diff --git a/openarm_two_arms/urdf/openarm.xacro b/openarm_two_arms/urdf/openarm.xacro
index ab644d2..e074ab9 100644
--- a/openarm_two_arms/urdf/openarm.xacro
+++ b/openarm_two_arms/urdf/openarm.xacro
@@ -2,290 +2,287 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
     <xacro:property name="side" value="right"/>
     <xacro:property name="prefix" value=""/>
+
+    <xacro:property name="pi" value="3.1415926535897927"/>
     <!-- <xacro:property name="zero_pos" value="vertical"/> -->
 
 
     <xacro:macro name="openarm" params="side prefix">
-        <xacro:if value="${side == 'left'}">
-            <xacro:property name="reflect" value ="-1"/>
-        </xacro:if>
-        <xacro:if value="${side == 'right'}">
-            <xacro:property name="reflect" value ="1"/>
-        </xacro:if>
+        <xacro:property name="reflect" value ="${(arm_side=='right') ? '1' : '-1'}"/>
 
         <link name="${prefix}link1">
             <visual>
-                <!--base_link001/Part__Feature018.-->
-                <origin rpy="3.1415926535897927 0 0" xyz="0.0 0.0 0.0007"/>
+                <!--J1 v002/Part__Feature001.-->
+                <origin rpy="0 0 0" xyz="0.0 0.0 -0.0007"/>
                 <geometry>
-                    <mesh filename="package://openarm_two_arms/meshes/full_upper_base_link_int1ku.dae"/>
+                    <mesh filename="package://openarm_two_arms/meshes/full_upper_j1v1_fj2ul1.dae"/>
                 </geometry>
             </visual>
             <collision>
-                <!--bound_obj__left_link1__col_base_link__BoundBox/col_base_link__BoundBox.-->
-                <origin rpy="3.1415926535897927 0 0" xyz="0.0 0.0 -0.0289"/>
+                <!--bound_obj__right_link1__col_J1_v1__BoundBox/col_J1_v1__BoundBox.-->
+                <origin rpy="0 0 0" xyz="0.0 0.0 0.0289"/>
                 <geometry>
                     <box size="0.11 0.073 0.0592"/>
                 </geometry>
             </collision>
             <inertial>
                 <mass value="0.5769283920617254"/>
-                <origin rpy="3.1415926535897927 0 0" xyz="0.0 -2.52845e-05 -0.0229621"/>
-                <inertia ixx="0.00034035167574060564" ixy="-2.642617350904103e-18" ixz="-6.153994863823447e-18" iyy="0.00043000583000101937" iyz="-5.098294820747963e-07" izz="0.0004802171432001997"/>
+                <origin rpy="0 0 0" xyz="0.0 2.52845e-05 0.0229621"/>
+                <inertia ixx="0.00034035167574060775" ixy="-2.623557985991217e-18" ixz="-6.093726095527621e-18" iyy="0.0004300058300010205" iyz="-5.09829482074806e-07" izz="0.0004802171432001996"/>
             </inertial>
         </link>
         <link name="${prefix}link2">
             <visual>
-                <!--J2 v003/Part__Feature019.-->
+                <!--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_j2v2_gscnlc.dae"/>
+                    <mesh filename="package://openarm_two_arms/meshes/full_upper_j2v1_xzm1cu.dae"/>
                 </geometry>
             </visual>
             <collision>
-                <!--bound_obj__left_link2__col_J2_v2__BoundBox/col_J2_v2__BoundBox.-->
+                <!--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="0.059000000014901216 0.08200000000000003 0.0742471498637348"/>
+                    <box size="0.0590000000149012 0.08200000000000002 0.0742471498637348"/>
                 </geometry>
             </collision>
             <inertial>
                 <mass value="0.16257504134917358"/>
