diff --git a/mycobot_description/urdf/mycobot_280_pi/mycobot_280_pi.urdf b/mycobot_description/urdf/mycobot_280_pi/mycobot_280_pi.urdf
index c3e080b..92f58b0 100644
--- a/mycobot_description/urdf/mycobot_280_pi/mycobot_280_pi.urdf
+++ b/mycobot_description/urdf/mycobot_280_pi/mycobot_280_pi.urdf
@@ -95,14 +95,14 @@
        <!--- 0.0 0 -0.04 -->
        <mesh filename="package://mycobot_description/urdf/mycobot_280_pi/joint5.dae"/>
       </geometry>
-    <origin xyz = "0.0 0 -0.03356 " rpy = " 0 -1.5708 1.5708"/>
+    <origin xyz = "0.0 -0.001 -0.0345 " rpy = " 0 -1.5708 1.5708"/>
     </visual>
       <collision>
       <geometry>
        <!--- 0.0 0 -0.04 -->
        <mesh filename="package://mycobot_description/urdf/mycobot_280_pi/joint5.dae"/>
       </geometry>
-    <origin xyz = "0.0 0 -0.03356 " rpy = " 0 -1.5708 1.5708"/>
+    <origin xyz = "0.0 -0.001 -0.0345 " rpy = " 0 -1.5708 1.5708"/>
     </collision>
   </link>
 
@@ -193,7 +193,7 @@
     <limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
     <parent link="joint5"/>
     <child link="joint6"/>
-    <origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 0"/>  
+    <origin xyz= "0 -0.07318 -0.001" rpy = "1.5708 -1.5708 0"/>  
   </joint>
 
   <joint name="joint6output_to_joint6" type="revolute">
diff --git a/mycobot_description/urdf/mycobot_280_pi/mycobot_280pi_with_camera_flange.urdf b/mycobot_description/urdf/mycobot_280_pi/mycobot_280pi_with_camera_flange.urdf
index 11cd3c4..ca6b65a 100644
--- a/mycobot_description/urdf/mycobot_280_pi/mycobot_280pi_with_camera_flange.urdf
+++ b/mycobot_description/urdf/mycobot_280_pi/mycobot_280pi_with_camera_flange.urdf
@@ -95,14 +95,14 @@
        <!--- 0.0 0 -0.04 -->
        <mesh filename="package://mycobot_description/urdf/mycobot_280_pi/joint5.dae"/>
       </geometry>
-    <origin xyz = "0.0 0 -0.03356 " rpy = " 0 -1.5708 1.5708"/>
+    <origin xyz = "0.0 -0.001 -0.0345 " rpy = " 0 -1.5708 1.5708"/>
     </visual>
       <collision>
       <geometry>
        <!--- 0.0 0 -0.04 -->
        <mesh filename="package://mycobot_description/urdf/mycobot_280_pi/joint5.dae"/>
       </geometry>
-    <origin xyz = "0.0 0 -0.03356 " rpy = " 0 -1.5708 1.5708"/>
+    <origin xyz = "0.0 -0.001 -0.0345 " rpy = " 0 -1.5708 1.5708"/>
     </collision>
   </link>
 
@@ -208,7 +208,7 @@
     <limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
     <parent link="joint5"/>
     <child link="joint6"/>
-    <origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 0"/>  
+    <origin xyz= "0 -0.07318 -0.001" rpy = "1.5708 -1.5708 0"/>  
   </joint>
 
   <joint name="joint6output_to_joint6" type="revolute">
diff --git a/mycobot_description/urdf/mycobot_280_pi/mycobot_280pi_with_camera_flange_pump.urdf b/mycobot_description/urdf/mycobot_280_pi/mycobot_280pi_with_camera_flange_pump.urdf
index dc7c1c7..a3378c2 100644
--- a/mycobot_description/urdf/mycobot_280_pi/mycobot_280pi_with_camera_flange_pump.urdf
+++ b/mycobot_description/urdf/mycobot_280_pi/mycobot_280pi_with_camera_flange_pump.urdf
@@ -110,14 +110,14 @@
        <!--- 0.0 0 -0.04 -->
        <mesh filename="package://mycobot_description/urdf/mycobot_280_pi/joint5.dae"/>
       </geometry>
-    <origin xyz = "0.0 0 -0.03356 " rpy = " 0 -1.5708 1.5708"/>
+    <origin xyz = "0.0 -0.001 -0.0345 " rpy = " 0 -1.5708 1.5708"/>
     </visual>
       <collision>
       <geometry>
        <!--- 0.0 0 -0.04 -->
        <mesh filename="package://mycobot_description/urdf/mycobot_280_pi/joint5.dae"/>
       </geometry>
-    <origin xyz = "0.0 0 -0.03356 " rpy = " 0 -1.5708 1.5708"/>
+    <origin xyz = "0.0 -0.001 -0.0345 " rpy = " 0 -1.5708 1.5708"/>
     </collision>
   </link>
 
@@ -245,7 +245,7 @@
     <limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
     <parent link="joint5"/>
     <child link="joint6"/>
-    <origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 0"/>  
+    <origin xyz= "0 -0.07318 -0.001" rpy = "1.5708 -1.5708 0"/>  
   </joint>
 
