diff --git a/mycobot_320_moveit/config/firefighter.srdf b/mycobot_320_moveit/config/firefighter.srdf
index eb9a0a9..534e6ac 100644
--- a/mycobot_320_moveit/config/firefighter.srdf
+++ b/mycobot_320_moveit/config/firefighter.srdf
@@ -16,7 +16,6 @@
         <joint name="joint5_to_joint4" />
         <joint name="joint6_to_joint5" />
         <joint name="joint6output_to_joint6" />
-        <joint name="gitpper_to_joint6output" />
     </group>
     <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
     <group_state name="init_pose" group="arm_group">
diff --git a/mycobot_description/urdf/320_urdf/mycobot_pro_320.urdf b/mycobot_description/urdf/320_urdf/mycobot_pro_320.urdf
index 59e3ede..cedd967 100644
--- a/mycobot_description/urdf/320_urdf/mycobot_pro_320.urdf
+++ b/mycobot_description/urdf/320_urdf/mycobot_pro_320.urdf
@@ -1,15 +1,15 @@
 <?xml version="1.0"?>
-<robot  xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter" >
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter">
 
-<xacro:property name="width" value=".2" />
+  <xacro:property name="width" value=".2" />
 
 
   <link name="base">
     <visual>
       <geometry>
-       <mesh filename="package://mycobot_description/urdf/320_urdf/base.dae"/>
+        <mesh filename="package://mycobot_description/urdf/320_urdf/base.dae"/>
       </geometry>
-    <origin xyz = "0 0 0 " rpy = " 0 0 0"/>
+      <origin xyz = "0 0 0 " rpy = " 0 0 0"/>
     </visual>
     <collision>
       <origin xyz = "0 0 0.05 " rpy = " 0 0 0"/>
@@ -22,7 +22,7 @@
   <link name="link1">
     <visual>
       <geometry>
-       <mesh filename="package://mycobot_description/urdf/320_urdf/link1.dae"/>
+        <mesh filename="package://mycobot_description/urdf/320_urdf/link1.dae"/>
       </geometry>
       <origin xyz = "0 0 0 " rpy = " 0 0 0"/>
     </visual>
@@ -38,12 +38,12 @@
   <link name="link2">
     <visual>
       <geometry>
-       <mesh filename="package://mycobot_description/urdf/320_urdf/link2.dae"/>
+        <mesh filename="package://mycobot_description/urdf/320_urdf/link2.dae"/>
       </geometry>
       <origin xyz = "0 0 0.0587 " rpy = " 0 0 3.1415926"/>
     </visual>
     <collision>
-     <origin xyz = "0.07 0 0.095 " rpy = " 0 -1.5708 0"/>
+      <origin xyz = "0.07 0 0.095 " rpy = " 0 -1.5708 0"/>
       <geometry>
         <cylinder length="0.18" radius="0.036"/>
       </geometry>
@@ -54,7 +54,7 @@
   <link name="link3">
     <visual>
       <geometry>
-       <mesh filename="package://mycobot_description/urdf/320_urdf/link3.dae"/>
+        <mesh filename="package://mycobot_description/urdf/320_urdf/link3.dae"/>
       </geometry>
       <origin xyz = "0 0 0.038 " rpy = " 0 0 3.1415926"/>
     </visual>
@@ -71,7 +71,7 @@
   <link name="link4">
     <visual>
       <geometry>
-       <mesh filename="package://mycobot_description/urdf/320_urdf/link4.dae"/>
+        <mesh filename="package://mycobot_description/urdf/320_urdf/link4.dae"/>
       </geometry>
       <origin xyz = "0 -0.001 0 " rpy = " 0 0 0"/>
     </visual>
@@ -87,7 +87,7 @@
   <link name="link5">
     <visual>
       <geometry>
-       <mesh filename="package://mycobot_description/urdf/320_urdf/link5.dae"/>
+        <mesh filename="package://mycobot_description/urdf/320_urdf/link5.dae"/>
       </geometry>
       <origin xyz = "0 0.002  0 " rpy = " 0  0 3.1415926"/>
     </visual>
@@ -107,9 +107,9 @@
       <material name = "grey">
         <color rgba = "0.5 0.5 0.5 1"/>
       </material>
-    <origin xyz = "0 0 -0.01 " rpy = " 0 0 0"/>
+      <origin xyz = "0 0 -0.01 " rpy = " 0 0 0"/>
     </visual>
-       <collision>
+    <collision>
       <origin xyz = "0.0 0 -0.01 " rpy = " 0 0 0"/>
       <geometry>
         <cylinder length="0.0225" radius="0.026"/>
@@ -117,16 +117,6 @@
     </collision>
   </link>
 
-  <link name="gripper">
-    <visual>
-      <geometry>
-       <mesh filename="package://mycobot_description/urdf/320_urdf/gripper.dae"/>
-      </geometry>
-      <origin xyz = "0 0 0 " rpy = " 0 0 0"/>
-    </visual>
-  </link>
-
-
   <joint name="joint2_to_joint1" type="revolute">
     <axis xyz="0 0 1"/>
     <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
@@ -177,15 +167,5 @@
     <origin xyz= "0 0.06 0" rpy = "-1.57080 0 0 "/>
   </joint>
 
-
-  <joint name="gitpper_to_joint6output" type="fixed">
-    <axis xyz="0 0 0"/>
-    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
-    <parent link="link6"/>
-    <child link="gripper"/>
-    <origin xyz= "0 0 0" rpy = "0 0 0 "/>
-  </joint>
-
-
 </robot>