diff --git a/documents/design/README.md b/documents/design/README.md
deleted file mode 100644
index 33b0a7b8..00000000
--- a/documents/design/README.md
+++ /dev/null
@@ -1,19 +0,0 @@
-# Major Design Presentations
-
-Every major design decision is required to have an accompanying presentation for the PR. The presentation should include:
-* Background on the task/purpose
-* Major technologies/packages/libraries used
-* Research/reference resources
-* A clear explanation of why that design was chosen
-* Any future development to be done on the task
-
-[RJ General Slides Theme](https://docs.google.com/presentation/d/14omGRc-cdEDDEFdOUnVKgbbW5EMFX9UyO-QmpGfILho/edit?usp=sharing)
-
-
-## Design Presentation Example
-* ### [Teleoperations Stack](https://docs.google.com/presentation/d/14omGRc-cdEDDEFdOUnVKgbbW5EMFX9UyO-QmpGfILho/edit?usp=sharing)
-
-## Design Presentations History
-
-### Summer 2023
-
diff --git a/documents/design/new_member_project.md b/documents/design/new_member_project.md
deleted file mode 100644
index 676fdd57..00000000
--- a/documents/design/new_member_project.md
+++ /dev/null
@@ -1,77 +0,0 @@
-# Project Title
-
-*Issue #Number*
-(What GitHub issue is associated with this project)
-
-**Author:**
-- Insert Name(s) here
-
-## The Problem
-
-What is the problem you are trying to solve? Why is it important to solve this problem?
-What is the end goal of this project? This section should similar to the body of the GitHub
-issue but include more details about it. This will be a qualitative description of the
-project. Use as many details you can to describe the requirements of the project.
-*(This is similar to the Motivation section of the other design documents.)*
-
-## Proposed Solution
-
-- How are you going to solve this problem?
-- What are the steps you need to take to complete the project?
-- Break down the problem above into smaller, individual components with specific metrics of success
-- You can think of this section as a quantitative description of the project
-- Each bullet should represent a single action
-    - Use sub-bullets to provide more details and justifications for each step
-- *(Replace these bullet points with your own)*
-
-_It's OK if your approach changes later in the project as you learn more. Treat this like
-a road map that you can come back to to figure out what to work on next. If you aren't sure about the
-technical details, make sure your ideas are clear. It's also OK to come up with a couple solutions
-and decide which to pursue later. There should be some justification with your solution (i.e. how 
-does each step address part of the problem above)._
-
-## Questions & Research
-
-Are there things you are unsure about or don't know? What do you need to research to be able to
-complete this project? If you need information from the mechanical or electrical subteams,
-be sure to describe that here. If your solution requires more research to implement, descibe
-what kind of topics you need look at. Link any research papers/articles that you find here.
-
-**Of course, if you have _any_ questions or concerns, feel free to bring them up at any time.
-If you ever feel lost or don't know what to do or work on, Vivek, Aidan, or any other boomer software member
-can help you out. You are not expected to know every technical detail about the project. Expressing
-what you don't know will make it easier to do research and ask for help.** 
-
-## Overall Scope
-
-### Affected Packages
-
-- What parts of the software will you have to change (if any)?
-- Which packages are relevant to the success of the project?
-- Your first step of the project should be reviewing the relevant packages and code
-
-### Responsibilities
-
-- If you have more than one person working on this project, what will each person do?
-- My Name: one of actions described in the solution
-- *(Remove this section if you are doing this alone.)*
-
-### Schedule
-
-Subtask 1 (Date): How long will each step of the solution take?
-
-Subtask 2 (Date): Refer back to the bullets you made in the solution section
-
-Subtask 3 (Date): This will be used as a rough guide for keeping track of your progress, 
-but it's ok if you fall behind schedule.
-
-Subtask 4 (Date): Remember, with 2 meetings per week, you can expect to have 5 to 6 hours to work
-on your project during meetings. If you want to work outside of meetings, you're free to, but
-keep that in mind when planning out your goals.
-
-*(Your project may have more or less subtasks than this)*
-
-Code Review (Date): Include an estimate for when your code/result will be ready to review
-
-*(School work will change over the semester and software often takes longer than you expect to write,
-so don't worry if you fall behind. Just be sure to update this document with your progress.)*
diff --git a/helper_scripts/requirements.bash b/helper_scripts/requirements.bash
deleted file mode 100644
index 1be724bc..00000000
--- a/helper_scripts/requirements.bash
+++ /dev/null
@@ -1,10 +0,0 @@
-# Navigation Packages
-sudo apt-get install ros-humble-navigation2
-sudo apt-get install ros-humble-nav2-bringup
-sudo apt-get install ros-humble-turtlebot3-gazebo
-
-
-# Control Packages
-sudo apt-get install ros-humble-ros2-control
-sudo apt-get install ros-humble-ros2-controllers
-sudo apt-get install ros-humble-gazebo-ros2-control
\ No newline at end of file
diff --git a/urc_gazebo/CMakeLists.txt b/urc_gazebo/CMakeLists.txt
deleted file mode 100644
index 9503958b..00000000
--- a/urc_gazebo/CMakeLists.txt
+++ /dev/null
@@ -1,121 +0,0 @@
-cmake_minimum_required(VERSION 3.5)
-project(urc_gazebo)
-
-include(../cmake/default_settings.cmake)
-
-# find dependencies
-find_package(ament_cmake REQUIRED)
-find_package(rclcpp REQUIRED)
-find_package(rclcpp_components REQUIRED)
-find_package(urc_msgs REQUIRED)
-find_package(std_msgs REQUIRED)
-find_package(nav_msgs REQUIRED)
-find_package(sensor_msgs REQUIRED)
-find_package(tf2 REQUIRED)
-find_package(tf2_ros REQUIRED)
-find_package(tf2_geometry_msgs REQUIRED)
-find_package(laser_geometry REQUIRED)
-find_package(velodyne_simulator REQUIRED)
-find_package(hardware_interface REQUIRED)
-find_package(pluginlib REQUIRED)
-find_package(rclcpp_lifecycle REQUIRED)
-find_package(xacro REQUIRED)
-
-include_directories(
-  include
-)
-
-# Library creation
-add_library(${PROJECT_NAME} SHARED
-  src/scan_to_pointcloud.cpp
-  src/control.cpp
-  src/ground_truth.cpp
-)
-
-set(dependencies
-  rclcpp
-  rclcpp_components
-  urc_msgs
-  std_msgs
-  nav_msgs
-  sensor_msgs
-  tf2
-  tf2_ros
-  tf2_geometry_msgs
-  laser_geometry
-  velodyne_simulator
-  xacro
-)
-
-ament_target_dependencies(${PROJECT_NAME}
-  ${dependencies}
-)
-
-target_include_directories(${PROJECT_NAME}
-  PUBLIC
-  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-  $<INSTALL_INTERFACE:include>
-)
-
-# Node registration
-rclcpp_components_register_node(
-  ${PROJECT_NAME}
-  PLUGIN "scan_to_pointcloud::ScanToPointCloud"
-  EXECUTABLE ${PROJECT_NAME}_ScanToPointCloud
-)
-
-rclcpp_components_register_node(
-  ${PROJECT_NAME}
-  PLUGIN "control::Control"
-  EXECUTABLE ${PROJECT_NAME}_Control
-)
-
-rclcpp_components_register_node(
-  ${PROJECT_NAME}
-  PLUGIN "ground_truth::GroundTruth"
-  EXECUTABLE ${PROJECT_NAME}_GroundTruth
-)
-
-# Install robot spawn file.
-install(
-  PROGRAMS
-  launch/spawn_walli.py
-  DESTINATION lib/${PROJECT_NAME}
-)
-
-# Install relevant directories
-install(
-  DIRECTORY
-  launch
-  urdf
-  config
-  src
-  DESTINATION share/${PROJECT_NAME}/
-)
-
-# Install library
-install(TARGETS
-  ${PROJECT_NAME}
-  ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib
-  RUNTIME DESTINATION lib/${PROJECT_NAME}
-)
-
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  #Calls the CMake for the unit tests
-  add_subdirectory(test)
-  # the following line skips the copyright linker
-  set(ament_cmake_copyright_FOUND TRUE)
-  # the following line skips cpplint (only works in a git repo)
-  set(ament_cmake_cpplint_FOUND TRUE)
-
-  ament_lint_auto_find_test_dependencies()
-endif()
-
-ament_export_include_directories(include)
-
-ament_export_libraries(${PROJECT_NAME})
-ament_export_dependencies(${dependencies})
-
-ament_package()
diff --git a/urc_gazebo/config/control_params.yaml b/urc_gazebo/config/control_params.yaml
deleted file mode 100644
index d1c0c7a3..00000000
--- a/urc_gazebo/config/control_params.yaml
+++ /dev/null
@@ -1,11 +0,0 @@
-control:
-  ros__parameters:
-    speed_P_left: 5.0
-    speed_P_right: 5.0
-    speed_D_left: 1.0
-    speed_D_right: 1.0
-    speed_I_left: 0.0
-    speed_I_right: 0.0
-    wheel_radius: 0.3
-    max_effort: 4.0
-    rate_var: 60.0
\ No newline at end of file
diff --git a/urc_gazebo/config/ground_truth_params.yaml b/urc_gazebo/config/ground_truth_params.yaml
deleted file mode 100644
index 6aaaf407..00000000
--- a/urc_gazebo/config/ground_truth_params.yaml
+++ /dev/null
@@ -1,10 +0,0 @@
-ground_truth:
-  ros__parameters:
-    longitude: -84.405001
-    latitude: 33.774497
-    x_noise_std_dev: 0.0
-    y_noise_std_dev: 0.0
-    z_noise_std_dev: 0.0
-    roll_noise_std_dev: 0.0
-    pitch_noise_std_dev: 0.0
-    yaw_noise_std_dev: 0.0
\ No newline at end of file
diff --git a/urc_gazebo/config/magnetometer_params.yaml b/urc_gazebo/config/magnetometer_params.yaml
deleted file mode 100644
index 6828a326..00000000
--- a/urc_gazebo/config/magnetometer_params.yaml
+++ /dev/null
@@ -1,2 +0,0 @@
-magnetometer:
-  ros__parameters:
\ No newline at end of file
diff --git a/urc_gazebo/config/monkey_params.yaml b/urc_gazebo/config/monkey_params.yaml
deleted file mode 100644
index a5207635..00000000
--- a/urc_gazebo/config/monkey_params.yaml
+++ /dev/null
@@ -1,2 +0,0 @@
-monkey:
-  ros_parameters:
diff --git a/urc_gazebo/config/rviz_config.rviz b/urc_gazebo/config/rviz_config.rviz
deleted file mode 100644
index 98b2e6ff..00000000
--- a/urc_gazebo/config/rviz_config.rviz
+++ /dev/null
@@ -1,64 +0,0 @@
-Panels:
-  - Class: rviz_common/Displays
-    Help Height: 78
-    Name: Displays
-    Property Tree Widget:
-      Expanded:
-        - /Global Options1
-        - /Status1
-        - /RobotModel1/Links1
-        - /TF1
-      Splitter Ratio: 0.5
-    Tree Height: 557
-Visualization Manager:
-  Class: ""
-  Displays:
-    - Alpha: 0.5
-      Cell Size: 1
-      Class: rviz_default_plugins/Grid
-      Color: 160; 160; 164
-      Enabled: true
-      Name: Grid
-    - Alpha: 0.6
-      Class: rviz_default_plugins/RobotModel
-      Description Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /robot_description
-      Enabled: true
-      Name: RobotModel
-      Visual Enabled: true
-    - Class: rviz_default_plugins/TF
-      Enabled: true
-      Name: TF
-      Marker Scale: 0.3
-      Show Arrows: true
-      Show Axes: true
-      Show Names: true
-  Enabled: true
-  Global Options:
-    Background Color: 48; 48; 48
-    Fixed Frame: base_link
-    Frame Rate: 30
-  Name: root
-  Tools:
-    - Class: rviz_default_plugins/Interact
-      Hide Inactive Objects: true
-    - Class: rviz_default_plugins/MoveCamera
-    - Class: rviz_default_plugins/Select
-    - Class: rviz_default_plugins/FocusCamera
-    - Class: rviz_default_plugins/Measure
-      Line color: 128; 128; 0
-  Transformation:
-    Current:
-      Class: rviz_default_plugins/TF
-  Value: true
-  Views:
-    Current:
-      Class: rviz_default_plugins/Orbit
-      Name: Current View
-      Target Frame: <Fixed Frame>
-      Value: Orbit (rviz)
-    Saved: ~
\ No newline at end of file
diff --git a/urc_gazebo/config/scan_to_pointcloud_params.yaml b/urc_gazebo/config/scan_to_pointcloud_params.yaml
deleted file mode 100644
index c6f3afae..00000000
--- a/urc_gazebo/config/scan_to_pointcloud_params.yaml
+++ /dev/null
@@ -1,4 +0,0 @@
-scan_to_pointcloud:
-  ros__parameters:
-    min_dist: 0.1
-    neighbor_dist: 0.2
\ No newline at end of file
diff --git a/urc_gazebo/config/sim_color_detector_params.yaml b/urc_gazebo/config/sim_color_detector_params.yaml
deleted file mode 100644
index 8398c8c9..00000000
--- a/urc_gazebo/config/sim_color_detector_params.yaml
+++ /dev/null
@@ -1,2 +0,0 @@
-sim_color_detector:
-  ros__parameters:
\ No newline at end of file
diff --git a/urc_gazebo/config/urc_gazebo_params.yaml b/urc_gazebo/config/urc_gazebo_params.yaml
deleted file mode 100644
index 215e9a65..00000000
--- a/urc_gazebo/config/urc_gazebo_params.yaml
+++ /dev/null
@@ -1,33 +0,0 @@
-#todo: figure out what the parameters should be
-
-scan_to_pointcloud:
-  ros_parameters:
-    min_dist: 0.1
-    neighbor_dist: 0.2
-
-control:
-  ros_parameters:
-    speed_P_left: 5.0
-    speed_P_right: 5.0
-    speed_D_left: 1.0
-    speed_D_right: 1.0
-    speed_I_left: 0.0
-    speed_I_right: 0.0
-    wheel_radius: 0.3
-    max_effort: 4.0
-    rate_var: 60.0
-
-magnetometer:
-  ros_parameters:
-
-ground_truth:
-  ros_parameters:
-    x_noise_std_dev: 0.0
-    y_noise_std_dev: 0.0
-    z_noise_std_dev: 0.0
-    roll_noise_std_dev: 0.0
-    pitch_noise_std_dev: 0.0
-    yaw_noise_std_dev: 0.0
-sim_color_detector:
-  ros_parameters:
-
diff --git a/urc_gazebo/env-hooks/urc_simulation.dsv.in b/urc_gazebo/env-hooks/urc_simulation.dsv.in
deleted file mode 100644
index dec87b78..00000000
--- a/urc_gazebo/env-hooks/urc_simulation.dsv.in
+++ /dev/null
@@ -1,3 +0,0 @@
-prepend-non-duplicate;GAZEBO_MODEL_PATH;share/urc_simulation/urdf/models
-prepend-non-duplicate;GAZEBO_RESOURCE_PATH;share/urc_simulation/urdf/worlds
-prepend-non-duplicate;GAZEBO_RESOURCE_PATH;share/urc_simulation/udrf/media
\ No newline at end of file
diff --git a/urc_gazebo/include/control.hpp b/urc_gazebo/include/control.hpp
deleted file mode 100644
index cb16afee..00000000
--- a/urc_gazebo/include/control.hpp
+++ /dev/null
@@ -1,60 +0,0 @@
-#ifndef CONTROL_H_
-#define CONTROL_H_
-
-#include <rclcpp/rclcpp.hpp>
-#include <rclcpp/time.hpp>
-#include <urc_msgs/msg/velocity_pair.hpp>
-#include <sensor_msgs/msg/joint_state.hpp>
-#include <rclcpp_components/register_node_macro.hpp>
-#include <std_msgs/msg/bool.hpp>
-#include <std_msgs/msg/float64.hpp>
-#include <algorithm>
-
-namespace control
-{
-class Control : public rclcpp::Node
-{
-public:
-  explicit Control(const rclcpp::NodeOptions & options);
-
-private:
-  rclcpp::Publisher<urc_msgs::msg::VelocityPair>::SharedPtr _enc_pub;
-
-  rclcpp::Publisher<std_msgs::msg::Float64>::SharedPtr left_wheel_effort_publisher;
-  rclcpp::Publisher<std_msgs::msg::Float64>::SharedPtr right_wheel_effort_publisher;
-
-  rclcpp::Publisher<std_msgs::msg::Float64>::SharedPtr right_wheel_shock_publisher;
-  rclcpp::Publisher<std_msgs::msg::Float64>::SharedPtr left_wheel_shock_publisher;
-
-  rclcpp::Publisher<urc_msgs::msg::VelocityPair>::SharedPtr wheel_speed_publisher;
-
-  rclcpp::Publisher<std_msgs::msg::Bool>::SharedPtr enabled_pub;
-
-  rclcpp::Subscription<urc_msgs::msg::VelocityPair>::SharedPtr speed_sub;
-  rclcpp::Subscription<sensor_msgs::msg::JointState>::SharedPtr state_sub;
-
-  double speed_P_left, speed_P_right, speed_I_left, speed_I_right, speed_D_left, speed_D_right;
-  double wheel_radius;
-  double max_effort;
-  double rate_var;
-
-  double speed_last_error_left, speed_last_error_right, speed_left_error_accum,
-    speed_right_error_accum = 0.0;
-  double effort_right, effort_left = 0.0;
-
-  double speed_set_point_left = 0.0;
-  double speed_set_point_right = 0.0;
-  double speed_measured_left = 0.0;
-  double speed_measured_right = 0.0;
-
-  rclcpp::Time prev_time, current_time;
-
-  void speedCallback(const urc_msgs::msg::VelocityPair & msg);
-  void jointStateCallback(const sensor_msgs::msg::JointState & msg);
-  void indicateEnabled();
-  void setShockPoint();
-  void runPID();
-};
-}
-
-#endif
diff --git a/urc_gazebo/include/ground_truth.hpp b/urc_gazebo/include/ground_truth.hpp
deleted file mode 100644
index 62213252..00000000
--- a/urc_gazebo/include/ground_truth.hpp
+++ /dev/null
@@ -1,76 +0,0 @@
-#ifndef GROUND_TRUTH_H
-#define GROUND_TRUTH_H
-
-
-#include <rclcpp/rclcpp.hpp>
-#include <rclcpp/time.hpp>
-#include <rclcpp/timer.hpp>
-#include <rclcpp/duration.hpp>
-#include <geometry_msgs/msg/vector3.hpp>
-#include <nav_msgs/msg/odometry.hpp>
-#include <geometry_msgs/msg/transform_stamped.hpp>
-#include <tf2/transform_datatypes.h>
-#include <tf2/LinearMath/Quaternion.h>
-#include <tf2/LinearMath/Matrix3x3.h>
-#include <tf2_ros/transform_broadcaster.h>
-#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
-#include <tf2/LinearMath/Vector3.h>
-#include <tf2/LinearMath/Transform.h>
-#include <tf2_ros/buffer.h>
-#include <tf2_ros/transform_listener.h>
-#include <random>
-#include <rclcpp_components/register_node_macro.hpp>
-
-namespace ground_truth
-{
-class GroundTruth : public rclcpp::Node
-{
-public:
-  explicit GroundTruth(const rclcpp::NodeOptions & options);
-
-private:
-  nav_msgs::msg::Odometry og_pose;
-  rclcpp::Time last_estimate;
-
-  rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr _ground_truth_sub;
-  rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr _estimate_sub;
-  rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr _ground_truth_pub;
-
-  double longitude;
-  double latitude;
-
-  double utm_x, utm_y;
-
-  tf2::Transform utm_to_odom;
-
-  tf2_ros::Buffer tfBuffer_;
-  tf2_ros::TransformListener tfListener_;
-  std::unique_ptr<tf2_ros::TransformBroadcaster> broadcaster;
-
-  double x_noise_std_dev;
-  double y_noise_std_dev;
-  double z_noise_std_dev;
-
-  double roll_noise_std_dev;
-  double pitch_noise_std_dev;
-  double yaw_noise_std_dev;
-
-  std::default_random_engine engine;
-  std::normal_distribution<double> x_distribution;
-  std::normal_distribution<double> y_distribution;
-  std::normal_distribution<double> z_distribution;
-
-  std::normal_distribution<double> roll_distribution;
-  std::normal_distribution<double> pitch_distribution;
-  std::normal_distribution<double> yaw_distribution;
-
-  bool utm_enabled = true;
-
-  tf2::Quaternion createQuaternionMsgFromYaw(double yaw);
-  void groundTruthCallback(const nav_msgs::msg::Odometry & msg);
-  void odomCallback(const nav_msgs::msg::Odometry & msg);
-  void utmCallback(const tf2::Transform & odom_to_utm);
-};
-} // namespace ground_truth
-
-#endif
diff --git a/urc_gazebo/include/scan_to_pointcloud.hpp b/urc_gazebo/include/scan_to_pointcloud.hpp
deleted file mode 100644
index 3d44adc9..00000000
--- a/urc_gazebo/include/scan_to_pointcloud.hpp
+++ /dev/null
@@ -1,37 +0,0 @@
-#ifndef SCAN_TO_POINTCLOUD_H_
-#define SCAN_TO_POINTCLOUD_H_
-
-#include <rclcpp/rclcpp.hpp>
-#include <rclcpp/time.hpp>
-#include <rclcpp/clock.hpp>
-#include <laser_geometry/laser_geometry.hpp>
-#include <sensor_msgs/msg/laser_scan.hpp>
-#include <sensor_msgs/msg/point_cloud2.hpp>
-#include <tf2_ros/transform_listener.h>
-#include <tf2_ros/buffer.h>
-#include <tf2/LinearMath/Transform.h>
-#include <rclcpp_components/register_node_macro.hpp>
-
-namespace scan_to_pointcloud
-{
-class ScanToPointCloud : public rclcpp::Node
-{
-public:
-  explicit ScanToPointCloud(const rclcpp::NodeOptions & options);
-
-private:
-  rclcpp::Publisher<sensor_msgs::msg::PointCloud2>::SharedPtr _pointcloud_pub;
-  rclcpp::Subscription<sensor_msgs::msg::LaserScan>::SharedPtr _pointcloud_sub;
-
-  laser_geometry::LaserProjection projection;
-  double min_dist;
-  double neighbor_dist;
-
-  tf2_ros::Buffer tfBuffer_;
-  tf2_ros::TransformListener tfListener_;
-
-  void scanCallback(const sensor_msgs::msg::LaserScan & scanData);
-};
-}  // namespace scan_to_pointcloud
-
-#endif
diff --git a/urc_gazebo/launch/simulation.launch.py b/urc_gazebo/launch/simulation.launch.py
deleted file mode 100644
index 5811d0f6..00000000
--- a/urc_gazebo/launch/simulation.launch.py
+++ /dev/null
@@ -1,123 +0,0 @@
-import os
-from xacro import process_file
-import yaml
-from launch import LaunchDescription
-from launch.actions import IncludeLaunchDescription
-from launch.actions import SetEnvironmentVariable
-from launch.substitutions import LaunchConfiguration
-from launch.launch_description_sources import PythonLaunchDescriptionSource
-from launch_ros.actions import Node
-from ament_index_python.packages import get_package_share_directory
-
-
-def load_yaml(package_name, file_path):
-    package_path = get_package_share_directory(package_name)
-    absolute_file_path = os.path.join(package_path, file_path)
-
-    try:
-        with open(absolute_file_path, "r") as file:
-            return yaml.safe_load(file)
-    except EnvironmentError:  # parent of IOError, OSError *and* WindowsError
-        return None
-
-
-def generate_launch_description():
-    pkg_gazebo_ros = get_package_share_directory("gazebo_ros")
-    pkg_urc_gazebo = get_package_share_directory("urc_gazebo")
-    pkg_urc_bringup = get_package_share_directory("urc_bringup")
-
-    controller_config_file_dir = os.path.join(
-        pkg_urc_bringup, "config", "ros2_control_walli.yaml"
-    )
-    world_path = os.path.join(pkg_urc_gazebo, "urdf/worlds/urc_world.world")
-    use_sim_time = LaunchConfiguration("use_sim_time", default="true")
-
-    xacro_file = os.path.join(
-        get_package_share_directory("urc_hw_description"), "urdf/walli.xacro"
-    )
-    assert os.path.exists(xacro_file), "urdf path doesnt exist in " + str(xacro_file)
-    robot_description_config = process_file(xacro_file)
-    robot_desc = robot_description_config.toxml()
-
-    gazebo = IncludeLaunchDescription(
-        PythonLaunchDescriptionSource(
-            os.path.join(pkg_gazebo_ros, "launch", "gazebo.launch.py"),
-        ),
-        launch_arguments={"use_sim_time": "true", "world": world_path}.items(),
