diff --git a/mycobot_description/urdf/mycobot_320_m5_2022/new_mycobot_pro_320_m5_2022.urdf b/mycobot_description/urdf/mycobot_320_m5_2022/new_mycobot_pro_320_m5_2022.urdf
index d341a2d..ab9ef42 100644
--- a/mycobot_description/urdf/mycobot_320_m5_2022/new_mycobot_pro_320_m5_2022.urdf
+++ b/mycobot_description/urdf/mycobot_320_m5_2022/new_mycobot_pro_320_m5_2022.urdf
@@ -122,7 +122,7 @@
     <limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
     <parent link="base"/>
     <child link="link1"/>
-    <origin xyz= "0 0 0.173" rpy = "0 0 0"/> 
+    <origin xyz= "0 0 0.1739" rpy = "0 0 0"/> 
   </joint>
 
 
@@ -131,7 +131,7 @@
     <limit effort = "1000.0" lower = "-2.35" upper = "2.35" velocity = "0"/>
     <parent link="link1"/>
     <child link="link2"/>
-       <origin xyz= "0 -0.086 0" rpy = "0 -1.5708 1.5708"/> 
+       <origin xyz= "0 -0.08878 0" rpy = "0 -1.5708 1.5708"/> 
   </joint>
 
 
@@ -140,7 +140,7 @@
     <limit effort = "1000.0" lower = "-2.53" upper = "2.53" velocity = "0"/>
     <parent link="link2"/>
     <child link="link3"/>
-    <origin xyz= "0.13635 0 -0.086   " rpy = "0 0 0"/>  
+    <origin xyz= "0.135 0 -0.08878   " rpy = "0 0 0"/>  
   </joint>
 
   <joint name="joint5_to_joint4" type="revolute">
@@ -148,7 +148,7 @@
     <limit effort = "1000.0" lower = "-2.58" upper = "2.58" velocity = "0"/>
     <parent link="link3"/>
     <child link="link4"/>
-     <origin xyz = "0.1195 0 0.082 " rpy = " 0 0 1.57080"/>
+     <origin xyz = "0.120 0 0.08878 " rpy = " 0 0 1.57080"/>
   </joint>
 
   <joint name="joint6_to_joint5" type="revolute">
@@ -156,7 +156,7 @@
     <limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
     <parent link="link4"/>
     <child link="link5"/>
-     <origin xyz= "0 -0.09415 0.0" rpy = "1.5708 0 0"/>
+     <origin xyz= "0 -0.095 0.0" rpy = "1.5708 0 0"/>
   </joint>
 
   <joint name="joint6output_to_joint6" type="revolute">
@@ -164,7 +164,7 @@
     <limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
     <parent link="link5"/>
     <child link="link6"/>
-     <origin xyz= "0 0.055 0.0" rpy = "-1.5708 0 0"/>
+     <origin xyz= "0 0.0655 0.0" rpy = "-1.5708 0 0"/>
   </joint>
 
 
diff --git a/mycobot_description/urdf/mycobot_320_m5_2022/new_mycobot_pro_320_m5_2022_gripper.urdf b/mycobot_description/urdf/mycobot_320_m5_2022/new_mycobot_pro_320_m5_2022_gripper.urdf
index 4ba7f8f..51484d4 100644
--- a/mycobot_description/urdf/mycobot_320_m5_2022/new_mycobot_pro_320_m5_2022_gripper.urdf
+++ b/mycobot_description/urdf/mycobot_320_m5_2022/new_mycobot_pro_320_m5_2022_gripper.urdf
@@ -237,7 +237,7 @@
     <limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
     <parent link="base"/>
     <child link="link1"/>
-    <origin xyz= "0 0 0.173" rpy = "0 0 0"/> 
+    <origin xyz= "0 0 0.1739" rpy = "0 0 0"/> 
   </joint>
 
 
@@ -246,7 +246,7 @@
     <limit effort = "1000.0" lower = "-2.35" upper = "2.35" velocity = "0"/>
     <parent link="link1"/>
     <child link="link2"/>
-       <origin xyz= "0 -0.086 0" rpy = "0 -1.5708 1.5708"/> 
+       <origin xyz= "0 -0.08878 0" rpy = "0 -1.5708 1.5708"/> 
   </joint>
 
 
@@ -255,7 +255,7 @@
     <limit effort = "1000.0" lower = "-2.53" upper = "2.53" velocity = "0"/>
     <parent link="link2"/>
     <child link="link3"/>
-    <origin xyz= "0.13635 0 -0.086   " rpy = "0 0 0"/>  
+    <origin xyz= "0.135 0 -0.08878   " rpy = "0 0 0"/>  
   </joint>
 
   <joint name="joint5_to_joint4" type="revolute">
@@ -263,7 +263,7 @@
     <limit effort = "1000.0" lower = "-2.58" upper = "2.58" velocity = "0"/>
     <parent link="link3"/>
     <child link="link4"/>
-     <origin xyz = "0.1195 0 0.082 " rpy = " 0 0 1.57080"/>
+     <origin xyz = "0.120 0 0.08878 " rpy = " 0 0 1.57080"/>
   </joint>
 