-                <origin rpy="0 0 0" xyz="0.000225878 0.00183836 0.0278368"/>
-                <inertia ixx="0.00023903110213294341" ixy="-7.551692921099009e-08" ixz="1.128272336243354e-06" iyy="0.00010490798314778747" iyz="-5.907962783972549e-06" izz="0.00019737368685935768"/>
+                <origin rpy="0 0 0" xyz="-0.000225878 -0.00183836 0.0278368"/>
+                <inertia ixx="0.00023903110213294374" ixy="-7.551692921096027e-08" ixz="-1.1282723362433474e-06" iyy="0.00010490798314778774" iyz="5.9079627839725245e-06" izz="0.00019737368685935776"/>
             </inertial>
         </link>
         <link name="${prefix}link3">
             <visual>
-                <!--J3 v004/Part__Feature020.-->
-                <origin rpy="1.5707963267948963 0 0" xyz="0.0 0.0987 -0.02975"/>
+                <!--J3 v003/Part__Feature003.-->
+                <origin rpy="1.570796326794897 0 0" xyz="0.0 0.0987 0.02975"/>
                 <geometry>
-                    <mesh filename="package://openarm_two_arms/meshes/full_upper_j3v005_2vn1gz.dae"/>
+                    <mesh filename="package://openarm_two_arms/meshes/full_upper_j3v2_5nirfo.dae"/>
                 </geometry>
             </visual>
             <collision>
-                <!--bound_obj__left_link3__col_J3_v003__BoundBox/col_J3_v003__BoundBox.-->
-                <origin rpy="1.5707963267948961 0 0" xyz="0.0164466 -0.00044972 -0.02975"/>
+                <!--bound_obj__right_link3__col_J3_v2__BoundBox/col_J3_v2__BoundBox.-->
+                <origin rpy="1.5707963267948968 0 0" xyz="-0.0164466 -0.00045542 0.02975"/>
                 <geometry>
-                    <box size="0.0898910738785183 0.06999999999999985 0.05902136986134156"/>
+                    <box size="0.08989101803441879 0.06999999999999983 0.05903276947803012"/>
                 </geometry>
             </collision>
             <inertial>
-                <mass value="0.42038984024444975"/>
-                <origin rpy="1.5707963267948961 0 0" xyz="0.00686697 0.0 -0.0282662"/>
-                <inertia ixx="0.00020276573635381913" ixy="5.353124426981602e-06" ixz="-1.2309719752249493e-06" iyy="0.0002972732820435537" iyz="-4.96881827890621e-07" izz="0.00032917425408263227"/>
+                <mass value="0.4201676469910031"/>
+                <origin rpy="1.5707963267948968 0 0" xyz="-0.00688022 0.0 0.0282752"/>
+                <inertia ixx="0.00020256001126230057" ixy="6.004247875311213e-06" ixz="1.3304903057525575e-06" iyy="0.0002970624991387495" iyz="5.980157765704868e-07" izz="0.00032889994351244413"/>
             </inertial>
         </link>
         <link name="${prefix}link4">
             <visual>
-                <!--J4 v003/Part__Feature021.-->
-                <origin rpy="0 -1.5620381439005744 0" xyz="0.0986962 0.0 -0.0621144"/>
+                <!--J4 v002/Part__Feature004.-->
+                <origin rpy="-3.1415926535888543 -1.5620381439005742 0" xyz="-0.0986962 0.0 0.0621144"/>
                 <geometry>
-                    <mesh filename="package://openarm_two_arms/meshes/full_upper_j4v2_tzaxwp.dae"/>
+                    <mesh filename="package://openarm_two_arms/meshes/full_upper_j4v1_u1e2xn.dae"/>
                 </geometry>
             </visual>
             <collision>
-                <!--bound_obj__left_link4__col_J4_v2__BoundBox/col_J4_v2__BoundBox.-->
-                <origin rpy="0 -1.5620381439005742 0" xyz="-0.000261608 0.0125645 0.132604"/>
