diff --git a/mycobot_320/mycobot_320/scripts/mycobot_320_slider.py b/mycobot_320/mycobot_320/scripts/mycobot_320_slider.py
index 13bda4b..6eff5a5 100755
--- a/mycobot_320/mycobot_320/scripts/mycobot_320_slider.py
+++ b/mycobot_320/mycobot_320/scripts/mycobot_320_slider.py
@@ -1,4 +1,4 @@
-#!/usr/bin/env python2
+#!/usr/bin/env python3
 # -*- coding:utf-8 -*-
 """[summary]
 This file obtains the joint angle of the manipulator in ROS,
diff --git a/mycobot_320/new_mycobot_320/launch/mycobot_320_test.launch b/mycobot_320/new_mycobot_320/launch/mycobot_320_test.launch
index 399cd07..ea81038 100644
--- a/mycobot_320/new_mycobot_320/launch/mycobot_320_test.launch
+++ b/mycobot_320/new_mycobot_320/launch/mycobot_320_test.launch
@@ -8,7 +8,7 @@
 
 	<!-- Combinejoin values to TF -->
 	<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
-	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+	<node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui">
 		<param name="use_gui" value="$(arg gui)" />
 		<!-- <rosparam param="source_list" subst_value="true">["joint_states"]</rosparam> -->
 	</node>
diff --git a/mycobot_description/urdf/new_320_urdf/base.dae b/mycobot_description/urdf/new_320_urdf/base.dae
index 25c69be..dc5ca9b 100644
--- a/mycobot_description/urdf/new_320_urdf/base.dae
+++ b/mycobot_description/urdf/new_320_urdf/base.dae
@@ -2,11 +2,9 @@
 <COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
   <asset>
     <contributor>
-      <author />
+      <author>VCGLab</author>
       <authoring_tool>Rhinoceros 7.5.21082.11001</authoring_tool>
       <comments>Output from Rhinoceros COLLADA Exporter</comments>
-      <copyright />
-      <source_data />
     </contributor>
     <created>2022-04-15T02:17:56Z</created>
     <modified>2022-04-15T02:17:56Z</modified>
diff --git a/mycobot_description/urdf/new_320_urdf/link1.dae b/mycobot_description/urdf/new_320_urdf/link1.dae
index 905d00c..207a6e8 100755
--- a/mycobot_description/urdf/new_320_urdf/link1.dae
+++ b/mycobot_description/urdf/new_320_urdf/link1.dae
@@ -2,11 +2,9 @@
 <COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
   <asset>
     <contributor>
-      <author />
+      <author>VCGLab</author>
       <authoring_tool>Rhinoceros 7.5.21082.11001</authoring_tool>
       <comments>Output from Rhinoceros COLLADA Exporter</comments>
-      <copyright />
-      <source_data />
     </contributor>
     <created>2022-05-18T07:50:04Z</created>
     <modified>2022-05-18T07:50:04Z</modified>
diff --git a/mycobot_description/urdf/new_320_urdf/link2.dae b/mycobot_description/urdf/new_320_urdf/link2.dae
index 24dc5f2..f7dee10 100755
--- a/mycobot_description/urdf/new_320_urdf/link2.dae
+++ b/mycobot_description/urdf/new_320_urdf/link2.dae
@@ -2,11 +2,9 @@
 <COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
   <asset>
     <contributor>
-      <author />
+      <author>VCGLab</author>
       <authoring_tool>Rhinoceros 7.5.21082.11001</authoring_tool>
       <comments>Output from Rhinoceros COLLADA Exporter</comments>
-      <copyright />
-      <source_data />
     </contributor>
     <created>2022-05-18T07:50:18Z</created>
     <modified>2022-05-18T07:50:18Z</modified>
diff --git a/mycobot_description/urdf/new_320_urdf/link3.dae b/mycobot_description/urdf/new_320_urdf/link3.dae
index 9dbe7e7..1c54d1e 100755
--- a/mycobot_description/urdf/new_320_urdf/link3.dae
+++ b/mycobot_description/urdf/new_320_urdf/link3.dae
@@ -2,11 +2,9 @@
 <COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
   <asset>
     <contributor>
-      <author />
+      <author>VCGLab</author>
       <authoring_tool>Rhinoceros 7.5.21082.11001</authoring_tool>
       <comments>Output from Rhinoceros COLLADA Exporter</comments>
-      <copyright />
-      <source_data />
     </contributor>
     <created>2022-05-18T07:50:33Z</created>
     <modified>2022-05-18T07:50:33Z</modified>
diff --git a/mycobot_description/urdf/new_320_urdf/link4.dae b/mycobot_description/urdf/new_320_urdf/link4.dae
index f082fcb..da6a564 100755
--- a/mycobot_description/urdf/new_320_urdf/link4.dae
+++ b/mycobot_description/urdf/new_320_urdf/link4.dae
@@ -2,11 +2,9 @@
 <COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
   <asset>
     <contributor>
-      <author />
+      <author>VCGLab</author>
       <authoring_tool>Rhinoceros 7.5.21082.11001</authoring_tool>
       <comments>Output from Rhinoceros COLLADA Exporter</comments>
-      <copyright />
-      <source_data />
     </contributor>
     <created>2022-05-18T07:50:47Z</created>
     <modified>2022-05-18T07:50:47Z</modified>
diff --git a/mycobot_description/urdf/new_320_urdf/link5.dae b/mycobot_description/urdf/new_320_urdf/link5.dae
index 3c095e5..7a15385 100755
--- a/mycobot_description/urdf/new_320_urdf/link5.dae
+++ b/mycobot_description/urdf/new_320_urdf/link5.dae
@@ -2,11 +2,9 @@
 <COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
   <asset>
     <contributor>
-      <author />
+      <author>VCGLab</author>
       <authoring_tool>Rhinoceros 7.5.21082.11001</authoring_tool>
       <comments>Output from Rhinoceros COLLADA Exporter</comments>
-      <copyright />
-      <source_data />
     </contributor>
     <created>2022-05-18T07:50:58Z</created>
     <modified>2022-05-18T07:50:58Z</modified>
diff --git a/mycobot_description/urdf/new_320_urdf/link6.dae b/mycobot_description/urdf/new_320_urdf/link6.dae
index c1b8597..7485858 100755
--- a/mycobot_description/urdf/new_320_urdf/link6.dae
+++ b/mycobot_description/urdf/new_320_urdf/link6.dae
@@ -2,11 +2,9 @@
 <COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
   <asset>
     <contributor>
-      <author />
+      <author>VCGLab</author>
       <authoring_tool>Rhinoceros 7.5.21082.11001</authoring_tool>
       <comments>Output from Rhinoceros COLLADA Exporter</comments>
-      <copyright />
-      <source_data />
     </contributor>
     <created>2022-05-18T07:51:17Z</created>
     <modified>2022-05-18T07:51:17Z</modified>