diff --git a/mara_description/urdf/camera_side.urdf.xacro b/mara_description/urdf/camera_side.urdf.xacro
deleted file mode 100644
index f3c0f53..0000000
--- a/mara_description/urdf/camera_side.urdf.xacro
+++ /dev/null
@@ -1,145 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro">
-
-  <xacro:macro name="mara_camera_side"  params="prefix">
-
-      <link name="mara_work_area_link">
-        <inertial>
-          <origin rpy="0 0 0" xyz="8.625E-08 -4.6583E-06 0.03145"/>
-          <mass value="7.033"/>
-          <inertia ixx="0.1478344" ixy="-0.00001" ixz="0.0" iyy="0.14782335" iyz="0.0" izz="0.29471799"/>
-        </inertial>
-        <visual>
-          <origin rpy="0 0 0" xyz="0 0 0"/>
-          <geometry>
-            <mesh filename="model://mara_description/meshes/demo/AIR_WorkArea.dae" scale="0.001 0.001 0.001"/>
-          </geometry>
-          <material name="Gazebo/Wood">
-            <color rgba="0. 0. 0. 1"/>
-          </material>
-        </visual>
-        <collision>
-          <origin rpy="0 0 0" xyz="0 0 0"/>
-          <geometry>
-            <mesh filename="model://mara_description/meshes/demo/AIR_WorkArea.dae" scale="0.001 0.001 0.001"/>
-          </geometry>
-        </collision>
-      </link>
-      <gazebo reference="mara_work_area_link">
-        <material>Gazebo/Wood</material>
-        <selfCollide>False</selfCollide>
-      </gazebo>
-
-      <link name="mara_camera_support_link">
-        <inertial>
-          <origin rpy="0 0 0" xyz="8.625E-08 -4.6583E-06 0.03145"/>
-          <mass value="7.033"/>
-          <inertia ixx="0.1478344" ixy="-0.00001" ixz="0.0" iyy="0.14782335" iyz="0.0" izz="0.29471799"/>
-        </inertial>
-        <visual>
-          <origin rpy="0 0 0" xyz="0 0 0"/>
-          <geometry>
-            <mesh filename="model://mara_description/meshes/demo/side/side_camera_support.dae" scale="0.001 0.001 0.001"/>
-          </geometry>
-          <material name="Gazebo/Wood">
-            <color rgba="0. 0. 0. 1"/>
-          </material>
-        </visual>
-        <collision>
-          <origin rpy="0 0 0" xyz="0 0 0"/>
-          <geometry>
-            <mesh filename="model://mara_description/meshes/demo/side/side_camera_support.dae" scale="0.001 0.001 0.001"/>
-          </geometry>
-        </collision>
-      </link>
-      <gazebo reference="mara_work_area_link">
-        <material>Gazebo/Wood</material>
-        <selfCollide>False</selfCollide>
-      </gazebo>
-
-      <link name="depthsensor">
-        <inertial>
-          <origin rpy="0 0 0" xyz="-0.12987 0 0.02947"/>
-          <mass value="10.0" />
-          <inertia ixx="1.38185" ixy="-0.00001" ixz="-0.05685" iyx="-0.00001" iyy="1.03177" iyz="0.0" izx="-0.05685" izy="0.00000" izz="2.27567"/>
-        </inertial>
-        <visual>
-          <origin xyz="0 0 0" rpy="0 0 0" />
-          <geometry>
-            <mesh scale="0.001 0.001 0.001" filename="model://mara_description/meshes/camera/SCARA_DepthSensor_SIDE.dae" />
-          </geometry>
-          <material name="Gazebo/Grey">
-            <color rgba="1. 1. 1. 1" />
-          </material>
-        </visual>
-      </link>
-      <gazebo reference="depthsensor">
-        <material>Gazebo/Grey</material>
-        <selfCollide>False</selfCollide>
-      </gazebo>
-      <link name="camera"></link>
-
-      <joint name="base_to_work_area_joint" type="fixed">
-        <origin rpy="0 0 0" xyz="-0.450 0 0.00625"/>
-        <parent link="base_link"/>
-        <child link="mara_work_area_link"/>
-      </joint>
-
-      <joint name="base_to_camera_support_joint" type="fixed">
-        <origin rpy="0 0 0" xyz="-0.48 0.2659 0.161250"/>
-        <parent link="base_link"/>
-        <child link="mara_camera_support_link"/>
-      </joint>
-
-      <joint name="camera_adapter_to_camera" type="fixed">
-        <origin rpy="0 ${1.57-((90-68)*3.1419/180)} -1.57" xyz="0.006 -0.05865 0.22620"/>