+                <!--bound_obj__right_link4__col_J4_v1__BoundBox/col_J4_v1__BoundBox.-->
+                <origin rpy="-3.14159265358886 -1.5620381439005742 0" xyz="0.000266276 -0.0125642 -0.132604"/>
                 <geometry>
-                    <box size="0.27584679830769426 0.08211367789676165 0.07185639591248483"/>
+                    <box size="0.27584673777150337 0.08211429171582063 0.07186573179325861"/>
                 </geometry>
             </collision>
             <inertial>
-                <mass value="0.8196402299327217"/>
-                <origin rpy="0 -1.5620381439005742 0" xyz="0.000770085 0.00195314 0.132431"/>
-                <inertia ixx="0.0004386639666889925" ixy="-6.080385269207883e-05" ixz="-7.68782221495183e-06" iyy="0.009210551548719602" iyz="-2.7878027653992583e-06" izz="0.00917471125137894"/>
+                <mass value="0.819475539373447"/>
+                <origin rpy="-3.14159265358886 -1.5620381439005742 0" xyz="0.000781326 -0.0019461 -0.132411"/>
+                <inertia ixx="0.00044078452033976287" ixy="6.020023694043618e-05" ixz="0.00014637459261941218" iyy="0.009208791480530413" iyz="1.5469710436444469e-06" izz="0.009170539316023695"/>
             </inertial>
         </link>
         <link name="${prefix}link5">
             <visual>
-                <!--J5 v004/Part__Feature022.-->
-                <origin rpy="0 0.008758182894352118 0" xyz="-0.303864 0.0 -0.0689415"/>
+                <!--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_j5v005_didwyo.dae"/>
+                    <mesh filename="package://openarm_two_arms/meshes/full_upper_j5v2_ckk9an.dae"/>
                 </geometry>
             </visual>
             <collision>
-                <!--bound_obj__left_link5__col_J5_v003__BoundBox/col_J5_v003__BoundBox.-->
-                <origin rpy="0 0.008758182894352025 0" xyz="0.0539601 0.00265291 0.02931"/>
+                <!--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="0.1676296341613413 0.06430555048399128 0.08257859967140607"/>
+                    <box size="0.16827213220625828 0.06430555048399171 0.08257859967140947"/>
                 </geometry>
             </collision>
             <inertial>
-                <mass value="0.40867482543516"/>
-                <origin rpy="0 0.008758182894352111 0" xyz="0.0831878 0.00261036 0.0290107"/>
-                <inertia ixx="0.0003150152720598943" ixy="9.43251788631792e-06" ixz="-3.2155516327367085e-05" iyy="0.0012216556466064033" iyz="-1.3129824233752054e-06" izz="0.0010745148965932514"/>
+                <mass value="0.4086748254352304"/>
+                <origin rpy="0 -0.008758182894316905 0" xyz="-0.0831891 0.00251789 -0.0290107"/>
+                <inertia ixx="0.00031417157425298747" ixy="-1.1391566029536723e-05" ixz="-1.883474090056124e-05" iyy="0.001221711435313989" iyz="1.46725418421127e-06" izz="0.0010755135067660488"/>
             </inertial>
         </link>
-        <link name="${prefix}link6">
+        <link name="l_J6_right_wrist">
             <visual>
-                <!--J6_Left v004/Part__Feature023.-->
-                <origin rpy="1.013924674457276 -1.5542266826921816 0" xyz="0.0485412 0.0860404 -0.437784"/>
+                <!--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_j6_leftv005_f8km11.dae"/>
+                    <mesh filename="package://openarm_two_arms/meshes/full_upper_j6v1_mg9rps.dae"/>
