diff --git a/openarm_two_arms/urdf/openarm_two_arms.urdf b/openarm_two_arms/urdf/openarm_two_arms.urdf
index 06d2e33..798e2e8 100644
--- a/openarm_two_arms/urdf/openarm_two_arms.urdf
+++ b/openarm_two_arms/urdf/openarm_two_arms.urdf
@@ -5,7 +5,6 @@
 <!-- =================================================================================== -->
 <robot name="openarm_two_arms">
   <link name="world"/>
-  <!-- <xacro:property name="pi" value="3.1415926535897927"/> -->
   <!-- <xacro:property name="zero_pos" value="vertical"/> -->
   <!--Generated by RobotCAD, a ROS Workbench for FreeCAD (https://github.com/drfenixion/freecad.robotcad)-->
   <link name="pedestal_link">
@@ -31,14 +30,12 @@
   </link>
   <link name="right_link1">
     <visual>
-      <!--J1 v002/Part__Feature001.-->
       <origin rpy="0 0 0" xyz="0.0 0.0 -0.0007"/>
       <geometry>
         <mesh filename="package://openarm_two_arms/meshes/full_upper_j1v1_fj2ul1.dae"/>
       </geometry>
     </visual>
     <collision>
-      <!--bound_obj__right_link1__col_J1_v1__BoundBox/col_J1_v1__BoundBox.-->
       <origin rpy="0 0 0" xyz="0.0 0.0 0.0289"/>
       <geometry>
         <box size="0.11 0.073 0.0592"/>
@@ -52,14 +49,12 @@
   </link>
   <link name="right_link2">
     <visual>
-      <!--J2 v002/Part__Feature002.-->
       <origin rpy="0 0 0" xyz="0.0 0.0 -0.05395"/>
       <geometry>
         <mesh filename="package://openarm_two_arms/meshes/full_upper_j2v1_xzm1cu.dae"/>
       </geometry>
     </visual>
     <collision>
-      <!--bound_obj__right_link2__col_J2_v1__BoundBox/col_J2_v1__BoundBox.-->
       <origin rpy="0 0 0" xyz="0.0 0.0 0.0371236"/>
       <geometry>
         <box size="0.0590000000149012 0.08200000000000002 0.0742471498637348"/>
@@ -73,14 +68,12 @@
   </link>
   <link name="right_link3">
     <visual>
-      <!--J3 v003/Part__Feature003.-->
       <origin rpy="1.5707963267948966 0 0" xyz="0.0 0.0987 0.02975"/>
       <geometry>
         <mesh filename="package://openarm_two_arms/meshes/full_upper_j3v2_5nirfo.dae"/>
       </geometry>
     </visual>
     <collision>
-      <!--bound_obj__right_link3__col_J3_v2__BoundBox/col_J3_v2__BoundBox.-->
       <origin rpy="1.5707963267948966 0 0" xyz="-0.0164466 -0.00045542 0.02975"/>
       <geometry>
         <box size="0.08989101803441879 0.06999999999999983 0.05903276947803012"/>
@@ -94,14 +87,12 @@
   </link>
   <link name="right_link4">
     <visual>
-      <!--J4 v002/Part__Feature004.-->
       <origin rpy="3.141592653589793 -1.5620381439005742 0" xyz="-0.0986962 0.0 0.0621144"/>
       <geometry>
         <mesh filename="package://openarm_two_arms/meshes/full_upper_j4v1_u1e2xn.dae"/>
       </geometry>
     </visual>
     <collision>
-      <!--bound_obj__right_link4__col_J4_v1__BoundBox/col_J4_v1__BoundBox.-->
       <origin rpy="3.141592653589793 -1.5620381439005742 0" xyz="0.000266276 -0.0125642 -0.132604"/>
       <geometry>
         <box size="0.27584673777150337 0.08211429171582063 0.07186573179325861"/>
@@ -115,14 +106,12 @@
   </link>
   <link name="right_link5">
     <visual>
-      <!--J5 v003/Part__Feature005.-->
       <origin rpy="0 -0.008758182894317394 0" xyz="0.303864 0.0 -0.128451"/>
       <geometry>
         <mesh filename="package://openarm_two_arms/meshes/full_upper_j5v2_ckk9an.dae"/>
       </geometry>
     </visual>
     <collision>
-      <!--bound_obj__right_link5__col_J5_v2__BoundBox/col_J5_v2__BoundBox.-->
       <origin rpy="0 -0.008758182894316818 0" xyz="-0.0542814 0.00265291 -0.0302022"/>
       <geometry>
         <box size="0.16827213220625828 0.06430555048399171 0.08257859967140947"/>
