diff --git a/openarm_two_arms/urdf/openarm.xacro b/openarm_two_arms/urdf/openarm.xacro
index 0f106d5..fa184c3 100644
--- a/openarm_two_arms/urdf/openarm.xacro
+++ b/openarm_two_arms/urdf/openarm.xacro
@@ -106,7 +106,7 @@
         </link>
         <link name="${prefix}link6">
             <visual>
-                <origin rpy="${-2.1276679791326423*reflect + rotate} ${reflect* -1.5542266826921929} ${rotate}" xyz="${reflect*-0.0485412} ${reflect*-0.0860404} 0.437784"/>
+                <origin rpy="${-2.1276679791326423*reflect + rotate} ${reflect* -1.5542266826921929} ${rotate}" xyz="${reflect*-0.0485412 + (0 if side=='right' else 0.012)} ${reflect*-0.0860404 +(0 if side=='right' else 0.0018)} ${0.437784- (0 if side=='right' else 0.0023)}"/>
                 <geometry>
                     <mesh filename="package://openarm_two_arms/meshes/${'full_upper_j6v1_mg9rps.dae' if side=='right' else 'full_upper_j6_leftv005_f8km11.dae'}"/>
                 </geometry>