                 </geometry>
             </visual>
             <collision>
-                <!--bound_obj__left_link6__col_J6_Left_v003__BoundBox/col_J6_Left_v003__BoundBox.-->
-                <origin rpy="1.0139246744572885 -1.5542266826921818 0" xyz="0.00260793 0.0031292 0.0652641"/>
+                <!--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="0.1311435300470597 0.059534783253118076 0.08817198167731641"/>
+                    <box size="0.13114353004704765 0.05953478325301745 0.08817196195081879"/>
                 </geometry>
             </collision>
             <inertial>
-                <mass value="0.34433331594607314"/>
-                <origin rpy="1.0139246744572885 -1.5542266826921818 0" xyz="0.00885434 0.0135457 0.0439"/>
-                <inertia ixx="0.00019315823092440877" ixy="5.759960919860601e-07" ixz="3.928258332297235e-05" iyy="0.0003489300226703872" iyz="5.3866492677574926e-06" izz="0.00028834862800848534"/>
+                <mass value="0.3448471958049249"/>
+                <origin rpy="-2.127667979132636 -1.5542266826921927 0" xyz="-0.00898536 -0.0135065 -0.0438611"/>
+                <inertia ixx="0.00019355980999748924" ixy="-1.0061665815148114e-06" ixz="-3.9096495715032716e-05" iyy="0.0003486912031865755" iyz="6.088060315273385e-06" izz="0.00028774975153756256"/>
             </inertial>
         </link>
         <link name="${prefix}link7">
             <visual>
-                <!--J7_Left v004/Part__Feature024.-->
-                <origin rpy="0 0.008758182894514984 0" xyz="-0.558839 -0.00358671 -0.0632962"/>
+                <!--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_j7_leftv005_8ohvh2.dae"/>
+                    <mesh filename="package://openarm_two_arms/meshes/full_upper_j7v1_9yzky6.dae"/>
                 </geometry>
             </visual>
             <collision>
-                <!--bound_obj__left_link7__col_J7_Left_v003__BoundBox/col_J7_Left_v003__BoundBox.-->
-                <origin rpy="0 0.008758182894515429 0" xyz="0.000300274 0.00228799 0.0340015"/>
+                <!--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="0.05859778949354245 0.04469786051400639 0.08267618289454949"/>
+                    <box size="0.058327402175132874 0.04432916698753661 0.08267601622411752"/>
                 </geometry>
             </collision>
             <inertial>
-                <mass value="0.2782996911629702"/>
-                <origin rpy="0 0.008758182894515356 0" xyz="-8.771e-05 0.00414153 0.035427"/>
-                <inertia ixx="0.0001043910985422628" ixy="-4.0026347675757406e-07" ixz="1.0837675080533579e-07" iyy="0.00012327455405278424" iyz="-8.765964772332956e-08" izz="9.221516114206396e-05"/>
+                <mass value="0.2782138078738053"/>
+                <origin rpy="0 -0.008758182894511043 0" xyz="5.99432e-05 0.0041433 0.0354274"/>
+                <inertia ixx="0.00010424153315648891" ixy="2.735265831785291e-07" ixz="-1.0662322382945994e-07" iyy="0.00012313550743283462" iyz="-8.604996754782856e-08" izz="9.221319958512582e-05"/>
             </inertial>
         </link>
         <link name="${prefix}link8">
             <visual>
-                <!--J8 v003/Part__Feature025.-->
-                <origin rpy="1.570978323892347 0.02077671332575817 0" xyz="-0.557906 0.103687 0.0234745"/>
+                <!--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_j8v004_upij9o.dae"/>