   <joint name="joint6_to_joint5" type="revolute">
@@ -271,7 +271,7 @@
     <limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
     <parent link="link4"/>
     <child link="link5"/>
-     <origin xyz= "0 -0.09415 0.0" rpy = "1.5708 0 0"/>
+     <origin xyz= "0 -0.095 0.0" rpy = "1.5708 0 0"/>
   </joint>
 
   <joint name="joint6output_to_joint6" type="revolute">
@@ -279,7 +279,7 @@
     <limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
     <parent link="link5"/>
     <child link="link6"/>
-     <origin xyz= "0 0.055 0.0" rpy = "-1.5708 0 0"/>
+     <origin xyz= "0 0.0655 0.0" rpy = "-1.5708 0 0"/>
   </joint>
 
   <joint name="joint6output_to_gripper_base" type="fixed">
diff --git a/mycobot_description/urdf/mycobot_320_m5_2022/new_mycobot_pro_320_m5_2022_moveit_gripper.urdf b/mycobot_description/urdf/mycobot_320_m5_2022/new_mycobot_pro_320_m5_2022_moveit_gripper.urdf
index 563134a..a337dc0 100644
--- a/mycobot_description/urdf/mycobot_320_m5_2022/new_mycobot_pro_320_m5_2022_moveit_gripper.urdf
+++ b/mycobot_description/urdf/mycobot_320_m5_2022/new_mycobot_pro_320_m5_2022_moveit_gripper.urdf
@@ -238,7 +238,7 @@
     <limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
     <parent link="base"/>
     <child link="link1"/>
-    <origin xyz= "0 0 0.173" rpy = "0 0 0"/> 
+    <origin xyz= "0 0 0.1739" rpy = "0 0 0"/> 
   </joint>
 
 
@@ -247,7 +247,7 @@
     <limit effort = "1000.0" lower = "-2.35" upper = "2.35" velocity = "0"/>
     <parent link="link1"/>
     <child link="link2"/>
-       <origin xyz= "0 -0.086 0" rpy = "0 -1.5708 1.5708"/> 
+       <origin xyz= "0 -0.08878 0" rpy = "0 -1.5708 1.5708"/> 
   </joint>
 
 
@@ -256,7 +256,7 @@
     <limit effort = "1000.0" lower = "-2.53" upper = "2.53" velocity = "0"/>
     <parent link="link2"/>
     <child link="link3"/>
-    <origin xyz= "0.13635 0 -0.086   " rpy = "0 0 0"/>  
+    <origin xyz= "0.135 0 -0.08878   " rpy = "0 0 0"/>  
   </joint>
 
   <joint name="joint5_to_joint4" type="revolute">
@@ -264,7 +264,7 @@
     <limit effort = "1000.0" lower = "-2.58" upper = "2.58" velocity = "0"/>
     <parent link="link3"/>
     <child link="link4"/>
-     <origin xyz = "0.1195 0 0.082 " rpy = " 0 0 1.57080"/>
+     <origin xyz = "0.120 0 0.08878 " rpy = " 0 0 1.57080"/>
   </joint>
 
   <joint name="joint6_to_joint5" type="revolute">
@@ -272,7 +272,7 @@
     <limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
     <parent link="link4"/>
     <child link="link5"/>
-     <origin xyz= "0 -0.09415 0.0" rpy = "1.5708 0 0"/>
+     <origin xyz= "0 -0.095 0.0" rpy = "1.5708 0 0"/>
   </joint>
 
   <joint name="joint6output_to_joint6" type="revolute">
@@ -280,7 +280,7 @@
     <limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
     <parent link="link5"/>
     <child link="link6"/>
-     <origin xyz= "0 0.055 0.0" rpy = "-1.5708 0 0"/>
+     <origin xyz= "0 0.0655 0.0" rpy = "-1.5708 0 0"/>
   </joint>
 
   <joint name="joint6output_to_gripper_base" type="fixed">
diff --git a/mycobot_description/urdf/mycobot_320_m5_2022/new_mycobot_pro_320moveit_m5_2022.urdf b/mycobot_description/urdf/mycobot_320_m5_2022/new_mycobot_pro_320moveit_m5_2022.urdf
index 412c6fa..2c5250c 100644
--- a/mycobot_description/urdf/mycobot_320_m5_2022/new_mycobot_pro_320moveit_m5_2022.urdf
+++ b/mycobot_description/urdf/mycobot_320_m5_2022/new_mycobot_pro_320moveit_m5_2022.urdf
@@ -122,7 +122,7 @@
     <limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
     <parent link="base"/>
     <child link="link1"/>
-    <origin xyz= "0 0 0.173" rpy = "0 0 0"/>
+    <origin xyz= "0 0 0.1739" rpy = "0 0 0"/>
   </joint>
 
 
@@ -131,7 +131,7 @@
     <limit effort = "1000.0" lower = "-2.35" upper = "2.35" velocity = "0"/>
     <parent link="link1"/>
     <child link="link2"/>
-    <origin xyz= "0 -0.086 0" rpy = "0 -1.57080  1.57080"/>
+    <origin xyz= "0 -0.08878 0" rpy = "0 -1.57080  1.57080"/>
   </joint>
 