@@ -136,14 +125,12 @@
   </link>
   <link name="right_link6">
     <visual>
-      <!--J6 right_wrist/Part__Feature006.-->
       <origin rpy="-2.1276679791326423 -1.5542266826921929 0" xyz="-0.0485412 -0.0860404 0.437784"/>
       <geometry>
         <mesh filename="package://openarm_two_arms/meshes/full_upper_j6v1_mg9rps.dae"/>
       </geometry>
     </visual>
     <collision>
-      <!--bound_obj__right_link6__col_J6_v1__BoundBox/col_J6_v1__BoundBox.-->
       <origin rpy="-2.127667979132636 -1.5542266826921927 0" xyz="-0.00260794 -0.00312921 -0.0652641"/>
       <geometry>
         <box size="0.13114353004704765 0.05953478325301745 0.08817196195081879"/>
@@ -157,14 +144,12 @@
   </link>
   <link name="right_link7">
     <visual>
-      <!--J7 right v002/Part__Feature007.-->
       <origin rpy="0 -0.008758182894510852 0" xyz="0.558839 -0.00358671 -0.0631962"/>
       <geometry>
         <mesh filename="package://openarm_two_arms/meshes/full_upper_j7v1_9yzky6.dae"/>
       </geometry>
     </visual>
     <collision>
-      <!--bound_obj__right_link7__col_J7_v1__BoundBox/col_J7_v1__BoundBox.-->
       <origin rpy="0 -0.008758182894511114 0" xyz="-0.000318103 0.0022839 0.0340014"/>
       <geometry>
         <box size="0.058327402175132874 0.04432916698753661 0.08267601622411752"/>
@@ -178,14 +163,12 @@
   </link>
   <link name="right_link8">
     <visual>
-      <!--J8 v002/Part__Feature008.-->
       <origin rpy="1.5709195259578714 -0.014065461951077267 0" xyz="0.557948 0.103587 0.019724"/>
       <geometry>
         <mesh filename="package://openarm_two_arms/meshes/full_upper_j8v1_dka5zq.dae"/>
       </geometry>
     </visual>
     <collision>
-      <!--bound_obj__right_link8__col_J8_v1__BoundBox/col_J8_v1__BoundBox.-->
       <origin rpy="1.5709195259578714 -0.01406546195107726 0" xyz="-0.042694 -0.000543176 0.0110286"/>
       <geometry>
         <box size="0.13038799671743653 0.05180887692688926 0.1601236763440867"/>
@@ -199,14 +182,12 @@
   </link>
   <link name="right_link_left_jaw">
     <visual>
-      <!--left_jaw v002/Part__Feature009.-->
       <origin rpy="0 -0.008758182894469432 0" xyz="0.665265 -0.00286677 -0.0209282"/>
       <geometry>
         <mesh filename="package://openarm_two_arms/meshes/full_upper_left_jawv1_6yxtlc.dae"/>
       </geometry>
     </visual>
     <collision>
-      <!--bound_obj__right_left_jaw__col_left_jaw_v1_col_obj/col_left_jaw_v1_col_obj.-->
       <origin rpy="0 -0.0087581828944695 0" xyz="0.665265 -0.00286677 -0.0209282"/>
       <geometry>
         <mesh filename="package://openarm_two_arms/meshes/full_upper_col_left_jaw_v1_col_obj_wr4fju.dae"/>
@@ -220,14 +201,12 @@
   </link>
   <link name="right_link_right_jaw">
     <visual>
-      <!--right_jaw v002/Part__Feature010.-->
       <origin rpy="0 -0.008758182898001485 0" xyz="0.665265 -0.00286677 -0.175928"/>
       <geometry>
         <mesh filename="package://openarm_two_arms/meshes/full_upper_right_jawv1_0fmgsg.dae"/>
       </geometry>
     </visual>
     <collision>
-      <!--bound_obj__right_right_jaw__col_right_jaw_v1_col_obj/col_right_jaw_v1_col_obj.-->
       <origin rpy="0 -0.008758182898001553 0" xyz="0.665265 -0.00286677 -0.175928"/>
       <geometry>
         <mesh filename="package://openarm_two_arms/meshes/full_upper_col_right_jaw_v1_col_obj_9qatoq.dae"/>
@@ -305,14 +284,12 @@
   </joint>
   <link name="left_link1">
     <visual>
-      <!--J1 v002/Part__Feature001.-->
       <origin rpy="0 0 0" xyz="0.0 0.0 -0.0007"/>
       <geometry>
         <mesh filename="package://openarm_two_arms/meshes/full_upper_j1v1_fj2ul1.dae"/>
