diff --git a/mycobot_description/urdf/new_320_pi/base.dae b/mycobot_description/urdf/new_320_pi/base.dae
index 968a33a..02271f8 100755
--- a/mycobot_description/urdf/new_320_pi/base.dae
+++ b/mycobot_description/urdf/new_320_pi/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>2022-05-18T07:56:15Z</created>
     <modified>2022-05-18T07:56:15Z</modified>
diff --git a/mycobot_description/urdf/new_320_pi/link1.dae b/mycobot_description/urdf/new_320_pi/link1.dae
index 905d00c..207a6e8 100755
--- a/mycobot_description/urdf/new_320_pi/link1.dae
+++ b/mycobot_description/urdf/new_320_pi/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_pi/link2.dae b/mycobot_description/urdf/new_320_pi/link2.dae
index 24dc5f2..f7dee10 100755
--- a/mycobot_description/urdf/new_320_pi/link2.dae
+++ b/mycobot_description/urdf/new_320_pi/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_pi/link3.dae b/mycobot_description/urdf/new_320_pi/link3.dae
index 9dbe7e7..1c54d1e 100755
--- a/mycobot_description/urdf/new_320_pi/link3.dae
+++ b/mycobot_description/urdf/new_320_pi/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_pi/link4.dae b/mycobot_description/urdf/new_320_pi/link4.dae
index f082fcb..da6a564 100755
--- a/mycobot_description/urdf/new_320_pi/link4.dae
+++ b/mycobot_description/urdf/new_320_pi/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_pi/link5.dae b/mycobot_description/urdf/new_320_pi/link5.dae
index 3c095e5..7a15385 100755
--- a/mycobot_description/urdf/new_320_pi/link5.dae
+++ b/mycobot_description/urdf/new_320_pi/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_pi/link6.dae b/mycobot_description/urdf/new_320_pi/link6.dae
index c1b8597..7485858 100755
--- a/mycobot_description/urdf/new_320_pi/link6.dae
+++ b/mycobot_description/urdf/new_320_pi/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>
diff --git a/mycobot_description/urdf/new_320_pi/mycobot_pro_320_pi.urdf b/mycobot_description/urdf/new_320_pi/mycobot_pro_320_pi.urdf
new file mode 100644
index 0000000..3a14be6
--- /dev/null
+++ b/mycobot_description/urdf/new_320_pi/mycobot_pro_320_pi.urdf
@@ -0,0 +1,185 @@
+<?xml version="1.0"?>
+<robot  xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter" >
+	
+<xacro:property name="width" value=".2" />
+
+
+  <link name="base">
+    <visual>
+      <geometry>
+	     <!--- 0.0 0 -0.04  1.5708 3.14159-->
+       <mesh filename="package://mycobot_description/urdf/new_320_pi/base.dae"/>
+      </geometry>
+    <origin xyz = "0.0 0 0 " rpy = " 0 0 3.1415926"/>
+    </visual>
+    <collision>
+      <geometry>
+	     <!--- 0.0 0 -0.04  1.5708 3.14159-->
+       <mesh filename="package://mycobot_description/urdf/new_320_pi/base.dae"/>
+        </geometry>
+        <origin xyz = "0.0 0 0 " rpy = " 0 0 3.1415926"/>
+    </collision>
+  </link>
+
+  <link name="link1">
+    <visual>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/new_320_pi/link1.dae"/>
+      </geometry>
+
+    <origin xyz = "0.115 -0.172 -0.086 " rpy = " 0 0 3.1415926"/>
+    </visual>
+    <collision>
+     <geometry>
+       <mesh filename="package://mycobot_description/urdf/new_320_pi/link1.dae"/>
+      </geometry>
+      <origin xyz = "0.115 -0.172 -0.09 " rpy = " 0 0 3.1415926"/>
+    </collision>
+  </link>
+
+
+  <link name="link2">
+    <visual>
+      <geometry>
+       
+       <mesh filename="package://mycobot_description/urdf/new_320_pi/link2.dae"/>
+      </geometry>