 
@@ -140,7 +140,7 @@
     <limit effort = "1000.0" lower = "-2.53" upper = "2.53" velocity = "0"/>
     <parent link="link2"/>
     <child link="link3"/>
-    <origin xyz= "0.13635 0 -0.086   " rpy = "0 0 0"/>
+    <origin xyz= "0.135 0 -0.08878   " rpy = "0 0 0"/>
   </joint>
 
   <joint name="joint5_to_joint4" type="revolute">
@@ -148,7 +148,7 @@
     <limit effort = "1000.0" lower = "-2.58" upper = "2.58" velocity = "0"/>
     <parent link="link3"/>
     <child link="link4"/>
-    <origin xyz= "0.1195 0  0.082" rpy = "0 0 1.57080"/>
+    <origin xyz= "0.120 0  0.08878" rpy = "0 0 1.57080"/>
   </joint>
 
   <joint name="joint6_to_joint5" type="revolute">
@@ -156,7 +156,7 @@
     <limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
     <parent link="link4"/>
     <child link="link5"/>
-    <origin xyz= "0 -0.09415 0" rpy = "1.57080 0 0"/>
+    <origin xyz= "0 -0.095 0" rpy = "1.57080 0 0"/>
   </joint>
 
   <joint name="joint6output_to_joint6" type="revolute">
@@ -164,7 +164,7 @@
     <limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
     <parent link="link5"/>
     <child link="link6"/>
-    <origin xyz= "0 0.055 0" rpy = "-1.57080 0 0 "/>
+    <origin xyz= "0 0.0655 0" rpy = "-1.57080 0 0 "/>
   </joint>
 
 </robot>
diff --git a/mycobot_description/urdf/mycobot_320_m5_2022/pro_320_m5_2022_force_gripper.urdf b/mycobot_description/urdf/mycobot_320_m5_2022/pro_320_m5_2022_force_gripper.urdf
index 06504c3..d82e12b 100644
--- a/mycobot_description/urdf/mycobot_320_m5_2022/pro_320_m5_2022_force_gripper.urdf
+++ b/mycobot_description/urdf/mycobot_320_m5_2022/pro_320_m5_2022_force_gripper.urdf
@@ -239,7 +239,7 @@
     <limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
     <parent link="base"/>
     <child link="link1"/>
-    <origin xyz= "0 0 0.173" rpy = "0 0 0"/> 
+    <origin xyz= "0 0 0.1739" rpy = "0 0 0"/> 
   </joint>
 
 
@@ -248,7 +248,7 @@
     <limit effort = "1000.0" lower = "-2.35" upper = "2.35" velocity = "0"/>
     <parent link="link1"/>
     <child link="link2"/>
-       <origin xyz= "0 -0.086 0" rpy = "0 -1.5708 1.5708"/> 
+       <origin xyz= "0 -0.08878 0" rpy = "0 -1.5708 1.5708"/> 
   </joint>
 
 
@@ -257,7 +257,7 @@
     <limit effort = "1000.0" lower = "-2.53" upper = "2.53" velocity = "0"/>
     <parent link="link2"/>
     <child link="link3"/>
-    <origin xyz= "0.13635 0 -0.086   " rpy = "0 0 0"/>  
+    <origin xyz= "0.135 0 -0.08878   " rpy = "0 0 0"/>  
   </joint>
 
   <joint name="joint5_to_joint4" type="revolute">
@@ -265,7 +265,7 @@
     <limit effort = "1000.0" lower = "-2.58" upper = "2.58" velocity = "0"/>
     <parent link="link3"/>
     <child link="link4"/>
-     <origin xyz = "0.1195 0 0.082 " rpy = " 0 0 1.57080"/>
+     <origin xyz = "0.120 0 0.08878 " rpy = " 0 0 1.57080"/>
   </joint>
 
   <joint name="joint6_to_joint5" type="revolute">
@@ -273,7 +273,7 @@
     <limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
     <parent link="link4"/>
     <child link="link5"/>
-     <origin xyz= "0 -0.09415 0.0" rpy = "1.5708 0 0"/>
+     <origin xyz= "0 -0.095 0.0" rpy = "1.5708 0 0"/>
   </joint>
 
   <joint name="joint6output_to_joint6" type="revolute">
@@ -281,7 +281,7 @@
     <limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
     <parent link="link5"/>
     <child link="link6"/>
-     <origin xyz= "0 0.055 0.0" rpy = "-1.5708 0 0"/>
+     <origin xyz= "0 0.0655 0.0" rpy = "-1.5708 0 0"/>
   </joint>
 
   <joint name="joint6output_to_gripper_connect" type="fixed">
diff --git a/mycobot_description/urdf/mycobot_320_m5_2022/pro_320_m5_2022_moveit_force_gripper.urdf b/mycobot_description/urdf/mycobot_320_m5_2022/pro_320_m5_2022_moveit_force_gripper.urdf
index 482cf3f..d4d9e96 100644
--- a/mycobot_description/urdf/mycobot_320_m5_2022/pro_320_m5_2022_moveit_force_gripper.urdf
+++ b/mycobot_description/urdf/mycobot_320_m5_2022/pro_320_m5_2022_moveit_force_gripper.urdf
@@ -241,7 +241,7 @@
     <limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
     <parent link="base"/>
     <child link="link1"/>
-    <origin xyz= "0 0 0.173" rpy = "0 0 0"/> 
+    <origin xyz= "0 0 0.1739" rpy = "0 0 0"/> 
   </joint>
 
