diff --git a/openarm_two_arms/urdf/openarm.xacro b/openarm_two_arms/urdf/openarm.xacro
index 8283ff9..dad4109 100644
--- a/openarm_two_arms/urdf/openarm.xacro
+++ b/openarm_two_arms/urdf/openarm.xacro
@@ -119,7 +119,7 @@
         <link name="${prefix}link6">
             <visual>
                 <!--J6 right_wrist/Part__Feature006.-->
-                <origin rpy="${reflect*-2.1276679791326423} ${rotate -1.5542266826921929} ${rotate}" xyz="-0.0485412 -0.0860404 0.437784"/>
+                <origin rpy="${-2.1276679791326423 * reflect} ${reflect* -1.5542266826921929} 0" xyz="-0.0485412 -0.0860404 0.437784"/>
                 <geometry>
                     <mesh filename="package://openarm_two_arms/meshes/${'full_upper_j6v1_mg9rps.dae' if side=='right' else 'full_upper_j6_leftv005_f8km11.dae'}"/>
                 </geometry>
@@ -140,7 +140,7 @@
         <link name="${prefix}link7">
             <visual>
                 <!--J7 right v002/Part__Feature007.-->
-                <origin rpy="0 -0.008758182894510852 0" xyz="0.558839 -0.00358671 -0.0631962"/>
+                <origin rpy="0 ${reflect*-0.008758182894510852} 0" xyz="${reflect*0.558839} -0.00358671 -0.0631962"/>
                 <geometry>
                     <mesh filename="package://openarm_two_arms/meshes/${'full_upper_j7v1_9yzky6.dae' if side=='right' else 'full_upper_j7_leftv005_8ohvh2.dae'}"/>
                 </geometry>