_b450/base.dae"/>
         </geometry>
-        <origin xyz = "0.0 0 0 " rpy = " 0 0 0"/>
+        <origin xyz = "0 0 0 " rpy = " 0 0 0"/>
     </collision>
   </link>
 
@@ -25,13 +25,13 @@
       <geometry>
        <mesh filename="package://mycobot_description/urdf/cobotx_b450/body.dae"/>
       </geometry>
-      <origin xyz = "0.0 0 -0.11 " rpy = " 0 0 0"/>
+      <origin xyz = "0 0 -0.11 " rpy = " 0 0 0"/>
     </visual>
     <collision>
      <geometry>
        <mesh filename="package://mycobot_description/urdf/cobotx_b450/body.dae"/>
       </geometry>
-      <origin xyz = "0.0 0 -0.11 " rpy = " 0 0 0"/>
+      <origin xyz = "0 0 -0.11 " rpy = " 0 0 0"/>
     </collision>
   </link>
 
@@ -41,13 +41,13 @@
       <geometry>
        <mesh filename="package://mycobot_description/urdf/cobotx_b450/head.dae"/>
       </geometry>
-      <origin xyz = "0.0 0 -0.1 " rpy = " 0 0 0"/>
+      <origin xyz = "0 0 -0.1 " rpy = " 0 0 0"/>
     </visual>
     <collision>
      <geometry>
        <mesh filename="package://mycobot_description/urdf/cobotx_b450/head.dae"/>
       </geometry>
-      <origin xyz = "0.0 0 -0.1 " rpy = " 0 0 0"/>
+      <origin xyz = "0 0 -0.1 " rpy = " 0 0 0"/>
     </collision>
   </link>
 
@@ -57,13 +57,13 @@
       <geometry>
        <mesh filename="package://mycobot_description/urdf/cobotx_b450/head_eye.dae"/>
       </geometry>
-      <origin xyz = "0.0 0 -0.0 " rpy = " 0 0 0"/>
+      <origin xyz = "0 0 -0.0 " rpy = " 0 0 0"/>
     </visual>
     <collision>
      <geometry>
        <mesh filename="package://mycobot_description/urdf/cobotx_b450/head_eye.dae"/>
       </geometry>
-      <origin xyz = "0.0 0 -0.1 " rpy = " 0 0 0"/>
+      <origin xyz = "0 0 -0.1 " rpy = " 0 0 0"/>
     </collision>
   </link>
 
@@ -72,13 +72,13 @@
       <geometry>
        <mesh filename="package://mycobot_description/urdf/cobotx_b450/joint1_L.dae"/>
       </geometry>
-      <origin xyz = "0.0 0 -0.084 " rpy = " 0 0 0"/>
+      <origin xyz = "0 0 -0.084 " rpy = " 0 0 0"/>
     </visual>
     <collision>
      <geometry>
        <mesh filename="package://mycobot_description/urdf/cobotx_b450/joint1_L.dae"/>
       </geometry>
-      <origin xyz = "0.0 0 -0.084 " rpy = " 0 0 0"/>
+      <origin xyz = "0 0 -0.084 " rpy = " 0 0 0"/>
     </collision>
   </link>
 
@@ -87,13 +87,13 @@
       <geometry>
        <mesh filename="package://mycobot_description/urdf/cobotx_b450/joint2_L.dae"/>
       </geometry>
-      <origin xyz = "0.0 0 0.0 " rpy = " 3.14159 0 -1.5708"/>
+      <origin xyz = "0 0 0.0 " rpy = " 3.14159 0 -1.5708"/>
     </visual>
     <collision>
      <geometry>
        <mesh filename="package://mycobot_description/urdf/cobotx_b450/joint2_L.dae"/>
       </geometry>
-      <origin xyz = "0.0 0 0.0 " rpy = " 3.14159 0 -1.5708"/>
+      <origin xyz = "0 0 0.0 " rpy = " 3.14159 0 -1.5708"/>
     </collision>
   </link>
 
