diff --git a/mycobot_description/urdf/new_320_pi/new_mycobot_pro_320_pi.urdf b/mycobot_description/urdf/new_320_pi/new_mycobot_pro_320_pi.urdf
index d45768d..87c5740 100644
--- a/mycobot_description/urdf/new_320_pi/new_mycobot_pro_320_pi.urdf
+++ b/mycobot_description/urdf/new_320_pi/new_mycobot_pro_320_pi.urdf
@@ -27,13 +27,13 @@
        <mesh filename="package://mycobot_description/urdf/new_320_pi/link1.dae"/>
       </geometry>
 
-    <origin xyz = "-0.29156 -0.220 -0.085 " rpy = " 0 0 1.5708"/>
+    <origin xyz = "-0.29 -0.2165 -0.099 " rpy = " 0 0 1.5708"/>
     </visual>
     <collision>
      <geometry>
        <mesh filename="package://mycobot_description/urdf/new_320_pi/link1.dae"/>
       </geometry>
-      <origin xyz = "-0.29156 -0.220 -0.085 " rpy = " 0 0 1.5708"/>
+      <origin xyz = "-0.29 -0.2165 -0.099 " rpy = " 0 0 1.5708"/>
     </collision>
   </link>
 
@@ -44,13 +44,13 @@
        
        <mesh filename="package://mycobot_description/urdf/new_320_pi/link2.dae"/>
       </geometry>
-      <origin xyz = "-0.090 0.0 -0.138 " rpy = " 0 1.5708 0"/>
+      <origin xyz = "-0.092 0.0 -0.146 " rpy = " 0 1.5708 0"/>
     </visual>
     <collision>
       <geometry>
        <mesh filename="package://mycobot_description/urdf/new_320_pi/link2.dae"/>
       </geometry>
-      <origin xyz = "-0.090 0.0 -0.138 " rpy = " 0 1.5708 0"/>
+      <origin xyz = "-0.092 0.0 -0.146 " rpy = " 0 1.5708 0"/>
     </collision>
   </link>
 
@@ -61,14 +61,14 @@
        <!--- 0.0 0 -0.04 -->
        <mesh filename="package://mycobot_description/urdf/new_320_pi/link3.dae"/>
       </geometry>
-    <origin xyz = "-0.22 0 0.093 " rpy = " 0 1.5708 0"/>
+    <origin xyz = "-0.221 0 0.093 " rpy = " 0 1.5708 0"/>
     </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 0.093 " rpy = " 0 1.5708 0"/>
+      <origin xyz = "-0.221 0 0.093 " rpy = " 0 1.5708 0"/>
     </collision>
   </link>
 
@@ -97,14 +97,14 @@
        <!--- 0.0 0 -0.04 -->
        <mesh filename="package://mycobot_description/urdf/new_320_pi/link5.dae"/>
       </geometry>
-    <origin xyz = "0.0012 -0.044  -0.456 " rpy = " 0  0 -1.5708"/>
+    <origin xyz = "0.001 -0.044  -0.456 " rpy = " 0  0 -1.5708"/>
     </visual>
     <collision>
       <geometry>
        <!--- 0.0 0 -0.04 -->
        <mesh filename="package://mycobot_description/urdf/new_320_pi/link5.dae"/>
       </geometry>
-    <origin xyz = "0.0012 -0.044  -0.456 " rpy = " 0  0 -1.5708"/>
+    <origin xyz = "0.001 -0.044  -0.456 " rpy = " 0  0 -1.5708"/>
     </collision>
   </link>
 
@@ -115,14 +115,14 @@
       <!--- 0.0 0 -0.04 -->
        <mesh filename="package://mycobot_description/urdf/new_320_pi/link6.dae"/>
       </geometry>
-    <origin xyz = "-0.431 0.0009 -0.16536 " rpy = " 0 1.5708 0"/>
+    <origin xyz = "-0.431 0.0009 -0.16 " rpy = " 0 1.5708 0"/>
     </visual>
     <collision>
       <geometry>
        <!--- 0.0 0 -0.04 -->
        <mesh filename="package://mycobot_description/urdf/new_320_pi/link6.dae"/>
       </geometry>
-    <origin xyz = "-0.431 0.0009 -0.16536 " rpy = " 0 1.5708 0"/>
+    <origin xyz = "-0.431 0.0009 -0.16 " rpy = " 0 1.5708 0"/>
     </collision>
   </link>
 
@@ -168,7 +168,7 @@
     <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
     <parent link="link4"/>
     <child link="link5"/>
-     <origin xyz= "0 -0.080 0" rpy = "1.5708 0 0"/>
+     <origin xyz= "0 -0.090 0" rpy = "1.5708 0 0"/>
   </joint>
 
 
@@ -177,7 +177,7 @@
     <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
     <parent link="link5"/>
     <child link="link6"/>
-     <origin xyz= "0 0.0760 0" rpy = "-1.5708 0 0"/>
+     <origin xyz= "0 0.06635 0" rpy = "-1.5708 0 0"/>
   </joint>