diff --git a/mycobot_description/urdf/mybuddy/mybuddy.urdf b/mycobot_description/urdf/mybuddy/mybuddy.urdf
index 3b54b46..a68ab53 100644
--- a/mycobot_description/urdf/mybuddy/mybuddy.urdf
+++ b/mycobot_description/urdf/mybuddy/mybuddy.urdf
@@ -10,7 +10,8 @@
 	     <!--- 0.0 0 -0.04  1.5708 3.14159-->
        <mesh filename="package://mycobot_description/urdf/mybuddy/mybuddy-down.dae"/>
       </geometry>
-    <origin xyz = "0.0 0 0 " rpy = " 0 0 0"/>
+    <!-- <origin xyz = "0.0 0 0 " rpy = " 0 0 0"/> -->
+    <origin xyz = "0.0 0 0 " rpy = "0 0 3.14159 "/>
     </visual>
     <collision>
       <geometry>
@@ -41,7 +42,9 @@
       <geometry>
         <mesh filename="package://mycobot_description/urdf/mybuddy/joint1_R.dae"/>
       </geometry>
-    <origin xyz="0 0.00 -0.059" rpy="0 0 -1.5708"/>
+    <!-- <origin xyz="0 0.00 -0.059" rpy="0 0 0"/> -->
+    <origin xyz="0 0.00 -0.059" rpy="0 0 3.14159"/>
+
     </visual>
       <collision>
         <geometry>
@@ -86,7 +89,9 @@
       <geometry>
         <mesh filename="package://mycobot_description/urdf/mybuddy/joint4_R.dae"/>
       </geometry>
-    <origin xyz="0.00 0 -0.033" rpy="0 -1.5708 3.1415926 "/>
+    <!-- <origin xyz="0.00 0 -0.033" rpy="0 -1.5708 3.1415926 "/> -->
+    <origin xyz="0.00 0 -0.033" rpy="0 -1.5708 1.5708 "/>
+
     </visual>
     <collision>
       <geometry>
@@ -101,7 +106,7 @@
       <geometry>
         <mesh filename="package://mycobot_description/urdf/mybuddy/joint5_R.dae"/>
       </geometry>
-    <origin xyz="-0.00 0 -0.0" rpy="0 0 0"/>
+    <origin xyz="-0.00 0 -0.0" rpy="0 0 1.5708"/>
     </visual>
     <collision>
       <geometry>
@@ -132,7 +137,8 @@
       <geometry>
         <mesh filename="package://mycobot_description/urdf/mybuddy/joint1_L.dae"/>
       </geometry>
-    <origin xyz="0 0.00 0.059" rpy="0 3.1415926 -1.5708"/>
+    <!-- <origin xyz="0 0.00 0.059" rpy="0 0 0"/> -->
+    <origin xyz="0 0.00 -0.059" rpy="0 0 -1.5708"/>
     </visual>
       <collision>
         <geometry>
@@ -141,22 +147,146 @@
         <origin xyz="0 0 -0.059" rpy="0 0 -1.5708"/>
       </collision>
   </link>
+  <link name="link2_L">
+    <visual>
+      <geometry>
+        <mesh filename="package://mycobot_description/urdf/mybuddy/joint2_L.dae"/>
+      </geometry>
+    <origin xyz="0 0 -0.03" rpy="0 -1.5708 3.1415926"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://mycobot_description/urdf/mybuddy/joint2_L.dae"/>
+      </geometry>
+      <origin xyz="0 0 -0.03" rpy="0 -1.5708 3.1415926"/>
+    </collision>
+  </link>
+
+  <link name="link3_L">
+    <visual>
+      <geometry>
+        <mesh filename="package://mycobot_description/urdf/mybuddy/joint3_L.dae"/>
+      </geometry>
+    <origin xyz="-0.00 0 -0.028" rpy="0 -1.5708 3.1415926"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://mycobot_description/urdf/mybuddy/joint3_L.dae"/>
+      </geometry>
+      <origin xyz="-0.00 0 -0.028" rpy="0 -1.5708 3.1415926"/>
+    </collision>
+  </link>
+  
+  <link name="link4_L">
+    <visual>
+      <geometry>
+        <mesh filename="package://mycobot_description/urdf/mybuddy/joint4_L.dae"/>
+      </geometry>
+    <!-- <origin xyz="0.00 0 -0.033" rpy="0 -1.5708 3.1415926 "/> -->
+    <origin xyz="0.00 0 -0.033" rpy="0 -1.5708 1.5708 "/>
+
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://mycobot_description/urdf/mybuddy/joint4_L.dae"/>
+      </geometry>
+      <origin xyz="0 0 0" rpy="0  -1.5708 3.1415926"/>
+    </collision>
+  </link>
+
+   <link name="link5_L">
+    <visual>
+      <geometry>
+        <mesh filename="package://mycobot_description/urdf/mybuddy/joint5_L.dae"/>
+      </geometry>
+    <origin xyz="-0.00 0 -0.0" rpy="0 0 1.5708"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://mycobot_description/urdf/mybuddy/joint5_L.dae"/>
+      </geometry>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+    </collision>
+  </link>
+
+  <link name="link6_L">
+    <visual>
+      <geometry>
+        <mesh filename="package://mycobot_description/urdf/mybuddy/joint6_L.dae"/>
+      </geometry>
+    <origin xyz="-0.00 0 -0.0" rpy="0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="package://mycobot_description/urdf/mybuddy/joint6_L.dae"/>
+      </geometry>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+    </collision>
+  </link>
 