@@ -102,13 +102,13 @@
       <geometry>
        <mesh filename="package://mycobot_description/urdf/cobotx_b450/joint3_L.dae"/>
       </geometry>
-      <origin xyz = "0.0 0 0.038 " rpy = " 0 0 0"/>
+      <origin xyz = "0 0 0.038 " rpy = " 0 0 0"/>
     </visual>
     <collision>
      <geometry>
        <mesh filename="package://mycobot_description/urdf/cobotx_b450/joint3_L.dae"/>
       </geometry>
-      <origin xyz = "0.0 0 0.038 " rpy = " 0 0 0"/>
+      <origin xyz = "0 0 0.038 " rpy = " 0 0 0"/>
     </collision>
   </link>
 
@@ -117,13 +117,13 @@
       <geometry>
        <mesh filename="package://mycobot_description/urdf/cobotx_b450/joint4_L.dae"/>
       </geometry>
-      <origin xyz = "0.0 0 0.0 " rpy = " 0 0 -1.5708"/>
+      <origin xyz = "0 0 0 " rpy = " 0 0 -1.5708"/>
     </visual>
     <collision>
      <geometry>
        <mesh filename="package://mycobot_description/urdf/cobotx_b450/joint4_L.dae"/>
       </geometry>
-      <origin xyz = "0.0 0 0.0 " rpy = " 0 0 -1.5708"/>
+      <origin xyz = "0 0 0 " rpy = " 0 0 -1.5708"/>
     </collision>
   </link>
 
@@ -132,13 +132,13 @@
       <geometry>
        <mesh filename="package://mycobot_description/urdf/cobotx_b450/joint5_L.dae"/>
       </geometry>
-      <origin xyz = "0.0 0 -0.069 " rpy = " 0 0 0"/>
+      <origin xyz = "0 0 -0.069 " rpy = " 0 0 0"/>
     </visual>
     <collision>
      <geometry>
        <mesh filename="package://mycobot_description/urdf/cobotx_b450/joint5_L.dae"/>
       </geometry>
-      <origin xyz = "0.0 0 -0.069 " rpy = " 0 0 0"/>
+      <origin xyz = "0 0 -0.069 " rpy = " 0 0 0"/>
     </collision>
   </link>
 
@@ -147,13 +147,13 @@
       <geometry>
        <mesh filename="package://mycobot_description/urdf/cobotx_b450/joint6_L.dae"/>
       </geometry>
-      <origin xyz = "0.0 0 -0.025 " rpy = " 0 0 -1.5708"/>
+      <origin xyz = "0 0 -0.025 " rpy = " 0 0 -1.5708"/>
     </visual>
     <collision>
      <geometry>
        <mesh filename="package://mycobot_description/urdf/cobotx_b450/joint6_L.dae"/>
       </geometry>
-      <origin xyz = "0.0 0 -0.025 " rpy = " 0 0 -1.5708"/>
+      <origin xyz = "0 0 -0.025 " rpy = " 0 0 -1.5708"/>
     </collision>
   </link>
 
@@ -162,13 +162,13 @@
       <geometry>
        <mesh filename="package://mycobot_description/urdf/cobotx_b450/joint7_L.dae"/>
       </geometry>
-      <origin xyz = "0.0 0 -0.002 " rpy = " 0 0 -1.5708"/>
+      <origin xyz = "0 0 -0.002 " rpy = " 0 0 -1.5708"/>
     </visual>
     <collision>
      <geometry>
        <mesh filename="package://mycobot_description/urdf/cobotx_b450/joint7_L.dae"/>
       </geometry>
-      <origin xyz = "0.0 0 -0.002 " rpy = " 0 0 -1.5708"/>
+      <origin xyz = "0 0 -0.002 " rpy = " 0 0 -1.5708"/>
     </collision>
   </link>
 