-        <parent link="mara_camera_support_link"/>
-        <child link="depthsensor"/>
-      </joint>
-
-      <joint name="camera_joint" type="fixed">
-        <origin xyz="0.055 0.031375 0.01" rpy="0 0 0"/>
-        <parent link="depthsensor"/>
-        <child link="camera"/>
-      </joint>
-
-      <gazebo reference="camera">
-        <sensor name="sensor_camera" type="depth">
-            <camera>
-               <visualize>true</visualize>
-                <horizontal_fov>1.01</horizontal_fov>
-                <image>
-                    <width>320</width>
-                    <height>240</height>
-                    <format>R8G8B8</format>
-                </image>
-                <clip near="0.01" far="6.0" />
-                <save enabled="false" path="/tmp" />
-                <depth_camera output="points" />
-            </camera>
-            <plugin name="depthsensor" filename="libgazebo_ros_depth_camera.so">
-                <alwaysOn>1</alwaysOn>
-                <updateRate>10.0</updateRate>
-                <visualize>true</visualize>
-                <imageTopicName>/mara/rgb/image_raw</imageTopicName>
-                <pointCloudTopicName>/mara/depth/points</pointCloudTopicName>
-                <cameraInfoTopicName>/mara/rgb/camera_info</cameraInfoTopicName>
-                <cameraName>/mara</cameraName>
-                <depthImageTopicName>/mara/depth/image_raw</depthImageTopicName>
-                <depthImageCameraInfoTopicName>/mara/depth/camera_info</depthImageCameraInfoTopicName>
-                <frameName>/camera</frameName>
-                <pointCloudCutoff>0.001</pointCloudCutoff>
-                <distortionK1>0.00000001</distortionK1>
-                <distortionK2>0.00000001</distortionK2>
-                <distortionK3>0.00000001</distortionK3>
-                <distortionT1>0.00000001</distortionT1>
-                <distortionT2>0.00000001</distortionT2>
-            </plugin>
-            <always_on>true</always_on>
-            <update_rate>10.0</update_rate>
-          </sensor>
-        </gazebo>
-
-  </xacro:macro>
-
-</robot>
diff --git a/mara_description/urdf/camera_top.urdf.xacro b/mara_description/urdf/camera_top.urdf.xacro
deleted file mode 100644
index f2549b1..0000000
--- a/mara_description/urdf/camera_top.urdf.xacro
+++ /dev/null
@@ -1,151 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro">
-
-  <xacro:macro name="mara_camera_top"  params="prefix">
-      <link name="mara_work_area_link">
-        <inertial>
-          <origin rpy="0 0 0" xyz="8.625E-08 -4.6583E-06 0.03145"/>
-          <mass value="7.033"/>
-          <inertia ixx="0.1478344" ixy="-0.00001" ixz="0.0" iyy="0.14782335" iyz="0.0" izz="0.29471799"/>
-        </inertial>
-        <visual>
-          <origin rpy="0 0 0" xyz="0 0 0"/>
-          <geometry>
-            <mesh filename="model://mara_description/meshes/demo/AIR_WorkArea.dae" scale="0.001 0.001 0.001"/>
-          </geometry>
-          <material name="Gazebo/Wood">
-            <color rgba="0. 0. 0. 1"/>
-          </material>
-        </visual>
-        <collision>
-          <origin rpy="0 0 0" xyz="0 0 0"/>
-          <geometry>
-            <mesh filename="model://mara_description/meshes/demo/AIR_WorkArea.dae" scale="0.001 0.001 0.001"/>
-          </geometry>
-        </collision>
-      </link>
-      <gazebo reference="mara_work_area_link">
-        <material>Gazebo/Wood</material>
-        <selfCollide>True</selfCollide>
-      </gazebo>
-
-      <link name="mara_camera_support_link">
-        <inertial>
-          <origin rpy="0 0 0" xyz="8.625E-08 -4.6583E-06 0.03145"/>
-          <mass value="7.033"/>
-          <inertia ixx="0.1478344" ixy="-0.00001" ixz="0.0" iyy="0.14782335" iyz="0.0" izz="0.29471799"/>
-        </inertial>
-        <visual>
-          <origin rpy="0 0 0" xyz="0 0 0"/>