 
@@ -250,7 +250,7 @@
     <limit effort = "1000.0" lower = "-2.35" upper = "2.35" velocity = "0"/>
     <parent link="link1"/>
     <child link="link2"/>
-       <origin xyz= "0 -0.086 0" rpy = "0 -1.5708 1.5708"/> 
+       <origin xyz= "0 -0.08878 0" rpy = "0 -1.5708 1.5708"/> 
   </joint>
 
 
@@ -259,7 +259,7 @@
     <limit effort = "1000.0" lower = "-2.53" upper = "2.53" velocity = "0"/>
     <parent link="link2"/>
     <child link="link3"/>
-    <origin xyz= "0.13635 0 -0.086   " rpy = "0 0 0"/>  
+    <origin xyz= "0.135 0 -0.08878   " rpy = "0 0 0"/>  
   </joint>
 
   <joint name="joint5_to_joint4" type="revolute">
@@ -267,7 +267,7 @@
     <limit effort = "1000.0" lower = "-2.58" upper = "2.58" velocity = "0"/>
     <parent link="link3"/>
     <child link="link4"/>
-     <origin xyz = "0.1195 0 0.082 " rpy = " 0 0 1.57080"/>
+     <origin xyz = "0.120 0 0.08878 " rpy = " 0 0 1.57080"/>
   </joint>
 
   <joint name="joint6_to_joint5" type="revolute">
@@ -275,7 +275,7 @@
     <limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
     <parent link="link4"/>
     <child link="link5"/>
-     <origin xyz= "0 -0.09415 0.0" rpy = "1.5708 0 0"/>
+     <origin xyz= "0 -0.095 0.0" rpy = "1.5708 0 0"/>
   </joint>
 
   <joint name="joint6output_to_joint6" type="revolute">
@@ -283,7 +283,7 @@
     <limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
     <parent link="link5"/>
     <child link="link6"/>
-     <origin xyz= "0 0.055 0.0" rpy = "-1.5708 0 0"/>
+     <origin xyz= "0 0.0655 0.0" rpy = "-1.5708 0 0"/>
   </joint>
 
   <joint name="joint6output_to_gripper_connect" type="fixed">
diff --git a/mycobot_description/urdf/mycobot_320_m5_2022/pro_320_m5_2022_moveit_three_gripper.urdf b/mycobot_description/urdf/mycobot_320_m5_2022/pro_320_m5_2022_moveit_three_gripper.urdf
index 363fd7b..8eda9d6 100644
--- a/mycobot_description/urdf/mycobot_320_m5_2022/pro_320_m5_2022_moveit_three_gripper.urdf
+++ b/mycobot_description/urdf/mycobot_320_m5_2022/pro_320_m5_2022_moveit_three_gripper.urdf
@@ -137,7 +137,7 @@
     <limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
     <parent link="base"/>
     <child link="link1"/>
-    <origin xyz= "0 0 0.173" rpy = "0 0 0"/>
+    <origin xyz= "0 0 0.1739" rpy = "0 0 0"/>
   </joint>
 
 
@@ -146,7 +146,7 @@
     <limit effort = "1000.0" lower = "-2.35" upper = "2.35" velocity = "0"/>
     <parent link="link1"/>
     <child link="link2"/>
-    <origin xyz= "0 -0.086 0" rpy = "0 -1.57080  1.57080"/>
+    <origin xyz= "0 -0.08878 0" rpy = "0 -1.57080  1.57080"/>
   </joint>
 
 
@@ -155,7 +155,7 @@
     <limit effort = "1000.0" lower = "-2.53" upper = "2.53" velocity = "0"/>
     <parent link="link2"/>
     <child link="link3"/>
-    <origin xyz= "0.13635 0 -0.086   " rpy = "0 0 0"/>
+    <origin xyz= "0.135 0 -0.08878   " rpy = "0 0 0"/>
   </joint>
 
   <joint name="joint5_to_joint4" type="revolute">
@@ -163,7 +163,7 @@
     <limit effort = "1000.0" lower = "-2.58" upper = "2.58" velocity = "0"/>
     <parent link="link3"/>
     <child link="link4"/>
-    <origin xyz= "0.1195 0  0.082" rpy = "0 0 1.57080"/>
+    <origin xyz= "0.120 0  0.08878" rpy = "0 0 1.57080"/>
   </joint>
 
   <joint name="joint6_to_joint5" type="revolute">
@@ -171,7 +171,7 @@
     <limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
     <parent link="link4"/>
     <child link="link5"/>
-    <origin xyz= "0 -0.09415 0" rpy = "1.57080 0 0"/>
+    <origin xyz= "0 -0.095 0" rpy = "1.57080 0 0"/>
   </joint>
 
