diff --git a/mycobot_description/urdf/mycobot_320_m5_2022/new_mycobot_pro_320_m5_2022_gripper.urdf b/mycobot_description/urdf/mycobot_320_m5_2022/new_mycobot_pro_320_m5_2022_gripper.urdf
index 2cf3736d..934d37b1 100644
--- a/mycobot_description/urdf/mycobot_320_m5_2022/new_mycobot_pro_320_m5_2022_gripper.urdf
+++ b/mycobot_description/urdf/mycobot_320_m5_2022/new_mycobot_pro_320_m5_2022_gripper.urdf
@@ -193,7 +193,7 @@
       <geometry>
        <mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right1.dae"/>
       </geometry>
-        <origin xyz = "-0.036 -0.052 0.0 " rpy = " 0 0 1.5708"/>
+        <origin xyz = "-0.072 -0.05 0.0 " rpy = " 0 0 1.5708"/>
     </collision>
   </link>
 
@@ -208,7 +208,7 @@
       <geometry>
        <mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right2.dae"/>
       </geometry>
-        <origin xyz = "-0.03 0.024 -0.018 " rpy = " 0 0 1.5708"/>
+        <origin xyz = "-0.066 0.023 -0.018 " rpy = " 0 0 1.5708"/>
     </collision>
   </link>
 
@@ -224,7 +224,7 @@
       <geometry>
        <mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right3.dae"/>
       </geometry>
-    <origin xyz = "-0.034 0.0 -0.012 " rpy = " 0 3.14159 -1.5708"/>
+    <origin xyz = "0.0 0.0 -0.012 " rpy = " 0 3.14159 -1.5708"/>
     </collision>
   </link>
 
diff --git a/mycobot_description/urdf/mycobot_320_m5_2022/new_mycobot_pro_320_m5_2022_moveit_gripper.urdf b/mycobot_description/urdf/mycobot_320_m5_2022/new_mycobot_pro_320_m5_2022_moveit_gripper.urdf
index 2c080ce5..563134a7 100644
--- a/mycobot_description/urdf/mycobot_320_m5_2022/new_mycobot_pro_320_m5_2022_moveit_gripper.urdf
+++ b/mycobot_description/urdf/mycobot_320_m5_2022/new_mycobot_pro_320_m5_2022_moveit_gripper.urdf
@@ -194,7 +194,7 @@
       <geometry>
        <mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right1.dae"/>
       </geometry>
-        <origin xyz = "-0.036 -0.052 0.0 " rpy = " 0 0 1.5708"/>
+        <origin xyz = "-0.072 -0.05 0.0 " rpy = " 0 0 1.5708"/>
     </collision>
   </link>
 
@@ -209,7 +209,7 @@
       <geometry>
        <mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right2.dae"/>
       </geometry>
-        <origin xyz = "-0.03 0.024 -0.018 " rpy = " 0 0 1.5708"/>
+        <origin xyz = "-0.066 0.023 -0.018 " rpy = " 0 0 1.5708"/>
     </collision>
   </link>
 
@@ -225,7 +225,7 @@
       <geometry>
        <mesh filename="package://mycobot_description/urdf/mycobot_320_m5_2022/gripper_right3.dae"/>
       </geometry>
-    <origin xyz = "-0.034 0.0 -0.012 " rpy = " 0 3.14159 -1.5708"/>
+    <origin xyz = "0.0 0.0 -0.012 " rpy = " 0 3.14159 -1.5708"/>
     </collision>
   </link>
 
diff --git a/mycobot_description/urdf/mycobot_320_pi_2022/new_mycobot_pro_320_pi_2022_gripper.urdf b/mycobot_description/urdf/mycobot_320_pi_2022/new_mycobot_pro_320_pi_2022_gripper.urdf
index 5889f623..b2d57faa 100644
--- a/mycobot_description/urdf/mycobot_320_pi_2022/new_mycobot_pro_320_pi_2022_gripper.urdf
+++ b/mycobot_description/urdf/mycobot_320_pi_2022/new_mycobot_pro_320_pi_2022_gripper.urdf
@@ -193,7 +193,7 @@
       <geometry>
        <mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/gripper_right1.dae"/>
       </geometry>
-        <origin xyz = "-0.036 -0.052 0.0 " rpy = " 0 0 1.5708"/>
+        <origin xyz = "-0.072 -0.05 0.0 " rpy = " 0 0 1.5708"/>
     </collision>
   </link>
 