-    )
-
-    enable_color = SetEnvironmentVariable(name="RCUTILS_COLORIZED_OUTPUT", value="1")
-
-    spawn_robot = Node(
-        package="gazebo_ros",
-        executable="spawn_entity.py",
-        arguments=[
-            "-entity",
-            "walli",
-            "-x",
-            "0",
-            "-y",
-            "0",
-            "-z",
-            "10",
-            "-R",
-            "0",
-            "-P",
-            "0",
-            "-Y",
-            "0",
-            "-topic",
-            "robot_description",
-        ],
-    )
-
-    load_robot_state_publisher = Node(
-        package="robot_state_publisher",
-        executable="robot_state_publisher",
-        name="robot_state_publisher",
-        parameters=[
-            {"use_sim_time": use_sim_time, "robot_description": robot_desc},
-        ],
-        output="screen",
-    )
-
-    load_joint_state_broadcaster = Node(
-        package="controller_manager",
-        executable="spawner",
-        arguments=["-p", controller_config_file_dir, "joint_state_broadcaster"],
-    )
-
-    # load_arm_controller = Node(
-    #     package="controller_manager",
-    #     executable="spawner",
-    #     arguments=["-p", controller_config_file_dir, "arm_controller"],
-    # )
-
-    # load_gripper_controller_left = Node(
-    #     package="controller_manager",
-    #     executable="spawner",
-    #     arguments=["-p", controller_config_file_dir, "gripper_controller_left"],
-    # )
-
-    # load_gripper_controller_right = Node(
-    #     package="controller_manager",
-    #     executable="spawner",
-    #     arguments=["-p", controller_config_file_dir, "gripper_controller_right"],
-    # )
-
-    load_drivetrain_controller = Node(
-        package="controller_manager",
-        executable="spawner",
-        arguments=["-p", controller_config_file_dir, "rover_drivetrain_controller"],
-    )
-
-    return LaunchDescription(
-        [
-            enable_color,
-            gazebo,
-            load_robot_state_publisher,
-            load_joint_state_broadcaster,
-            spawn_robot,
-            load_drivetrain_controller,
-        ]
-    )
diff --git a/urc_gazebo/launch/spawn_walli.py b/urc_gazebo/launch/spawn_walli.py
deleted file mode 100644
index ee06f02e..00000000
--- a/urc_gazebo/launch/spawn_walli.py
+++ /dev/null
@@ -1,152 +0,0 @@
-from launch import LaunchDescription
-from launch_ros.actions import Node
-from launch.actions import ExecuteProcess, RegisterEventHandler, DeclareLaunchArgument
-from launch.event_handlers import OnProcessExit
-from ament_index_python.packages import get_package_share_directory
-import os
-from xacro import process_file
-import launch
-import launch_ros
-from launch.substitutions import LaunchConfiguration
-
-
-def generate_launch_description():
-    urdf_path = "urdf/walli.xacro"
-    xacro_file = os.path.join(
-        get_package_share_directory("urc_hw_description"), urdf_path
-    )
-    assert os.path.exists(xacro_file), "urdf path doesnt exist in " + str(xacro_file)
-    use_sim_time = LaunchConfiguration("use_sim_time", default="true")
-
-    pkg_share = launch_ros.substitutions.FindPackageShare(package="urc_gazebo").find(
-        "urc_gazebo"
-    )
-    default_model_path = os.path.join(pkg_share, "urdf/walli.xacro")
-    default_rviz_config_path = os.path.join(pkg_share, "config/rviz_config.rviz")
-
-    robot_description_config = process_file(xacro_file)
-    robot_desc = robot_description_config.toxml()
-
-    spawn_robot = Node(
-        package="gazebo_ros",
-        executable="spawn_entity.py",
-        arguments=[
-            "-entity",
-            "walli",
-            "-x",
-            "0",
-            "-y",
-            "0",
-            "-z",
-            "15",
-            "-topic",
-            "/robot_description",
-        ],
-    )
-    robot_state_publisher_node = Node(
-        package="robot_state_publisher",
-        executable="robot_state_publisher",
-        name="robot_state_publisher",
-        parameters=[{"robot_description": robot_desc}, {"use_sim_time": use_sim_time}],
-        output="screen",
-    )
-    joint_state_publisher_node = Node(
-        package="joint_state_publisher",
-        executable="joint_state_publisher",
-        name="joint_state_publisher",
-        condition=launch.conditions.UnlessCondition(LaunchConfiguration("gui")),
-        parameters=[{"use_sim_time": use_sim_time}],
-    )
-    robot_localization_node = launch_ros.actions.Node(
-        package="robot_localization",
-        executable="ekf_node",
-        name="ekf_filter_node",
-        output="screen",
-        parameters=[
-            os.path.join(pkg_share, "config/ekf.yaml"),
-            {"use_sim_time": LaunchConfiguration("use_sim_time")},
-        ],
-    )
-
-    load_joint_state_controller = ExecuteProcess(
-        cmd=[
-            "ros2",
-            "control",
-            "load_controller",
-            "--set-state",
-            "active",
-            "joint_state_broadcaster",
-        ],
-        output="screen",
-    )
-
-    load_joint_trajectory_controller = ExecuteProcess(
-        cmd=[
-            "ros2",
-            "control",
-            "load_controller",
-            "--set-state",
-            "active",
-            "arm_controller",
-        ],
-        output="screen",
-    )
-
-    gorilla_grip = ExecuteProcess(
-        cmd=[
-            "ros2",
-            "control",
-            "load_controller",
-            "--set-state",
-            "active",
-            "gripper_controller",
-        ],
-        output="screen",
-    )
-
-    return LaunchDescription(
-        [
-            RegisterEventHandler(
-                event_handler=OnProcessExit(
-                    target_action=spawn_robot,
-                    on_exit=[load_joint_state_controller],
-                )
-            ),
-            RegisterEventHandler(
-                event_handler=OnProcessExit(
-                    target_action=load_joint_state_controller,
-                    on_exit=[load_joint_trajectory_controller],
-                )
-            ),
-            RegisterEventHandler(
-                event_handler=OnProcessExit(
-                    target_action=load_joint_state_controller,
-                    on_exit=[gorilla_grip],
-                )
-            ),
-            DeclareLaunchArgument(
-                name="gui",
-                default_value="True",
-                description="Flag to enable joint_state_publisher_gui",
-            ),
-            DeclareLaunchArgument(
-                name="model",
-                default_value=default_model_path,
-                description="Absolute path to robot urdf file",
-            ),
-            DeclareLaunchArgument(
-                name="rvizconfig",
-                default_value=default_rviz_config_path,
-                description="Absolute path to rviz config file",
-            ),
-            DeclareLaunchArgument(
-                name="use_sim_time",
-                default_value="True",
-                description="Flag to enable use_sim_time",
-            ),
-            robot_state_publisher_node,
-            joint_state_publisher_node,
-            robot_localization_node,
-            spawn_robot,
-        ]
-    )
diff --git a/urc_gazebo/package.xml b/urc_gazebo/package.xml
deleted file mode 100644
index 606f4c5f..00000000
--- a/urc_gazebo/package.xml
+++ /dev/null
@@ -1,45 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
-  <name>urc_gazebo</name>
-  <version>0.0.0</version>
-  <description>Package for launching and configuring gazebo simulation.</description>
-  <maintainer email="aidan.stickan@gmail.com">a-stickan</maintainer>
-  <license>MIT</license>
-
-  <buildtool_depend>ament_cmake</buildtool_depend>
-
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
-  <test_depend>ament_cmake_gtest</test_depend>
-
-  <depend>rclcpp</depend>
-  <depend>rclcpp_components</depend>
-  <depend>urc_msgs</depend>
-  <depend>std_msgs</depend>
-  <depend>nav_msgs</depend>
-  <depend>sensor_msgs</depend>
-  <depend>tf2</depend>
-  <depend>tf2_ros</depend>
-  <depend>tf2_geometry_msgs</depend>  
-  <depend>laser_geometry</depend>
-  <depend>gazebo_ros</depend>
-  <depend>controller_manager</depend>
-  <depend>hardware_interface</depend>
-  <depend>pluginlib</depend>
-  <depend>robot_state_publisher</depend>
-  <depend>robot_localization</depend>
-  <depend>joint_state_publisher</depend>
-  <depend>joint_state_publisher_gui</depend>
-  <depend>gazebo_ros_pkgs</depend>
-  <depend>ros2launch</depend>
-  <depend>velodyne_simulator</depend>
-  <depend>xacro</depend>
-  <depend>rviz</depend>
-
-  <export>
-    <build_type>ament_cmake</build_type>
-    <gazebo_ros gazebo_model_path="${prefix}/urdf/models"/>
-    <gazebo_ros gazebo_resource_path="${prefix}/urdf/media:${prefix}/urdf/worlds"/>
-  </export>
-</package>
diff --git a/urc_gazebo/src/control.cpp b/urc_gazebo/src/control.cpp
deleted file mode 100644
index 3ddde85b..00000000
--- a/urc_gazebo/src/control.cpp
+++ /dev/null
@@ -1,158 +0,0 @@
-#include "control.hpp"
-
-namespace control
-{
-Control::Control(const rclcpp::NodeOptions & options)
-: rclcpp::Node("control", options)
-{
-  speed_P_left = declare_parameter<double>("speed_P_left");
-  speed_P_right = declare_parameter<double>("speed_P_right");
-  speed_D_left = declare_parameter<double>("speed_D_left");
-  speed_D_right = declare_parameter<double>("speed_D_right");
-  speed_I_left = declare_parameter<double>("speed_I_left");
-  speed_I_right = declare_parameter<double>("speed_I_right");
-  wheel_radius = declare_parameter<double>("wheel_radius");
-  max_effort = declare_parameter<double>("max_effort");
-  rate_var = declare_parameter<double>("rate_var");
-
-  //Initialize shocks
-  right_wheel_shock_publisher = create_publisher<std_msgs::msg::Float64>(
-    "~/right_wheel_shock_controller/command",
-    rclcpp::SystemDefaultsQoS());
-  left_wheel_shock_publisher = create_publisher<std_msgs::msg::Float64>(
-    "~/left_wheel_shock_controller/command",
-    rclcpp::SystemDefaultsQoS());
-  setShockPoint();
-
-  //Indicates the robot is running
-  enabled_pub = create_publisher<std_msgs::msg::Bool>(
-    "~/robot_enabled",
-    rclcpp::SystemDefaultsQoS());
-  indicateEnabled();
-
-
-  //wheel effort pubs
-  left_wheel_effort_publisher = create_publisher<std_msgs::msg::Float64>(
-    "~/left_wheel_effort_controller/command",
-    rclcpp::SystemDefaultsQoS());
-  right_wheel_effort_publisher = create_publisher<std_msgs::msg::Float64>(
-    "~/right_wheel_effort_controller/command",
-    rclcpp::SystemDefaultsQoS());
-
-  //wheel speed pub
-  wheel_speed_publisher = create_publisher<urc_msgs::msg::VelocityPair>(
-    "~/encoders",
-    rclcpp::SystemDefaultsQoS());
-
-  //speed and state subs
-  speed_sub = create_subscription<urc_msgs::msg::VelocityPair>(
-    "~/motors", rclcpp::SystemDefaultsQoS(),
-    [this](const urc_msgs::msg::VelocityPair msg)
-    {speedCallback(msg);});
-  state_sub = create_subscription<sensor_msgs::msg::JointState>(
-    "~/joint_states", rclcpp::SystemDefaultsQoS(),
-    [this](const sensor_msgs::msg::JointState msg)
-    {jointStateCallback(msg);});
-
-  runPID();
-}
-
-void Control::speedCallback(const urc_msgs::msg::VelocityPair & msg)
-{
-  speed_set_point_left = msg.left_velocity;
-  speed_set_point_right = msg.right_velocity;
-}
-
-void Control::jointStateCallback(const sensor_msgs::msg::JointState & msg)
-{
-  auto iterator = std::find(msg.name.begin(), msg.name.end(), "left_axle");
-  if (iterator != msg.name.end()) {
-    auto index = std::distance(msg.name.begin(), iterator);
-    speed_measured_left = (msg.velocity[index]) * wheel_radius;
-  }
-
-  iterator = std::find(msg.name.begin(), msg.name.end(), "right_axle");
-  if (iterator != msg.name.end()) {
-    auto index = std::distance(msg.name.begin(), iterator);
-    speed_measured_right = (msg.velocity[index]) * wheel_radius;
-  }
-}
-
-void Control::setShockPoint()
-{
-  std_msgs::msg::Float64 shock_set_point;
-  shock_set_point.data = 0.0;
-  right_wheel_shock_publisher->publish(shock_set_point);
-  left_wheel_shock_publisher->publish(shock_set_point);
-}
-
-void Control::indicateEnabled()
-{
-  std_msgs::msg::Bool enabled_msg;
-  enabled_msg.data = true;
-  enabled_pub->publish(enabled_msg);
-}
-
-void Control::runPID()
-{
-  prev_time = this->get_clock()->now();
-  rclcpp::Rate rate(rate_var);
-
-  while (rclcpp::ok()) {
-    //calculate downtime
-    current_time = this->get_clock()->now();
-    double downtime = current_time.seconds() - prev_time.seconds();
-    prev_time = current_time;
-
-    //calculate left wheel effort
-    double error_left = speed_set_point_left - speed_measured_left;
-    double dError_left = (error_left - speed_last_error_left) / downtime;
-    speed_left_error_accum += error_left;
-    speed_last_error_left = error_left;
-
-    effort_left +=
-      speed_P_left * error_left + speed_D_left * dError_left + speed_I_left *
-      speed_left_error_accum;
-
-    //calculator right wheel effort
-    double error_right = speed_set_point_right - speed_measured_right;
-    double dError_right = (error_right - speed_last_error_right) / downtime;
-    speed_right_error_accum += error_right;
-    speed_last_error_right = error_right;
-
-    effort_right +=
-      speed_P_right * error_right + speed_D_right * dError_right + speed_I_right *
-      speed_right_error_accum;
-
-
-    //reasonable bounds for effort
-    effort_right = std::min(max_effort, std::max(-max_effort, effort_right));
-    effort_left = std::min(max_effort, std::max(-max_effort, effort_left));
-
-    //publication of effort messages
-    std_msgs::msg::Float64 left_wheel_message;
-    std_msgs::msg::Float64 right_wheel_message;
-
-    left_wheel_message.data = effort_left;
-    right_wheel_message.data = effort_right;
-
-    left_wheel_effort_publisher->publish(left_wheel_message);
-    right_wheel_effort_publisher->publish(right_wheel_message);
-
-    urc_msgs::msg::VelocityPair speed_measured;
-    speed_measured.left_velocity = speed_measured_left;
-    speed_measured.right_velocity = speed_measured_right;
-    current_time = this->get_clock()->now();
-    rclcpp::Duration duration = current_time - prev_time;
-    speed_measured.duration = duration.seconds();
-    speed_measured.header.stamp = this->get_clock()->now();
-    wheel_speed_publisher->publish(speed_measured);
-
-    rate.sleep();
-    prev_time = current_time;
-  }
-}
-
-}
-
-RCLCPP_COMPONENTS_REGISTER_NODE(control::Control)
diff --git a/urc_gazebo/src/ground_truth.cpp b/urc_gazebo/src/ground_truth.cpp
deleted file mode 100644
index 24d43125..00000000
--- a/urc_gazebo/src/ground_truth.cpp
+++ /dev/null
@@ -1,186 +0,0 @@
-#include "ground_truth.hpp"
-
-namespace ground_truth
-{
-
-GroundTruth::GroundTruth(const rclcpp::NodeOptions & options)
-: rclcpp::Node("ground_truth", options),
-  tfBuffer_(this->get_clock()),
-  tfListener_(tfBuffer_)
-{
-  broadcaster = std::make_unique<tf2_ros::TransformBroadcaster>(*this);
-
-  longitude = declare_parameter<double>("longitude", -84.405001);
-  latitude = declare_parameter<double>("latitude", 33.774497);
-
-  //noise variables
-  x_noise_std_dev = declare_parameter<double>("x_noise_std_dev", 0.0);
-  y_noise_std_dev = declare_parameter<double>("y_noise_std_dev", 0.0);
-  z_noise_std_dev = declare_parameter<double>("z_noise_std_dev", 0.0);
-
-  roll_noise_std_dev = declare_parameter<double>("roll_noise_std_dev", 0.0);
-  pitch_noise_std_dev = declare_parameter<double>("pitch_noise_std_dev", 0.0);
-  yaw_noise_std_dev = declare_parameter<double>("yaw_noise_std_dev", 0.0);
-
-  std::default_random_engine engine(std::random_device{}());
-  x_distribution = std::normal_distribution<double>(0, x_noise_std_dev);
-  y_distribution = std::normal_distribution<double>(0, y_noise_std_dev);
-  z_distribution = std::normal_distribution<double>(0, z_noise_std_dev);
-
-  roll_distribution = std::normal_distribution<double>(0, roll_noise_std_dev);
-  pitch_distribution = std::normal_distribution<double>(0, pitch_noise_std_dev);
-  yaw_distribution = std::normal_distribution<double>(0, yaw_noise_std_dev);
-
-
-  _ground_truth_sub = create_subscription<nav_msgs::msg::Odometry>(
-    "~/ground_truth/state_raw", rclcpp::SensorDataQoS(), [this](const nav_msgs::msg::Odometry msg) {
-      groundTruthCallback(msg);
-    });
-
-  _estimate_sub = create_subscription<nav_msgs::msg::Odometry>(
-    "~/odometry/filtered", rclcpp::SystemDefaultsQoS(), [this](const nav_msgs::msg::Odometry msg) {
-      odomCallback(msg);
-    });
-
-  _ground_truth_pub = create_publisher<nav_msgs::msg::Odometry>(
-    "~/ground_truth",
-    rclcpp::SystemDefaultsQoS());
-
-
-  utm_to_odom.setOrigin(
-    tf2::Vector3(utm_x - og_pose.pose.pose.position.x, utm_y - og_pose.pose.pose.position.y, 0.0));
-  utm_to_odom.setRotation(createQuaternionMsgFromYaw(M_PI));
-
-  auto utm_timer = this->create_wall_timer(
-    std::chrono::milliseconds(10),
-    [this]() -> void {
-      utmCallback(utm_to_odom.inverse());
-    });
-}
-
-tf2::Quaternion GroundTruth::createQuaternionMsgFromYaw(double yaw)
-{
-  tf2::Quaternion q;
-  q.setRPY(0, 0, yaw);
-  return q;
-}
-
-void GroundTruth::groundTruthCallback(const nav_msgs::msg::Odometry & msg)
-{
-  // get the starting location as the origin
-  if (og_pose.header.stamp.sec == 0) {
-    og_pose.pose = msg.pose;
-    og_pose.header = msg.header;
-    og_pose.pose.pose.position.x = msg.pose.pose.position.x + x_distribution(engine);
-    og_pose.pose.pose.position.y = msg.pose.pose.position.y + y_distribution(engine);
-    og_pose.pose.pose.position.z = msg.pose.pose.position.z + z_distribution(engine);
-    RCLCPP_INFO(
-      this->get_logger(), "setting og_pose to %f,%f,%f", og_pose.pose.pose.position.x, og_pose.pose.pose.position.y,
-      og_pose.pose.pose.position.z
-    );
-
-  } else {
-    nav_msgs::msg::Odometry result;
-    result.pose = msg.pose;
-
-    // use the initial location as an offset (makes the starting location 0, 0)
-    result.pose.pose.position.x = msg.pose.pose.position.x - og_pose.pose.pose.position.x +
-      x_distribution(engine);
-    result.pose.pose.position.y = msg.pose.pose.position.y - og_pose.pose.pose.position.y +
-      y_distribution(engine);
-    result.pose.pose.position.z = msg.pose.pose.position.z - og_pose.pose.pose.position.z +
-      z_distribution(engine);
-    result.twist = msg.twist;
-
-    // set up the correct header
-    result.header = msg.header;
-    result.child_frame_id = "base_footprint";
-    result.header.frame_id = "odom";
-
-    // get roll, pitch, and yaw from msg
-    tf2::Quaternion quat(msg.pose.pose.orientation.x, msg.pose.pose.orientation.y,
-      msg.pose.pose.orientation.z,
-      msg.pose.pose.orientation.w);
-    tf2::Matrix3x3 temp_matrix(quat);
-    double roll, pitch, yaw;
-    temp_matrix.getRPY(roll, pitch, yaw);
-
-    // set up orientation
-    tf2::Quaternion tempQuat;
-    tempQuat.setRPY(
-      roll + roll_distribution(engine), pitch + pitch_distribution(
-        engine), yaw + yaw_distribution(engine));
-    result.pose.pose.orientation = tf2::toMsg(tempQuat);
-
-    // publish odom message
-    _ground_truth_pub->publish(result);
-
-
-    // publish transform for tf if there has not been a update from the localization node in the last second
-    // since it also publishes the same transform
-    if (std::fabs(msg.header.stamp.sec - last_estimate.seconds()) > 1.0) {
-      quat.setRPY(roll, pitch, yaw);
-      tf2::fromMsg(msg.pose.pose.orientation, quat);
-
-      geometry_msgs::msg::Vector3 pos;
-      pos.x = result.pose.pose.position.x;
-      pos.y = result.pose.pose.position.y;
-      pos.z = result.pose.pose.position.z;
-
-      geometry_msgs::msg::TransformStamped transformMsg;
-      transformMsg.header.frame_id = "odom";
-      transformMsg.child_frame_id = "base_footprint";
-      transformMsg.header.stamp = this->get_clock()->now();
-      transformMsg.transform.translation = pos;
-      transformMsg.transform.rotation = toMsg(quat);
-
-      broadcaster->sendTransform(transformMsg);
-    }
-  }
-}
-
-void GroundTruth::odomCallback(const nav_msgs::msg::Odometry & msg)
-{
-  last_estimate = msg.header.stamp;
-}
-
-
-void GroundTruth::utmCallback(const tf2::Transform & odom_to_utm)
-{
-  if (!utm_enabled) {
-    return;
-  }
-
-  geometry_msgs::msg::TransformStamped transform_msg;
-  transform_msg.header.frame_id = "odom";
-  transform_msg.child_frame_id = "utm";
-  transform_msg.header.stamp = this->get_clock()->now();
-  transform_msg.transform = toMsg(odom_to_utm);
-
-  // check if transformation from odom -> utm can be found
-  try {
-    tfBuffer_.lookupTransform("odom", "utm", rclcpp::Time(0));
-  } catch (const tf2::TransformException & ex) {
-    RCLCPP_ERROR(this->get_logger(), "Could not find transform from \"odom\" to \"utm\"!");
-    return;
-  }
-
-  // check for any other odom -> utm broadcasts, stop this method from executing if any others exist
-  if (transform_msg.transform.rotation != toMsg(odom_to_utm.getRotation()) &&
-    transform_msg.transform.translation.x != odom_to_utm.getOrigin().getX() &&
-    transform_msg.transform.translation.y != odom_to_utm.getOrigin().getY() &&
-    transform_msg.transform.translation.z != odom_to_utm.getOrigin().getZ())
-  {
-    RCLCPP_WARN(
-      this->get_logger(),
-      "Another odom -> utm tf broadcast detected. Disabling ground_truth odom -> utm tf broadcast."