@@ -177,13 +177,13 @@
       <geometry>
        <mesh filename="package://mycobot_description/urdf/cobotx_b450/joint1_R.dae"/>
       </geometry>
-      <origin xyz = "0.0 0 -0.084 " rpy = " 0 0 0"/>
+      <origin xyz = "0 0 -0.084 " rpy = " 0 0 0"/>
     </visual>
     <collision>
      <geometry>
        <mesh filename="package://mycobot_description/urdf/cobotx_b450/joint1_R.dae"/>
       </geometry>
-      <origin xyz = "0.0 0 -0.084 " rpy = " 0 0 0"/>
+      <origin xyz = "0 0 -0.084 " rpy = " 0 0 0"/>
     </collision>
   </link>
 
@@ -192,13 +192,13 @@
       <geometry>
        <mesh filename="package://mycobot_description/urdf/cobotx_b450/joint2_R.dae"/>
       </geometry>
-      <origin xyz = "0.0 0 0.0 " rpy = " 3.14159 0 -1.5708"/>
+      <origin xyz = "0 0 0 " rpy = " 3.14159 0 -1.5708"/>
     </visual>
     <collision>
      <geometry>
        <mesh filename="package://mycobot_description/urdf/cobotx_b450/joint2_R.dae"/>
       </geometry>
-      <origin xyz = "0.0 0 0.0 " rpy = " 3.14159 0 -1.5708"/>
+      <origin xyz = "0 0 0 " rpy = " 3.14159 0 -1.5708"/>
     </collision>
   </link>
 
@@ -207,13 +207,13 @@
       <geometry>
        <mesh filename="package://mycobot_description/urdf/cobotx_b450/joint3_R.dae"/>
       </geometry>
-      <origin xyz = "0.0 0 0.038 " rpy = " 0 0 0"/>
+      <origin xyz = "0 0 0.038 " rpy = " 0 0 0"/>
     </visual>
     <collision>
      <geometry>
        <mesh filename="package://mycobot_description/urdf/cobotx_b450/joint3_R.dae"/>
       </geometry>
-      <origin xyz = "0.0 0 0.038 " rpy = " 0 0 0"/>
+      <origin xyz = "0 0 0.038 " rpy = " 0 0 0"/>
     </collision>
   </link>
 
@@ -222,13 +222,13 @@
       <geometry>
        <mesh filename="package://mycobot_description/urdf/cobotx_b450/joint4_R.dae"/>
       </geometry>
-      <origin xyz = "0.0 0 0.0 " rpy = " 0 0 -1.5708"/>
+      <origin xyz = "0 0 0 " rpy = " 0 0 -1.5708"/>
     </visual>
     <collision>
      <geometry>
        <mesh filename="package://mycobot_description/urdf/cobotx_b450/joint4_R.dae"/>
       </geometry>
-      <origin xyz = "0.0 0 0.0 " rpy = " 0 0 -1.5708"/>
+      <origin xyz = "0 0 0 " rpy = " 0 0 -1.5708"/>
     </collision>
   </link>
 
@@ -237,13 +237,13 @@
       <geometry>
        <mesh filename="package://mycobot_description/urdf/cobotx_b450/joint5_R.dae"/>
       </geometry>
-      <origin xyz = "0.0 0 -0.069 " rpy = " 0 0 0"/>
+      <origin xyz = "0 0 -0.069 " rpy = " 0 0 0"/>
     </visual>
     <collision>
      <geometry>
        <mesh filename="package://mycobot_description/urdf/cobotx_b450/joint5_R.dae"/>
       </geometry>
-      <origin xyz = "0.0 0 -0.069 " rpy = " 0 0 0"/>
+      <origin xyz = "0 0 -0.069 " rpy = " 0 0 0"/>
     </collision>
   </link>
 
@@ -252,13 +252,13 @@
       <geometry>
        <mesh filename="package://mycobot_description/urdf/cobotx_b450/joint6_R.dae"/>
       </geometry>
-      <origin xyz = "0.0 0 -0.025 " rpy = " 0 0 -1.5708"/>
+      <origin xyz = "0 0 -0.025 " rpy = " 0 0 -1.5708"/>
     </visual>
     <collision>
      <geometry>
        <mesh filename="package://mycobot_description/urdf/cobotx_b450/joint6_R.dae"/>
       </geometry>
-      <origin xyz = "0.0 0 -0.025 " rpy = " 0 0 -1.5708"/>
+      <origin xyz = "0 0 -0.025 " rpy = " 0 0 -1.5708"/>
     </collision>
   </link>
 