-          <geometry>
-            <mesh filename="model://mara_description/meshes/demo/top/top_camera_support.dae" scale="0.001 0.001 0.001"/>
-          </geometry>
-          <material name="Gazebo/Wood">
-            <color rgba="0. 0. 0. 1"/>
-          </material>
-        </visual>
-        <collision>
-          <origin rpy="0 0 0" xyz="0 0 0"/>
-          <geometry>
-            <mesh filename="model://mara_description/meshes/demo/top/top_camera_support.dae" scale="0.002 0.001 0.001"/>
-          </geometry>
-        </collision>
-      </link>
-      <gazebo reference="mara_work_area_link">
-        <material>Gazebo/Wood</material>
-        <selfCollide>True</selfCollide>
-      </gazebo>
-
-      <link name="depthsensor">
-        <inertial>
-          <origin rpy="0 0 0" xyz="-0.12987 0 0.02947"/>
-          <mass value="10.0" />
-          <inertia ixx="1.38185" ixy="-0.00001" ixz="-0.05685" iyx="-0.00001" iyy="1.03177" iyz="0.0" izx="-0.05685" izy="0.00000" izz="2.27567"/>
-        </inertial>
-        <visual>
-          <origin xyz="0 0 0" rpy="0 0 0" />
-          <geometry>
-            <mesh scale="0.001 0.001 0.001" filename="model://mara_description/meshes/depthSensor.dae" />
-          </geometry>
-          <material name="Gazebo/Grey">
-            <color rgba="1. 1. 1. 1" />
-          </material>
-        </visual>
-        <collision>
-          <origin rpy="0 0 0" xyz="0 0 0"/>
-          <geometry>
-            <mesh filename="model://mara_description/meshes/depthSensor.dae" scale="0.002 0.002 0.002" />
-          </geometry>
-        </collision>
-      </link>
-      <gazebo reference="depthsensor">
-        <material>Gazebo/Grey</material>
-        <selfCollide>True</selfCollide>
-      </gazebo>
-      <link name="camera"></link>
-
-      <joint name="base_to_work_area_joint" type="fixed">
-        <origin rpy="0 0 0" xyz="-0.461 0 0.00625"/>
-        <parent link="base_link"/>
-        <child link="mara_work_area_link"/>
-      </joint>
-
-      <joint name="base_to_camera_support_joint" type="fixed">
-        <origin rpy="0 0 0" xyz="-0.596 0 0.43125"/>
-        <parent link="base_link"/>
-        <child link="mara_camera_support_link"/>
-      </joint>
-
-      <joint name="camera_adapter_to_camera" type="fixed">
-        <origin rpy="0 1.57 0" xyz="0.124 0.0095 0.390"/>
-        <parent link="mara_camera_support_link"/>
-        <child link="depthsensor"/>
-      </joint>
-
-      <joint name="camera_joint" type="fixed">
-        <!-- <origin xyz="0.055 0.031375 0.01" rpy="0 1.57 0"/> -->
-        <origin xyz="0.055 0.0 0.01" rpy="4.72 0 -1.57"/>
-        <parent link="depthsensor"/>
-        <child link="camera"/>
-      </joint>
-
-      <gazebo reference="camera">
-        <sensor name="sensor_camera" type="depth">
-            <camera>
-             	<pose>0 0 0 3.1416 -1.5708 -1.57</pose>
-               <visualize>true</visualize>
-                <horizontal_fov>1.01</horizontal_fov>
-                <image>
-                    <width>640</width>
-                    <height>480</height>
-                    <format>R8G8B8</format>
-                </image>
-                <clip near="0.01" far="6.0" />
-                <save enabled="false" path="/tmp" />
-                <depth_camera output="points" />
-            </camera>
-            <plugin name="depthsensor" filename="libgazebo_ros_depth_camera.so">
-                <alwaysOn>1</alwaysOn>
-                <updateRate>10.0</updateRate>
-                <visualize>true</visualize>
-                <imageTopicName>/mara/rgb/image_raw</imageTopicName>
-                <pointCloudTopicName>/mara/depth/points</pointCloudTopicName>
-                <cameraInfoTopicName>/mara/rgb/camera_info</cameraInfoTopicName>
-                <cameraName>/mara</cameraName>
-                <depthImageTopicName>/mara/depth/image_raw</depthImageTopicName>