-    );
-    utm_enabled = false;
-    return;
-  }
-  broadcaster->sendTransform(transform_msg);
-}
-
-} // namespace ground_truth
-
-RCLCPP_COMPONENTS_REGISTER_NODE(ground_truth::GroundTruth)
diff --git a/urc_gazebo/src/scan_to_pointcloud.cpp b/urc_gazebo/src/scan_to_pointcloud.cpp
deleted file mode 100644
index 68bfe0a9..00000000
--- a/urc_gazebo/src/scan_to_pointcloud.cpp
+++ /dev/null
@@ -1,72 +0,0 @@
-#include "scan_to_pointcloud.hpp"
-
-namespace scan_to_pointcloud
-{
-ScanToPointCloud::ScanToPointCloud(const rclcpp::NodeOptions & options)
-: rclcpp::Node("scan_to_pointcloud", options),
-  tfBuffer_(this->get_clock()),
-  tfListener_(tfBuffer_)
-{
-  min_dist = declare_parameter<double>("min_dist");
-  neighbor_dist = declare_parameter<double>("neighbor_dist");
-
-  _pointcloud_pub = create_publisher<sensor_msgs::msg::PointCloud2>(
-    "~/pc2",
-    rclcpp::SystemDefaultsQoS());
-
-  _pointcloud_sub = create_subscription<sensor_msgs::msg::LaserScan>(
-    "~/scan", rclcpp::SystemDefaultsQoS(), [this](const sensor_msgs::msg::LaserScan msg) {
-      scanCallback(msg);
-    });
-}
-
-void ScanToPointCloud::scanCallback(const sensor_msgs::msg::LaserScan & scanData)
-{
-  sensor_msgs::msg::LaserScan filteredScan(scanData);
-
-  auto rangeIsValid = [&scanData](float range) {
-      return !std::isnan(range) && range > scanData.range_min && range < scanData.range_max;
-    };
-
-  for (size_t i = 0; i < scanData.ranges.size(); ++i) {
-    double range = scanData.ranges[i];
-    if (range > scanData.range_max || range < scanData.range_min) {
-      continue;
-    }
-    // Too close
-    if (range < min_dist) {
-      range = scanData.range_max + 1;
-    }
-    // No valid neighbors
-    else if ((i == 0 || !rangeIsValid(scanData.ranges[i - 1])) &&
-      (i == (scanData.ranges.size() - 1) || !rangeIsValid(scanData.ranges[i + 1])))
-    {
-      range = scanData.range_max + 1;
-    }
-    // No close neighbors
-    else if ((i == 0 || abs(scanData.ranges[i - 1] - range) > neighbor_dist) &&
-      (i == (scanData.ranges.size() - 1) || abs(scanData.ranges[i + 1] - range) > neighbor_dist))
-    {
-      range = scanData.range_max + 1;
-    }
-  }
-
-  sensor_msgs::msg::PointCloud2 initial_cloud;
-  projection.projectLaser(filteredScan, initial_cloud);
-  initial_cloud.header.frame_id = "/lidar";
-  sensor_msgs::msg::PointCloud2 transformed_cloud;
-
-  geometry_msgs::msg::TransformStamped transform_stamped;
-  try {
-    transform_stamped = tfBuffer_.lookupTransform("scan", "lidar", rclcpp::Time(0));
-    tf2::doTransform(initial_cloud, transformed_cloud, transform_stamped);
-  } catch (tf2::TransformException & ex) {
-    RCLCPP_ERROR(this->get_logger(), "Transformation Error:\n%s", ex.what());
-    return;
-  }
-
-  _pointcloud_pub->publish(transformed_cloud);
-}
-}  // namespace scan_to_pointcloud
-
-RCLCPP_COMPONENTS_REGISTER_NODE(scan_to_pointcloud::ScanToPointCloud)
diff --git a/urc_gazebo/test/CMakeLists.txt b/urc_gazebo/test/CMakeLists.txt
deleted file mode 100644
index 7ca78c6b..00000000
--- a/urc_gazebo/test/CMakeLists.txt
+++ /dev/null
@@ -1 +0,0 @@
-add_subdirectory(launch_tests)
diff --git a/urc_gazebo/test/launch_tests/CMakeLists.txt b/urc_gazebo/test/launch_tests/CMakeLists.txt
deleted file mode 100644
index 4f5ab003..00000000
--- a/urc_gazebo/test/launch_tests/CMakeLists.txt
+++ /dev/null
@@ -1,6 +0,0 @@
-find_package(launch_testing_ament_cmake REQUIRED)
-
-add_launch_test(scan_to_pointcloud_test.py
-    APPEND_ENV PYTHONPATH=${CMAKE_CURRENT_SOURCE_DIR}/test
-    TIMEOUT 10
-)
\ No newline at end of file
diff --git a/urc_gazebo/test/launch_tests/scan_to_pointcloud_test.py b/urc_gazebo/test/launch_tests/scan_to_pointcloud_test.py
deleted file mode 100644
index 6784e6af..00000000
--- a/urc_gazebo/test/launch_tests/scan_to_pointcloud_test.py
+++ /dev/null
@@ -1,98 +0,0 @@
-import time
-import unittest
-import rclpy
-import launch
-import launch_ros.actions
-from launch.substitutions import PathJoinSubstitution
-from launch_ros.substitutions import FindPackageShare
-import launch_testing
-import launch_testing_ros
-import pytest
-import sensor_msgs.msg
-
-
-@pytest.mark.rostest
-def generate_test_description():
-
-    scan_to_pointcloud = launch_ros.actions.Node(
-        package="urc_gazebo",
-        executable="urc_gazebo_ScanToPointCloud",
-        output="screen",
-        parameters=[
-            PathJoinSubstitution(
-                [
-                    FindPackageShare("urc_gazebo"),
-                    "config",
-                    "scan_to_pointcloud_params.yaml",
-                ]
-            )
-        ],
-    )
-
-    return (
-        launch.LaunchDescription(
-            [scan_to_pointcloud, launch_testing.actions.ReadyToTest()]
-        ),
-        locals(),
-    )
-
-
-class TestScanToPointCloudNode(unittest.TestCase):
-    def setUp(self):
-        self.context = rclpy.Context()
-        rclpy.init(context=self.context)
-        self.node = rclpy.create_node(
-            "test_scan_to_pointcloud_node",
-            context=self.context,
-            allow_undeclared_parameters=True,
-            automatically_declare_parameters_from_overrides=True,
-        )
-        self.message_pump = launch_testing_ros.MessagePump(
-            self.node, context=self.context
-        )
-
-        self.pub = self.node.create_publisher(sensor_msgs.msg.PointCloud2, "/pc2", 1)
-
-        self.sub = self.node.create_subscription(
-            sensor_msgs.msg.PointCloud2, "/pc2", self.callback, 1
-        )
-        self.received_msg = None
-
-        self.message_pump.start()
-
-    def tearDown(self):
-        self.message_pump.stop()
-        self.node.destroy_node()
-        rclpy.shutdown(context=self.context)
-
-    def test_0_invalidTransform(self):
-        pointcloud_msg = sensor_msgs.msg.PointCloud2()
-        pointcloud_msg.data = [12, 12, 12]
-
-        while self.received_msg is None:
-            self.pub.publish(pointcloud_msg)
-            time.sleep(0.1)
-
-        self.assertIsNotNone(pointcloud_msg)
-
-        self.assertNotAlmostEqual(self.received_msg.data[0], -1)
-        self.assertNotAlmostEqual(self.received_msg.data[1], -1)
-        self.assertNotAlmostEqual(self.received_msg.data[2], -1)
-
-    def test_1_validTransform(self):
-        pointcloud_msg = sensor_msgs.msg.PointCloud2()
-        pointcloud_msg.data = [1, 1, 1]
-
-        while self.received_msg is None:
-            self.pub.publish(pointcloud_msg)
-            time.sleep(0.1)
-
-        self.assertIsNotNone(pointcloud_msg)
-
-        self.assertAlmostEqual(self.received_msg.data[0], 1)
-        self.assertAlmostEqual(self.received_msg.data[1], 1)
-        self.assertAlmostEqual(self.received_msg.data[2], 1)
-
-    def callback(self, msg):
-        self.received_msg = sensor_msgs.msg.PointCloud2()
-        self.received_msg = msg
diff --git a/urc_gazebo/urdf/config/Panda_params.yaml b/urc_gazebo/urdf/config/Panda_params.yaml
deleted file mode 100644
index 6f0d48b1..00000000
--- a/urc_gazebo/urdf/config/Panda_params.yaml
+++ /dev/null
@@ -1,28 +0,0 @@
-controller_manager:
-  ros__parameters:
-    update_rate: 1000 # Hz
-    
-    joint_trajectory_controller:
-      type: joint_trajectory_controller/JointTrajectoryController
-      
-    joint_state_broadcaster:
-      type: joint_state_broadcaster/JointStateBroadcaster
-      
-joint_trajectory_controller:
-  ros__parameters:
-    joints:
-      - panda_joint1
-      - panda_joint2
-      - panda_joint3
-      - panda_joint4
-      - panda_joint5
-      - panda_joint6
-      - panda_joint7
-      - panda_finger_joint1
-      - panda_finger_joint2
-    interface_name: position
-    command_interfaces:
-      - position
-    state_interfaces:
-      - position
-      - velocity
diff --git a/urc_gazebo/urdf/config/RoboticArm_params.yaml b/urc_gazebo/urdf/config/RoboticArm_params.yaml
deleted file mode 100644
index b0cc73a4..00000000
--- a/urc_gazebo/urdf/config/RoboticArm_params.yaml
+++ /dev/null
@@ -1,67 +0,0 @@
-controller_manager:
-  ros__parameters:
-    update_rate: 1000 # Hz
-    
-    rover_controller:
-      type: robot_mechanism_controllers/JointVelocityController
-    
-    arm_controller:
-      type: joint_trajectory_controller/JointTrajectoryController
-      
-    gripper_controller:
-      type: forward_command_controller/ForwardCommandController
-
-    joint_state_broadcaster:
-      type: joint_state_broadcaster/JointStateBroadcaster
-
-rover_controller:
-  ros__parameters:
-    joints:
-      - left_bogie_front_axle
-      - left_bogie_rear_axle
-      - left_rocker_rear_axle
-      - right_bogie_front_axle
-      - right_bogie_rear_axle
-      - right_rocker_rear_axle
-      
-    command_interfaces:
-      - velocity
-      
-    state_interfaces:
-      - velocity
-
-arm_controller:
-  ros__parameters:
-    joints:
-      - shoulderjoint
-      - bicepjoint
-      - elbowjoint
-      - forearmjoint
-      - wristjoint
-      - clawjoint
-
-    command_interfaces:
-      - position
-
-    state_interfaces:
-      - position
-      - velocity
-
-    state_publish_rate: 50.0
-    action_monitor_rate: 20.0
-
-    allow_partial_joints_goal: false
-    open_loop_control: true
-    constraints:
-      stopped_velocity_tolerance: 0.01
-      goal_time: 0.0
-      joint1:
-        trajectory: 0.05
-        goal: 0.03
-        
-gripper_controller:
-  ros__parameters:
-    joints:
-      - leftgripperjoint
-      - rightgripperjoint
-    interface_name: position
diff --git a/urc_gazebo/urdf/gazebo.material b/urc_gazebo/urdf/gazebo.material
deleted file mode 100644
index 29a2bfc1..00000000
--- a/urc_gazebo/urdf/gazebo.material
+++ /dev/null
@@ -1,97 +0,0 @@
-import * from "grid.material"
-
-material Gazebo/igvc_field
-{
-  technique
-  {
-    pass
-    {
-      ambient 0.1 0.1 0.1 1.0
-      diffuse 0.8 0.8 0.8 1.0
-      specular 0.01 0.01 0.01 1.0 2.0
-
-      texture_unit
-      {
-        texture ground_grass_texture.jpg
-        filtering trilinear
-        scale 1 1
-      }
-    }
-  }
-}
-
-
-material Gazebo/Texture_qualification
-{
-  technique
-  {
-    pass
-    {
-      texture_unit
-      {
-        colour_op_ex source1 src_manual src_current .9 0 .8
-      }
-      texture_unit
-      {
-        mipmap_bias -4
-        texture textures/qualification_course.png
-        colour_op alpha_blend
-      }
-      texture_unit
-      {
-        texture textures/ground_grass_texture.jpg
-        colour_op_ex blend_current_alpha src_texture src_current
-        alpha_op_ex source1 src_manual src_current 1.0
-        scale .01 .01
-      }
-    }
-  }
-}
-
-material Gazebo/Texture_autonav
-{
-  technique
-  {
-    pass
-    {
-      texture_unit
-      {
-        colour_op_ex source1 src_manual src_current .9 0 .8
-      }
-      texture_unit
-      {
-        mipmap_bias -4
-        texture textures/autonav_course.png
-        colour_op alpha_blend
-      }
-      texture_unit
-      {
-        texture textures/ground_grass_texture.jpg
-        colour_op_ex blend_current_alpha src_texture src_current
-        alpha_op_ex source1 src_manual src_current 1.0
-        scale .01 .01
-      }
-    }
-  }
-}
-
-material Gazebo/Texture_ramp_lane
-{
-  technique
-  {
-    pass
-    {
-      texture_unit
-      {
-        colour_op_ex source1 src_manual src_current .9 0 .8
-      }
-      texture_unit
-      {
-        texture textures/ground_grass_texture.jpg
-        colour_op_ex blend_current_alpha src_texture src_current
-        alpha_op_ex source1 src_manual src_current 1.0
-        scale .1 .4
-      }
-    }
-  }
-}
diff --git a/urc_gazebo/urdf/meshes/collision/base_link_collision.STL b/urc_gazebo/urdf/meshes/collision/base_link_collision.STL
deleted file mode 100644
index ff8fd0f3..00000000
Binary files a/urc_gazebo/urdf/meshes/collision/base_link_collision.STL and /dev/null differ
diff --git a/urc_gazebo/urdf/meshes/collision/bicep_collision.STL b/urc_gazebo/urdf/meshes/collision/bicep_collision.STL
deleted file mode 100644
index 6e355ce2..00000000
Binary files a/urc_gazebo/urdf/meshes/collision/bicep_collision.STL and /dev/null differ
diff --git a/urc_gazebo/urdf/meshes/collision/claw_collision.STL b/urc_gazebo/urdf/meshes/collision/claw_collision.STL
deleted file mode 100644
index 19e2c6f7..00000000
Binary files a/urc_gazebo/urdf/meshes/collision/claw_collision.STL and /dev/null differ
diff --git a/urc_gazebo/urdf/meshes/collision/elbow_collision.STL b/urc_gazebo/urdf/meshes/collision/elbow_collision.STL
deleted file mode 100644
index 9cb6a576..00000000
Binary files a/urc_gazebo/urdf/meshes/collision/elbow_collision.STL and /dev/null differ
diff --git a/urc_gazebo/urdf/meshes/collision/finger.obj b/urc_gazebo/urdf/meshes/collision/finger.obj
deleted file mode 100644
index f26c8ecc..00000000
--- a/urc_gazebo/urdf/meshes/collision/finger.obj
+++ /dev/null
@@ -1,239 +0,0 @@
-# File produced by Open Asset Import Library (http://www.assimp.sf.net)
-# (assimp v3.0.1262)
-
-mtllib finger.stl.obj.mtl
-
-# 96 vertex positions
-v  0.01036 0.0264034 0.000154629
-v  0.0104486 0.0025833 0.000146801
-v  -0.0103872 0.00253418 0.000131696
-v  -0.0103872 0.00253418 0.000131696
-v  -0.0104795 0.0161016 0.0189882
-v  -0.0104013 0.0263094 0.00016651
-v  -0.0104013 0.0263094 0.00016651
-v  -0.0104795 0.0161016 0.0189882
-v  -0.0103889 0.0252203 0.0191876
-v  0.0104486 0.0025833 0.000146801
-v  -0.0087304 -2.35252e-05 0.0361648
-v  -0.0103872 0.00253418 0.000131696
-v  0.0104005 0.0252534 0.0190366
-v  -0.0103889 0.0252203 0.0191876
-v  0.00583983 0.0142743 0.0538035
-v  -0.0103872 0.00253418 0.000131696
-v  -0.0104013 0.0263094 0.00016651
-v  0.01036 0.0264034 0.000154629
-v  0.00861608 0.0139887 0.0513279
-v  0.0104948 0.0151026 0.0184356
-v  0.0104005 0.0252534 0.0190366
-v  0.0104948 0.0151026 0.0184356
-v  0.00869277 -0.000132643 0.0501662
-v  0.0104486 0.0025833 0.000146801
-v  0.00861608 0.0139887 0.0513279
-v  0.00869277 -0.000132643 0.0501662
-v  0.0104948 0.0151026 0.0184356
-v  -0.00862294 -5.68019e-05 0.0509528
-v  -0.0103872 0.00253418 0.000131696
-v  -0.0087304 -2.35252e-05 0.0361648
-v  0.0104486 0.0025833 0.000146801
-v  0.00869277 -0.000132643 0.0501662
-v  -0.0087304 -2.35252e-05 0.0361648
-v  0.00869277 -0.000132643 0.0501662
-v  -0.00548142 -9.11208e-05 0.0537247
-v  -0.0087304 -2.35252e-05 0.0361648
-v  0.0104005 0.0252534 0.0190366
-v  0.0104948 0.0151026 0.0184356
-v  0.0104486 0.0025833 0.000146801
-v  0.0104005 0.0252534 0.0190366
-v  0.0104486 0.0025833 0.000146801
-v  0.01036 0.0264034 0.000154629
-v  0.0104005 0.0252534 0.0190366
-v  0.01036 0.0264034 0.000154629
-v  -0.0103889 0.0252203 0.0191876
-v  -0.0103889 0.0252203 0.0191876
-v  -0.00527792 0.0142931 0.053849
-v  0.00583983 0.0142743 0.0538035
-v  -0.00777838 0.0142182 0.0523659
-v  -0.00527792 0.0142931 0.053849
-v  -0.0103889 0.0252203 0.0191876
-v  -0.00862294 -5.68019e-05 0.0509528
-v  -0.00548142 -9.11208e-05 0.0537247
-v  -0.00777838 0.0142182 0.0523659
-v  -0.0103872 0.00253418 0.000131696
-v  -0.00862294 -5.68019e-05 0.0509528
-v  -0.0104795 0.0161016 0.0189882
-v  0.0104005 0.0252534 0.0190366
-v  0.00583983 0.0142743 0.0538035
-v  0.00861608 0.0139887 0.0513279
-v  0.01036 0.0264034 0.000154629
-v  -0.0104013 0.0263094 0.00016651
-v  -0.0103889 0.0252203 0.0191876
-v  -0.0104795 0.0161016 0.0189882
-v  -0.00884117 0.0139176 0.0505894
-v  -0.0103889 0.0252203 0.0191876
-v  -0.00884117 0.0139176 0.0505894
-v  -0.00777838 0.0142182 0.0523659
-v  -0.0103889 0.0252203 0.0191876
-v  0.00583983 0.0142743 0.0538035
-v  -0.00548142 -9.11208e-05 0.0537247
-v  0.00613802 -2.06026e-05 0.0535776
-v  -0.00527792 0.0142931 0.053849
-v  -0.00548142 -9.11208e-05 0.0537247
-v  0.00583983 0.0142743 0.0538035
-v  0.00869277 -0.000132643 0.0501662
-v  0.00613802 -2.06026e-05 0.0535776
-v  -0.00548142 -9.11208e-05 0.0537247
-v  0.00613802 -2.06026e-05 0.0535776
-v  0.00869277 -0.000132643 0.0501662
-v  0.00861608 0.0139887 0.0513279
-v  -0.00548142 -9.11208e-05 0.0537247
-v  -0.00862294 -5.68019e-05 0.0509528
-v  -0.0087304 -2.35252e-05 0.0361648