@@ -267,46 +267,19 @@
       <geometry>
        <mesh filename="package://mycobot_description/urdf/cobotx_b450/joint7_R.dae"/>
       </geometry>
-      <origin xyz = "0.0 0 -0.002 " rpy = " 0 0 -1.5708"/>
+      <origin xyz = "0 0 -0.002 " rpy = " 0 0 -1.5708"/>
     </visual>
     <collision>
      <geometry>
        <mesh filename="package://mycobot_description/urdf/cobotx_b450/joint7_R.dae"/>
       </geometry>
-      <origin xyz = "0.0 0 -0.002 " rpy = " 0 0 -1.5708"/>
+      <origin xyz = "0 0 -0.002 " rpy = " 0 0 -1.5708"/>
     </collision>
   </link>
-  
-  
-
-  <!-- base joints -->
-  <joint name="body" type="revolute">
-    <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
-    <parent link="base"/>
-    <child link="link_body"/>
-    <origin xyz= " 0 0 0.22   " rpy = "0 0 0"/>  
-  </joint>
-
-  <joint name="head" type="revolute">
-    <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
-    <parent link="link_body"/>
-    <child link="link_head"/>
-    <origin xyz= " 0 0 0.22   " rpy = "0 0 0"/>  
-  </joint>
-
-  <joint name="eye" type="revolute">
-    <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "0" upper = "0.7853" velocity = "0"/>
-    <parent link="link_head"/>
-    <child link="link_eye"/>
-    <origin xyz= " 0.03 0 -0.08   " rpy = "1.5708 0 0"/>  
-  </joint>
 
   <joint name="joint1_L" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-3.1066" upper = "3.1066" velocity = "0"/>
     <parent link="link_body"/>
     <child link="link1_L"/>
     <origin xyz= " 0.075 0.186 0.085   " rpy = "-1.5708 0 -0.5235"/>  
@@ -314,23 +287,23 @@
 
   <joint name="joint2_L" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-1.7453" upper = "1.7453" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-1.4311" upper = "2.2689" velocity = "0"/>
     <parent link="link1_L"/>
     <child link="link2_L"/>
-    <origin xyz= " 0 0 0.0  " rpy = "-1.5708 0 0"/>  
+    <origin xyz= " 0 0 0  " rpy = "-1.5708 0 0"/>  
   </joint>
 
   <joint name="joint3_L" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-3.1066" upper = "3.1066" velocity = "0"/>
     <parent link="link2_L"/>
     <child link="link3_L"/>
-    <origin xyz= " 0 -0.11 0.0  " rpy = "1.5708 0 0"/>  
+    <origin xyz= " 0 -0.11 0  " rpy = "1.5708 0 0"/>  
   </joint>
 
   <joint name="joint4_L" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-3.0543" upper = "0.0174" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-3.0543" upper = "0.2617" velocity = "0"/>
     <parent link="link3_L"/>
     <child link="link4_L"/>
     <origin xyz= " 0.03 0 0.095" rpy = "-1.5708 0 3.14159"/>  
@@ -338,7 +311,7 @@
 
   <joint name="joint5_L" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-3.1066" upper = "3.1066" velocity = "0"/>
     <parent link="link4_L"/>
     <child link="link5_L"/>
     <origin xyz= " 0.03 -0.126 0" rpy = "1.5708 3.14159 0"/>  
@@ -346,15 +319,15 @@
 
   <joint name="joint6_L" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-0.0174" upper = "3.14159" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-0.0174" upper = "2.9321" velocity = "0"/>
     <parent link="link5_L"/>
     <child link="link6_L"/>
-    <origin xyz= " 0 0.0 0.08" rpy = "1.5708 0 0"/>  
+    <origin xyz= " 0 0 0.08" rpy = "1.5708 0 0"/>  
   </joint>
 