@@ -208,7 +208,7 @@
       <geometry>
        <mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/gripper_right2.dae"/>
       </geometry>
-        <origin xyz = "-0.03 0.024 -0.018 " rpy = " 0 0 1.5708"/>
+        <origin xyz = "-0.066 0.023 -0.018 " rpy = " 0 0 1.5708"/>
     </collision>
   </link>
 
@@ -224,7 +224,7 @@
       <geometry>
        <mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/gripper_right3.dae"/>
       </geometry>
-    <origin xyz = "-0.034 0.0 -0.012 " rpy = " 0 3.14159 -1.5708"/>
+    <origin xyz = "0.0 0.0 -0.012 " rpy = " 0 3.14159 -1.5708"/>
     </collision>
   </link>
 
diff --git a/mycobot_description/urdf/mycobot_320_pi_2022/new_mycobot_pro_320_pi_2022_moveit_gripper.urdf b/mycobot_description/urdf/mycobot_320_pi_2022/new_mycobot_pro_320_pi_2022_moveit_gripper.urdf
index f435302a..86ee5df5 100644
--- a/mycobot_description/urdf/mycobot_320_pi_2022/new_mycobot_pro_320_pi_2022_moveit_gripper.urdf
+++ b/mycobot_description/urdf/mycobot_320_pi_2022/new_mycobot_pro_320_pi_2022_moveit_gripper.urdf
@@ -196,7 +196,7 @@
       <geometry>
        <mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/gripper_right1.dae"/>
       </geometry>
-        <origin xyz = "-0.036 -0.052 0.0 " rpy = " 0 0 1.5708"/>
+        <origin xyz = "-0.072 -0.05 0.0 " rpy = " 0 0 1.5708"/>
     </collision>
   </link>
 
@@ -211,7 +211,7 @@
       <geometry>
        <mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/gripper_right2.dae"/>
       </geometry>
-        <origin xyz = "-0.03 0.024 -0.018 " rpy = " 0 0 1.5708"/>
+        <origin xyz = "-0.066 0.023 -0.018 " rpy = " 0 0 1.5708"/>
     </collision>
   </link>
 
@@ -227,7 +227,7 @@
       <geometry>
        <mesh filename="package://mycobot_description/urdf/mycobot_320_pi_2022/gripper_right3.dae"/>
       </geometry>
-    <origin xyz = "-0.034 0.0 -0.012 " rpy = " 0 3.14159 -1.5708"/>
+    <origin xyz = "0.0 0.0 -0.012 " rpy = " 0 3.14159 -1.5708"/>
     </collision>
   </link>
 
diff --git a/mycobot_description/urdf/pro_adaptive_gripper/mycobot_pro_adaptive_gripper.urdf b/mycobot_description/urdf/pro_adaptive_gripper/mycobot_pro_adaptive_gripper.urdf
index c9566674..cf24a130 100644
--- a/mycobot_description/urdf/pro_adaptive_gripper/mycobot_pro_adaptive_gripper.urdf
+++ b/mycobot_description/urdf/pro_adaptive_gripper/mycobot_pro_adaptive_gripper.urdf
@@ -75,7 +75,7 @@
       <geometry>
        <mesh filename="package://mycobot_description/urdf/pro_adaptive_gripper/gripper_right1.dae"/>
       </geometry>
-        <origin xyz = "-0.036 -0.052 0.0 " rpy = " 0 0 1.5708"/>
+        <origin xyz = "-0.072 -0.05 0.0 " rpy = " 0 0 1.5708"/>
     </collision>
   </link>
 
@@ -90,7 +90,7 @@
       <geometry>
        <mesh filename="package://mycobot_description/urdf/pro_adaptive_gripper/gripper_right2.dae"/>
       </geometry>
-        <origin xyz = "-0.03 0.024 -0.018 " rpy = " 0 0 1.5708"/>
+        <origin xyz = "-0.066 0.023 -0.018 " rpy = " 0 0 1.5708"/>
     </collision>
   </link>
 
@@ -106,7 +106,7 @@
       <geometry>
        <mesh filename="package://mycobot_description/urdf/pro_adaptive_gripper/gripper_right3.dae"/>
       </geometry>
-    <origin xyz = "-0.034 0.0 -0.012 " rpy = " 0 3.14159 -1.5708"/>
+    <origin xyz = "0.0 0.0 -0.012 " rpy = " 0 3.14159 -1.5708"/>
     </collision>
   </link>