+                    <mesh filename="package://openarm_two_arms/meshes/full_upper_j8v1_dka5zq.dae"/>
                 </geometry>
             </visual>
             <collision>
-                <!--bound_obj__left_link8__col_J8_v002__BoundBox/col_J8_v002__BoundBox.-->
-                <origin rpy="1.570978323892347 0.02077671332575817 0" xyz="0.0427524 -0.001079 0.0109925"/>
+                <!--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="0.1302624002952524 0.052571684700854236 0.1601213740691585"/>
+                    <box size="0.13038799671743653 0.05180887692688926 0.1601236763440867"/>
                 </geometry>
             </collision>
             <inertial>
-                <mass value="0.3126145274380216"/>
-                <origin rpy="1.570978323892347 0.020776713325758166 0" xyz="0.0607568 -0.000722767 0.00876618"/>
-                <inertia ixx="0.00023572179169416507" ixy="-7.789320420216956e-05" ixz="-2.111587909476847e-06" iyy="0.0005055124180887915" iyz="-1.5449610531695725e-06" izz="0.0003736712654123388"/>
+                <mass value="0.31261452743802165"/>
+                <origin rpy="1.5709195259578714 -0.01406546195107726 0" xyz="-0.0607602 -0.000341696 0.00876618"/>
+                <inertia ixx="0.00023465661366788053" ixy="7.609048882006294e-05" ixz="3.088694121124684e-07" iyy="0.0005065459365215377" iyz="1.9022818028658623e-07" izz="0.0003737029250058136"/>
             </inertial>
         </link>
-        <link name="${prefix}link_right_jaw">
+        <link name="l_left_jaw_v002">
             <visual>
-                <!--right_jaw v004/Part__Feature027.-->
-                <origin rpy="3.141592653589774 0.008758182895214187 0" xyz="-0.662074 0.00352188 0.18819"/>
+                <!--left_jaw v002/Part__Feature009.-->
+                <origin rpy="0 -0.008758182894469432 0" xyz="0.665265 -0.00286677 -0.0209282"/>
                 <geometry>
-                    <mesh filename="package://openarm_two_arms/meshes/full_upper_right_jawv003_5v80f0.dae"/>
+                    <mesh filename="package://openarm_two_arms/meshes/full_upper_left_jawv1_6yxtlc.dae"/>
                 </geometry>
             </visual>
             <collision>
-                <!--bound_obj__left_right_jaw__col_right_jaw_v002_col_obj/col_right_jaw_v002_col_obj.-->
-                <origin rpy="3.141592653589774 0.00875818289521427 0" xyz="-0.662074 0.00352188 0.18819"/>
+                <!--bound_obj__right_left_jaw__col_left_jaw_v1_col_obj/col_left_jaw_v1_col_obj.-->
+                <origin rpy="0 -0.0087581828944695 0" xyz="0.665265 -0.00286677 -0.0209282"/>
                 <geometry>
-                    <mesh filename="package://openarm_two_arms/meshes/full_upper_col_right_jaw_v002_col_obj_ln0sqy.dae"/>
-                </geometry>
-            </collision>
-            <inertial>
-                <mass value="0.042981665301134495"/>
-                <origin rpy="3.141592653589774 0.008758182895214186 0" xyz="0.0189546 -0.00337688 0.0156207"/>
-                <inertia ixx="1.1399290012366144e-05" ixy="2.1100277903741056e-06" ixz="3.6731039885335394e-06" iyy="2.38634020443188e-05" iyz="-3.5503706410916235e-07" izz="3.0396785775073194e-05"/>
-            </inertial>
-        </link>
-        <link name="${prefix}link_left_jaw">
-            <visual>
-                <!--left_jaw v004/Part__Feature026.-->
-                <origin rpy="3.141592653589789 0.00875818289443215 0" xyz="-0.664789 0.00352188 0.0332134"/>