   <joint name="joint7_L" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-3.1066" upper = "3.1066" velocity = "0"/>
     <parent link="link6_L"/>
     <child link="link7_L"/>
     <origin xyz= " 0.038 -0.046 0" rpy = "1.5708 0 0"/>  
@@ -362,7 +335,7 @@
 
   <joint name="joint1_R" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-3.1066" upper = "3.1066" velocity = "0"/>
     <parent link="link_body"/>
     <child link="link1_R"/>
     <origin xyz= " 0.075 -0.186 0.085   " rpy = "1.5708 0 0.5235"/>  
@@ -370,23 +343,23 @@
 
   <joint name="joint2_R" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-1.7453" upper = "1.7453" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-1.4311" upper = "2.2689" velocity = "0"/>
     <parent link="link1_R"/>
     <child link="link2_R"/>
-    <origin xyz= " 0 0 0.0  " rpy = "-1.5708 0 0"/>  
+    <origin xyz= " 0 0 0  " rpy = "-1.5708 0 0"/>  
   </joint>
 
   <joint name="joint3_R" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-3.1066" upper = "3.1066" velocity = "0"/>
     <parent link="link2_R"/>
     <child link="link3_R"/>
-    <origin xyz= " 0 -0.11 0.0  " rpy = "1.5708 0 0"/>  
+    <origin xyz= " 0 -0.11 0  " rpy = "1.5708 0 0"/>  
   </joint>
 
   <joint name="joint4_R" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-3.0543" upper = "0.0174" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-3.0543" upper = "0.2617" velocity = "0"/>
     <parent link="link3_R"/>
     <child link="link4_R"/>
     <origin xyz= " 0.03 0 0.095" rpy = "-1.5708 0 3.14159"/>  
@@ -394,7 +367,7 @@
 
   <joint name="joint5_R" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-3.1066" upper = "3.1066" velocity = "0"/>
     <parent link="link4_R"/>
     <child link="link5_R"/>
     <origin xyz= " 0.03 -0.126 0" rpy = "1.5708 3.14159 0"/>  
@@ -402,18 +375,43 @@
 
   <joint name="joint6_R" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-0.0174" upper = "3.14159" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-0.0174" upper = "2.9321" velocity = "0"/>
     <parent link="link5_R"/>
     <child link="link6_R"/>
-    <origin xyz= " 0 0.0 0.08" rpy = "1.5708 0 0"/>  
+    <origin xyz= " 0 0 0.08" rpy = "1.5708 0 0"/>  
   </joint>
 
   <joint name="joint7_R" type="revolute">
     <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
+    <limit effort = "1000.0" lower = "-3.1066" upper = "3.1066" velocity = "0"/>
     <parent link="link6_R"/>
     <child link="link7_R"/>
     <origin xyz= " 0.038 -0.046 0" rpy = "1.5708 0 0"/>  
   </joint>
 
+
+  <joint name="eye" type="revolute">
+    <axis xyz=" 0 0 1"/>
+    <limit effort = "1000.0" lower = "0" upper = "0.8377" velocity = "0"/>
+    <parent link="link_head"/>
+    <child link="link_eye"/>
+    <origin xyz= " 0.03 0 -0.08   " rpy = "1.5708 0 0"/>  
+  </joint>
+
+  <joint name="head" type="revolute">
+    <axis xyz=" 0 0 1"/>
+    <limit effort = "1000.0" lower = "-2.4085" upper = "3.2812" velocity = "0"/>
+    <parent link="link_body"/>
+    <child link="link_head"/>
+    <origin xyz= " 0 0 0.22   " rpy = "0 0 0"/>  
+  </joint>
+
+  <joint name="body" type="revolute">
+    <axis xyz=" 0 0 1"/>
+    <limit effort = "1000.0" lower = "-2.0594" upper = "2.0594" velocity = "0"/>
+    <parent link="base"/>
+    <child link="link_body"/>
+    <origin xyz= " 0 0 0.22   " rpy = "0 0 0"/>  
+  </joint>
+
 </robot>