 
-  <joint name="base_link1" type="revolute">
+<!-- left joints -->
+  <joint name="joint1_L" type="revolute">
     <axis xyz=" 0 0 1"/>
     <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
-    <parent link="base"/>
-    <child link="link1"/>
-    <origin xyz= " 0 0 0.22   " rpy = "0 0 0"/>  
+    <parent link="link1"/>
+    <child link="link1_L"/>
+    <!-- <origin xyz= " 0 -0.129 0.001   " rpy = "0 0 0"/>   -->
+    <origin xyz= " 0 -0.129 0.001   " rpy = "1.5708 -1.5708 0"/>  
   </joint>
 
+  <joint name="joint2_L" type="revolute">
+    <axis xyz=" 0 0 1"/>
+    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
+    <parent link="link1_L"/>
+    <child link="link2_L"/>
+    <!-- <origin xyz= " 0 -0.05 0.00  " rpy = "0 0 0"/>   -->
+    <origin xyz= " 0 -0.05 0.00  " rpy = "1.5708 -1.5708 0"/>  
+
+  </joint>
+
+  <joint name="joint3_L" type="revolute">
+    <axis xyz=" 0 0 1"/>
+    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
+    <parent link="link2_L"/>
+    <child link="link3_L"/>
+    <origin xyz= " 0.11 0.0 0.00  " rpy = "0 0 0"/>  
+  </joint>
+
+  <joint name="joint4_L" type="revolute">
+    <axis xyz=" 0 0 1"/>
+    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
+    <parent link="link3_L"/>
+    <child link="link4_L"/>
+    <origin xyz= " 0.097 0.0 -0.0  " rpy = "0 0 1.5708"/>  
+  </joint>
+
+  <joint name="joint5_L" type="revolute">
+    <axis xyz=" 0 0 1"/>
+    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
+    <parent link="link4_L"/>
+    <child link="link5_L"/>
+    <!-- <origin xyz= "0 -0.035 0.00  " rpy = "0 0 0"/>   -->
+    <origin xyz= "0 -0.035  0.00  " rpy = "1.5708 3.14159 0 "/>  
+  </joint>
+
+  <joint name="joint6_L" type="revolute">
+    <axis xyz=" 0 0 1"/>
+    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
+    <parent link="link5_L"/>
+    <child link="link6_L"/>
+    <origin xyz= "-0.035 0 0.0375  " rpy = "0 -1.5708 0"/>  
+  </joint>
+
+<!-- right joints -->
   <joint name="joint1_R" type="revolute">
     <axis xyz=" 0 0 1"/>
     <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
     <parent link="link1"/>
     <child link="link1_R"/>
-    <origin xyz= " 0 -0.129 0.001   " rpy = "1.5708 0 0"/>  
+    <!-- <origin xyz= " 0 0.129 0.001   " rpy = "0 0 0"/>   -->
+    <origin xyz= " 0 0.129 0.001   " rpy = "-1.5708 3.14159 0"/>  
+
   </joint>
 
   <joint name="joint2_R" type="revolute">
@@ -164,7 +294,8 @@
     <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
     <parent link="link1_R"/>
     <child link="link2_R"/>
-    <origin xyz= " 0 -0.05 0.00  " rpy = "1.5708 0 0"/>  
+    <!-- <origin xyz= " 0 -0.05 0.00  " rpy = "0 0 0"/>   -->
+    <origin xyz= "-0.05 0.00 0.00  " rpy = "0 -1.5708 0"/>  
   </joint>
 
   <joint name="joint3_R" type="revolute">
@@ -180,7 +311,7 @@
     <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
     <parent link="link3_R"/>
     <child link="link4_R"/>
-    <origin xyz= " 0.097 0.0 -0.0  " rpy = "0 0 0"/>  
+    <origin xyz= " 0.097 0.0 -0.0  " rpy = "0 0 1.5708"/>  
   </joint>
 
   <joint name="joint5_R" type="revolute">
@@ -188,7 +319,8 @@
     <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
     <parent link="link4_R"/>
     <child link="link5_R"/>
-    <origin xyz= " 0.1 0 0.00  " rpy = "0 0 0"/>  
+    <!-- <origin xyz= "0 -0.05 0.00  " rpy = "0 0 0"/>   -->
+    <origin xyz= "0 -0.035  0.00  " rpy = "1.570795 0 0"/>  
   </joint>
 
   <joint name="joint6_R" type="revolute">
@@ -196,16 +328,18 @@
     <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
     <parent link="link5_R"/>
     <child link="link6_R"/>
-    <origin xyz= " 0.1 0.0 0.00  " rpy = "0 0 0"/>  
+    <origin xyz= "-0.035 0 0.0375  " rpy = "0 -1.5708 0"/>  
+    <!-- <origin xyz= "-0.035 0 0.0375  " rpy = "0 0 0"/>   -->
   </joint>
 
-<!-- left joint -->
-  <joint name="joint1_L" type="revolute">
+
+<!-- base joints -->
+  <joint name="base_link1" type="revolute">
     <axis xyz=" 0 0 1"/>
     <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
-    <parent link="link1"/>
-    <child link="link1_L"/>
-    <origin xyz= " 0 0.129 0.001   " rpy = "1.5708 0 0"/>  
+    <parent link="base"/>
+    <child link="link1"/>
+    <origin xyz= " 0 0 0.22   " rpy = "0 0 0"/>  
   </joint>
 
 </robot>