-v  -0.00777838 0.0142182 0.0523659
-v  -0.00548142 -9.11208e-05 0.0537247
-v  -0.00527792 0.0142931 0.053849
-v  -0.00862294 -5.68019e-05 0.0509528
-v  -0.00884117 0.0139176 0.0505894
-v  -0.0104795 0.0161016 0.0189882
-v  0.00613802 -2.06026e-05 0.0535776
-v  0.00861608 0.0139887 0.0513279
-v  0.00583983 0.0142743 0.0538035
-v  -0.00777838 0.0142182 0.0523659
-v  -0.00884117 0.0139176 0.0505894
-v  -0.00862294 -5.68019e-05 0.0509528
-
-# 0 UV coordinates
-
-# 96 vertex normals
-vn 0.000724164 0.000331308 -1
-vn 0.000724164 0.000331308 -1
-vn 0.000724164 0.000331308 -1
-vn -0.99999 -0.000585782 -0.00447174
-vn -0.99999 -0.000585782 -0.00447174
-vn -0.99999 -0.000585782 -0.00447174
-vn -0.99995 0.00990875 0.00122006
-vn -0.99995 0.00990875 0.00122006
-vn -0.99995 0.00990875 0.00122006
-vn 0.00240304 -0.997479 -0.0709137
-vn 0.00240304 -0.997479 -0.0709137
-vn 0.00240304 -0.997479 -0.0709137
-vn 0.000668274 0.953556 0.301214
-vn 0.000668274 0.953556 0.301214
-vn 0.000668274 0.953556 0.301214
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-g <STL_BINARY>
-usemtl DefaultMaterial
-f  1//1 2//2 3//3
-f  4//4 5//5 6//6
-f  7//7 8//8 9//9
-f  10//10 11//11 12//12
-f  13//13 14//14 15//15
-f  16//16 17//17 18//18
-f  19//19 20//20 21//21
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-f  25//25 26//26 27//27
-f  28//28 29//29 30//30
-f  31//31 32//32 33//33
-f  34//34 35//35 36//36
-f  37//37 38//38 39//39
-f  40//40 41//41 42//42
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-f  52//52 53//53 54//54
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-f  58//58 59//59 60//60
-f  61//61 62//62 63//63
-f  64//64 65//65 66//66
-f  67//67 68//68 69//69
-f  70//70 71//71 72//72
-f  73//73 74//74 75//75
-f  76//76 77//77 78//78
-f  79//79 80//80 81//81
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-f  85//85 86//86 87//87
-f  88//88 89//89 90//90
-f  91//91 92//92 93//93
-f  94//94 95//95 96//96
-
diff --git a/urc_gazebo/urdf/meshes/collision/hand.obj b/urc_gazebo/urdf/meshes/collision/hand.obj
deleted file mode 100644
index e13ab22f..00000000
--- a/urc_gazebo/urdf/meshes/collision/hand.obj
+++ /dev/null
@@ -1,517 +0,0 @@
-# File produced by Open Asset Import Library (http://www.assimp.sf.net)
-# (assimp v3.1.187496374)
-
-mtllib hand.obj.mtl
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-# Mesh '<STL_BINARY>' with 200 faces
-g <STL_BINARY>
-usemtl DefaultMaterial
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diff --git a/urc_gazebo/urdf/meshes/collision/left_center_wheel_collision.STL b/urc_gazebo/urdf/meshes/collision/left_center_wheel_collision.STL
deleted file mode 100644
index 06776550..00000000
Binary files a/urc_gazebo/urdf/meshes/collision/left_center_wheel_collision.STL and /dev/null differ
diff --git a/urc_gazebo/urdf/meshes/collision/left_front_wheel_collision.STL b/urc_gazebo/urdf/meshes/collision/left_front_wheel_collision.STL
deleted file mode 100644
index 3b8aec64..00000000
Binary files a/urc_gazebo/urdf/meshes/collision/left_front_wheel_collision.STL and /dev/null differ
diff --git a/urc_gazebo/urdf/meshes/collision/left_rear_wheel_collision.STL b/urc_gazebo/urdf/meshes/collision/left_rear_wheel_collision.STL
deleted file mode 100644
index 8de57624..00000000
Binary files a/urc_gazebo/urdf/meshes/collision/left_rear_wheel_collision.STL and /dev/null differ
diff --git a/urc_gazebo/urdf/meshes/collision/leftbogie_collision.STL b/urc_gazebo/urdf/meshes/collision/leftbogie_collision.STL
deleted file mode 100644
index 08957103..00000000
Binary files a/urc_gazebo/urdf/meshes/collision/leftbogie_collision.STL and /dev/null differ
diff --git a/urc_gazebo/urdf/meshes/collision/leftgripper_collision.STL b/urc_gazebo/urdf/meshes/collision/leftgripper_collision.STL
deleted file mode 100644
index 1de812d3..00000000
Binary files a/urc_gazebo/urdf/meshes/collision/leftgripper_collision.STL and /dev/null differ
diff --git a/urc_gazebo/urdf/meshes/collision/leftrocker_collision.STL b/urc_gazebo/urdf/meshes/collision/leftrocker_collision.STL
deleted file mode 100644
index e393bda5..00000000
Binary files a/urc_gazebo/urdf/meshes/collision/leftrocker_collision.STL and /dev/null differ
diff --git a/urc_gazebo/urdf/meshes/collision/link0.obj b/urc_gazebo/urdf/meshes/collision/link0.obj
deleted file mode 100644
index 8c7162a2..00000000
--- a/urc_gazebo/urdf/meshes/collision/link0.obj
+++ /dev/null
@@ -1,517 +0,0 @@
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-# (assimp v3.1.187496374)
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-mtllib link0.obj.mtl
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-# Mesh '<STL_BINARY>' with 200 faces
-g <STL_BINARY>
-usemtl DefaultMaterial
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diff --git a/urc_gazebo/urdf/meshes/collision/link1.obj b/urc_gazebo/urdf/meshes/collision/link1.obj
deleted file mode 100644
index 8a58a476..00000000
--- a/urc_gazebo/urdf/meshes/collision/link1.obj
+++ /dev/null
@@ -1,766 +0,0 @@
-# File produced by Open Asset Import Library (http://www.assimp.sf.net)
-# (assimp v3.1.187496374)
-
-mtllib link1.obj.mtl
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-vn -0.425833 -0.235152 0.87371
-vn -0.349712 -0.209894 0.913042
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-vn -0.291233 -0.956137 0.0313755
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-vn -0.124351 0.992237 -0.00178562
-vn -0.0854882 0.953085 0.290381
-vn -0.0977412 0.952515 0.288377
-vn -0.220749 0.936751 0.2716
-vn -0.373142 0.92776 0.00502103
-vn 0.887469 0.460863 -0.00194329
-vn 0.874364 0.482212 0.0543953
-vn 0.896267 -0.000458288 0.443516
-vn 0.888218 -0.169587 0.426977
-vn 0.978304 -0.197576 -0.0623222
-vn 0.699731 -0.714288 0.01298
-vn 0.67653 -0.725018 -0.129058
-vn 0.647609 -0.744923 -0.16029
-vn 0.613755 -0.787586 0.0548847
-vn 0.761852 0.647734 0.00466989
-vn 0.416711 0.909022 0.00554902
-vn 0.40262 0.887314 0.224879
-vn 0.314743 0.949168 -0.00399641
-vn 0.117807 0.993033 -0.00260596
-vn 0.319667 -0.946831 0.0363796
-vn 0.258556 -0.948787 0.181528
-vn 0.462369 -0.820646 0.335789
-vn -0.237803 -0.773231 0.587847
-vn -0.390173 -0.692432 0.60688
-vn -0.474985 -0.657881 0.58445
-vn -0.183631 -0.240805 0.953044
-vn -0.0090987 -0.618751 0.785534
-vn -0.0082325 -0.227297 0.973791
-vn -0.0250647 -0.75993 0.649521
-vn -0.332199 -0.751566 0.569906
-vn -0.0293358 -0.953268 0.300698
-vn -0.7018 -0.688037 0.18461
-vn -0.543336 -0.775603 -0.321289
-vn -0.599317 -0.738302 -0.309401
-vn -0.632194 -0.772668 0.0575707
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-vn 0.797002 -0.00430302 0.603961
-vn 0.728258 0.0100524 0.685229
-vn 0.829049 -0.208067 0.519024
-vn 0.058105 0.00463791 0.9983
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-vn 0.0762556 -0.169796 0.982525
-vn 0.521907 -0.00725495 0.852971
-vn 0.515977 -0.204263 0.831892
-vn 0.470032 -0.638791 0.60911
-vn -0.981757 -0.13482 0.134079
-vn -0.986924 -0.15503 -0.044111
-vn -0.521773 -0.703119 0.483091
-vn -0.00162226 -0.928713 -0.370795
-vn -0.437542 -0.893871 0.097737
-vn -0.220227 -0.918757 0.327697
-vn -0.467802 -0.871073 -0.149643
-vn -0.804257 -0.548951 -0.227646
-vn -0.949803 -0.293391 -0.108607
-vn -0.713939 -0.684883 -0.145692
-vn -0.729174 -0.185162 0.658802
-vn -0.0748226 0.997186 0.00466723
-vn -0.211211 0.977437 0.00257234
-vn -0.225456 0.935986 0.270368
-vn -0.532147 0.846649 0.00215601
-vn -0.363853 0.901034 0.23611
-vn -0.380383 0.895103 0.232593
-vn 0.8957 -0.000702915 0.444659
-vn 0.911139 -0.207014 0.356329
-vn 0.914793 -0.183437 0.359867
-vn 0.964231 -0.203694 0.169612
-vn 0.643586 0.750743 0.148939
-vn 0.951402 -0.288302 -0.10824
-vn 0.979524 -0.155564 0.127796
-vn 0.968849 -0.225342 0.102726
-vn 0.748547 -0.658008 0.0818713
-vn 0.522947 0.85235 -0.00510958
-vn 0.574362 0.800745 0.170046
-vn 0.122396 -0.985291 0.119256
-vn 0.0839426 -0.99285 -0.0848709
-vn 0.406023 -0.865743 0.292634
-vn 0.116049 -0.868422 0.482053
-vn -0.337146 -0.62853 0.700915
-vn 0.284131 -0.762578 0.581157
-vn 0.276534 -0.760464 0.587557
-vn 0.141762 -0.221011 0.964913
-vn -0.144876 -0.653575 0.742866
-vn -0.0465608 -0.786802 0.615447
-vn -0.615212 -0.231045 0.753745
-vn -0.498645 -0.755047 0.425743
-vn -0.655121 -0.679414 0.330474
-vn -0.705467 -0.648861 0.285124
-vn -0.79187 -0.603147 0.0956809
-vn -0.751734 -0.65734 -0.0529192
-vn -0.654975 -0.735406 -0.173742
-vn 0.434822 -0.889044 0.143288
-vn 0.714389 -0.191004 0.673176
-vn 0.712051 -0.196656 0.674025
-vn 0.282073 -0.664743 0.691775
-vn 0.519194 -0.179861 0.835516
-vn 0.672205 -0.00413708 0.740353
-vn 0.46445 -0.798529 0.382933
-vn 0.429269 -0.788872 0.439782
-vn 0.467029 -0.674853 0.571365
-vn -0.217988 -0.220488 0.950719
-vn -0.549193 -0.19062 0.813665
-vn -0.907194 -0.192042 0.374324
-vn -0.932201 -0.166481 0.321379
-vn -0.857691 -0.190156 0.477711
-vn -0.725858 -0.20189 0.657549
-vn -0.966844 -0.164128 0.195638
-vn 0.100177 -0.966949 -0.234464
-vn -0.283695 -0.956998 -0.060591
-vn -0.240941 -0.945622 0.218509
-vn -0.619545 0.784956 -0.00285968
-vn -0.937198 0.347581 0.0290976
-vn -0.300075 0.953912 -0.00249058
-vn 0.883947 0.467587 -0.000394642
-vn 0.929752 -0.22776 0.289287
-vn 0.660935 -0.701067 0.267715
-vn 0.658486 -0.669121 0.34449
-vn 0.27921 0.924454 0.259666
-vn 0.391463 -0.892228 0.225135
-vn 0.244302 -0.882143 0.402668
-vn 0.171053 -0.792922 0.584821
-vn -0.548799 -0.204998 0.81043
-vn 0.431331 -0.719165 0.544753
-vn 0.310681 -0.827672 0.467372
-vn 0.188651 -0.238977 0.952523
-vn -0.0646347 -0.689197 0.721685
-vn -0.657555 -0.604155 0.450132
-vn -0.588449 -0.803198 -0.0927366
-vn -0.600846 -0.799046 0.0225906
-vn 0.380618 -0.897923 -0.221052
-vn 0.535659 -0.842197 -0.0614333
-vn 0.398298 -0.917252 -0.00287295
-vn 0.49184 -0.841328 -0.22419
-vn 0.583948 -0.782201 0.217178
-vn 0.78215 -0.172891 0.598624
-vn 0.77157 -0.23018 0.59304
-vn 0.520492 -0.179049 0.834883
-vn 0.66236 -0.162763 0.731291
-vn 0.5861 -0.236419 0.774979
-vn -0.836818 -0.168404 0.520938
-vn -0.17234 -0.956405 -0.235771
-vn -0.357748 -0.925848 -0.121741
-vn -0.484428 0.874825 -0.00312875
-vn -0.777706 0.628628 0.000684221
-vn -0.869286 0.49097 0.0573582
-vn 0.723466 -0.654252 0.220342
-vn 0.987866 -0.00501397 0.155229
-vn -0.0555007 -0.996918 0.0554383
-vn -0.212112 -0.972889 -0.0921686
-vn 0.0490124 -0.987844 -0.147522
-vn 0.311897 -0.163507 0.935941
-vn 0.167702 -0.657357 0.734682
-vn 0.16048 -0.641372 0.750258
-vn -0.792156 -0.227205 0.566451
-vn 0.552106 -0.822562 -0.136271
-vn 0.574021 -0.804611 0.151993
-vn 0.383304 -0.229382 0.894685
-vn 0.319927 -0.211421 0.923552
-vn -0.107213 -0.965019 -0.239255
-vn 0.248657 -0.951015 -0.183686
-vn 0.199104 -0.949536 -0.242362
-vn -0.668137 0.744033 0.00289478
-vn -0.649445 0.746612 0.144191
-vn -0.763823 0.645421 -0.0025081
-vn -0.762794 0.638883 0.0998648
-vn -0.896187 0.443649 -0.00491388
-vn 0.864259 -0.229175 0.447811
-vn 0.833448 -0.189422 0.519118
-vn 0.598107 -0.678476 0.426543
-vn 0.597529 -0.653861 0.464139
-vn 0.972839 0.0036151 0.231454
-vn 0.954947 -0.00312198 0.29676
-vn -0.0988836 -0.993641 -0.0538403
-vn 0.2008 -0.89594 0.396196
-vn 0.280693 -0.662524 0.694459
-vn 0.297238 -0.173219 0.93896
-vn -0.940751 0.339072 0.00429645
-vn -0.0443691 -0.987648 -0.150274
-vn 0.152119 -0.187179 0.970476
-vn -0.875051 0.484031 0.000878792
-vn 3.36252e-05 3.85133e-05 -1
-vn 9.22556e-06 -1.65946e-05 -1
-vn 8.39064e-06 -1.50979e-05 -1
-vn 5.95889e-06 -1.04781e-05 -1
-vn 0 -1.03124e-07 -1
-vn 1.96831e-06 6.97027e-07 -1
-vn 4.24668e-06 6.71906e-07 -1
-vn 7.50599e-07 -8.35544e-07 -1
-vn -1.69719e-06 5.76635e-06 -1
-vn 0.000141745 0.000539471 -1
-vn -8.05578e-05 -1.995e-05 -1
-vn -5.26382e-05 3.61721e-05 -1
-vn 0.000145371 -0.000104168 -1
-vn -2.3275e-07 3.28855e-05 -1
-vn -0.000111292 -0.000209832 -1
-vn 0.000425521 2.71983e-06 -1
-vn -5.49084e-05 9.02892e-05 -1
-vn -6.38801e-05 8.97751e-05 -1
-vn -3.11318e-05 -0.000269269 -1
-vn -0.000377677 0.000146986 -1
-
-# Mesh '<STL_BINARY>' with 300 faces
-g <STL_BINARY>
-usemtl DefaultMaterial
-f  1//1 2//1 3//1
-f  4//2 5//2 6//2
-f  7//3 8//3 9//3
-f  10//4 11//4 12//4
-f  13//5 14//5 15//5
-f  16//6 17//6 18//6
-f  19//7 20//7 21//7
-f  22//8 23//8 24//8
-f  25//9 15//9 14//9
-f  26//10 27//10 14//10
-f  28//11 29//11 30//11
-f  31//12 32//12 33//12
-f  11//13 34//13 12//13
-f  35//14 13//14 15//14
-f  36//15 37//15 5//15
-f  38//16 37//16 36//16
-f  20//17 39//17 21//17
-f  40//18 29//18 28//18
-f  34//19 41//19 42//19
-f  34//20 42//20 12//20
-f  16//21 18//21 42//21
-f  41//22 16//22 42//22
-f  43//23 5//23 4//23
-f  43//24 36//24 5//24
-f  4//25 15//25 25//25
-f  20//26 44//26 45//26
-f  45//27 46//27 20//27
-f  47//28 48//28 45//28
-f  49//29 45//29 48//29
-f  50//30 51//30 52//30
-f  53//31 9//31 54//31
-f  27//32 25//32 14//32
-f  53//33 7//33 9//33
-f  27//34 55//34 25//34
-f  27//35 26//35 56//35
-f  57//36 58//36 59//36
-f  60//37 61//37 62//37
-f  63//38 64//38 60//38
-f  19//39 65//39 43//39
-f  65//40 19//40 21//40
-f  32//41 66//41 33//41
-f  67//42 66//42 32//42
-f  68//43 31//43 69//43
-f  30//44 70//44 69//44
-f  23//45 10//45 24//45
-f  22//46 24//46 71//46
-f  6//47 5//47 58//47
-f  58//48 5//48 37//48
-f  70//49 49//49 48//49
-f  72//50 65//50 21//50
-f  73//51 16//51 74//51
-f  73//52 74//52 32//52
-f  16//53 75//53 17//53
-f  16//54 41//54 76//54
-f  77//55 48//55 47//55
-f  44//56 20//56 78//56
-f  53//57 54//57 79//57
-f  80//58 81//58 82//58
-f  83//59 71//59 53//59
-f  84//60 85//60 86//60
-f  1//61 3//61 79//61
-f  87//62 8//62 7//62
-f  82//63 9//63 88//63
-f  82//64 81//64 52//64
-f  89//65 90//65 91//65
-f  92//66 93//66 89//66
-f  92//67 89//67 94//67
-f  95//68 92//68 61//68
-f  61//69 92//69 62//69
-f  94//70 96//70 62//70
-f  63//71 62//71 96//71
-f  97//72 64//72 63//72
-f  98//73 99//73 100//73
-f  101//74 102//74 103//74
-f  97//75 63//75 99//75
-f  64//76 101//76 104//76
-f  97//77 101//77 64//77
-f  104//78 105//78 106//78
-f  104//79 107//79 105//79
-f  105//80 108//80 33//80
-f  105//81 33//81 66//81
-f  106//82 64//82 104//82
-f  105//83 66//83 106//83
-f  106//84 66//84 67//84
-f  69//85 28//85 30//85
-f  109//86 110//86 75//86
-f  11//87 10//87 111//87
-f  86//88 22//88 71//88
-f  11//89 112//89 89//89
-f  113//90 102//90 38//90
-f  37//91 38//91 102//91
-f  65//92 38//92 36//92
-f  65//93 36//93 43//93
-f  114//94 6//94 58//94
-f  45//95 49//95 46//95
-f  39//96 20//96 46//96
-f  61//97 60//97 67//97
-f  95//98 61//98 67//98
-f  95//99 67//99 74//99
-f  115//100 70//100 110//100
-f  55//101 116//101 117//101
-f  25//102 43//102 4//102
-f  117//103 43//103 25//103
-f  117//104 19//104 43//104
-f  78//105 118//105 119//105
-f  80//106 8//106 87//106
-f  8//107 88//107 9//107
-f  2//108 51//108 50//108
-f  120//109 121//109 2//109
-f  83//110 53//110 79//110
-f  84//111 86//111 83//111
-f  22//112 86//112 85//112
-f  22//113 85//113 23//113
-f  90//114 85//114 84//114
-f  88//115 80//115 82//115
-f  122//116 26//116 52//116
-f  26//117 50//117 52//117
-f  122//118 56//118 26//118
-f  55//119 27//119 56//119
-f  94//120 89//120 91//120
-f  96//121 94//121 91//121
-f  123//122 124//122 125//122
-f  103//123 104//123 101//123
-f  103//124 113//124 107//124
-f  113//125 126//125 107//125
-f  58//126 102//126 59//126
-f  57//127 59//127 98//127
-f  58//128 57//128 114//128
-f  101//129 99//129 98//129
-f  107//130 104//130 103//130
-f  60//131 62//131 63//131
-f  33//132 28//132 31//132
-f  75//133 18//133 17//133
-f  75//134 110//134 18//134
-f  68//135 32//135 31//135
-f  111//136 10//136 23//136
-f  127//137 120//137 50//137
-f  127//138 50//138 14//138
-f  128//139 129//139 121//139
-f  6//140 15//140 4//140
-f  6//141 35//141 15//141
-f  35//142 6//142 114//142
-f  13//143 130//143 14//143
-f  131//144 132//144 133//144
-f  134//145 135//145 133//145
-f  46//146 49//146 30//146
-f  30//147 49//147 70//147
-f  126//148 108//148 107//148
-f  136//149 41//149 34//149
-f  74//150 67//150 32//150
-f  106//151 60//151 64//151
-f  75//152 16//152 73//152
-f  109//153 115//153 110//153
-f  115//154 69//154 70//154
-f  115//155 109//155 68//155
-f  137//156 72//156 21//156
-f  25//157 55//157 117//157