-                <depthImageCameraInfoTopicName>/mara/depth/camera_info</depthImageCameraInfoTopicName>
-                <frameName>/camera</frameName>
-                <pointCloudCutoff>0.001</pointCloudCutoff>
-                <distortionK1>0.00000001</distortionK1>
-                <distortionK2>0.00000001</distortionK2>
-                <distortionK3>0.00000001</distortionK3>
-                <distortionT1>0.00000001</distortionT1>
-                <distortionT2>0.00000001</distortionT2>
-            </plugin>
-            <always_on>true</always_on>
-            <update_rate>10.0</update_rate>
-          </sensor>
-   </gazebo>
-  </xacro:macro>
-
-</robot>
diff --git a/mara_description/urdf/mara_robot_camera_side.urdf.xacro b/mara_description/urdf/mara_robot_camera_side.urdf.xacro
deleted file mode 100644
index 0eb88b2..0000000
--- a/mara_description/urdf/mara_robot_camera_side.urdf.xacro
+++ /dev/null
@@ -1,44 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro"
-       name="mara" >
-
-  <!-- common stuff -->
-  <xacro:include filename="$(find mara_description)/urdf/common.gazebo.xacro" />
-
-  <!-- mara -->
-  <xacro:include filename="$(find mara_description)/urdf/mara.urdf.xacro" />
-
-  <!-- robotiq 140 gripper -->
-  <xacro:include filename="$(find mara_description)/urdf/robotiq_gripper.urdf.xacro" />
-
-  <xacro:include filename="$(find mara_description)/urdf/camera_side.urdf.xacro" />
-
-  <xacro:include filename="$(find mara_description)/urdf/table.urdf.xacro" />
-
-  <!-- arm -->
-  <xacro:mara_robot prefix="" joint_limited="false"/>
-  <xacro:robotiq_gripper prefix="" />
-  <xacro:mara_camera_side prefix="" />
-  <xacro:table prefix="" />
-
-  <link name="world" />
-
-  <joint name="end_effector_adapter_to_robotiq" type="fixed">
-    <origin rpy="0 0 1.57" xyz=" 0 0 0.065"/>
-    <parent link="motor6_link"/>
-    <child link="robotiq_arg2f_base_link"/>
-  </joint>
-
-  <joint name="world_to_table_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0 0.02"/>
-    <parent link="world"/>
-    <child link="table"/>
-  </joint>
-
-  <joint name="table_to_base_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0 0.65"/>
-    <parent link="table"/>
-    <child link="base_link"/>
-  </joint>
-
-</robot>
diff --git a/mara_description/urdf/mara_robot_camera_top.urdf b/mara_description/urdf/mara_robot_camera_top.urdf
deleted file mode 100644
index 8f9a6ec..0000000
--- a/mara_description/urdf/mara_robot_camera_top.urdf
+++ /dev/null
@@ -1,489 +0,0 @@
-<?xml version="1.0" ?>
-<!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from /home/erle/ros2_crystal/src/mara/mara_description/urdf/mara_robot_camera_top.urdf.xacro | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
-<!-- =================================================================================== -->
-<robot name="mara" xmlns:xacro="http://ros.org/wiki/xacro">
-  <!--
-  Author: Alejandro  Hernandez
--->
-  <!-- <xacro:include filename="$(find robotiq_140_gripper_description)/urdf/robotiq_140.urdf.xacro" /> -->
-  <link name="base_link">
-    <inertial>
-      <origin rpy="0 0 0" xyz="8.625E-08 -4.6583E-06 0.03145"/>
-      <mass value="7.033"/>
-      <inertia ixx="0.1478344" ixy="-0.00001" ixz="0.0" iyy="0.14782335" iyz="0.0" izz="0.29471799"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://mara_description/meshes/Base_plancha.dae" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="Gazebo/Grey">
-        <color rgba="0. 0. 0. 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://mara_description/meshes/Base_plancha.dae" scale="0.001 0.001 0.001"/>
-      </geometry>
-    </collision>
-  </link>
-  <gazebo reference="base_link">
-    <material>Gazebo/Grey</material>
-    <selfCollide>True</selfCollide>
-  </gazebo>
-  <link name="base_robot">
-    <inertial>
-      <origin rpy="0 0 0" xyz="8.625E-08 -4.6583E-06 0.03145"/>
