diff --git a/urdf/details.xacro b/urdf/details.xacro
index ebdee9e..1d67447 100644
--- a/urdf/details.xacro
+++ b/urdf/details.xacro
@@ -7,10 +7,10 @@
       <provideFeedback>true</provideFeedback>
       <disableFixedJointLumping>true</disableFixedJointLumping>
     </gazebo>
-   <gazebo reference="neck_to_head">
+   <!--gazebo reference="neck_to_head">
       <provideFeedback>true</provideFeedback>
       <disableFixedJointLumping>true</disableFixedJointLumping>
-    </gazebo>
+    </gazebo-->
     <gazebo reference="body_to_neck">
       <provideFeedback>true</provideFeedback>
       <disableFixedJointLumping>true</disableFixedJointLumping>
diff --git a/urdf/structure.xacro b/urdf/structure.xacro
index 5381fa2..ea0b965 100644
--- a/urdf/structure.xacro
+++ b/urdf/structure.xacro
@@ -8,7 +8,7 @@
   <xacro:property name="support_height" value="1.30" />  
   <xacro:macro name="structure" params="parent child body_height body_width body_large">
 
-      <xacro:joint_pos_transmission joint="beam_to_slider"/>
+    <!--xacro:joint_pos_transmission joint="beam_to_slider"/-->
     <gazebo reference="support_to_base_link">
       <provideFeedback>true</provideFeedback>
       <disableFixedJointLumping>true</disableFixedJointLumping>
@@ -24,30 +24,30 @@
     <child link="column"/>
     <origin xyz="0 0 0" rpy="0 0 0" />
   </joint>
-  <joint name="column_to_beam" type="fixed">
+  <joint name="column_to_beam" type="continuous">
     <parent link="column"/>
     <child link="beam"/>
     <axis xyz="0 0 1"/>
     <origin xyz="0 0 ${column_height/2}" rpy="0 0 0" />
   </joint>
-    <joint name="slider_to_support" type="fixed">
+    <joint name="slider_to_support" type="prismatic">
     <parent link="slider"/>
     <child link="support"/>
     <origin xyz="0 0 ${-1*(cross_length/2)}" rpy="0 0 0" />
-    <axis xyz="0 1 0" />
-    <!--limit effort="15" velocity="50" lower="${-90*M_PI/180}" upper="${90*M_PI/180}" /-->  
+    <axis xyz="0 0 1" />
+    <limit effort="15" velocity="50" lower="0" upper="1" />  
   </joint>
   <joint name="support_to_base_link" type="fixed">
     <parent link="support"/>
     <child link="${child}"/>
     <origin xyz="0 0 ${-support_height}" rpy="0 0 0" />
   </joint>
-  <joint name="beam_to_slider" type="prismatic">
+  <joint name="beam_to_slider" type="fixed">
     <parent link="beam"/>
     <child link="slider"/>
     <origin xyz="0 5 ${-1*cross_length}" rpy="0 0 0"/>
     <axis xyz="1 0 0" />
-    <limit effort="3" velocity="2" lower="5" upper="20" />  
+    <!--limit effort="3" velocity="2" lower="5" upper="20" /-->  
   </joint>
   <link name="column">
     <inertial>
@@ -62,12 +62,12 @@
         <box size="${cross_length} ${cross_length} ${column_height}" />
       </geometry>
     </visual>
-    <collision>
+    <!--collision>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
         <box size="${cross_length} ${cross_length} ${column_height}" />
       </geometry>
-    </collision>
+    </collision-->
   </link>
     <link name="slider">
     <inertial>
@@ -81,15 +81,15 @@
         <box size="${cross_length} ${cross_length} ${cross_length}" />
       </geometry>
     </visual>
-    <collision>
+    <!--collision>
       <geometry>
         <box size="${cross_length} ${cross_length} ${cross_length}" />
       </geometry>
-    </collision>
+    </collision-->
   </link>
     <link name="support">
     <inertial>
-      <origin xyz="0 0 0" />
+      <origin xyz="0 0 ${-1*support_height/2}" />
       <mass value="0.4"/>
       <xacro:cuboid_inertia_def x="${cross_length}" y="${cross_length}" z="${support_height}" mass="0.4"/>
     </inertial>
@@ -99,16 +99,16 @@
         <box size="${cross_length} ${cross_length} ${support_height}" />
       </geometry>
     </visual>
-    <collision>
+    <!--collision>
       <origin xyz="0 0 ${-1*support_height/2}" rpy="0 0 0" />
       <geometry>
         <box size="${cross_length} ${cross_length} ${support_height}" />
       </geometry>
-    </collision>
+    </collision-->
   </link>
     <link name="beam">
     <inertial>
-      <origin xyz="0 ${beam_height/2} 0" />
+      <origin xyz="0 ${beam_height/2} 0" rpy="0 0 ${90*M_PI/180}"/>
       <mass value="8"/>
       <xacro:cuboid_inertia_def x="${cross_length}" y="${beam_height}" z="${cross_length}" mass="8"/>
     </inertial>
@@ -119,12 +119,12 @@
         <box size="${cross_length} ${beam_height} ${cross_length} " />
       </geometry>
     </visual>
-    <collision>
+    <!--collision>
       <origin xyz="0 ${beam_height/2} 0" rpy="0 0 0" />
       <geometry>
         <box size="${cross_length} ${beam_height} ${cross_length} " />
       </geometry>
-    </collision>
+    </collision-->
   </link>
 
 </xacro:macro>