-f  118//158 117//158 116//158
-f  19//159 117//159 118//159
-f  78//160 138//160 44//160
-f  78//161 19//161 118//161
-f  20//162 19//162 78//162
-f  120//163 2//163 50//163
-f  3//164 121//164 139//164
-f  2//165 121//165 3//165
-f  140//166 79//166 3//166
-f  82//167 51//167 9//167
-f  83//168 86//168 71//168
-f  1//169 79//169 54//169
-f  140//170 83//170 79//170
-f  83//171 140//171 84//171
-f  81//172 122//172 52//172
-f  51//173 82//173 52//173
-f  62//174 92//174 94//174
-f  92//175 141//175 93//175
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diff --git a/urc_gazebo/urdf/meshes/collision/link2.obj b/urc_gazebo/urdf/meshes/collision/link2.obj
deleted file mode 100644
index 710ce6e1..00000000
--- a/urc_gazebo/urdf/meshes/collision/link2.obj
+++ /dev/null
@@ -1,765 +0,0 @@
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diff --git a/urc_gazebo/urdf/meshes/collision/link3.obj b/urc_gazebo/urdf/meshes/collision/link3.obj
deleted file mode 100644
index fdb83d73..00000000
--- a/urc_gazebo/urdf/meshes/collision/link3.obj
+++ /dev/null
@@ -1,767 +0,0 @@
-# File produced by Open Asset Import Library (http://www.assimp.sf.net)
-# (assimp v3.1.187496374)
-
-mtllib link3.obj.mtl
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-# 0 UV coordinates
-
-# 300 vertex normals
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-vn 5.79237e-05 2.76056e-05 -1
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-vn 7.16203e-05 0.000138931 -1
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-
-# Mesh '<STL_BINARY>' with 300 faces
-g <STL_BINARY>
-usemtl DefaultMaterial
-f  1//1 2//1 3//1
-f  4//2 5//2 6//2
-f  7//3 8//3 9//3
-f  9//4 8//4 10//4
-f  11//5 12//5 13//5
-f  14//6 15//6 16//6
-f  17//7 16//7 18//7
-f  16//8 19//8 18//8
-f  20//9 5//9 4//9
-f  21//10 22//10 23//10
-f  23//11 24//11 21//11
-f  25//12 21//12 24//12
-f  26//13 27//13 28//13
-f  26//14 29//14 30//14
-f  11//15 31//15 32//15
-f  33//16 34//16 35//16
-f  36//17 34//17 14//17
-f  12//18 4//18 6//18
-f  37//19 9//19 20//19
-f  38//20 39//20 8//20
-f  37//21 20//21 40//21
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diff --git a/urc_gazebo/urdf/meshes/collision/link4.obj b/urc_gazebo/urdf/meshes/collision/link4.obj
deleted file mode 100644
index e8ab05f4..00000000
--- a/urc_gazebo/urdf/meshes/collision/link4.obj
+++ /dev/null
@@ -1,2115 +0,0 @@
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-
-# Mesh '<STL_BINARY>' with 300 faces
-g <STL_BINARY>
-usemtl DefaultMaterial
-f  1//1 2//2 3//3
-f  4//4 5//5 6//6
-f  7//7 8//8 9//9
-f  10//10 11//11 12//12
-f  13//13 14//14 15//15
-f  16//16 17//17 18//18
-f  19//19 20//20 21//21
-f  22//22 23//23 24//24
-f  25//25 26//26 27//27
-f  28//28 29//29 30//30
-f  31//31 32//32 33//33
-f  34//34 35//35 36//36
-f  37//37 38//38 39//39
-f  40//40 41//41 42//42
-f  43//43 44//44 45//45
-f  46//46 47//47 48//48
-f  49//49 50//50 51//51
-f  52//52 53//53 54//54
-f  55//55 56//56 57//57
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diff --git a/urc_gazebo/urdf/meshes/collision/link5.obj b/urc_gazebo/urdf/meshes/collision/link5.obj
deleted file mode 100644
index ef7db8f7..00000000
--- a/urc_gazebo/urdf/meshes/collision/link5.obj
+++ /dev/null
@@ -1,2115 +0,0 @@
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-
-# Mesh '<STL_BINARY>' with 300 faces
-g <STL_BINARY>
-usemtl DefaultMaterial
-f  1//1 2//2 3//3
-f  4//4 5//5 6//6
-f  7//7 8//8 9//9
-f  10//10 11//11 12//12
-f  13//13 14//14 15//15
-f  16//16 17//17 18//18
-f  19//19 20//20 21//21
-f  22//22 23//23 24//24
-f  25//25 26//26 27//27
-f  28//28 29//29 30//30
-f  31//31 32//32 33//33
-f  34//34 35//35 36//36
-f  37//37 38//38 39//39
-f  40//40 41//41 42//42
-f  43//43 44//44 45//45
-f  46//46 47//47 48//48
-f  49//49 50//50 51//51
-f  52//52 53//53 54//54
-f  55//55 56//56 57//57
-f  58//58 59//59 60//60
-f  61//61 62//62 63//63
-f  64//64 65//65 66//66
-f  67//67 68//68 69//69
-f  70//70 71//71 72//72
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diff --git a/urc_gazebo/urdf/meshes/collision/link6.mtl b/urc_gazebo/urdf/meshes/collision/link6.mtl
deleted file mode 100644
index 19918db1..00000000
--- a/urc_gazebo/urdf/meshes/collision/link6.mtl
+++ /dev/null
@@ -1,177 +0,0 @@
-# Blender MTL File: 'link2.blend'
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diff --git a/urc_gazebo/urdf/meshes/collision/link6.obj b/urc_gazebo/urdf/meshes/collision/link6.obj
deleted file mode 100644
index 2aeb4ade..00000000
--- a/urc_gazebo/urdf/meshes/collision/link6.obj
+++ /dev/null
@@ -1,4916 +0,0 @@
-# Blender v2.79 (sub 0) OBJ File: 'link2.blend'
-# www.blender.org
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-usemtl Shell_003_001_002_001.001
-s off
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-f 131/153/126 121/157/126 122/158/126
-f 137/151/127 128/154/127 125/152/127
-f 128/154/128 131/153/128 122/158/128
-f 130/159/129 128/154/129 127/160/129
-f 133/149/130 132/161/130 126/150/130
-f 129/148/131 126/150/131 123/155/131
-f 128/154/132 122/158/132 127/160/132
-f 126/150/133 127/160/133 124/156/133
-f 127/160/134 126/150/134 130/159/134
-f 129/148/135 125/152/135 133/149/135
-f 129/162/136 123/163/136 134/164/136
-f 135/165/137 124/156/137 127/160/137
-f 136/166/138 129/167/138 134/168/138
-f 136/166/139 137/169/139 129/167/139
-f 148/170/140 154/171/140 155/172/140
-f 156/173/141 148/170/141 167/174/141
-f 149/175/142 169/176/142 168/177/142
-f 148/170/143 155/172/143 142/178/143
-f 145/179/144 168/177/144 146/180/144
-f 170/181/145 167/174/145 146/180/145
-f 167/174/146 170/181/146 153/182/146
-f 151/183/147 150/184/147 149/175/147
-f 148/170/148 142/178/148 146/180/148
-f 139/185/149 149/175/149 168/177/149
-f 139/185/150 138/186/150 149/175/150
-f 148/170/151 146/180/151 167/174/151
-f 140/187/152 149/175/152 138/186/152
-f 143/188/153 149/175/153 140/187/153
-f 145/179/154 139/185/154 168/177/154
-f 146/180/155 168/177/155 170/181/155
-f 145/179/156 147/189/156 139/185/156
-f 149/175/157 150/184/157 152/190/157
-f 154/171/158 149/175/158 143/188/158
-f 151/183/159 149/175/159 148/170/159
-f 148/170/160 149/175/160 154/171/160
-f 142/178/161 144/191/161 146/180/161
-f 155/172/162 154/171/162 141/192/162
-f 152/193/163 158/194/163 165/195/163
-f 152/193/164 160/196/164 159/197/164
-f 152/193/165 161/198/165 160/196/165
-f 152/190/166 150/184/166 161/199/166
-f 150/184/167 151/183/167 162/200/167
-f 148/170/168 164/201/168 151/183/168
-f 157/202/169 163/203/169 156/173/169
-f 164/201/170 148/170/170 163/203/170
-f 163/203/171 148/170/171 156/173/171
-f 149/204/172 152/193/172 165/195/172
-f 153/205/173 166/206/173 167/207/173
-f 169/208/174 149/204/174 165/195/174
-usemtl Part__Feature002_006_001_002_001.001
-f 177/209/175 181/210/175 196/211/175
-f 181/212/176 190/213/176 197/214/176
-f 180/215/177 199/216/177 200/217/177
-f 188/218/178 180/215/178 200/217/178
-f 190/219/179 188/220/179 201/221/179
-f 190/213/180 201/222/180 197/214/180
-f 173/223/181 195/224/181 202/225/181
-f 180/226/182 173/227/182 198/228/182
-f 195/229/183 189/230/183 203/231/183
-f 215/232/184 220/233/184 221/234/184
-f 206/235/185 207/236/185 217/237/185
-f 208/238/186 226/239/186 214/240/186
-f 213/241/187 210/242/187 205/243/187
-f 216/244/188 182/245/188 218/246/188
-f 206/235/189 208/247/189 259/248/189
-f 191/249/190 172/250/190 204/251/190
-f 187/252/191 209/253/191 207/236/191
-f 212/254/192 213/241/192 216/244/192
-f 211/255/193 216/244/193 218/246/193
-f 217/256/194 191/249/194 204/251/194
-f 176/257/195 182/245/195 216/244/195
-f 220/233/196 210/258/196 213/241/196
-f 212/254/197 216/244/197 211/255/197
-f 208/238/198 217/256/198 204/251/198
-f 218/246/199 178/259/199 187/252/199
-f 218/246/200 187/252/200 207/236/200
-f 220/260/201 174/261/201 210/262/201
-f 221/234/202 213/241/202 212/254/202
-f 205/243/203 176/257/203 216/244/203
-f 259/248/204 208/238/204 214/240/204
-f 211/255/205 207/236/205 206/235/205
-f 204/251/206 219/263/206 226/239/206
-f 207/236/207 191/264/207 217/237/207
-f 207/236/208 209/253/208 191/264/208
-f 206/235/209 217/237/209 208/247/209
-f 218/246/210 207/236/210 211/255/210
-f 204/251/211 172/250/211 219/263/211
-f 218/246/212 182/245/212 178/259/212
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-f 213/241/214 205/243/214 216/244/214
-f 221/234/215 220/233/215 213/241/215
-f 222/265/216 224/266/216 236/267/216
-f 223/268/217 227/269/217 171/270/217
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-f 228/271/219 224/266/219 222/265/219
-f 228/271/220 233/273/220 224/266/220
-f 231/274/221 214/275/221 225/276/221
-f 229/277/222 227/269/222 223/268/222
-f 228/271/223 186/272/223 230/278/223
-f 214/240/224 226/239/224 225/279/224
-f 227/280/225 226/239/225 179/281/225
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-f 231/274/227 225/276/227 227/269/227
-f 171/270/228 227/269/228 179/283/228
-f 232/282/229 230/278/229 234/284/229
-f 227/269/230 225/276/230 226/285/230
-f 232/282/231 233/273/231 228/271/231
-f 229/277/232 231/274/232 227/269/232
-f 232/286/233 234/287/233 194/288/233
-f 232/282/234 215/289/234 233/273/234
-f 220/233/235 232/286/235 194/288/235
-f 231/274/236 229/277/236 235/290/236
-f 229/277/237 223/268/237 175/291/237
-f 220/292/238 215/289/238 232/282/238
-f 236/267/239 229/277/239 184/293/239
-f 226/239/240 219/263/240 192/294/240
-f 229/277/241 175/291/241 184/293/241
-f 236/267/242 235/290/242 229/277/242
-f 236/267/243 184/293/243 222/265/243
-f 236/267/244 224/266/244 235/290/244
-f 226/239/245 192/294/245 179/281/245
-f 212/295/246 211/296/246 248/297/246
-f 245/298/247 259/299/247 214/275/247
-f 221/300/248 238/301/248 215/289/248
-f 212/295/249 248/297/249 247/302/249
-f 244/303/250 259/299/250 245/298/250
-f 221/300/251 249/304/251 238/301/251
-f 243/305/252 259/299/252 244/303/252
-f 243/305/253 206/306/253 259/299/253
-f 212/295/254 247/302/254 246/307/254
-f 206/306/255 243/305/255 252/308/255
-f 221/300/256 246/307/256 249/304/256
-f 221/300/257 212/295/257 246/307/257
-f 211/296/258 252/308/258 251/309/258
-f 211/296/259 206/306/259 252/308/259
-f 211/296/260 251/309/260 250/310/260
-f 211/296/261 250/310/261 248/297/261
-f 256/311/262 245/312/262 214/313/262
-f 224/314/263 240/315/263 253/316/263
-f 239/317/264 215/289/264 238/301/264
-f 257/318/265 256/311/265 214/313/265
-f 257/318/266 214/313/266 231/319/266
-f 215/289/267 239/317/267 237/320/267
-f 224/314/268 241/321/268 240/315/268
-f 233/322/269 241/321/269 224/314/269
-f 258/323/270 257/318/270 231/319/270
-f 254/324/271 258/323/271 231/319/271
-f 215/325/272 237/326/272 242/327/272
-f 233/322/273 242/327/273 241/321/273
-f 233/322/274 215/325/274 242/327/274
-f 235/328/275 254/324/275 231/319/275
-f 235/328/276 255/329/276 254/324/276
-f 235/328/277 253/316/277 255/329/277
-f 224/314/278 253/316/278 235/328/278
-f 185/330/279 194/288/279 234/287/279
-f 230/331/280 185/330/280 260/332/280
-f 260/332/281 185/330/281 234/287/281
-f 186/333/282 185/330/282 230/331/282
-f 222/265/283 193/334/283 186/272/283
-f 171/270/284 175/291/284 223/268/284
-f 193/334/285 222/265/285 184/293/285
-f 187/252/286 191/335/286 209/253/286
-f 172/250/287 192/294/287 219/263/287
-f 174/261/288 183/336/288 210/262/288
-f 210/262/289 183/336/289 205/337/289
-f 205/243/290 183/338/290 176/257/290
-usemtl Part__Feature001_009_001_002_001.001
-f 329/339/291 322/340/291 275/341/291
-f 266/342/292 296/343/292 324/344/292
-f 261/345/293 321/346/293 292/347/293
-f 262/348/294 321/346/294 261/345/294
-f 329/339/295 273/349/295 272/350/295
-f 268/351/296 269/352/296 306/353/296
-f 275/341/297 322/340/297 276/354/297
-f 306/353/298 269/352/298 324/344/298
-f 322/340/299 321/346/299 264/355/299
-f 264/355/300 321/346/300 263/356/300
-f 323/357/301 277/358/301 271/359/301
-f 263/356/302 321/346/302 262/348/302
-f 325/360/303 277/358/303 323/357/303
-f 267/361/304 296/343/304 266/342/304
-f 323/357/305 270/362/305 306/353/305
-f 271/359/306 270/362/306 323/357/306
-f 329/339/307 274/363/307 273/349/307
-f 267/361/308 292/347/308 296/343/308
-f 269/352/309 265/364/309 324/344/309
-f 276/354/310 322/340/310 264/355/310
-f 270/362/311 268/351/311 306/353/311
-f 261/345/312 292/347/312 267/361/312
-f 325/360/313 272/350/313 277/358/313
-f 329/339/314 275/341/314 274/363/314
-f 329/339/315 272/350/315 325/360/315
-f 266/342/316 324/344/316 265/364/316
-f 312/365/317 287/366/317 311/367/317
-f 324/368/318 290/369/318 279/370/318
-f 295/371/319 293/372/319 292/347/319
-f 305/373/320 323/357/320 306/353/320
-f 332/374/321 330/375/321 331/376/321
-f 337/377/322 336/378/322 332/374/322
-f 289/379/323 341/380/323 350/381/323
-f 341/380/324 298/382/324 350/381/324
-f 304/383/325 283/384/325 301/385/325
-f 304/383/326 291/386/326 283/384/326
-f 288/387/327 289/379/327 361/388/327
-f 321/346/328 322/340/328 281/389/328
-f 324/344/329 297/390/329 298/382/329
-f 288/387/330 361/388/330 287/391/330
-f 287/392/331 361/393/331 362/394/331
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-f 279/406/345 306/353/345 324/344/345
-f 285/408/346 349/410/346 363/411/346
-f 286/412/347 285/408/347 363/411/347
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-f 283/384/356 351/413/356 365/420/356
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-f 293/372/360 296/343/360 292/347/360
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-f 319/440/410 329/339/410 328/461/410
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-usemtl Shell012_002_002_001.001
-f 381/465/413 380/466/413 379/467/413
-f 378/468/414 381/465/414 379/467/414
-f 384/469/415 383/470/415 382/471/415
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-f 388/482/426 395/483/426 416/480/426
-f 392/484/427 394/485/427 393/486/427
-f 394/485/428 396/487/428 393/486/428
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-f 391/491/435 400/493/435 401/494/435
-f 398/488/436 402/495/436 397/490/436
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-f 403/500/443 404/502/443 389/501/443
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-f 404/502/445 405/504/445 392/503/445
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diff --git a/urc_gazebo/urdf/meshes/collision/link7.obj b/urc_gazebo/urdf/meshes/collision/link7.obj
deleted file mode 100644
index 434ad281..00000000
--- a/urc_gazebo/urdf/meshes/collision/link7.obj
+++ /dev/null
@@ -1,1415 +0,0 @@
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-vn -0.413677 0.440839 0.796575
-vn -0.94947 0.313828 0.0041768
-vn -0.94947 0.313828 0.0041768
-vn -0.94947 0.313828 0.0041768
-vn -0.95119 0.308591 0.00295941
-vn -0.95119 0.308591 0.00295941
-vn -0.95119 0.308591 0.00295941
-vn 0.72856 0.68425 0.0316587
-vn 0.72856 0.68425 0.0316587
-vn 0.72856 0.68425 0.0316587
-vn 0.682074 -0.731258 0.00610972
-vn 0.682074 -0.731258 0.00610972
-vn 0.682074 -0.731258 0.00610972
-vn 0.672328 0.51893 -0.527908
-vn 0.672328 0.51893 -0.527908
-vn 0.672328 0.51893 -0.527908
-vn 0.718112 0.530785 -0.450092
-vn 0.718112 0.530785 -0.450092
-vn 0.718112 0.530785 -0.450092
-vn -0.998159 -0.0600664 0.0083652
-vn -0.998159 -0.0600664 0.0083652
-vn -0.998159 -0.0600664 0.0083652
-vn -0.995637 -0.0931937 0.00461125
-vn -0.995637 -0.0931937 0.00461125
-vn -0.995637 -0.0931937 0.00461125
-vn 0.0001368 -7.93585e-05 -1
-vn 0.0001368 -7.93585e-05 -1
-vn 0.0001368 -7.93585e-05 -1
-vn 0.000138396 0.0100218 -0.99995
-vn 0.000138396 0.0100218 -0.99995
-vn 0.000138396 0.0100218 -0.99995
-vn 0.000317295 -0.000435576 -1
-vn 0.000317295 -0.000435576 -1
-vn 0.000317295 -0.000435576 -1
-vn -0.000123803 0.000124614 -1
-vn -0.000123803 0.000124614 -1
-vn -0.000123803 0.000124614 -1
-vn 0.002093 -0.00784996 -0.999967
-vn 0.002093 -0.00784996 -0.999967
-vn 0.002093 -0.00784996 -0.999967
-vn -0.00797426 -0.00394123 -0.99996
-vn -0.00797426 -0.00394123 -0.99996
-vn -0.00797426 -0.00394123 -0.99996
-vn -0.00497712 0.000965625 -0.999987
-vn -0.00497712 0.000965625 -0.999987
-vn -0.00497712 0.000965625 -0.999987
-vn -0.00111653 0.00135843 -0.999998
-vn -0.00111653 0.00135843 -0.999998
-vn -0.00111653 0.00135843 -0.999998