-                <geometry>
-                    <mesh filename="package://openarm_two_arms/meshes/full_upper_left_jawv003_9ggcxr.dae"/>
-                </geometry>
-            </visual>
-            <collision>
-                <!--bound_obj__left_left_jaw__col_left_jaw_v002_col_obj/col_left_jaw_v002_col_obj.-->
-                <origin rpy="3.141592653589789 0.008758182894432077 0" xyz="-0.664789 0.00352188 0.0332134"/>
-                <geometry>
-                    <mesh filename="package://openarm_two_arms/meshes/full_upper_col_left_jaw_v002_col_obj_he8av6.dae"/>
+                    <mesh filename="package://openarm_two_arms/meshes/full_upper_col_left_jaw_v1_col_obj_wr4fju.dae"/>
                 </geometry>
             </collision>
             <inertial>
                 <mass value="0.04297897856394934"/>
-                <origin rpy="3.141592653589789 0.008758182894432148 0" xyz="0.0184958 0.00151751 -0.0162764"/>
-                <inertia ixx="1.195285836430737e-05" ixy="-2.8053920115195855e-06" ixz="-3.983934744055433e-06" iyy="2.3656009736974273e-05" iyz="-4.864815166189635e-07" izz="3.047484533653199e-05"/>
+                <origin rpy="0 -0.008758182894469429 0" xyz="-0.0187138 0.00217075 0.0159499"/>
+                <inertia ixx="1.1771768742932353e-05" ixy="-2.389928166589898e-06" ixz="3.999292204534159e-06" iyy="2.3837354480794824e-05" iyz="3.494431877242991e-07" izz="3.0474590214086944e-05"/>
             </inertial>
         </link>
-        <joint name="${prefix}rev1" type="revolute">
+        <link name="l_right_jaw_v002">
+            <visual>
+                <!--right_jaw v002/Part__Feature010.-->
+                <origin rpy="0 -0.008758182898001485 0" xyz="0.665265 -0.00286677 -0.175928"/>
+                <geometry>
+                    <mesh filename="package://openarm_two_arms/meshes/full_upper_right_jawv1_0fmgsg.dae"/>
+                </geometry>
+            </visual>
+            <collision>
+                <!--bound_obj__right_right_jaw__col_right_jaw_v1_col_obj/col_right_jaw_v1_col_obj.-->
+                <origin rpy="0 -0.008758182898001553 0" xyz="0.665265 -0.00286677 -0.175928"/>
+                <geometry>
+                    <mesh filename="package://openarm_two_arms/meshes/full_upper_col_right_jaw_v1_col_obj_9qatoq.dae"/>
+                </geometry>
+            </collision>
+            <inertial>
+                <mass value="0.042981665301134515"/>
+                <origin rpy="0 -0.00875818289800148 0" xyz="-0.0187844 -0.00272415 -0.0159503"/>
+                <inertia ixx="1.1561293087621594e-05" ixy="2.537718468008212e-06" ixz="-3.6591812257702003e-06" iyy="2.370165527871047e-05" iyz="4.848038235889027e-07" izz="3.039652946542647e-05"/>
+            </inertial>
+        </link>
+        <joint name="right_rev1" type="revolute">
             <parent link="${prefix}link1"/>
             <child link="${prefix}link2"/>
-            <origin rpy="-3.1415926535897922 0 -3.1415926535897927" xyz="0.0 0.0 -0.05325"/>
+            <origin rpy="0 0 0" xyz="0.0 0.0 0.05325"/>
             <axis xyz="0 0 1"/>
             <limit effort="0.0" lower="-2.0943951023931953" upper="2.0943951023931953" velocity="0.0"/>
         </joint>
-        <joint name="${prefix}rev2" type="revolute">
+        <joint name="right_rev2" type="revolute">
             <parent link="${prefix}link2"/>
             <child link="${prefix}link3"/>