-      <mass value="7.033"/>
-      <inertia ixx="0.1478344" ixy="-0.00001" ixz="0.0" iyy="0.14782335" iyz="0.0" izz="0.29471799"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://mara_description/meshes/Base.dae" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="Gazebo/Black">
-        <color rgba="0. 0. 0. 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://mara_description/meshes/Base.dae" scale="0.001 0.001 0.001"/>
-      </geometry>
-    </collision>
-  </link>
-  <gazebo reference="base_robot">
-    <material>Gazebo/Black</material>
-    <selfCollide>True</selfCollide>
-  </gazebo>
-  <link name="motor1_link">
-    <inertial>
-      <origin rpy="0 0 0" xyz="8.625E-08 -4.6583E-06 0.03145"/>
-      <mass value="5.8"/>
-      <inertia ixx="0.10105893" ixy="0.000211" ixz="-0.004" iyy="0.09386624" iyz="-0.01698537" izz="0.01449937"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://mara_description/meshes/MARA_T49.dae" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="Gazebo/White">
-        <color rgba="0. 0. 0. 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://mara_description/meshes/MARA_T49.dae" scale="0.001 0.001 0.001"/>
-      </geometry>
-    </collision>
-  </link>
-  <gazebo reference="motor1_link">
-    <material>Gazebo/White</material>
-    <selfCollide>True</selfCollide>
-  </gazebo>
-  <link name="motor1_cover">
-    <inertial>
-      <origin rpy="0 0 0" xyz="8.625E-08 -4.6583E-06 0.03145"/>
-      <mass value="5.8"/>
-      <inertia ixx="0.10105893" ixy="0.000211" ixz="-0.004" iyy="0.09386624" iyz="-0.01698537" izz="0.01449937"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://mara_description/meshes/MARA_T49_Black.dae" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="Gazebo/Black">
-        <color rgba="0. 0. 0. 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://mara_description/meshes/MARA_T49_Black.dae" scale="0.001 0.001 0.001"/>
-      </geometry>
-    </collision>
-  </link>
-  <gazebo reference="motor1_cover">
-    <material>Gazebo/Black</material>
-    <selfCollide>True</selfCollide>
-  </gazebo>
-  <link name="motor2_link">
-    <inertial>
-      <origin rpy="0 0 0" xyz="8.625E-08 -4.6583E-06 0.03145"/>
-      <mass value="1.03237"/>
-      <inertia ixx="0.014865226" ixy="0.0" ixz="0.0" iyy="0.01557" iyz="0.00071" izz="0.00092"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://mara_description/meshes/MARA_Link1.dae" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="Gazebo/Black">
-        <color rgba="0. 0. 0. 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://mara_description/meshes/MARA_Link1.dae" scale="0.001 0.001 0.001"/>
-      </geometry>
-    </collision>
-  </link>
-  <gazebo reference="motor2_link">
-    <material>Gazebo/Black</material>
-    <selfCollide>True</selfCollide>
-  </gazebo>
-  <link name="motor3_link">
-    <inertial>
-      <origin rpy="0 0 0" xyz="8.625E-08 -4.6583E-06 0.03145"/>
-      <mass value="3.8"/>
-      <inertia ixx="0.04517" ixy="0.00002" ixz="0.0" iyy="0.01587" iyz="0.01444" izz="0.03303"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://mara_description/meshes/MARA_T30.dae" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="Gazebo/White">
-        <color rgba="0. 0. 0. 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://mara_description/meshes/MARA_T30.dae" scale="0.001 0.001 0.001"/>
-      </geometry>
-    </collision>
-  </link>
-  <gazebo reference="motor3_link">
-    <material>Gazebo/White</material>
-    <selfCollide>True</selfCollide>
-  </gazebo>
-  <link name="motor3_cover">
-    <inertial>
-      <origin rpy="0 0 0" xyz="8.625E-08 -4.6583E-06 0.03145"/>
-      <mass value="3.8"/>
-      <inertia ixx="0.04517" ixy="0.00002" ixz="0.0" iyy="0.01587" iyz="0.01444" izz="0.03303"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://mara_description/meshes/MARA_T30_Black.dae" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="Gazebo/Black">