+      <origin xyz = "-0.075 -0.115 -0.022 " rpy = " 1.5708 0 1.5708"/>
+    </visual>
+    <collision>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/new_320_pi/link2.dae"/>
+      </geometry>
+      <origin xyz = "-0.075 -0.115 -0.022 " rpy = " 1.5708 0 1.5708"/>
+    </collision>
+  </link>
+
+
+  <link name="link3">
+    <visual>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/new_320_pi/link3.dae"/>
+      </geometry>
+    <origin xyz = "-0.22 -0.115 0.142 " rpy = " 1.5708 0 1.5708"/>
+    </visual>
+    <collision>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/new_320_pi/link3.dae"/>
+      </geometry>
+      <origin xyz = "-0.22 -0.115 0.142 " rpy = " 1.5708 0 1.5708"/>
+    </collision>
+  </link>
+
+
+  <link name="link4">
+    <visual>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/new_320_pi/link4.dae"/>
+      </geometry>
+    <origin xyz = "-0.115 0.338 -0.1435" rpy = " 1.5708 0 0"/>
+    </visual>
+    <collision>
+       <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/new_320_pi/link4.dae"/>
+      </geometry>
+      <origin xyz = "-0.115 0.338 -0.1435 " rpy = " 1.5708 0 0"/>
+    </collision>
+  </link>
+
+
+  <link name="link5">
+    <visual>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/new_320_pi/link5.dae"/>
+      </geometry>
+    <origin xyz = "-0.1149 -0.0322  -0.482 " rpy = " 0  0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/new_320_pi/link5.dae"/>
+      </geometry>
+    <origin xyz = "-0.1149 -0.0322  -0.482 " rpy = " 0  0 0"/>
+    </collision>
+  </link>
+
+
+  <link name="link6">
+    <visual>
+      <geometry>
+      <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/new_320_pi/link6.dae"/>
+      </geometry>
+    <origin xyz = "-0.11478 0.433 -0.15 " rpy = " 1.5708 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/new_320_pi/link6.dae"/>
+      </geometry>
+    <origin xyz = "-0.11478 0.433 -0.15 " rpy = " 1.5708 0 0"/>
+    </collision>
+  </link>
+
+
+  <joint name="joint2_to_joint1" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/>
+    <parent link="base"/>
+    <child link="link1"/>
+    <origin xyz= "0 0 0.162" rpy = "0 0 0"/> 
+  </joint>
+
+
+  <joint name="joint3_to_joint2" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
+    <parent link="link1"/>
+    <child link="link2"/>
+       <origin xyz= "0 0 0" rpy = "0 -1.5708 1.5708"/> 
+  </joint>
+
+
+  <joint name="joint4_to_joint3" type="revolute">
+    <axis xyz=" 0 0 1"/>
+    <limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
+    <parent link="link2"/>
+    <child link="link3"/>
+    <origin xyz= "0.13635 0 0   " rpy = "0 0 0"/>  
+  </joint>
+
+
+  <joint name="joint5_to_joint4" type="revolute">
+    <axis xyz=" 0 0 1"/>
+    <limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
+    <parent link="link3"/>
+    <child link="link4"/>
+     <!-- <origin xyz = "0.12 0 0.09 " rpy = " 0 0 1.57080"/> -->
+     <origin xyz = "0.1205 0 0.082 " rpy = " 0 0 1.57080"/>
+  </joint>
+
+
+  <joint name="joint6_to_joint5" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/>
+    <parent link="link4"/>
+    <child link="link5"/>
+     <origin xyz= "0 -0.084 0" rpy = "1.5708 0 0"/>
+  </joint>
+
+
+  <joint name="joint6output_to_joint6" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
+    <parent link="link5"/>
+    <child link="link6"/>
+     <origin xyz= "0 0.06635 0" rpy = "-1.5708 0 0"/>
+  </joint>
+
+
+</robot>