       </geometry>
     </visual>
     <collision>
-      <!--bound_obj__right_link1__col_J1_v1__BoundBox/col_J1_v1__BoundBox.-->
       <origin rpy="0 0 0" xyz="0.0 0.0 0.0289"/>
       <geometry>
         <box size="0.11 0.073 0.0592"/>
@@ -326,14 +303,12 @@
   </link>
   <link name="left_link2">
     <visual>
-      <!--J2 v002/Part__Feature002.-->
       <origin rpy="0 0 0" xyz="0.0 0.0 -0.05395"/>
       <geometry>
         <mesh filename="package://openarm_two_arms/meshes/full_upper_j2v1_xzm1cu.dae"/>
       </geometry>
     </visual>
     <collision>
-      <!--bound_obj__right_link2__col_J2_v1__BoundBox/col_J2_v1__BoundBox.-->
       <origin rpy="0 0 0" xyz="0.0 0.0 0.0371236"/>
       <geometry>
         <box size="0.0590000000149012 0.08200000000000002 0.0742471498637348"/>
@@ -347,14 +322,12 @@
   </link>
   <link name="left_link3">
     <visual>
-      <!--J3 v003/Part__Feature003.-->
       <origin rpy="1.5707963267948966 0 0" xyz="0.0 0.0987 0.02975"/>
       <geometry>
         <mesh filename="package://openarm_two_arms/meshes/full_upper_j3v2_5nirfo.dae"/>
       </geometry>
     </visual>
     <collision>
-      <!--bound_obj__right_link3__col_J3_v2__BoundBox/col_J3_v2__BoundBox.-->
       <origin rpy="1.5707963267948966 0 0" xyz="-0.0164466 -0.00045542 0.02975"/>
       <geometry>
         <box size="0.08989101803441879 0.06999999999999983 0.05903276947803012"/>
@@ -368,14 +341,12 @@
   </link>
   <link name="left_link4">
     <visual>
-      <!--J4 v002/Part__Feature004.-->
       <origin rpy="3.141592653589793 -1.5620381439005742 0" xyz="-0.0986962 0.0 0.0621144"/>
       <geometry>
         <mesh filename="package://openarm_two_arms/meshes/full_upper_j4v1_u1e2xn.dae"/>
       </geometry>
     </visual>
     <collision>
-      <!--bound_obj__right_link4__col_J4_v1__BoundBox/col_J4_v1__BoundBox.-->
       <origin rpy="3.141592653589793 -1.5620381439005742 0" xyz="0.000266276 -0.0125642 -0.132604"/>
       <geometry>
         <box size="0.27584673777150337 0.08211429171582063 0.07186573179325861"/>
@@ -389,14 +360,12 @@
   </link>
   <link name="left_link5">
     <visual>
-      <!--J5 v003/Part__Feature005.-->
       <origin rpy="0 -0.008758182894317394 0" xyz="0.303864 0.0 -0.128451"/>
       <geometry>
         <mesh filename="package://openarm_two_arms/meshes/full_upper_j5v2_ckk9an.dae"/>
       </geometry>
     </visual>
     <collision>
-      <!--bound_obj__right_link5__col_J5_v2__BoundBox/col_J5_v2__BoundBox.-->
       <origin rpy="0 -0.008758182894316818 0" xyz="-0.0542814 0.00265291 -0.0302022"/>
       <geometry>
         <box size="0.16827213220625828 0.06430555048399171 0.08257859967140947"/>
@@ -410,14 +379,12 @@
   </link>
   <link name="left_link6">
     <visual>
-      <!--J6 right_wrist/Part__Feature006.-->
-      <origin rpy="1.0139246744571508 -1.5873659708976002 0" xyz="-0.0485412 -0.0860404 0.437784"/>
+      <origin rpy="5.269260632722435 1.5542266826921929 3.141592653589793" xyz="0.0605412 0.0878404 0.435484"/>
       <geometry>
         <mesh filename="package://openarm_two_arms/meshes/full_upper_j6_leftv005_f8km11.dae"/>
       </geometry>
     </visual>
     <collision>
-      <!--bound_obj__right_link6__col_J6_v1__BoundBox/col_J6_v1__BoundBox.-->
       <origin rpy="-2.127667979132636 -1.5542266826921927 0" xyz="-0.00260794 -0.00312921 -0.0652641"/>
       <geometry>
         <box size="0.13114353004704765 0.05953478325301745 0.08817196195081879"/>
@@ -431,14 +398,12 @@
   </link>
   <link name="left_link7">
     <visual>