-        <color rgba="0. 0. 0. 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://mara_description/meshes/MARA_T30_Black.dae" scale="0.001 0.001 0.001"/>
-      </geometry>
-    </collision>
-  </link>
-  <gazebo reference="motor3_cover">
-    <material>Gazebo/Black</material>
-    <selfCollide>True</selfCollide>
-  </gazebo>
-  <link name="motor4_link">
-    <inertial>
-      <origin rpy="0 0 0" xyz="8.625E-08 -4.6583E-06 0.03145"/>
-      <mass value="1.1"/>
-      <inertia ixx="0.01464" ixy="0.0" ixz="0.0" iyy="0.00895" iyz="-0.00631" izz="0.00725"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://mara_description/meshes/MARA_Link2.dae" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="Gazebo/Black">
-        <color rgba="0. 0. 0. 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://mara_description/meshes/MARA_Link2.dae" scale="0.001 0.001 0.001"/>
-      </geometry>
-    </collision>
-  </link>
-  <gazebo reference="motor4_link">
-    <material>Gazebo/Black</material>
-    <selfCollide>True</selfCollide>
-  </gazebo>
-  <link name="motor5_link">
-    <inertial>
-      <origin rpy="0 0 0" xyz="8.625E-08 -4.6583E-06 0.03145"/>
-      <mass value="2.9"/>
-      <inertia ixx="0.03406" ixy="0.0" ixz="0.0" iyy="0.01066" iyz="0.00989" izz="0.02563"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://mara_description/meshes/MARA_T5.4.dae" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="Gazebo/White">
-        <color rgba="0. 0. 0. 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://mara_description/meshes/MARA_T5.4.dae" scale="0.001 0.001 0.001"/>
-      </geometry>
-    </collision>
-  </link>
-  <gazebo reference="motor5_link">
-    <material>Gazebo/White</material>
-    <selfCollide>True</selfCollide>
-  </gazebo>
-  <link name="motor5_cover">
-    <inertial>
-      <origin rpy="0 0 0" xyz="8.625E-08 -4.6583E-06 0.03145"/>
-      <mass value="2.9"/>
-      <inertia ixx="0.03406" ixy="0.0" ixz="0.0" iyy="0.01066" iyz="0.00989" izz="0.02563"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://mara_description/meshes/MARA_T5.4_black.dae" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="Gazebo/Black">
-        <color rgba="0. 0. 0. 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://mara_description/meshes/MARA_T5.4_black.dae" scale="0.001 0.001 0.001"/>
-      </geometry>
-    </collision>
-  </link>
-  <gazebo reference="motor5_cover">
-    <material>Gazebo/Black</material>
-    <selfCollide>True</selfCollide>
-  </gazebo>
-  <link name="motor6_link">
-    <inertial>
-      <origin rpy="0 0 0" xyz="8.625E-08 -4.6583E-06 0.03145"/>
-      <mass value="2.9"/>
-      <inertia ixx="0.0005" ixy="0.0" ixz="0.0" iyy="0.0005" iyz="0.0000" izz="0.0003"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://mara_description/meshes/MARA_GripperAdapter.dae" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="Gazebo/Black">
-        <color rgba="0. 0. 0. 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://mara_description/meshes/MARA_GripperAdapter.dae" scale="0.001 0.001 0.001"/>
-      </geometry>
-    </collision>
-  </link>
-  <gazebo reference="motor6_link">
-    <material>Gazebo/Black</material>
-    <selfCollide>True</selfCollide>
-  </gazebo>
-  <link name="ee_link">
-    </link>
-  <gazebo reference="ee_link">
-    <material>Gazebo/Blue</material>
-    <selfCollide>False</selfCollide>
-  </gazebo>
-  <joint name="joint_bases" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0 0.04"/>
-    <parent link="base_link"/>
-    <child link="base_robot"/>
-  </joint>
-  <joint name="motor1" type="revolute">
-    <origin rpy="0 0 0" xyz="0 0 0.05122"/>
-    <parent link="base_robot"/>
-    <child link="motor1_link"/>
-    <axis xyz="0 0 -1"/>
-    <limit effort="330.0" lower="-3.1416" upper="3.1416" velocity="3.1416"/>
