diff --git a/mycobot_description/urdf/600_urdf/mycobot_600_urdf.urdf b/mycobot_description/urdf/600_urdf/mycobot_600_urdf.urdf
index dcb6eb1..12bbb95 100755
--- a/mycobot_description/urdf/600_urdf/mycobot_600_urdf.urdf
+++ b/mycobot_description/urdf/600_urdf/mycobot_600_urdf.urdf
@@ -142,16 +142,17 @@
 
 
   <joint name="joint3_to_joint2" type="revolute">
-    <axis xyz="0 0 1"/>
+    <axis xyz="0 0 -1"/>
     <limit effort = "1000.0" lower = "-4.71" upper = "1.5708" velocity = "0"/>
     <parent link="link1"/>
     <child link="link2"/>
-    <origin xyz= "0 0  0" rpy = "1.5708 -1.5708 0"/>  
+    <!-- <origin xyz= "0 0  0" rpy = "1.5708 -1.5708 0"/>   -->
+    <origin xyz= "0 0  0" rpy = "1.5708 0 0"/>
   </joint>
 
 
   <joint name="joint4_to_joint3" type="revolute">
-    <axis xyz=" 0 0 1"/>
+    <axis xyz=" 0 0 -1"/>
     <limit effort = "1000.0" lower = "-2.61" upper = "2.618" velocity = "0"/>
     <parent link="link2"/>
     <child link="link3"/>
@@ -163,7 +164,8 @@
     <limit effort = "1000.0" lower = "-4.53" upper = "1.3962" velocity = "0"/>
     <parent link="link3"/>
     <child link="link4"/>
-    <origin xyz= "0.25 0  -0.1091" rpy = "0 0 1.5708"/>  
+    <!-- <origin xyz= "0.25 0  -0.1091" rpy = "0 0 1.5708"/>   -->
+    <origin xyz= "0.25 0  -0.1091" rpy = "0 0 0"/>  
   </joint>
 
   <joint name="joint6_to_joint5" type="revolute">