   <joint name="joint6output_to_joint6" type="revolute">
@@ -179,7 +179,7 @@
     <limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
     <parent link="link5"/>
     <child link="link6"/>
-    <origin xyz= "0 0.055 0" rpy = "-1.57080 0 0 "/>
+    <origin xyz= "0 0.0655 0" rpy = "-1.57080 0 0 "/>
   </joint>
 
   <joint name="gripper_to_joint6" type="fixed">
diff --git a/mycobot_description/urdf/mycobot_320_pi_2022/new_mycobot_pro_320_pi_2022.urdf b/mycobot_description/urdf/mycobot_320_pi_2022/new_mycobot_pro_320_pi_2022.urdf
index 5abe220..90172e1 100644
--- a/mycobot_description/urdf/mycobot_320_pi_2022/new_mycobot_pro_320_pi_2022.urdf
+++ b/mycobot_description/urdf/mycobot_320_pi_2022/new_mycobot_pro_320_pi_2022.urdf
@@ -132,7 +132,7 @@
     <limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
     <parent link="base"/>
     <child link="link1"/>
-    <origin xyz= "0 0 0.173" rpy = "0 0 0"/> 
+    <origin xyz= "0 0 0.1739" rpy = "0 0 0"/> 
   </joint>
 
 
@@ -141,7 +141,7 @@
     <limit effort = "1000.0" lower = "-2.35" upper = "2.35" velocity = "0"/>
     <parent link="link1"/>
     <child link="link2"/>
-       <origin xyz= "0 -0.086 0" rpy = "0 -1.5708 1.5708"/> 
+       <origin xyz= "0 -0.08878 0" rpy = "0 -1.5708 1.5708"/> 
   </joint>
 
 
@@ -150,7 +150,7 @@
     <limit effort = "1000.0" lower = "-2.53" upper = "2.53" velocity = "0"/>
     <parent link="link2"/>
     <child link="link3"/>
-    <origin xyz= "0.13635 0 -0.086   " rpy = "0 0 0"/>  
+    <origin xyz= "0.135 0 -0.08878   " rpy = "0 0 0"/>  
   </joint>
 
 
@@ -159,7 +159,7 @@
     <limit effort = "1000.0" lower = "-2.58" upper = "2.58" velocity = "0"/>
     <parent link="link3"/>
     <child link="link4"/>
-     <origin xyz = "0.1195 0 0.082 " rpy = " 0 0 1.57080"/>
+     <origin xyz = "0.120 0 0.08878 " rpy = " 0 0 1.57080"/>
   </joint>
 
 
@@ -168,7 +168,7 @@
     <limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
     <parent link="link4"/>
     <child link="link5"/>
-     <origin xyz= "0 -0.09415 0" rpy = "1.5708 0 0"/>
+     <origin xyz= "0 -0.095 0" rpy = "1.5708 0 0"/>
   </joint>
 
   <joint name="joint6output_to_joint6" type="revolute">
@@ -176,7 +176,7 @@
     <limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
     <parent link="link5"/>
     <child link="link6"/>
-     <origin xyz= "0 0.06635 0" rpy = "-1.5708 0 0"/>
+     <origin xyz= "0 0.0655 0" rpy = "-1.5708 0 0"/>
   </joint>
 
 
diff --git a/mycobot_description/urdf/mycobot_320_pi_2022/new_mycobot_pro_320_pi_2022_gripper.urdf b/mycobot_description/urdf/mycobot_320_pi_2022/new_mycobot_pro_320_pi_2022_gripper.urdf
index b2d57fa..97e271a 100644
--- a/mycobot_description/urdf/mycobot_320_pi_2022/new_mycobot_pro_320_pi_2022_gripper.urdf
+++ b/mycobot_description/urdf/mycobot_320_pi_2022/new_mycobot_pro_320_pi_2022_gripper.urdf
@@ -234,7 +234,7 @@
     <limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/>
     <parent link="base"/>
     <child link="link1"/>
-    <origin xyz= "0 0 0.173" rpy = "0 0 0"/> 
+    <origin xyz= "0 0 0.1739" rpy = "0 0 0"/> 
   </joint>
 
 
@@ -243,7 +243,7 @@
     <limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
     <parent link="link1"/>
     <child link="link2"/>
-       <origin xyz= "0 -0.086 0" rpy = "0 -1.5708 1.5708"/> 
+       <origin xyz= "0 -0.08878 0" rpy = "0 -1.5708 1.5708"/> 
   </joint>
 
 
@@ -252,7 +252,7 @@
     <limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
     <parent link="link2"/>
     <child link="link3"/>
-    <origin xyz= "0.13635 0 -0.086   " rpy = "0 0 0"/>  
+    <origin xyz= "0.135 0 -0.08878   " rpy = "0 0 0"/>  
   </joint>
 
   <joint name="joint5_to_joint4" type="revolute">
@@ -260,7 +260,7 @@
     <limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
     <parent link="link3"/>
     <child link="link4"/>
-     <origin xyz = "0.1195 0 0.082 " rpy = " 0 0 1.57080"/>
+     <origin xyz = "0.120 0 0.08878 " rpy = " 0 0 1.57080"/>
   </joint>
 