-vn -0.0016005 0.000909853 -0.999998
-vn -0.0016005 0.000909853 -0.999998
-vn -0.0016005 0.000909853 -0.999998
-vn 0.00352269 0.000911676 -0.999993
-vn 0.00352269 0.000911676 -0.999993
-vn 0.00352269 0.000911676 -0.999993
-vn 0.00193063 -0.0115374 -0.999932
-vn 0.00193063 -0.0115374 -0.999932
-vn 0.00193063 -0.0115374 -0.999932
-vn -0.000467545 5.69448e-05 -1
-vn -0.000467545 5.69448e-05 -1
-vn -0.000467545 5.69448e-05 -1
-vn -0.000552982 0.000222326 -1
-vn -0.000552982 0.000222326 -1
-vn -0.000552982 0.000222326 -1
-vn 0.000619163 0.0022744 -0.999997
-vn 0.000619163 0.0022744 -0.999997
-vn 0.000619163 0.0022744 -0.999997
-vn -0.000587546 -0.0139474 -0.999902
-vn -0.000587546 -0.0139474 -0.999902
-vn -0.000587546 -0.0139474 -0.999902
-vn 0.00169422 -0.00327421 -0.999993
-vn 0.00169422 -0.00327421 -0.999993
-vn 0.00169422 -0.00327421 -0.999993
-vn -0.00856365 0.000883512 -0.999963
-vn -0.00856365 0.000883512 -0.999963
-vn -0.00856365 0.000883512 -0.999963
-vn -0.000126857 0.00155382 -0.999999
-vn -0.000126857 0.00155382 -0.999999
-vn -0.000126857 0.00155382 -0.999999
-vn -0.00336523 0.00100469 -0.999994
-vn -0.00336523 0.00100469 -0.999994
-vn -0.00336523 0.00100469 -0.999994
-vn 0.00429861 -0.01092 -0.999931
-vn 0.00429861 -0.01092 -0.999931
-vn 0.00429861 -0.01092 -0.999931
-vn -0.00282897 0.000670607 -0.999996
-vn -0.00282897 0.000670607 -0.999996
-vn -0.00282897 0.000670607 -0.999996
-vn 3.96545e-05 1.79364e-05 1
-vn 3.96545e-05 1.79364e-05 1
-vn 3.96545e-05 1.79364e-05 1
-vn 0.00012458 2.83075e-05 1
-vn 0.00012458 2.83075e-05 1
-vn 0.00012458 2.83075e-05 1
-
-# Mesh '<STL_BINARY>' with 200 faces
-g <STL_BINARY>
-usemtl DefaultMaterial
-f  1//1 2//2 3//3
-f  4//4 5//5 6//6
-f  7//7 8//8 9//9
-f  10//10 11//11 12//12
-f  13//13 14//14 15//15
-f  16//16 17//17 18//18
-f  19//19 20//20 21//21
-f  22//22 23//23 24//24
-f  25//25 26//26 27//27
-f  28//28 29//29 30//30
-f  31//31 32//32 33//33
-f  34//34 35//35 36//36
-f  37//37 38//38 39//39
-f  40//40 41//41 42//42
-f  43//43 44//44 45//45
-f  46//46 47//47 48//48
-f  49//49 50//50 51//51
-f  52//52 53//53 54//54
-f  55//55 56//56 57//57
-f  58//58 59//59 60//60
-f  61//61 62//62 63//63
-f  64//64 65//65 66//66
-f  67//67 68//68 69//69
-f  70//70 71//71 72//72
-f  73//73 74//74 75//75
-f  76//76 77//77 78//78
-f  79//79 80//80 81//81
-f  82//82 83//83 84//84
-f  85//85 86//86 87//87
-f  88//88 89//89 90//90
-f  91//91 92//92 93//93
-f  94//94 95//95 96//96
-f  97//97 98//98 99//99
-f  100//100 101//101 102//102
-f  103//103 104//104 105//105
-f  106//106 107//107 108//108
-f  109//109 110//110 111//111
-f  112//112 113//113 114//114
-f  115//115 116//116 117//117
-f  118//118 119//119 120//120
-f  121//121 122//122 123//123
-f  124//124 125//125 126//126
-f  127//127 128//128 129//129
-f  130//130 131//131 132//132
-f  133//133 134//134 135//135
-f  136//136 137//137 138//138
-f  139//139 140//140 141//141
-f  142//142 143//143 144//144
-f  145//145 146//146 147//147
-f  148//148 149//149 150//150
-f  151//151 152//152 153//153
-f  154//154 155//155 156//156
-f  157//157 158//158 159//159
-f  160//160 161//161 162//162
-f  163//163 164//164 165//165
-f  166//166 167//167 168//168
-f  169//169 170//170 171//171
-f  172//172 173//173 174//174
-f  175//175 176//176 177//177
-f  178//178 179//179 180//180
-f  181//181 182//182 183//183
-f  184//184 185//185 186//186
-f  187//187 188//188 189//189
-f  190//190 191//191 192//192
-f  193//193 194//194 195//195
-f  196//196 197//197 198//198
-f  199//199 200//200 201//201
-f  202//202 203//203 204//204
-f  205//205 206//206 207//207
-f  208//208 209//209 210//210
-f  211//211 212//212 213//213
-f  214//214 215//215 216//216
-f  217//217 218//218 219//219
-f  220//220 221//221 222//222
-f  223//223 224//224 225//225
-f  226//226 227//227 228//228
-f  229//229 230//230 231//231
-f  232//232 233//233 234//234
-f  235//235 236//236 237//237
-f  238//238 239//239 240//240
-f  241//241 242//242 243//243
-f  244//244 245//245 246//246
-f  247//247 248//248 249//249
-f  250//250 251//251 252//252
-f  253//253 254//254 255//255
-f  256//256 257//257 258//258
-f  259//259 260//260 261//261
-f  262//262 263//263 264//264
-f  265//265 266//266 267//267
-f  268//268 269//269 270//270
-f  271//271 272//272 273//273
-f  274//274 275//275 276//276
-f  277//277 278//278 279//279
-f  280//280 281//281 282//282
-f  283//283 284//284 285//285
-f  286//286 287//287 288//288
-f  289//289 290//290 291//291
-f  292//292 293//293 294//294
-f  295//295 296//296 297//297
-f  298//298 299//299 300//300
-f  301//301 302//302 303//303
-f  304//304 305//305 306//306
-f  307//307 308//308 309//309
-f  310//310 311//311 312//312
-f  313//313 314//314 315//315
-f  316//316 317//317 318//318
-f  319//319 320//320 321//321
-f  322//322 323//323 324//324
-f  325//325 326//326 327//327
-f  328//328 329//329 330//330
-f  331//331 332//332 333//333
-f  334//334 335//335 336//336
-f  337//337 338//338 339//339
-f  340//340 341//341 342//342
-f  343//343 344//344 345//345
-f  346//346 347//347 348//348
-f  349//349 350//350 351//351
-f  352//352 353//353 354//354
-f  355//355 356//356 357//357
-f  358//358 359//359 360//360
-f  361//361 362//362 363//363
-f  364//364 365//365 366//366
-f  367//367 368//368 369//369
-f  370//370 371//371 372//372
-f  373//373 374//374 375//375
-f  376//376 377//377 378//378
-f  379//379 380//380 381//381
-f  382//382 383//383 384//384
-f  385//385 386//386 387//387
-f  388//388 389//389 390//390
-f  391//391 392//392 393//393
-f  394//394 395//395 396//396
-f  397//397 398//398 399//399
-f  400//400 401//401 402//402
-f  403//403 404//404 405//405
-f  406//406 407//407 408//408
-f  409//409 410//410 411//411
-f  412//412 413//413 414//414
-f  415//415 416//416 417//417
-f  418//418 419//419 420//420
-f  421//421 422//422 423//423
-f  424//424 425//425 426//426
-f  427//427 428//428 429//429
-f  430//430 431//431 432//432
-f  433//433 434//434 435//435
-f  436//436 437//437 438//438
-f  439//439 440//440 441//441
-f  442//442 443//443 444//444
-f  445//445 446//446 447//447
-f  448//448 449//449 450//450
-f  451//451 452//452 453//453
-f  454//454 455//455 456//456
-f  457//457 458//458 459//459
-f  460//460 461//461 462//462
-f  463//463 464//464 465//465
-f  466//466 467//467 468//468
-f  469//469 470//470 471//471
-f  472//472 473//473 474//474
-f  475//475 476//476 477//477
-f  478//478 479//479 480//480
-f  481//481 482//482 483//483
-f  484//484 485//485 486//486
-f  487//487 488//488 489//489
-f  490//490 491//491 492//492
-f  493//493 494//494 495//495
-f  496//496 497//497 498//498
-f  499//499 500//500 501//501
-f  502//502 503//503 504//504
-f  505//505 506//506 507//507
-f  508//508 509//509 510//510
-f  511//511 512//512 513//513
-f  514//514 515//515 516//516
-f  517//517 518//518 519//519
-f  520//520 521//521 522//522
-f  523//523 524//524 525//525
-f  526//526 527//527 528//528
-f  529//529 530//530 531//531
-f  532//532 533//533 534//534
-f  535//535 536//536 537//537
-f  538//538 539//539 540//540
-f  541//541 542//542 543//543
-f  544//544 545//545 546//546
-f  547//547 548//548 549//549
-f  550//550 551//551 552//552
-f  553//553 554//554 555//555
-f  556//556 557//557 558//558
-f  559//559 560//560 561//561
-f  562//562 563//563 564//564
-f  565//565 566//566 567//567
-f  568//568 569//569 570//570
-f  571//571 572//572 573//573
-f  574//574 575//575 576//576
-f  577//577 578//578 579//579
-f  580//580 581//581 582//582
-f  583//583 584//584 585//585
-f  586//586 587//587 588//588
-f  589//589 590//590 591//591
-f  592//592 593//593 594//594
-f  595//595 596//596 597//597
-f  598//598 599//599 600//600
-
diff --git a/urc_gazebo/urdf/meshes/collision/right_center_wheel_collision.STL b/urc_gazebo/urdf/meshes/collision/right_center_wheel_collision.STL
deleted file mode 100644
index f18193ea..00000000
Binary files a/urc_gazebo/urdf/meshes/collision/right_center_wheel_collision.STL and /dev/null differ
diff --git a/urc_gazebo/urdf/meshes/collision/right_front_wheel_collision.STL b/urc_gazebo/urdf/meshes/collision/right_front_wheel_collision.STL
deleted file mode 100644
index 3c63b40b..00000000
Binary files a/urc_gazebo/urdf/meshes/collision/right_front_wheel_collision.STL and /dev/null differ
diff --git a/urc_gazebo/urdf/meshes/collision/right_rear_wheel_collision.STL b/urc_gazebo/urdf/meshes/collision/right_rear_wheel_collision.STL
deleted file mode 100644
index 77e15c1b..00000000
Binary files a/urc_gazebo/urdf/meshes/collision/right_rear_wheel_collision.STL and /dev/null differ
diff --git a/urc_gazebo/urdf/meshes/collision/rightbogie_collision.STL b/urc_gazebo/urdf/meshes/collision/rightbogie_collision.STL
deleted file mode 100644
index 4584ef00..00000000
Binary files a/urc_gazebo/urdf/meshes/collision/rightbogie_collision.STL and /dev/null differ
diff --git a/urc_gazebo/urdf/meshes/collision/rightgripper_collision.STL b/urc_gazebo/urdf/meshes/collision/rightgripper_collision.STL
deleted file mode 100644
index 658227b7..00000000
Binary files a/urc_gazebo/urdf/meshes/collision/rightgripper_collision.STL and /dev/null differ
diff --git a/urc_gazebo/urdf/meshes/collision/rightrocker_collision.STL b/urc_gazebo/urdf/meshes/collision/rightrocker_collision.STL
deleted file mode 100644
index 4f135a33..00000000
Binary files a/urc_gazebo/urdf/meshes/collision/rightrocker_collision.STL and /dev/null differ
diff --git a/urc_gazebo/urdf/meshes/collision/shoulder_collision.STL b/urc_gazebo/urdf/meshes/collision/shoulder_collision.STL
deleted file mode 100644
index beace34c..00000000
Binary files a/urc_gazebo/urdf/meshes/collision/shoulder_collision.STL and /dev/null differ
diff --git a/urc_gazebo/urdf/meshes/collision/spine_collision.STL b/urc_gazebo/urdf/meshes/collision/spine_collision.STL
deleted file mode 100644
index d70ff058..00000000
Binary files a/urc_gazebo/urdf/meshes/collision/spine_collision.STL and /dev/null differ
diff --git a/urc_gazebo/urdf/meshes/collision/wrist_collision.STL b/urc_gazebo/urdf/meshes/collision/wrist_collision.STL
deleted file mode 100644
index 45ff8fae..00000000
Binary files a/urc_gazebo/urdf/meshes/collision/wrist_collision.STL and /dev/null differ
diff --git a/urc_gazebo/urdf/meshes/old/base_link.STL b/urc_gazebo/urdf/meshes/old/base_link.STL
deleted file mode 100644
index fecf40c4..00000000
Binary files a/urc_gazebo/urdf/meshes/old/base_link.STL and /dev/null differ
diff --git a/urc_gazebo/urdf/meshes/old/base_link_collision.STL b/urc_gazebo/urdf/meshes/old/base_link_collision.STL
deleted file mode 100644
index 5840f02d..00000000
Binary files a/urc_gazebo/urdf/meshes/old/base_link_collision.STL and /dev/null differ
diff --git a/urc_gazebo/urdf/meshes/old/bicep.STL b/urc_gazebo/urdf/meshes/old/bicep.STL
deleted file mode 100644
index fda9ea27..00000000
Binary files a/urc_gazebo/urdf/meshes/old/bicep.STL and /dev/null differ
diff --git a/urc_gazebo/urdf/meshes/old/bicep_collision.STL b/urc_gazebo/urdf/meshes/old/bicep_collision.STL
deleted file mode 100644
index d9765f53..00000000
Binary files a/urc_gazebo/urdf/meshes/old/bicep_collision.STL and /dev/null differ
diff --git a/urc_gazebo/urdf/meshes/old/claw.STL b/urc_gazebo/urdf/meshes/old/claw.STL
deleted file mode 100644
index de72bdd7..00000000
Binary files a/urc_gazebo/urdf/meshes/old/claw.STL and /dev/null differ
diff --git a/urc_gazebo/urdf/meshes/old/claw_collision.STL b/urc_gazebo/urdf/meshes/old/claw_collision.STL
deleted file mode 100644
index 305f4855..00000000
Binary files a/urc_gazebo/urdf/meshes/old/claw_collision.STL and /dev/null differ
diff --git a/urc_gazebo/urdf/meshes/old/elbow.STL b/urc_gazebo/urdf/meshes/old/elbow.STL
deleted file mode 100644
index c61db5dc..00000000
Binary files a/urc_gazebo/urdf/meshes/old/elbow.STL and /dev/null differ
diff --git a/urc_gazebo/urdf/meshes/old/elbow_collision.STL b/urc_gazebo/urdf/meshes/old/elbow_collision.STL
deleted file mode 100644
index 002060d1..00000000
Binary files a/urc_gazebo/urdf/meshes/old/elbow_collision.STL and /dev/null differ
diff --git a/urc_gazebo/urdf/meshes/old/forearm.STL b/urc_gazebo/urdf/meshes/old/forearm.STL
deleted file mode 100644
index 1cbfcdc4..00000000
Binary files a/urc_gazebo/urdf/meshes/old/forearm.STL and /dev/null differ
diff --git a/urc_gazebo/urdf/meshes/old/forearm_collision.STL b/urc_gazebo/urdf/meshes/old/forearm_collision.STL
deleted file mode 100644
index d6d8683f..00000000
Binary files a/urc_gazebo/urdf/meshes/old/forearm_collision.STL and /dev/null differ
diff --git a/urc_gazebo/urdf/meshes/old/leftgripper.STL b/urc_gazebo/urdf/meshes/old/leftgripper.STL
deleted file mode 100644
index 3e2f0437..00000000
Binary files a/urc_gazebo/urdf/meshes/old/leftgripper.STL and /dev/null differ
diff --git a/urc_gazebo/urdf/meshes/old/leftgripper_collision.STL b/urc_gazebo/urdf/meshes/old/leftgripper_collision.STL
deleted file mode 100644
index 1de812d3..00000000
Binary files a/urc_gazebo/urdf/meshes/old/leftgripper_collision.STL and /dev/null differ
diff --git a/urc_gazebo/urdf/meshes/old/rightgripper.STL b/urc_gazebo/urdf/meshes/old/rightgripper.STL
deleted file mode 100644
index 20421e6c..00000000
Binary files a/urc_gazebo/urdf/meshes/old/rightgripper.STL and /dev/null differ
diff --git a/urc_gazebo/urdf/meshes/old/rightgripper_collision.STL b/urc_gazebo/urdf/meshes/old/rightgripper_collision.STL
deleted file mode 100644
index 658227b7..00000000
Binary files a/urc_gazebo/urdf/meshes/old/rightgripper_collision.STL and /dev/null differ
diff --git a/urc_gazebo/urdf/meshes/old/shoulder.STL b/urc_gazebo/urdf/meshes/old/shoulder.STL
deleted file mode 100644
index 2dad5ad3..00000000
Binary files a/urc_gazebo/urdf/meshes/old/shoulder.STL and /dev/null differ
diff --git a/urc_gazebo/urdf/meshes/old/shoulder_collision.STL b/urc_gazebo/urdf/meshes/old/shoulder_collision.STL
deleted file mode 100644
index 81d6b594..00000000
Binary files a/urc_gazebo/urdf/meshes/old/shoulder_collision.STL and /dev/null differ
diff --git a/urc_gazebo/urdf/meshes/old/wrist.STL b/urc_gazebo/urdf/meshes/old/wrist.STL
deleted file mode 100644
index 77bcbb52..00000000
Binary files a/urc_gazebo/urdf/meshes/old/wrist.STL and /dev/null differ
diff --git a/urc_gazebo/urdf/meshes/old/wrist_collision.STL b/urc_gazebo/urdf/meshes/old/wrist_collision.STL
deleted file mode 100644
index ca0b5ef5..00000000
Binary files a/urc_gazebo/urdf/meshes/old/wrist_collision.STL and /dev/null differ
diff --git a/urc_gazebo/urdf/meshes/visual/base_link.STL b/urc_gazebo/urdf/meshes/visual/base_link.STL
deleted file mode 100644
index b0a457df..00000000
Binary files a/urc_gazebo/urdf/meshes/visual/base_link.STL and /dev/null differ
diff --git a/urc_gazebo/urdf/meshes/visual/bicep.STL b/urc_gazebo/urdf/meshes/visual/bicep.STL
deleted file mode 100644
index ea3f71ec..00000000
Binary files a/urc_gazebo/urdf/meshes/visual/bicep.STL and /dev/null differ
diff --git a/urc_gazebo/urdf/meshes/visual/claw.STL b/urc_gazebo/urdf/meshes/visual/claw.STL
deleted file mode 100644
index f84e658c..00000000
Binary files a/urc_gazebo/urdf/meshes/visual/claw.STL and /dev/null differ
diff --git a/urc_gazebo/urdf/meshes/visual/colors.png b/urc_gazebo/urdf/meshes/visual/colors.png
deleted file mode 100644
index d4c479e5..00000000
Binary files a/urc_gazebo/urdf/meshes/visual/colors.png and /dev/null differ
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diff --git a/urc_gazebo/urdf/meshes/visual/hand.mtl b/urc_gazebo/urdf/meshes/visual/hand.mtl
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--- a/urc_gazebo/urdf/meshes/visual/hand.mtl
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diff --git a/urc_gazebo/urdf/meshes/visual/hand.obj b/urc_gazebo/urdf/meshes/visual/hand.obj
deleted file mode 100644
index d6d4a507..00000000
--- a/urc_gazebo/urdf/meshes/visual/hand.obj
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-usemtl Part__Feature001_008_005.001
-s off
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deleted file mode 100644
index 09537012..00000000
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-usemtl Part__Feature_001
-s 1