   <joint name="joint6output_to_joint6" type="revolute">
diff --git a/mycobot_description/urdf/mycobot_280_pi/mycobot_280pi_with_pump.urdf b/mycobot_description/urdf/mycobot_280_pi/mycobot_280pi_with_pump.urdf
index c5c470e..b4d9d72 100644
--- a/mycobot_description/urdf/mycobot_280_pi/mycobot_280pi_with_pump.urdf
+++ b/mycobot_description/urdf/mycobot_280_pi/mycobot_280pi_with_pump.urdf
@@ -110,14 +110,14 @@
        <!--- 0.0 0 -0.04 -->
        <mesh filename="package://mycobot_description/urdf/mycobot_280_pi/joint5.dae"/>
       </geometry>
-    <origin xyz = "0.0 0 -0.03356 " rpy = " 0 -1.5708 1.5708"/>
+    <origin xyz = "0.0 -0.001 -0.0345 " rpy = " 0 -1.5708 1.5708"/>
     </visual>
       <collision>
       <geometry>
        <!--- 0.0 0 -0.04 -->
        <mesh filename="package://mycobot_description/urdf/mycobot_280_pi/joint5.dae"/>
       </geometry>
-    <origin xyz = "0.0 0 -0.03356 " rpy = " 0 -1.5708 1.5708"/>
+    <origin xyz = "0.0 -0.001 -0.0345 " rpy = " 0 -1.5708 1.5708"/>
     </collision>
   </link>
 
@@ -233,7 +233,7 @@
     <limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
     <parent link="joint5"/>
     <child link="joint6"/>
-    <origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 0"/>  
+    <origin xyz= "0 -0.07318 -0.001" rpy = "1.5708 -1.5708 0"/>  
   </joint>
 
   <joint name="joint6output_to_joint6" type="revolute">
diff --git a/mycobot_description/urdf/mycobot_280_pi/mycobot_280pi_with_vision.urdf b/mycobot_description/urdf/mycobot_280_pi/mycobot_280pi_with_vision.urdf
index 964f21e..4a8f20e 100755
--- a/mycobot_description/urdf/mycobot_280_pi/mycobot_280pi_with_vision.urdf
+++ b/mycobot_description/urdf/mycobot_280_pi/mycobot_280pi_with_vision.urdf
@@ -85,14 +85,14 @@
         <!--- 0.0 0 -0.04 -->
         <mesh filename="package://mycobot_description/urdf/mycobot_280_pi/joint5.dae"/>
       </geometry>
-      <origin xyz = "0.0 0 -0.03356 " rpy = "-1.5708 0 0"/>
+      <origin xyz = "0.0 -0.001 -0.0345 " rpy = "-1.5708 0 0"/>
     </visual>
     <collision>
       <geometry>
         <!--- 0.0 0 -0.04 -->
         <mesh filename="package://mycobot_description/urdf/mycobot_280_pi/joint5.dae"/>
       </geometry>
-      <origin xyz = "0.0 0 -0.03356 " rpy = "-1.5708 0 0"/>
+      <origin xyz = "0.0 -0.001 -0.0345 " rpy = "-1.5708 0 0"/>
     </collision>
   </link>
 
@@ -176,7 +176,7 @@
     <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
     <parent link="joint5"/>
     <child link="joint6"/>
-    <origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 0"/>
+    <origin xyz= "0 -0.07318 -0.001" rpy = "1.5708 -1.5708 0"/>
   </joint>
 
   <joint name="joint6output_to_joint6" type="revolute">
diff --git a/mycobot_description/urdf/mycobot_280_pi/mycobot_280pi_with_vision_v2.urdf b/mycobot_description/urdf/mycobot_280_pi/mycobot_280pi_with_vision_v2.urdf
index 7e204c5..e278fb9 100755
--- a/mycobot_description/urdf/mycobot_280_pi/mycobot_280pi_with_vision_v2.urdf
+++ b/mycobot_description/urdf/mycobot_280_pi/mycobot_280pi_with_vision_v2.urdf
@@ -86,14 +86,14 @@
         <!--- 0.0 0 -0.04 -->
         <mesh filename="package://mycobot_description/urdf/mycobot_280_pi/joint5.dae"/>
       </geometry>
-      <origin xyz = "0.0 0 -0.03356 " rpy = "0 -1.5708 1.5708"/>
+      <origin xyz = "0.0 -0.001 -0.0345 " rpy = "0 -1.5708 1.5708"/>
     </visual>
     <collision>
       <geometry>
         <!--- 0.0 0 -0.04 -->
         <mesh filename="package://mycobot_description/urdf/mycobot_280_pi/joint5.dae"/>
       </geometry>
-      <origin xyz = "0.0 0 -0.03356 " rpy = "0 -1.5708 1.5708"/>
+      <origin xyz = "0.0 -0.001 -0.0345 " rpy = "0 -1.5708 1.5708"/>
     </collision>
   </link>
 
@@ -177,7 +177,7 @@
     <limit effort = "1000.0" lower = "-2.8797" upper = "2.8797" velocity = "0"/>
     <parent link="joint5"/>
     <child link="joint6"/>
-    <origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 0"/>
+    <origin xyz= "0 -0.07318 -0.001" rpy = "1.5708 -1.5708 0"/>
   </joint>
 
   <joint name="joint6output_to_joint6" type="revolute">