diff --git a/scripts/control_slider.py b/scripts/control_slider.py
index 1b41379..5b83846 100755
--- a/scripts/control_slider.py
+++ b/scripts/control_slider.py
@@ -9,12 +9,11 @@ from pymycobot.mycobot import MyCobot
 
 
 def callback(data):
-    rospy.loginfo(rospy.get_caller_id() + "%s", data.position)
+    #rospy.loginfo(rospy.get_caller_id() + "%s", data.position)
     # print(data.position)
     data_list = []
+    print(data.position)
     for index, value in enumerate(data.position):
-        if index != 2:
-            value *= -1
         data_list.append(value)
 
     mc.send_radians(data_list, 80)
@@ -29,7 +28,10 @@ def listener():
     rospy.spin()
 
 if __name__ == '__main__':
+    print('sart')
     port = subprocess.check_output(['echo -n /dev/ttyUSB*'], 
                                     shell=True).decode()
+    print(port)
     mc = MyCobot(port)
+    print(mc)
     listener()
diff --git a/urdf/mycobot_urdf.urdf b/urdf/mycobot_urdf.urdf
index a178865..0e432b8 100755
--- a/urdf/mycobot_urdf.urdf
+++ b/urdf/mycobot_urdf.urdf
@@ -124,7 +124,7 @@
   </joint>
 
   <joint name="joint6output_to_joint6" type="revolute">
-    <axis xyz="0 1  0"/>
+    <axis xyz="0 0 1"/>
     <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
     <parent link="joint6"/>
     <child link="joint6_flange"/>