-    <dynamics damping="0" friction="0"/>
-  </joint>
-  <joint name="motor1_cover_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0 0.0"/>
-    <parent link="motor1_link"/>
-    <child link="motor1_cover"/>
-  </joint>
-  <joint name="motor2" type="revolute">
-    <origin rpy="0 0 0" xyz="0.118 0 0.1637"/>
-    <parent link="motor1_link"/>
-    <child link="motor2_link"/>
-    <axis xyz="-1 0 0"/>
-    <limit effort="330.0" lower="-3.1416" upper="3.1416" velocity="3.1416"/>
-    <dynamics damping="0" friction="0"/>
-  </joint>
-  <joint name="motor3" type="revolute">
-    <origin rpy="0 0 0" xyz="-0.009 0 0.2"/>
-    <parent link="motor2_link"/>
-    <child link="motor3_link"/>
-    <axis xyz="1 0 0"/>
-    <limit effort="330.0" lower="-3.1416" upper="3.1416" velocity="3.1416"/>
-    <dynamics damping="0" friction="0"/>
-  </joint>
-  <joint name="motor3_cover_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0 0.0"/>
-    <parent link="motor3_link"/>
-    <child link="motor3_cover"/>
-  </joint>
-  <joint name="motor4" type="revolute">
-    <origin rpy="0 0 0" xyz="-0.109255 0 0.149255"/>
-    <parent link="motor3_link"/>
-    <child link="motor4_link"/>
-    <axis xyz="0 0 -1"/>
-    <limit effort="330.0" lower="-3.1416" upper="3.1416" velocity="3.1416"/>
-    <dynamics damping="0" friction="0"/>
-  </joint>
-  <joint name="motor5" type="revolute">
-    <origin rpy="0 0 0" xyz="0.1054570 0 0.16074"/>
-    <parent link="motor4_link"/>
-    <child link="motor5_link"/>
-    <axis xyz="1 0 0"/>
-    <limit effort="330.0" lower="-3.1416" upper="3.1416" velocity="3.1416"/>
-    <dynamics damping="0" friction="0"/>
-  </joint>
-  <joint name="motor5_cover_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0 0.0"/>
-    <parent link="motor5_link"/>
-    <child link="motor5_cover"/>
-  </joint>
-  <joint name="motor6" type="revolute">
-    <origin rpy="0 0 0" xyz="-0.10625569 0 0.14675569"/>
-    <parent link="motor5_link"/>
-    <child link="motor6_link"/>
-    <axis xyz="0 0 -1"/>
-    <limit effort="330.0" lower="-3.1416" upper="3.1416" velocity="3.1416"/>
-    <dynamics damping="0" friction="0"/>
-  </joint>
-  <joint name="ee_link" type="fixed">
-    <origin rpy="0 -1.57 0" xyz="0 0.0 0.24"/>
-    <!-- 0.24 -->
-    <parent link="motor6_link"/>
-    <child link="ee_link"/>
-  </joint>
-  <link name="tool0"/>
-  <joint name="motor6_link-tool0_fixed_joint" type="fixed">
-    <origin rpy="0 -1.57 0" xyz="0 0.0 0.24"/>
-    <parent link="motor6_link"/>
-    <child link="tool0"/>
-  </joint>
-  <transmission name="shoulder_pan_trans">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="motor1">
-      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="shoulder_pan_motor">
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <transmission name="shoulder_lift_trans">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="motor2">
-      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="shoulder_lift_motor">
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <transmission name="elbow_trans">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="motor3">
-      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="elbow_motor">
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <transmission name="wrist_1_trans">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="motor4">
-      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="wrist_1_motor">
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <transmission name="wrist_2_trans">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="motor5">
-      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="wrist_2_motor">
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <transmission name="wrist_3_trans">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="motor6">
-      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="wrist_3_motor">
