diff --git a/mycobot_description/urdf/320_urdf/mycobot_pro_320.urdf b/mycobot_description/urdf/320_urdf/mycobot_pro_320.urdf
index dafa12b..dcc387b 100644
--- a/mycobot_description/urdf/320_urdf/mycobot_pro_320.urdf
+++ b/mycobot_description/urdf/320_urdf/mycobot_pro_320.urdf
@@ -1,138 +1,91 @@
 <?xml version="1.0"?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter">
-
-  <xacro:property name="width" value=".2" />
+<robot  xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter" >
+	
+<xacro:property name="width" value=".2" />
 
 
   <link name="base">
     <visual>
       <geometry>
-        <mesh filename="package://mycobot_description/urdf/320_urdf/base.dae"/>
+	     <!--- 0.0 0 -0.04  1.5708 3.14159-->
+       <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 3.1415926"/>
     </visual>
-    <collision>
-      <origin xyz = "0 0 0.05 " rpy = " 0 0 0"/>
-      <geometry>
-        <cylinder length="0.102" radius="0.0725"/>
-      </geometry>
-    </collision>
   </link>
 
   <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"/>
+    <origin xyz = "0 0 0 " rpy = " 0 0 0"/>
     </visual>
-    <collision>
-      <origin xyz = "0 0 -0.02 " rpy = " 0 0 0"/>
-      <geometry>
-        <cylinder length="0.106" radius="0.043"/>
-      </geometry>
-    </collision>
   </link>
 
 
   <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"/>
+    <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"/>
-      <geometry>
-        <cylinder length="0.18" radius="0.036"/>
-      </geometry>
-    </collision>
   </link>
 
 
   <link name="link3">
     <visual>
       <geometry>
-        <mesh filename="package://mycobot_description/urdf/320_urdf/link3.dae"/>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/320_urdf/link3.dae"/>
       </geometry>
-      <origin xyz = "0 0 0.038 " rpy = " 0 0 3.1415926"/>
+    <origin xyz = "0 0 0.038 " rpy = " 0 0 3.1415926"/>
     </visual>
-    <collision>
-      <origin xyz = "0.044 0 0 " rpy = " 0 -1.5708 0"/>
-      <geometry>
-        <cylinder length="0.14" radius="0.0305"/>
-      </geometry>
-    </collision>
   </link>
 
 
 
-  <link name="link4">
+<link name="link4">
     <visual>
       <geometry>
-        <mesh filename="package://mycobot_description/urdf/320_urdf/link4.dae"/>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/320_urdf/link4.dae"/>
       </geometry>
-      <origin xyz = "0 -0.001 0 " rpy = " 0 0 0"/>
+    <origin xyz = "0 -0.001 0 " rpy = " 0 0 0"/>
     </visual>
-    <collision>
-      <origin xyz = "0.0 -0.014 0 " rpy = " 0 -1.5708 1.5708"/>
-      <geometry>
-        <cylinder length="0.083" radius="0.029"/>
-      </geometry>
-    </collision>
   </link>
 
 
   <link name="link5">
     <visual>
       <geometry>
-        <mesh filename="package://mycobot_description/urdf/320_urdf/link5.dae"/>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/320_urdf/link5.dae"/>
       </geometry>
-      <origin xyz = "0 0.002  0 " rpy = " 0  0 3.1415926"/>
+    <origin xyz = "0 0.002  0 " rpy = " 0  0 3.1415926"/>
     </visual>
-    <collision>
-      <origin xyz = "0 -0.01 0 " rpy = " 1.5708 1.5708 0"/>
-      <geometry>
-        <cylinder length="0.0849" radius="0.029"/>
-      </geometry>
-    </collision>
   </link>
 
   <link name="link6">
     <visual>
       <geometry>
-        <cylinder length="0.02" radius="0.026"/>
+       <mesh filename="package://mycobot_description/urdf/320_urdf/link6.dae"/>
       </geometry>
-      <material name = "grey">
-        <color rgba = "0.5 0.5 0.5 1"/>
-      </material>
-      <origin xyz = "0 0 -0.01 " rpy = " 0 0 0"/>
-    </visual>
-    <collision>
-      <origin xyz = "0.0 0 -0.01 " rpy = " 0 0 0"/>
-      <geometry>
-        <cylinder length="0.0225" radius="0.026"/>
-      </geometry>
-    </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"/>
+    <origin xyz = "-0.03 0.001 0.5" rpy = " -3.04159 0.0157 3.1415926"/>
+    
     </visual>
   </link>
 
 
-  <joint name="joint2_to_joint1" type="revolute">
+
+    <joint name="joint2_to_joint1" 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 0.17846" rpy = "0 0 0"/>
+    <origin xyz= "0 0 0.17846" rpy = "0 0 0"/>  
   </joint>
 
 
@@ -141,7 +94,7 @@
     <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
     <parent link="link1"/>
     <child link="link2"/>
-    <origin xyz= "0 0  0" rpy = "0 -1.57080  1.57080"/>
+    <origin xyz= "0 0  0" rpy = "0 -1.57080  1.57080"/>  
   </joint>
 
 
@@ -150,7 +103,7 @@
     <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
     <parent link="link2"/>
     <child link="link3"/>
-    <origin xyz= "0.13635 0 0   " rpy = "0 0 0"/>
+    <origin xyz= "0.13635 0 0   " rpy = "0 0 0"/>  
   </joint>
 
   <joint name="joint5_to_joint4" type="revolute">
@@ -158,7 +111,7 @@
     <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
     <parent link="link3"/>
     <child link="link4"/>
-    <origin xyz= "0.1 0  0.090" rpy = "0 0 1.57080"/>
+    <origin xyz= "0.1 0  0.090" rpy = "0 0 1.57080"/>  
   </joint>
 
   <joint name="joint6_to_joint5" type="revolute">
@@ -166,25 +119,18 @@
     <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
     <parent link="link4"/>
     <child link="link5"/>
-    <origin xyz= "0 -0.08515 0" rpy = "1.57080 -1.57080 0"/>
+    <origin xyz= "0 -0.08515 0" rpy = "1.57080 -1.57080 0"/>  
   </joint>
 
   <joint name="joint6output_to_joint6" type="revolute">
-    <axis xyz="0 0 1"/>
+    <axis xyz="1 0 0"/>
     <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
     <parent link="link5"/>
     <child link="link6"/>
-    <origin xyz= "0 0.06 0" rpy = "-1.57080 0 0 "/>
+    <origin xyz= "0.02155 -0.01 -0.034" rpy = "1.57080 0 1.57080 "/>  
   </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>
+