   <joint name="joint6_to_joint5" type="revolute">
@@ -268,7 +268,7 @@
     <limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/>
     <parent link="link4"/>
     <child link="link5"/>
-     <origin xyz= "0 -0.09415 0.0" rpy = "1.5708 0 0"/>
+     <origin xyz= "0 -0.095 0.0" rpy = "1.5708 0 0"/>
   </joint>
 
   <joint name="joint6output_to_joint6" type="revolute">
@@ -276,7 +276,7 @@
     <limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
     <parent link="link5"/>
     <child link="link6"/>
-     <origin xyz= "0 0.055 0.0" rpy = "-1.5708 0 0"/>
+     <origin xyz= "0 0.0655 0.0" rpy = "-1.5708 0 0"/>
   </joint>
 
   <joint name="joint6output_to_gripper_base" type="fixed">
diff --git a/mycobot_description/urdf/mycobot_320_pi_2022/new_mycobot_pro_320_pi_2022_moveit_gripper.urdf b/mycobot_description/urdf/mycobot_320_pi_2022/new_mycobot_pro_320_pi_2022_moveit_gripper.urdf
index 86ee5df..5275b3f 100644
--- a/mycobot_description/urdf/mycobot_320_pi_2022/new_mycobot_pro_320_pi_2022_moveit_gripper.urdf
+++ b/mycobot_description/urdf/mycobot_320_pi_2022/new_mycobot_pro_320_pi_2022_moveit_gripper.urdf
@@ -237,7 +237,7 @@
     <limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/>
     <parent link="base"/>
     <child link="link1"/>
-    <origin xyz= "0 0 0.173" rpy = "0 0 0"/> 
+    <origin xyz= "0 0 0.1739" rpy = "0 0 0"/> 
   </joint>
 
 
@@ -246,7 +246,7 @@
     <limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
     <parent link="link1"/>
     <child link="link2"/>
-       <origin xyz= "0 -0.086 0" rpy = "0 -1.5708 1.5708"/> 
+       <origin xyz= "0 -0.08878 0" rpy = "0 -1.5708 1.5708"/> 
   </joint>
 
 
@@ -255,7 +255,7 @@
     <limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
     <parent link="link2"/>
     <child link="link3"/>
-    <origin xyz= "0.13635 0 -0.086   " rpy = "0 0 0"/>  
+    <origin xyz= "0.135 0 -0.08878   " rpy = "0 0 0"/>  
   </joint>
 
   <joint name="joint5_to_joint4" type="revolute">
@@ -263,7 +263,7 @@
     <limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
     <parent link="link3"/>
     <child link="link4"/>
-     <origin xyz = "0.1195 0 0.082 " rpy = " 0 0 1.57080"/>
+     <origin xyz = "0.120 0 0.08878 " rpy = " 0 0 1.57080"/>
   </joint>
 
   <joint name="joint6_to_joint5" type="revolute">
@@ -271,7 +271,7 @@
     <limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/>
     <parent link="link4"/>
     <child link="link5"/>
-     <origin xyz= "0 -0.09415 0.0" rpy = "1.5708 0 0"/>
+     <origin xyz= "0 -0.095 0.0" rpy = "1.5708 0 0"/>
   </joint>
 
   <joint name="joint6output_to_joint6" type="revolute">
@@ -279,7 +279,7 @@
     <limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
     <parent link="link5"/>
     <child link="link6"/>
-     <origin xyz= "0 0.055 0.0" rpy = "-1.5708 0 0"/>
+     <origin xyz= "0 0.0655 0.0" rpy = "-1.5708 0 0"/>
   </joint>
 
   <joint name="joint6output_to_gripper_base" type="fixed">
diff --git a/mycobot_description/urdf/mycobot_320_pi_2022/new_mycobot_pro_320_pi_moveit_2022.urdf b/mycobot_description/urdf/mycobot_320_pi_2022/new_mycobot_pro_320_pi_moveit_2022.urdf
index c0bed90..df704a0 100644
--- a/mycobot_description/urdf/mycobot_320_pi_2022/new_mycobot_pro_320_pi_moveit_2022.urdf
+++ b/mycobot_description/urdf/mycobot_320_pi_2022/new_mycobot_pro_320_pi_moveit_2022.urdf
@@ -122,7 +122,7 @@
     <limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
     <parent link="base"/>
     <child link="link1"/>
-    <origin xyz= "0 0 0.173" rpy = "0 0 0"/>
+    <origin xyz= "0 0 0.1739" rpy = "0 0 0"/>
   </joint>
 
 
@@ -131,7 +131,7 @@
     <limit effort = "1000.0" lower = "-2.35" upper = "2.35" velocity = "0"/>
     <parent link="link1"/>
     <child link="link2"/>
-    <origin xyz= "0 -0.086  0" rpy = "0 -1.57080  1.57080"/>
+    <origin xyz= "0 -0.08878  0" rpy = "0 -1.57080  1.57080"/>
   </joint>
 
 
@@ -140,7 +140,7 @@
     <limit effort = "1000.0" lower = "-2.53" upper = "2.53" velocity = "0"/>
     <parent link="link2"/>
     <child link="link3"/>
-    <origin xyz= "0.13635 0 -0.086   " rpy = "0 0 0"/>
+    <origin xyz= "0.135 0 -0.08878  " rpy = "0 0 0"/>
   </joint>
 