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <gazebo>
-    <plugin filename="libgazebo_ros_joint_state_publisher.so" name="mara_joint_state">
-      <ros>
-        <argument>~/out:=joint_states</argument>
-      </ros>
-      <update_rate>25</update_rate>
-      <joint_name>motor1</joint_name>
-      <joint_name>motor2</joint_name>
-      <joint_name>motor3</joint_name>
-      <joint_name>motor4</joint_name>
-      <joint_name>motor5</joint_name>
-      <joint_name>motor6</joint_name>
-      <joint_name>left_inner_knuckle_joint</joint_name>
-      <joint_name>left_outer_knuckle_joint</joint_name>
-      <joint_name>left_outer_finger_joint</joint_name>
-      <joint_name>left_inner_finger_joint</joint_name>
-      <joint_name>right_inner_knuckle_joint</joint_name>
-      <joint_name>right_outer_knuckle_joint</joint_name>
-      <joint_name>right_outer_finger_joint</joint_name>
-      <joint_name>right_inner_finger_joint</joint_name>
-    </plugin>
-    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuation_servomotor_000000000001">
-      <ros/>
-      <axis1>motor2</axis1>
-      <axis2>motor1</axis2>
-      <type>series14</type>
-    </plugin>
-    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuation_servomotor_000000000002">
-      <ros/>
-      <axis1>motor3</axis1>
-      <axis2>motor4</axis2>
-      <type>series17</type>
-    </plugin>
-    <plugin filename="libmara_gazebo_joint_plugin.so" name="hrim_actuation_servomotor_000000000003">
-      <ros/>
-      <axis1>motor5</axis1>
-      <axis2>motor6</axis2>
-      <type>series20</type>
-    </plugin>
-  </gazebo>
-  <!-- <xacro:robotiq_gripper prefix="mara" /> -->
-  <link name="world"/>
-  <!-- <joint name="end_effector_adapter_to_robotiq" type="fixed">
-    <origin rpy="0 0 1.57" xyz=" 0 0 0.0353"/>
-    <parent link="motor6_link"/>
-    <child link="robotiq_arg2f_base_link"/>
-  </joint> -->
-  <joint name="table_to_base_joint" type="fixed">
-    <origin rpy="0 0 1.57" xyz="0 0 0.0"/>
-    <parent link="world"/>
-    <child link="base_link"/>
-  </joint>
-</robot>
diff --git a/mara_description/urdf/mara_robot_camera_top.urdf.xacro b/mara_description/urdf/mara_robot_camera_top.urdf.xacro
deleted file mode 100644
index 97d7d0a..0000000
--- a/mara_description/urdf/mara_robot_camera_top.urdf.xacro
+++ /dev/null
@@ -1,29 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro"
-       name="mara" >
-
-  <!-- common stuff -->
-  <xacro:include filename="$(find mara_description)/urdf/mara_gazebo.urdf.xacro" />
-
-  <xacro:include filename="$(find mara_description)/urdf/mara.urdf.xacro" />
-
-  <!-- <xacro:include filename="$(find robotiq_140_gripper_description)/urdf/robotiq_140.urdf.xacro" /> -->
-
-  <xacro:mara_robot prefix="" ee_link_distance="0.24"/>
-  <!-- <xacro:robotiq_gripper prefix="mara" /> -->
-
-  <link name="world" />
-
-  <!-- <joint name="end_effector_adapter_to_robotiq" type="fixed">
-    <origin rpy="0 0 1.57" xyz=" 0 0 0.0353"/>
-    <parent link="motor6_link"/>
-    <child link="robotiq_arg2f_base_link"/>
-  </joint> -->
-
-  <joint name="table_to_base_joint" type="fixed">
-    <origin rpy="0 0 1.57" xyz="0 0 0.0"/>
-    <parent link="world"/>
-    <child link="base_link"/>
-  </joint>
-
-</robot>
diff --git a/mara_description/urdf/mara_robot_nogripper.urdf.xacro b/mara_description/urdf/mara_robot_nogripper.urdf.xacro
index 1bb0f2f..4997857 100644
--- a/mara_description/urdf/mara_robot_nogripper.urdf.xacro
+++ b/mara_description/urdf/mara_robot_nogripper.urdf.xacro
@@ -8,9 +8,6 @@
   <!-- mara -->
   <xacro:include filename="$(find mara_description)/urdf/mara.urdf.xacro" />
 
-  <!-- robotiq 140 gripper -->
-  <xacro:include filename="$(find mara_description)/urdf/robotiq_gripper.urdf.xacro" />
-
   <xacro:include filename="$(find mara_description)/urdf/table.urdf.xacro" />
 
   <!-- arm -->