-      <!--J7 right v002/Part__Feature007.-->
-      <origin rpy="0 0.008758182894510852 0" xyz="-0.558839 -0.00358671 -0.0631962"/>
+      <origin rpy="0 3.150350836484304 0" xyz="0.558839 -0.0034132900000000002 0.1341962"/>
       <geometry>
         <mesh filename="package://openarm_two_arms/meshes/full_upper_j7_leftv005_8ohvh2.dae"/>
       </geometry>
     </visual>
     <collision>
-      <!--bound_obj__right_link7__col_J7_v1__BoundBox/col_J7_v1__BoundBox.-->
       <origin rpy="0 -0.008758182894511114 0" xyz="-0.000318103 0.0022839 0.0340014"/>
       <geometry>
         <box size="0.058327402175132874 0.04432916698753661 0.08267601622411752"/>
@@ -452,14 +417,12 @@
   </link>
   <link name="left_link8">
     <visual>
-      <!--J8 v002/Part__Feature008.-->
       <origin rpy="1.5709195259578714 -0.014065461951077267 0" xyz="0.557948 0.103587 0.019724"/>
       <geometry>
         <mesh filename="package://openarm_two_arms/meshes/full_upper_j8v1_dka5zq.dae"/>
       </geometry>
     </visual>
     <collision>
-      <!--bound_obj__right_link8__col_J8_v1__BoundBox/col_J8_v1__BoundBox.-->
       <origin rpy="1.5709195259578714 -0.01406546195107726 0" xyz="-0.042694 -0.000543176 0.0110286"/>
       <geometry>
         <box size="0.13038799671743653 0.05180887692688926 0.1601236763440867"/>
@@ -473,14 +436,12 @@
   </link>
   <link name="left_link_left_jaw">
     <visual>
-      <!--left_jaw v002/Part__Feature009.-->
       <origin rpy="0 -0.008758182894469432 0" xyz="0.665265 -0.00286677 -0.0209282"/>
       <geometry>
         <mesh filename="package://openarm_two_arms/meshes/full_upper_left_jawv1_6yxtlc.dae"/>
       </geometry>
     </visual>
     <collision>
-      <!--bound_obj__right_left_jaw__col_left_jaw_v1_col_obj/col_left_jaw_v1_col_obj.-->
       <origin rpy="0 -0.0087581828944695 0" xyz="0.665265 -0.00286677 -0.0209282"/>
       <geometry>
         <mesh filename="package://openarm_two_arms/meshes/full_upper_col_left_jaw_v1_col_obj_wr4fju.dae"/>
@@ -494,14 +455,12 @@
   </link>
   <link name="left_link_right_jaw">
     <visual>
-      <!--right_jaw v002/Part__Feature010.-->
       <origin rpy="0 -0.008758182898001485 0" xyz="0.665265 -0.00286677 -0.175928"/>
       <geometry>
         <mesh filename="package://openarm_two_arms/meshes/full_upper_right_jawv1_0fmgsg.dae"/>
       </geometry>
     </visual>
     <collision>
-      <!--bound_obj__right_right_jaw__col_right_jaw_v1_col_obj/col_right_jaw_v1_col_obj.-->
       <origin rpy="0 -0.008758182898001553 0" xyz="0.665265 -0.00286677 -0.175928"/>
       <geometry>
         <mesh filename="package://openarm_two_arms/meshes/full_upper_col_right_jaw_v1_col_obj_9qatoq.dae"/>
@@ -577,18 +536,17 @@
     <limit effort="0.0" lower="0.0" upper="0.045" velocity="0.0"/>
     <mimic joint="left_left_pris1" multiplier="-1.0" offset="0.0"/>
   </joint>
-  <!-- <xacro:include filename="openarm_left.urdf"/> -->
   <joint name="dummy_joint" type="fixed">
     <parent link="world"/>
     <child link="pedestal_link"/>
     <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
   </joint>
-  <joint name="right_fix1" type="fixed">
+  <joint name="right_fixed1" type="fixed">
     <parent link="pedestal_link"/>
     <child link="left_link1"/>
     <origin rpy="3.0144791747751833 -1.5707963267948324 0.12689401604101067" xyz="0.09 0.0 0.893"/>
   </joint>
-  <joint name="left_fix1" type="fixed">
+  <joint name="left_fixed1" type="fixed">
     <parent link="pedestal_link"/>
     <child link="right_link1"/>
     <origin rpy="6.160245846096606 -1.5707963267948268 0.12293946108298068" xyz="-0.09 0.0 0.893"/>