   <joint name="joint5_to_joint4" type="revolute">
@@ -148,7 +148,7 @@
     <limit effort = "1000.0" lower = "-2.58" upper = "2.58" velocity = "0"/>
     <parent link="link3"/>
     <child link="link4"/>
-    <origin xyz= "0.1195 0  0.082" rpy = "0 0 1.57080"/>
+    <origin xyz= "0.120  0.08878" rpy = "0 0 1.57080"/>
   </joint>
 
   <joint name="joint6_to_joint5" type="revolute">
@@ -156,7 +156,7 @@
     <limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
     <parent link="link4"/>
     <child link="link5"/>
-    <origin xyz= "0 -0.09415 0" rpy = "1.57080 0 0"/>
+    <origin xyz= "0 -0.095 0" rpy = "1.57080 0 0"/>
   </joint>
 
   <joint name="joint6output_to_joint6" type="revolute">
@@ -164,7 +164,7 @@
     <limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
     <parent link="link5"/>
     <child link="link6"/>
-    <origin xyz= "0 0.055 0" rpy = "-1.57080 0 0 "/>
+    <origin xyz= "0 0.0655 0" rpy = "-1.57080 0 0 "/>
   </joint>
 
 </robot>
diff --git a/mycobot_description/urdf/mycobot_320_pi_2022/new_mycobot_vision_v2_2022.urdf b/mycobot_description/urdf/mycobot_320_pi_2022/new_mycobot_vision_v2_2022.urdf
index 3389b0b..70433b8 100644
--- a/mycobot_description/urdf/mycobot_320_pi_2022/new_mycobot_vision_v2_2022.urdf
+++ b/mycobot_description/urdf/mycobot_320_pi_2022/new_mycobot_vision_v2_2022.urdf
@@ -142,7 +142,7 @@
     <limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
     <parent link="base"/>
     <child link="link1"/>
-    <origin xyz= "0 0 0.173" rpy = "0 0 0"/> 
+    <origin xyz= "0 0 0.1739" rpy = "0 0 0"/> 
   </joint>
 
 
@@ -151,7 +151,7 @@
     <limit effort = "1000.0" lower = "-2.35" upper = "2.35" velocity = "0"/>
     <parent link="link1"/>
     <child link="link2"/>
-       <origin xyz= "0 -0.086 0" rpy = "0 -1.5708 1.5708"/> 
+       <origin xyz= "0 -0.08878 0" rpy = "0 -1.5708 1.5708"/> 
   </joint>
 
 
@@ -160,7 +160,7 @@
     <limit effort = "1000.0" lower = "-2.53" upper = "2.53" velocity = "0"/>
     <parent link="link2"/>
     <child link="link3"/>
-    <origin xyz= "0.13635 0 -0.086   " rpy = "0 0 0"/>  
+    <origin xyz= "0.135 0 -0.08878   " rpy = "0 0 0"/>  
   </joint>
 
 
@@ -169,7 +169,7 @@
     <limit effort = "1000.0" lower = "-2.58" upper = "2.58" velocity = "0"/>
     <parent link="link3"/>
     <child link="link4"/>
-     <origin xyz = "0.1195 0 0.082 " rpy = " 0 0 1.57080"/>
+     <origin xyz = "0.120 0 0.08878 " rpy = " 0 0 1.57080"/>
   </joint>
 
 
@@ -178,7 +178,7 @@
     <limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
     <parent link="link4"/>
     <child link="link5"/>
-     <origin xyz= "0 -0.09415 0" rpy = "1.5708 0 0"/>
+     <origin xyz= "0 -0.095 0" rpy = "1.5708 0 0"/>
   </joint>
 
 
@@ -187,7 +187,7 @@
     <limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
     <parent link="link5"/>
     <child link="link6"/>
-     <origin xyz= "0 0.055 0" rpy = "-1.5708 0 0"/>
+     <origin xyz= "0 0.0655 0" rpy = "-1.5708 0 0"/>
   </joint>
 
   <joint name="vision_joint" type="fixed">
diff --git a/mycobot_description/urdf/mycobot_320_pi_2022/pro_320_pi_2022_force_gripper.urdf b/mycobot_description/urdf/mycobot_320_pi_2022/pro_320_pi_2022_force_gripper.urdf
index b48c4d2..38986aa 100644
--- a/mycobot_description/urdf/mycobot_320_pi_2022/pro_320_pi_2022_force_gripper.urdf
+++ b/mycobot_description/urdf/mycobot_320_pi_2022/pro_320_pi_2022_force_gripper.urdf
@@ -238,7 +238,7 @@
     <limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
     <parent link="base"/>
     <child link="link1"/>
-    <origin xyz= "0 0 0.173" rpy = "0 0 0"/> 
+    <origin xyz= "0 0 0.1739" rpy = "0 0 0"/> 
   </joint>
 