-            <origin rpy="-1.570796326794897 0 0" xyz="0.0 0.02975 0.04475"/>
+            <origin rpy="-1.5707963267948968 0 0" xyz="0.0 -0.02975 0.04475"/>
             <axis xyz="0 0 1"/>
-            <limit effort="0.0" lower="-3.141592653589793" upper="0.0" velocity="0.0"/>
+            <limit effort="0.0" lower="0.0" upper="3.141592653589793" velocity="0.0"/>
         </joint>
-        <joint name="${prefix}rev3" type="revolute">
+        <joint name="right_rev3" type="revolute">
             <parent link="${prefix}link3"/>
             <child link="${prefix}link4"/>
-            <origin rpy="1.5707963267949063 0 1.5620381439005797" xyz="0.0612477 -0.000536432 -0.02975"/>
+            <origin rpy="-1.5707963267949054 0 -1.562038143900564" xyz="-0.0612477 -0.000536432 0.02975"/>
             <axis xyz="0 0 1"/>
             <limit effort="0.0" lower="-3.6651914291880923" upper="0.5235987755982988" velocity="0.0"/>
         </joint>
-        <joint name="${prefix}rev4" type="revolute">
+        <joint name="right_rev4" type="revolute">
             <parent link="${prefix}link4"/>
             <child link="${prefix}link5"/>
-            <origin rpy="-3.0383286058327292 -1.5707963267948855 3.038328605832587" xyz="0.0297547 0.0 0.24175"/>
+            <origin rpy="-0.20701608758495998 -1.5707963267948566 -2.937419385117548" xyz="0.0297547 0.0 -0.24175"/>
             <axis xyz="0 0 1"/>
-            <limit effort="0.0" lower="-2.792526803190927" upper="0.3490658503988659" velocity="0.0"/>
+            <limit effort="0.0" lower="-0.3490658503988659" upper="2.792526803190927" velocity="0.0"/>
         </joint>
-        <joint name="${prefix}rev5" type="revolute">
+        <joint name="right_rev5" type="revolute">
             <parent link="${prefix}link5"/>
-            <child link="${prefix}link6"/>
-            <origin rpy="-1.5707963267949232 0.55693325005308 -1.5567303253382712" xyz="0.133937 0.00188408 0.0297547"/>
+            <child link="l_J6_right_wrist"/>
+            <origin rpy="1.5707963267948473 -0.5569332500492129 1.556730325338251" xyz="-0.133937 0.00188408 -0.0297547"/>
             <axis xyz="0 0 1"/>
             <limit effort="0.0" lower="-2.0943951023931953" upper="2.0943951023931953" velocity="0.0"/>
         </joint>
-        <joint name="${prefix}rev6" type="revolute">
-            <parent link="${prefix}link6"/>
+        <joint name="right_rev6" type="revolute">
+            <parent link="l_J6_right_wrist"/>
             <child link="${prefix}link7"/>
-            <origin rpy="1.5707963267870033 -1.5567303253382319 -0.5569332500457352" xyz="0.0187648 0.0301352 0.12105"/>
+            <origin rpy="-1.5707963268024898 -1.5567303253382425 -0.5569332500461536" xyz="-0.0187648 -0.0301352 -0.12105"/>
             <axis xyz="0 0 1"/>
             <limit effort="0.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="0.0"/>
         </joint>
-        <joint name="${prefix}rev7" type="revolute">
+        <joint name="right_rev7" type="revolute">
             <parent link="${prefix}link7"/>
             <child link="${prefix}link8"/>
-            <origin rpy="-1.5707963267949518 0.008760073613296379 0.020777510312798276" xyz="0.000320989 -0.0154467 0.0355"/>
+            <origin rpy="-1.5707963267950005 -0.00875904933536772 -0.014066001454933467" xyz="-0.000217313 -0.0154485 0.0355"/>
             <axis xyz="0 0 1"/>
             <limit effort="0.0" lower="-0.9599310885968813" upper="0.9599310885968813" velocity="0.0"/>