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diff --git a/urc_gazebo/urdf/meshes/visual/link2.mtl b/urc_gazebo/urdf/meshes/visual/link2.mtl
deleted file mode 100644
index aa8ff072..00000000
--- a/urc_gazebo/urdf/meshes/visual/link2.mtl
+++ /dev/null
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diff --git a/urc_gazebo/urdf/meshes/visual/link2.obj b/urc_gazebo/urdf/meshes/visual/link2.obj
deleted file mode 100644
index cb8969fe..00000000
--- a/urc_gazebo/urdf/meshes/visual/link2.obj
+++ /dev/null
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-usemtl Part__Feature024
-s 1
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diff --git a/urc_gazebo/urdf/meshes/visual/link3.mtl b/urc_gazebo/urdf/meshes/visual/link3.mtl
deleted file mode 100644
index 12d989ea..00000000
--- a/urc_gazebo/urdf/meshes/visual/link3.mtl
+++ /dev/null
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diff --git a/urc_gazebo/urdf/meshes/visual/link3.obj b/urc_gazebo/urdf/meshes/visual/link3.obj
deleted file mode 100644
index 20c5c9ab..00000000
--- a/urc_gazebo/urdf/meshes/visual/link3.obj
+++ /dev/null
@@ -1,37552 +0,0 @@
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-usemtl Part__Feature003_004_001_002
-s 1
-f 164/1/1 19/2/2 20/3/3
-f 159/4/4 26/5/5 16/6/6
-f 166/7/7 36/8/8 35/9/9
-f 162/10/10 42/11/11 43/12/12
-f 45/13/13 46/14/14 163/15/15
-f 164/1/1 46/14/14 19/2/2
-f 48/16/16 47/17/17 22/18/18
-f 159/4/4 21/19/19 26/5/5
-f 155/20/20 49/21/21 37/22/22
-f 29/23/23 50/24/24 166/7/7
-f 162/10/10 51/25/25 42/11/11
-f 166/7/7 50/24/24 36/8/8
-f 52/26/26 53/27/27 54/28/28
-f 54/28/28 53/27/27 55/29/29
-f 24/30/30 2602/31/31 25/32/32
-f 38/33/33 51/25/25 162/10/10
-f 55/29/29 53/27/27 34/34/34
-f 48/16/16 56/35/35 47/17/17
-f 43/12/12 56/35/35 48/16/16
-f 35/9/9 57/36/36 41/37/37
-f 39/38/38 58/39/39 44/40/40
-f 29/23/23 30/41/41 50/24/24
-f 24/30/30 59/42/42 2602/31/31
-f 60/43/43 61/44/44 31/45/45
-f 32/46/46 61/44/44 155/20/20
-f 155/20/20 61/44/44 49/21/21
-f 27/47/47 62/48/48 28/49/49
-f 31/45/45 61/44/44 32/46/46
-f 35/9/9 36/8/8 57/36/36
-f 38/33/33 37/22/22 51/25/25
-f 34/34/34 63/50/50 33/51/51
-f 43/12/12 42/11/11 56/35/35
-f 40/52/52 64/53/53 39/38/38
-f 39/38/38 64/53/53 58/39/39
-f 20/3/3 65/54/54 165/55/55
-f 17/56/56 66/57/57 27/47/47
-f 12/58/58 67/59/59 10/60/60
-f 27/47/47 66/57/57 62/48/48
-f 940/61/61 67/59/59 920/62/62
-f 920/62/62 67/59/59 12/58/58
-f 940/61/61 68/63/63 67/59/59
-f 34/34/34 53/27/27 63/50/50
-f 20/3/3 19/2/2 65/54/54
-f 33/51/51 71/64/64 40/52/52
-f 40/52/52 71/64/64 64/53/53
-f 165/55/55 70/65/65 23/66/66
-f 16/6/6 26/5/5 14/67/67
-f 74/68/68 73/69/69 69/70/70
-f 30/41/41 72/71/71 50/24/24
-f 69/70/70 73/69/69 68/63/63
-f 10/60/60 67/59/59 8/72/72
-f 18/73/73 76/74/74 17/56/56
-f 37/22/22 77/75/75 51/25/25
-f 36/8/8 75/76/76 57/36/36
-f 17/56/56 76/74/74 66/57/57
-f 74/68/68 78/77/77 73/69/69
-f 1/78/78 41/79/37 2/80/79
-f 42/11/11 79/81/80 56/35/35
-f 45/13/13 80/82/81 46/14/14
-f 960/83/82 78/77/77 74/68/68
-f 46/14/14 80/82/81 19/2/2
-f 47/17/17 81/84/83 22/18/18
-f 33/51/51 63/50/50 71/64/64
-f 165/55/55 65/54/54 70/65/65
-f 68/63/63 82/85/84 67/59/59
-f 21/19/19 83/86/85 26/5/5
-f 960/83/82 84/87/86 78/77/77
-f 30/41/41 23/66/66 72/71/71
-f 18/73/73 44/40/40 76/74/74
-f 49/21/21 85/88/87 37/22/22
-f 37/22/22 85/88/87 77/75/75
-f 86/89/88 84/87/86 960/83/82
-f 36/8/8 50/24/24 75/76/76
-f 42/11/11 51/25/25 79/81/80
-f 68/63/63 73/69/69 82/85/84
-f 47/17/17 56/35/35 81/84/83
-f 19/2/2 87/90/89 65/54/54
-f 22/18/18 88/91/90 21/19/19
-f 21/19/19 88/91/90 83/86/85
-f 90/92/91 91/93/92 972/94/93
-f 972/94/93 91/93/92 86/89/88
-f 26/5/5 92/95/94 14/67/67
-f 86/89/88 91/93/92 84/87/86
-f 28/49/49 89/96/95 7/97/96
-f 1884/98/97 53/27/27 52/26/26
-f 49/21/21 61/44/44 85/88/87
-f 41/79/37 93/99/98 2/80/79
-f 19/2/2 80/82/81 87/90/89
-f 22/18/18 81/84/83 88/91/90
-f 23/66/66 95/100/99 72/71/71
-f 26/5/5 83/86/85 92/95/94
-f 62/48/48 96/101/100 28/49/49
-f 28/49/49 96/101/100 89/96/95
-f 50/102/24 97/103/101 75/104/76
-f 8/72/72 98/105/102 4/106/103
-f 67/59/59 98/105/102 8/72/72
-f 41/79/37 57/107/36 93/99/98
-f 975/108/104 99/109/105 94/110/106
-f 94/110/106 99/109/105 90/92/91
-f 23/66/66 70/65/65 95/100/99
-f 44/40/40 107/111/107 76/74/74
-f 50/102/24 72/112/71 97/103/101
-f 14/67/67 92/95/94 11/113/108
-f 62/48/48 66/57/57 96/101/100
-f 67/59/59 100/114/109 98/105/102
-f 82/85/84 100/114/109 67/59/59
-f 975/108/104 101/115/110 99/109/105
-f 7/97/96 89/96/95 5/116/111
-f 102/117/112 80/82/81 45/13/13
-f 980/118/113 101/115/110 975/108/104
-f 82/85/84 73/69/69 100/114/109
-f 44/40/40 58/39/39 107/111/107
-f 980/118/113 104/119/114 101/115/110
-f 57/107/36 103/120/115 93/99/98
-f 105/121/116 104/119/114 977/122/117
-f 977/122/117 104/119/114 980/118/113
-f 106/123/118 104/119/114 105/121/116
-f 56/35/35 108/124/119 81/84/83
-f 70/125/65 109/126/120 95/127/99
-f 72/112/71 111/128/121 97/103/101
-f 88/91/90 110/129/122 83/86/85
-f 112/130/123 61/44/44 60/43/43
-f 57/107/36 113/131/124 103/120/115
-f 75/104/76 113/131/124 57/107/36
-f 58/39/39 64/53/53 114/132/125
-f 77/75/75 115/133/126 51/25/25
-f 56/35/35 79/81/80 108/124/119
-f 90/92/91 117/134/127 91/93/92
-f 66/57/57 118/135/128 96/101/100
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-f 81/84/83 119/137/129 88/91/90
-f 88/91/90 119/137/129 110/129/122
-f 72/112/71 95/127/99 111/128/121
-f 83/86/85 120/138/130 92/95/94
-f 75/104/76 97/103/101 113/131/124
-f 73/69/69 121/139/131 100/114/109
-f 122/140/132 89/96/95 123/141/133
-f 124/142/134 125/143/135 1884/98/97
-f 1884/98/97 125/143/135 53/27/27
-f 77/75/75 85/88/87 115/133/126
-f 53/27/27 125/143/135 63/50/50
-f 51/25/25 126/144/136 79/81/80
-f 98/105/102 127/145/137 4/106/103
-f 64/53/53 71/64/64 114/132/125
-f 81/84/83 108/124/119 119/137/129
-f 58/39/39 116/146/138 107/111/107
-f 90/92/91 99/109/105 117/134/127
-f 114/132/125 116/146/138 58/39/39
-f 76/74/74 128/147/139 66/57/57
-f 83/86/85 110/129/122 120/138/130
-f 66/57/57 128/147/139 118/135/128
-f 107/111/107 128/147/139 76/74/74
-f 89/96/95 96/101/100 123/141/133
-f 73/69/69 129/148/140 121/139/131
-f 78/77/77 129/148/140 73/69/69
-f 123/141/133 96/101/100 118/135/128
-f 112/130/123 130/149/141 61/44/44
-f 61/44/44 130/149/141 85/88/87
-f 93/99/98 131/150/142 2/80/79
-f 132/151/143 133/152/144 102/153/112
-f 51/25/25 115/133/126 126/144/136
-f 98/105/102 100/114/109 127/145/137
-f 80/154/81 133/152/144 87/155/89
-f 102/153/112 133/152/144 80/154/81
-f 79/81/80 134/156/145 108/124/119
-f 65/136/54 135/157/146 109/126/120
-f 122/140/132 136/158/147 89/96/95
-f 89/96/95 136/158/147 5/116/111
-f 78/77/77 137/159/148 129/148/140
-f 84/87/86 137/159/148 78/77/77
-f 5/116/111 136/158/147 138/160/149
-f 97/103/101 139/161/150 113/131/124
-f 71/64/64 140/162/151 114/132/125
-f 103/120/115 141/163/152 93/99/98
-f 85/88/87 142/164/153 115/133/126
-f 93/99/98 141/163/152 131/150/142
-f 71/64/64 143/165/154 140/162/151
-f 4/106/103 127/145/137 3/166/155
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-usemtl Part__Feature002_007_001_002
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diff --git a/urc_gazebo/urdf/meshes/visual/link4.mtl b/urc_gazebo/urdf/meshes/visual/link4.mtl
deleted file mode 100644
index 359afbe4..00000000
--- a/urc_gazebo/urdf/meshes/visual/link4.mtl
+++ /dev/null
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diff --git a/urc_gazebo/urdf/meshes/visual/link4.obj b/urc_gazebo/urdf/meshes/visual/link4.obj
deleted file mode 100644
index 8479cb50..00000000
--- a/urc_gazebo/urdf/meshes/visual/link4.obj
+++ /dev/null
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-usemtl Part__Feature003_001_003_001.001
-s 1
-f 1/1/1 6/2/2 2/3/3
-f 11/4/4 12/5/5 13/6/6
-f 15/7/7 16/8/8 17/9/9
-f 23/10/10 161/11/11 6/2/2
-f 29/12/12 31/13/13 173/14/14
-f 21/15/15 10/16/16 3/17/17
-f 24/18/18 176/19/19 21/15/15
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-f 29/12/12 179/22/22 24/18/18
-f 45/23/23 46/24/24 47/25/25
-f 43/26/26 44/27/27 48/28/28
-f 45/23/23 2/3/3 46/24/24
-f 50/29/29 28/30/30 20/31/31
-f 53/32/32 7/33/33 40/34/34
-f 68/35/35 22/36/36 54/37/37
-f 55/38/38 26/39/39 53/32/32
-f 56/40/40 19/41/41 18/42/42
-f 36/20/20 15/7/7 17/9/9
-f 57/43/43 30/44/44 8/45/45
-f 23/10/10 33/46/46 161/11/11
-f 59/47/47 24/18/18 21/15/15
-f 38/48/48 32/49/49 19/41/41
-f 60/50/50 41/51/51 166/52/52
-f 60/50/50 166/52/52 33/46/46
-f 50/29/29 27/53/53 28/30/30
-f 52/54/54 13/6/6 31/13/13
-f 52/54/54 11/4/4 13/6/6
-f 63/55/55 64/56/56 37/57/57
-f 21/15/15 204/58/58 65/59/59
-f 62/60/60 5/21/21 27/53/53
-f 21/15/15 3/17/17 204/58/58
-f 66/61/61 51/62/62 41/51/51
-f 67/63/63 49/64/64 35/65/65
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-f 23/10/10 6/2/2 1/1/1
-f 69/67/67 27/53/53 50/29/29
-f 70/68/68 22/36/36 68/35/35
-f 59/47/47 65/59/59 71/69/69
-f 55/38/38 25/70/70 26/39/39
-f 72/71/71 29/12/12 59/47/47
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-f 74/73/73 41/51/51 60/50/50
-f 59/47/47 71/69/69 75/74/74
-f 73/72/72 52/54/54 31/13/13
-f 76/75/75 35/65/65 25/70/70
-f 81/76/76 42/77/77 15/7/7
-f 73/72/72 77/78/78 52/54/54
-f 66/61/61 18/42/42 51/62/62
-f 72/71/71 59/47/47 75/74/74
-f 73/72/72 29/12/12 72/71/71
-f 72/71/71 75/74/74 78/79/79
-f 62/60/60 27/53/53 69/67/67
-f 73/72/72 72/71/71 78/79/79
-f 79/80/80 53/32/32 40/34/34
-f 73/72/72 78/79/79 80/81/81
-f 62/60/60 36/20/20 5/21/21
-f 80/81/81 77/78/78 73/72/72
-f 81/76/76 15/7/7 36/20/20
-f 57/43/43 8/45/45 9/82/82
-f 87/83/83 50/29/29 58/66/66
-f 70/68/68 34/84/84 22/36/36
-f 63/55/55 37/57/57 38/48/48
-f 66/61/61 41/51/51 74/73/73
-f 82/85/85 30/44/44 57/43/43
-f 82/85/85 39/86/86 30/44/44
-f 83/87/87 18/42/42 66/61/61
-f 84/88/88 48/28/28 34/84/84
-f 85/89/89 36/20/20 62/60/60
-f 87/83/83 58/66/66 88/90/90
-f 76/75/75 67/63/63 35/65/65
-f 86/91/91 23/10/10 1/1/1
-f 89/92/92 40/34/34 39/86/86
-f 68/35/35 49/64/64 67/63/63
-f 90/93/93 33/46/46 23/10/10
-f 61/94/94 45/23/23 47/25/25
-f 81/76/76 36/20/20 85/89/89
-f 94/95/95 34/84/84 70/68/68
-f 93/96/96 1/1/1 45/23/23
-f 81/76/76 95/97/97 42/77/77
-f 76/75/75 25/70/70 55/38/38
-f 83/87/87 56/40/40 18/42/42
-f 84/88/88 96/98/98 43/26/26
-f 84/88/88 43/26/26 48/28/28
-f 97/99/99 38/48/48 19/41/41
-f 97/99/99 19/41/41 56/40/40
-f 90/93/93 60/50/50 33/46/46
-f 79/80/80 40/34/34 89/92/92
-f 99/100/100 63/55/55 38/48/48
-f 100/101/101 57/43/43 9/82/82
-f 101/102/102 50/29/29 87/83/83
-f 93/96/96 86/91/91 1/1/1
-f 84/88/88 34/84/84 94/95/95
-f 90/93/93 23/10/10 86/91/91
-f 89/92/92 39/86/86 82/85/85
-f 99/100/100 92/103/103 63/55/55
-f 103/104/104 70/68/68 68/35/35
-f 85/89/89 62/60/60 102/105/105
-f 104/106/106 87/83/83 88/90/90
-f 105/107/107 81/76/76 85/89/89
-f 106/108/108 95/97/97 81/76/76
-f 69/67/67 50/29/29 101/102/102
-f 102/105/105 62/60/60 69/67/67
-f 107/109/109 67/63/63 76/75/75
-f 114/110/110 74/73/73 60/50/50
-f 108/111/111 45/23/23 61/94/94
-f 109/112/112 87/83/83 104/106/106
-f 111/113/113 66/61/61 74/73/73
-f 112/114/114 81/76/76 105/107/107
-f 110/115/115 53/32/32 79/80/80
-f 111/113/113 83/87/87 66/61/61
-f 100/101/101 9/82/82 91/116/116
-f 113/117/117 56/40/40 83/87/87
-f 114/110/110 60/50/50 90/93/93
-f 115/118/118 61/94/94 98/119/119
-f 109/112/112 101/102/102 87/83/83
-f 112/114/114 106/108/108 81/76/76
-f 108/111/111 93/96/96 45/23/23
-f 125/120/120 102/105/105 69/67/67
-f 110/115/115 55/38/38 53/32/32
-f 117/121/121 86/91/91 93/96/96
-f 118/122/122 85/89/89 102/105/105
-f 119/123/123 97/99/99 56/40/40
-f 119/123/123 56/40/40 113/117/117
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-f 122/125/125 99/100/100 38/48/48
-f 122/125/125 38/48/48 97/99/99
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-f 124/126/126 96/98/98 84/88/88
-f 125/120/120 69/67/67 101/102/102
-f 115/118/118 108/111/111 61/94/94
-f 126/127/127 68/35/35 67/63/63
-f 128/128/128 100/101/101 91/116/116
-f 118/122/122 105/107/107 85/89/89
-f 113/117/117 83/87/87 111/113/113
-f 117/121/121 90/93/93 86/91/91
-f 120/124/124 55/38/38 110/115/115
-f 129/129/129 57/43/43 100/101/101
-f 94/95/95 130/130/130 124/126/126
-f 131/131/131 104/106/106 127/132/132
-f 131/131/131 109/112/112 104/106/106
-f 126/127/127 103/104/104 68/35/35
-f 117/121/121 93/96/96 108/111/111
-f 132/133/133 70/68/68 103/104/104
-f 133/134/134 57/43/43 129/129/129
-f 133/134/134 82/85/85 57/43/43
-f 136/135/135 107/109/109 76/75/75
-f 136/135/135 76/75/75 120/124/124
-f 126/127/127 67/63/63 107/109/109
-f 137/136/136 101/102/102 109/112/112
-f 139/137/137 110/115/115 79/80/80
-f 140/138/138 111/113/113 74/73/73
-f 140/138/138 74/73/73 114/110/110
-f 139/137/137 79/80/80 89/92/92
-f 123/139/139 106/108/108 112/114/114
-f 128/128/128 91/116/116 116/140/140
-f 141/141/141 120/124/124 110/115/115
-f 142/142/142 118/122/122 102/105/105
-f 142/142/142 102/105/105 125/120/120
-f 129/129/129 100/101/101 128/128/128
-f 132/133/133 94/95/95 70/68/68
-f 132/133/133 130/130/130 94/95/95
-f 143/143/143 105/107/107 118/122/122
-f 144/144/144 114/110/110 90/93/93
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-f 137/136/136 125/120/120 101/102/102
-f 145/146/146 108/111/111 115/118/118
-f 147/147/147 117/121/121 108/111/111
-f 26/39/39 90/93/93 117/121/121
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-f 119/123/123 122/125/125 97/99/99
-f 150/148/148 89/92/92 82/85/85
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-f 160/160/160 114/110/110 144/144/144
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-usemtl Part__Feature001_001_003_001.001
-s off
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-usemtl Part__Feature002_001_003_001.001
-s 1
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diff --git a/urc_gazebo/urdf/meshes/visual/link5.mtl b/urc_gazebo/urdf/meshes/visual/link5.mtl
deleted file mode 100644
index f89b09aa..00000000
--- a/urc_gazebo/urdf/meshes/visual/link5.mtl
+++ /dev/null
@@ -1,34 +0,0 @@
-# Blender MTL File: 'None'
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-Ni 1.000000
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-illum 2
-map_Kd colors.png
-
-newmtl Shell001_001_001_003.002
-Ns -1.960784
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-Kd 0.250000 0.250000 0.250000
-Ks 0.015625 0.015625 0.015625
-Ke 0.000000 0.000000 0.000000
-Ni 1.000000
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-illum 2
-map_Kd colors.png
-
-newmtl Shell_001_001_003.002
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-Ks 0.015625 0.015625 0.015625
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-Ni 1.000000
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diff --git a/urc_gazebo/urdf/meshes/visual/link5.obj b/urc_gazebo/urdf/meshes/visual/link5.obj
deleted file mode 100644
index e1a06b82..00000000
--- a/urc_gazebo/urdf/meshes/visual/link5.obj
+++ /dev/null
@@ -1,47287 +0,0 @@
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-# www.blender.org
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-f 1383/1273/1383 1375/1272/1382 4129/2586/2557
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-f 2455/2510/2482 2461/2519/2491 2544/2592/2563
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diff --git a/urc_gazebo/urdf/meshes/visual/link6.mtl b/urc_gazebo/urdf/meshes/visual/link6.mtl
deleted file mode 100644
index a78dec1e..00000000
--- a/urc_gazebo/urdf/meshes/visual/link6.mtl
+++ /dev/null
@@ -1,177 +0,0 @@
-# Blender MTL File: 'link2.blend'
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diff --git a/urc_gazebo/urdf/meshes/visual/link6.obj b/urc_gazebo/urdf/meshes/visual/link6.obj
deleted file mode 100644
index c03c59e6..00000000
--- a/urc_gazebo/urdf/meshes/visual/link6.obj
+++ /dev/null
@@ -1,68900 +0,0 @@
-# Blender v2.79 (sub 0) OBJ File: 'link2.blend'
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-vn -0.2356 -0.9718 -0.0019
-usemtl Shell006_003_002_001.001
-s off
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-usemtl Shell_003_001_002_001.001
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-vn -0.7264 0.4768 -0.4949
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-vn -0.2156 0.5507 -0.8064
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-vn -0.4125 0.8494 -0.3291