 
@@ -247,7 +247,7 @@
     <limit effort = "1000.0" lower = "-2.35" upper = "2.35" velocity = "0"/>
     <parent link="link1"/>
     <child link="link2"/>
-       <origin xyz= "0 -0.086 0" rpy = "0 -1.5708 1.5708"/> 
+       <origin xyz= "0 -0.08878 0" rpy = "0 -1.5708 1.5708"/> 
   </joint>
 
 
@@ -256,7 +256,7 @@
     <limit effort = "1000.0" lower = "-2.53" upper = "2.53" velocity = "0"/>
     <parent link="link2"/>
     <child link="link3"/>
-    <origin xyz= "0.13635 0 -0.086   " rpy = "0 0 0"/>  
+    <origin xyz= "0.135 0 -0.08878   " rpy = "0 0 0"/>  
   </joint>
 
   <joint name="joint5_to_joint4" type="revolute">
@@ -264,7 +264,7 @@
     <limit effort = "1000.0" lower = "-2.58" upper = "2.58" velocity = "0"/>
     <parent link="link3"/>
     <child link="link4"/>
-     <origin xyz = "0.1195 0 0.082 " rpy = " 0 0 1.57080"/>
+     <origin xyz = "0.120 0 0.08878 " rpy = " 0 0 1.57080"/>
   </joint>
 
   <joint name="joint6_to_joint5" type="revolute">
@@ -272,7 +272,7 @@
     <limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
     <parent link="link4"/>
     <child link="link5"/>
-     <origin xyz= "0 -0.09415 0.0" rpy = "1.5708 0 0"/>
+     <origin xyz= "0 -0.095 0.0" rpy = "1.5708 0 0"/>
   </joint>
 
   <joint name="joint6output_to_joint6" type="revolute">
@@ -280,7 +280,7 @@
     <limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
     <parent link="link5"/>
     <child link="link6"/>
-     <origin xyz= "0 0.06635 0.0" rpy = "-1.5708 0 0"/>
+     <origin xyz= "0 0.0655 0.0" rpy = "-1.5708 0 0"/>
   </joint>
 
   <joint name="joint6output_to_gripper_connect" type="fixed">
diff --git a/mycobot_description/urdf/mycobot_320_pi_2022/pro_320_pi_2022_moveit_force_gripper.urdf b/mycobot_description/urdf/mycobot_320_pi_2022/pro_320_pi_2022_moveit_force_gripper.urdf
index 7f8582a..c4995da 100644
--- a/mycobot_description/urdf/mycobot_320_pi_2022/pro_320_pi_2022_moveit_force_gripper.urdf
+++ b/mycobot_description/urdf/mycobot_320_pi_2022/pro_320_pi_2022_moveit_force_gripper.urdf
@@ -238,7 +238,7 @@
     <limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
     <parent link="base"/>
     <child link="link1"/>
-    <origin xyz= "0 0 0.173" rpy = "0 0 0"/> 
+    <origin xyz= "0 0 0.1739" rpy = "0 0 0"/> 
   </joint>
 
 
@@ -247,7 +247,7 @@
     <limit effort = "1000.0" lower = "-2.35" upper = "2.35" velocity = "0"/>
     <parent link="link1"/>
     <child link="link2"/>
-       <origin xyz= "0 -0.086 0" rpy = "0 -1.5708 1.5708"/> 
+       <origin xyz= "0 -0.08878 0" rpy = "0 -1.5708 1.5708"/> 
   </joint>
 
 
@@ -256,7 +256,7 @@
     <limit effort = "1000.0" lower = "-2.53" upper = "2.53" velocity = "0"/>
     <parent link="link2"/>
     <child link="link3"/>
-    <origin xyz= "0.13635 0 -0.086   " rpy = "0 0 0"/>  
+    <origin xyz= "0.135 0 -0.08878   " rpy = "0 0 0"/>  
   </joint>
 
   <joint name="joint5_to_joint4" type="revolute">
@@ -264,7 +264,7 @@
     <limit effort = "1000.0" lower = "-2.58" upper = "2.58" velocity = "0"/>
     <parent link="link3"/>
     <child link="link4"/>
-     <origin xyz = "0.1195 0 0.082 " rpy = " 0 0 1.57080"/>
+     <origin xyz = "0.120 0 0.08878 " rpy = " 0 0 1.57080"/>
   </joint>
 
   <joint name="joint6_to_joint5" type="revolute">
@@ -272,7 +272,7 @@
     <limit effort = "1000.0" lower = "-2.93" upper = "2.93" velocity = "0"/>
     <parent link="link4"/>
     <child link="link5"/>
-     <origin xyz= "0 -0.09415 0.0" rpy = "1.5708 0 0"/>
+     <origin xyz= "0 -0.095 0.0" rpy = "1.5708 0 0"/>
   </joint>
 
   <joint name="joint6output_to_joint6" type="revolute">
@@ -280,7 +280,7 @@
     <limit effort = "1000.0" lower = "-3.14" upper = "3.14" velocity = "0"/>
     <parent link="link5"/>
     <child link="link6"/>
-     <origin xyz= "0 0.06635 0.0" rpy = "-1.5708 0 0"/>
+     <origin xyz= "0 0.0655 0.0" rpy = "-1.5708 0 0"/>
   </joint>
 
   <joint name="joint6output_to_gripper_connect" type="fixed">