         </joint>
-        <joint name="${prefix}left_pris1" type="prismatic">
+        <joint name="right_left_pris1" type="prismatic">
             <parent link="${prefix}link8"/>
-            <child link="${prefix}link_left_jaw"/>
-            <origin rpy="1.5707963267947693 0.020777510312786344 -0.008760073612368274" xyz="0.10571 -0.0786733 0.0132053"/>
-            <axis xyz="0 0 1"/>
-            <limit effort="0.0" lower="-0.045" upper="0.0" velocity="0.0"/>
-        </joint>
-        <joint name="${prefix}right_pris2" type="prismatic">
-            <parent link="${prefix}link8"/>
-            <child link="${prefix}link_right_jaw"/>
-            <origin rpy="1.5707963267948966 0.020777510312787576 -0.008760073613237863" xyz="0.1071 0.0763207 0.0132053"/>
+            <child link="l_left_jaw_v002"/>
+            <origin rpy="1.570796326795101 -0.014066001454929162 0.00875904933542146" xyz="-0.1071 0.0768568 0.0132053"/>
             <axis xyz="0 0 1"/>
             <limit effort="0.0" lower="0.0" upper="0.045" velocity="0.0"/>
-            <mimic joint="${prefix}left_pris1" multiplier="-1.0" offset="0.0"/>
+        </joint>
+        <joint name="right_right_pris2" type="prismatic">
+            <parent link="${prefix}link8"/>
+            <child link="l_right_jaw_v002"/>
+            <origin rpy="1.570796326794883 -0.014066001454927403 0.008759049336290027" xyz="-0.10571 -0.0781373 0.0132053"/>
+            <axis xyz="0 0 1"/>
+            <limit effort="0.0" lower="0.0" upper="0.045" velocity="0.0"/>
+            <mimic joint="right_left_pris1" multiplier="-1.0" offset="0.0"/>
         </joint>
     </xacro:macro>
 </robot>
diff --git a/openarm_two_arms/urdf/openarm_left.urdf b/openarm_two_arms/urdf/openarm_left.urdf
index 5293c5f..009589a 100644
--- a/openarm_two_arms/urdf/openarm_left.urdf
+++ b/openarm_two_arms/urdf/openarm_left.urdf
@@ -1,6 +1,6 @@
 <?xml version="1.0" ?>
 <robot name="openarm_two_arms">
-  <link name="l_base_link001">
+  <link name="left_link1">
     <visual>
       <!--base_link001/Part__Feature018.-->
       <origin rpy="3.1415926535897927 0 0" xyz="0.0 0.0 0.0007"/>
@@ -211,7 +211,7 @@
     </inertial>
   </link>
   <joint name="left_rev1" type="revolute">
-    <parent link="l_base_link001"/>
+    <parent link="left_link1"/>
     <child link="l_J2_v003"/>
     <origin rpy="-3.1415926535897922 0 -3.1415926535897927" xyz="0.0 0.0 -0.05325"/>
     <axis xyz="0 0 1"/>
diff --git a/openarm_two_arms/urdf/openarm_two_arms.urdf.xacro b/openarm_two_arms/urdf/openarm_two_arms.urdf.xacro
index 4d6ac69..15ee166 100644
--- a/openarm_two_arms/urdf/openarm_two_arms.urdf.xacro
+++ b/openarm_two_arms/urdf/openarm_two_arms.urdf.xacro
@@ -4,8 +4,8 @@
 
   <xacro:include filename="openarm.xacro"/>
   <xacro:include filename="openarm_two_arms_pedestal.urdf"/>
-  <xacro:openarm prefix="left_" side="left"/>
-  <xacro:include filename="openarm_right.urdf"/>
+  <xacro:openarm prefix="right_" side="right"/>
+  <xacro:include filename="openarm_left.urdf"/>
 
   <joint name="dummy_joint" type="fixed">
     <parent link="world"/>
@@ -14,7 +14,7 @@
   </joint>
   <joint name="right_fix1" type="fixed">
     <parent link="pedestal_link"/>
-    <child link="l_J1_v002"/>
+    <child link="right_link1"/>
     <origin rpy="3.0144791747751833 -1.5707963267948324 0.12689401604101067" xyz="0.09 0.0 0.893"/>
   </joint>
   <joint name="left_fix1" type="fixed">