-vn -0.2106 0.6599 -0.7212
-vn -0.4488 0.7999 -0.3984
-usemtl Part__Feature001_009_001_002_001.001
-s off
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diff --git a/urc_gazebo/urdf/meshes/visual/right_center_wheel.STL b/urc_gazebo/urdf/meshes/visual/right_center_wheel.STL
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diff --git a/urc_gazebo/urdf/meshes/visual/right_front_wheel.STL b/urc_gazebo/urdf/meshes/visual/right_front_wheel.STL
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diff --git a/urc_gazebo/urdf/meshes/visual/right_rear_wheel.STL b/urc_gazebo/urdf/meshes/visual/right_rear_wheel.STL
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diff --git a/urc_gazebo/urdf/meshes/visual/rightbogie.STL b/urc_gazebo/urdf/meshes/visual/rightbogie.STL
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diff --git a/urc_gazebo/urdf/meshes/visual/rightgripper.STL b/urc_gazebo/urdf/meshes/visual/rightgripper.STL
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diff --git a/urc_gazebo/urdf/meshes/visual/rightrocker.STL b/urc_gazebo/urdf/meshes/visual/rightrocker.STL
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diff --git a/urc_gazebo/urdf/meshes/visual/shoulder.STL b/urc_gazebo/urdf/meshes/visual/shoulder.STL
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diff --git a/urc_gazebo/urdf/meshes/visual/spine.STL b/urc_gazebo/urdf/meshes/visual/spine.STL
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diff --git a/urc_gazebo/urdf/meshes/visual/visualShapeBench.json_0.json b/urc_gazebo/urdf/meshes/visual/visualShapeBench.json_0.json
deleted file mode 100644
index 49b460e8..00000000
--- a/urc_gazebo/urdf/meshes/visual/visualShapeBench.json_0.json
+++ /dev/null
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diff --git a/urc_gazebo/urdf/meshes/visual/wrist.STL b/urc_gazebo/urdf/meshes/visual/wrist.STL
deleted file mode 100644
index 6774e7a2..00000000
Binary files a/urc_gazebo/urdf/meshes/visual/wrist.STL and /dev/null differ
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_0/materials/scripts/aruco_visual_marker_0_marker.material b/urc_gazebo/urdf/models/aruco_visual_marker_0/materials/scripts/aruco_visual_marker_0_marker.material
deleted file mode 100644
index 8c66f369..00000000
--- a/urc_gazebo/urdf/models/aruco_visual_marker_0/materials/scripts/aruco_visual_marker_0_marker.material
+++ /dev/null
@@ -1,13 +0,0 @@
-material ArucoVisualMarker0/Marker
-{
-	technique
-	{
-		pass
-		{
-			texture_unit
-			{
-				texture aruco_mark_0.png
-			}
-		}
-	}
-}
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_0/materials/textures/4x4_1000-0.svg b/urc_gazebo/urdf/models/aruco_visual_marker_0/materials/textures/4x4_1000-0.svg
deleted file mode 100644
index de443643..00000000
--- a/urc_gazebo/urdf/models/aruco_visual_marker_0/materials/textures/4x4_1000-0.svg
+++ /dev/null
@@ -1 +0,0 @@
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\ No newline at end of file
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_0/materials/textures/aruco_mark_0(old).png b/urc_gazebo/urdf/models/aruco_visual_marker_0/materials/textures/aruco_mark_0(old).png
deleted file mode 100644
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diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_0/materials/textures/aruco_mark_0.png b/urc_gazebo/urdf/models/aruco_visual_marker_0/materials/textures/aruco_mark_0.png
deleted file mode 100644
index 4dbac8c2..00000000
Binary files a/urc_gazebo/urdf/models/aruco_visual_marker_0/materials/textures/aruco_mark_0.png and /dev/null differ
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_0/materials/textures/aruco_mark_0.svg b/urc_gazebo/urdf/models/aruco_visual_marker_0/materials/textures/aruco_mark_0.svg
deleted file mode 100644
index 628cf1e8..00000000
--- a/urc_gazebo/urdf/models/aruco_visual_marker_0/materials/textures/aruco_mark_0.svg
+++ /dev/null
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-   height="705.55554mm"
-   viewBox="0 0 2500 2499.9999"
-   id="svg3428"
-   version="1.1"
-   inkscape:version="0.91 r"
-   sodipodi:docname="aruco_0.svg">
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-     pagecolor="#ffffff"
-     bordercolor="#666666"
-     borderopacity="1.0"
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-       preserveAspectRatio="none"
-       height="2500"
-       width="2500" />
-  </g>
-</svg>
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_0/model.config b/urc_gazebo/urdf/models/aruco_visual_marker_0/model.config
deleted file mode 100644
index 9e4789c2..00000000
--- a/urc_gazebo/urdf/models/aruco_visual_marker_0/model.config
+++ /dev/null
@@ -1,11 +0,0 @@
-<?xml version="1.0" ?>
-<model>
-    <name>aruco_visual_marker_0</name>
-    <version>1.0</version>
-    <sdf version="1.6">model.sdf</sdf>
-    <author>
-        <name></name>
-        <email></email>
-    </author>
-    <description></description>
-</model>
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_0/model.sdf b/urc_gazebo/urdf/models/aruco_visual_marker_0/model.sdf
deleted file mode 100644
index e8fee898..00000000
--- a/urc_gazebo/urdf/models/aruco_visual_marker_0/model.sdf
+++ /dev/null
@@ -1,97 +0,0 @@
-<?xml version='1.0'?>
-<sdf version='1.5'>
-  <model name='aruco_visual_marker_0'>
-
-    <link name='marker'>
-      <pose frame=''>0 0 0 0 0 0</pose>
-      <visual name='visual'>
-        <geometry>
-          <box>
-            <size>0.2 0.2 1e-5</size>
-          </box>
-        </geometry>
-        <material>
-          <script>
-            <uri>model://aruco_visual_marker_0/materials/scripts</uri>
-            <uri>model://aruco_visual_marker_0/materials/textures</uri>
-            <name>ArucoVisualMarker0/Marker</name>
-          </script>
-          <ambient>1 1 1 1</ambient>
-          <diffuse>1 1 1 1</diffuse>
-          <specular>0 0 0 1</specular>
-          <emissive>1 1 1 0</emissive>
-          <shader type='vertex'>
-            <normal_map>__default__</normal_map>
-          </shader>
-        </material>
-        <pose frame=''>0 0 0 0 -0 0</pose>
-        <cast_shadows>1</cast_shadows>
-        <transparency>0</transparency>
-      </visual>
-      <collision name='collision'>
-        <laser_retro>0</laser_retro>
-        <max_contacts>10</max_contacts>
-        <pose frame=''>0 0 0 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.2 0.2 1e-5</size>
-          </box>
-        </geometry>
-      </collision>
-    </link>
-
-    <link name='marker_pad'>
-      <pose frame='marker'>0 0 -1e-5 0 -0 0</pose>
-      <visual name='visual'>
-        <geometry>
-          <box>
-            <size>0.2 0.2 1e-5</size>
-          </box>
-        </geometry>
-        <material>
-          <lighting>1</lighting>
-          <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/White</name>
-          </script>
-          <ambient>0.3 0.3 0.3 1</ambient>
-          <diffuse>0.7 0.7 0.7 1</diffuse>
-          <specular>0.01 0.01 0.01 1</specular>
-          <emissive>1 1 1 0</emissive>
-          <shader type='vertex'>
-            <normal_map>__default__</normal_map>
-          </shader>
-        </material>
-        <cast_shadows>1</cast_shadows>
-        <transparency>0</transparency>
-      </visual>
-      <collision name='collision'>
-        <laser_retro>0</laser_retro>
-        <max_contacts>10</max_contacts>
-        <pose frame=''>0 0 0 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.2 0.2 1e-5</size>
-          </box>
-        </geometry>
-      </collision>
-    </link>
-
-    <joint name='marker_JOINT_marker_pad' type='revolute'>
-      <parent>marker</parent>
-      <child>marker_pad</child>
-      <pose frame=''>0 0 0 0 -0 0</pose>
-      <axis>
-        <xyz>0 0 1</xyz>
-        <limit>
-          <upper>0</upper>
-          <lower>0</lower>
-        </limit>
-      </axis>
-    </joint>
-
-    <static>1</static>
-    <allow_auto_disable>1</allow_auto_disable>
-
-  </model>
-</sdf>
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_0_pad/materials/scripts/aruco_visual_marker_0_marker.material b/urc_gazebo/urdf/models/aruco_visual_marker_0_pad/materials/scripts/aruco_visual_marker_0_marker.material
deleted file mode 100644
index 8c66f369..00000000
--- a/urc_gazebo/urdf/models/aruco_visual_marker_0_pad/materials/scripts/aruco_visual_marker_0_marker.material
+++ /dev/null
@@ -1,13 +0,0 @@
-material ArucoVisualMarker0/Marker
-{
-	technique
-	{
-		pass
-		{
-			texture_unit
-			{
-				texture aruco_mark_0.png
-			}
-		}
-	}
-}
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_0_pad/materials/scripts/aruco_visual_marker_0_num.material b/urc_gazebo/urdf/models/aruco_visual_marker_0_pad/materials/scripts/aruco_visual_marker_0_num.material
deleted file mode 100644
index c26a0821..00000000
--- a/urc_gazebo/urdf/models/aruco_visual_marker_0_pad/materials/scripts/aruco_visual_marker_0_num.material
+++ /dev/null
@@ -1,13 +0,0 @@
-material ArucoVisualMarker0/Num
-{
-	technique
-	{
-		pass
-		{
-			texture_unit
-			{
-				texture aruco_mark_0_num.png
-			}
-		}
-	}
-}
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_0_pad/materials/textures/4x4_1000-0.svg b/urc_gazebo/urdf/models/aruco_visual_marker_0_pad/materials/textures/4x4_1000-0.svg
deleted file mode 100644
index de443643..00000000
--- a/urc_gazebo/urdf/models/aruco_visual_marker_0_pad/materials/textures/4x4_1000-0.svg
+++ /dev/null
@@ -1 +0,0 @@
-<svg viewBox="0 0 6 6" xmlns="http://www.w3.org/2000/svg" shape-rendering="crispEdges" width="100mm" height="100mm"><rect x="0" y="0" width="6" height="6" fill="black"></rect><rect width="1" height="1" x="1" y="1" fill="white"></rect><rect width="1.5" height="1" x="3" y="1" fill="white"></rect><rect width="1" height="1" x="4" y="1" fill="white"></rect><rect width="1" height="1.5" x="4" y="1" fill="white"></rect><rect width="1" height="1" x="2" y="2" fill="white"></rect><rect width="1" height="1" x="4" y="2" fill="white"></rect><rect width="1" height="1.5" x="4" y="2" fill="white"></rect><rect width="1.5" height="1" x="3" y="3" fill="white"></rect><rect width="1" height="1.5" x="3" y="3" fill="white"></rect><rect width="1" height="1" x="4" y="3" fill="white"></rect><rect width="1" height="1" x="3" y="4" fill="white"></rect></svg>
\ No newline at end of file
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_0_pad/materials/textures/aruco_mark_0(old).png b/urc_gazebo/urdf/models/aruco_visual_marker_0_pad/materials/textures/aruco_mark_0(old).png
deleted file mode 100644
index 3e012ce6..00000000
Binary files a/urc_gazebo/urdf/models/aruco_visual_marker_0_pad/materials/textures/aruco_mark_0(old).png and /dev/null differ
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_0_pad/materials/textures/aruco_mark_0.png b/urc_gazebo/urdf/models/aruco_visual_marker_0_pad/materials/textures/aruco_mark_0.png
deleted file mode 100644
index 4dbac8c2..00000000
Binary files a/urc_gazebo/urdf/models/aruco_visual_marker_0_pad/materials/textures/aruco_mark_0.png and /dev/null differ
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_0_pad/materials/textures/aruco_mark_0.svg b/urc_gazebo/urdf/models/aruco_visual_marker_0_pad/materials/textures/aruco_mark_0.svg
deleted file mode 100644
index 628cf1e8..00000000
--- a/urc_gazebo/urdf/models/aruco_visual_marker_0_pad/materials/textures/aruco_mark_0.svg
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deleted file mode 100644
index 968e4620..00000000
Binary files a/urc_gazebo/urdf/models/aruco_visual_marker_0_pad/materials/textures/aruco_mark_0_num.png and /dev/null differ
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deleted file mode 100644
index 467bc209..00000000
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+++ /dev/null
@@ -1,73 +0,0 @@
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-   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
-   xmlns:svg="http://www.w3.org/2000/svg"
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-   version="1.1"
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diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_0_pad/model.config b/urc_gazebo/urdf/models/aruco_visual_marker_0_pad/model.config
deleted file mode 100644
index f0b51eb9..00000000
--- a/urc_gazebo/urdf/models/aruco_visual_marker_0_pad/model.config
+++ /dev/null
@@ -1,11 +0,0 @@
-<?xml version="1.0" ?>
-<model>
-    <name>aruco_visual_marker_0_pad</name>
-    <version>1.0</version>
-    <sdf version="1.6">model.sdf</sdf>
-    <author>
-        <name></name>
-        <email></email>
-    </author>
-    <description></description>
-</model>
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_0_pad/model.sdf b/urc_gazebo/urdf/models/aruco_visual_marker_0_pad/model.sdf
deleted file mode 100644
index be7cf8ec..00000000
--- a/urc_gazebo/urdf/models/aruco_visual_marker_0_pad/model.sdf
+++ /dev/null
@@ -1,204 +0,0 @@
-<?xml version='1.0'?>
-<sdf version='1.5'>
-  <model name='aruco_visual_marker_0_pad'>
-
-    <include>
-      <uri>model://aruco_visual_marker_0</uri>
-    </include>
-
-
-    <link name='marker_pad_large'>
-      <pose frame='aruco_visual_marker_0::marker'>-0.035 0 -1e-5 0 0 0</pose>
-      <visual name='visual'>
-        <geometry>
-          <box>
-            <size>0.297 0.210 1e-5</size>
-          </box>
-        </geometry>
-        <material>
-          <lighting>1</lighting>
-          <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/White</name>
-          </script>
-          <ambient>0.3 0.3 0.3 1</ambient>
-          <diffuse>0.7 0.7 0.7 1</diffuse>
-          <specular>0.01 0.01 0.01 1</specular>
-          <emissive>1 1 1 0</emissive>
-          <shader type='vertex'>
-            <normal_map>__default__</normal_map>
-          </shader>
-        </material>
-        <cast_shadows>1</cast_shadows>
-        <transparency>0</transparency>
-      </visual>
-      <collision name='collision'>
-        <laser_retro>0</laser_retro>
-        <max_contacts>10</max_contacts>
-        <pose frame=''>0 0 0 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.297 0.210 1e-5</size>
-          </box>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>1</mu2>
-              <fdir1>0 0 0</fdir1>
-              <slip1>0</slip1>
-              <slip2>0</slip2>
-            </ode>
-            <torsional>
-              <coefficient>1</coefficient>
-              <patch_radius>0</patch_radius>
-              <surface_radius>0</surface_radius>
-              <use_patch_radius>1</use_patch_radius>
-              <ode>
-                <slip>0</slip>
-              </ode>
-            </torsional>
-          </friction>
-          <bounce>
-            <restitution_coefficient>0</restitution_coefficient>
-            <threshold>1e+06</threshold>
-          </bounce>
-          <contact>
-            <collide_without_contact>0</collide_without_contact>
-            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
-            <collide_bitmask>1</collide_bitmask>
-            <ode>
-              <soft_cfm>0</soft_cfm>
-              <soft_erp>0.2</soft_erp>
-              <kp>1e+13</kp>
-              <kd>1</kd>
-              <max_vel>0.01</max_vel>
-              <min_depth>0</min_depth>
-            </ode>
-            <bullet>
-              <split_impulse>1</split_impulse>
-              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
-              <soft_cfm>0</soft_cfm>
-              <soft_erp>0.2</soft_erp>
-              <kp>1e+13</kp>
-              <kd>1</kd>
-            </bullet>
-          </contact>
-        </surface>
-      </collision>
-    </link>
-
-
-    <link name='marker_num'>
-      <pose frame='marker_pad_large'>-0.14 0.0 1e-5 0 -0 0</pose>
-      <visual name='visual'>
-        <geometry>
-          <box>
-            <size>0.05 0.05 1e-05</size>
-          </box>
-        </geometry>
-        <material>
-          <script>
-            <uri>model://aruco_visual_marker_0_pad/materials/scripts</uri>
-            <uri>model://aruco_visual_marker_0_pad/materials/textures</uri>
-            <name>ArucoVisualMarker0/Num</name>
-          </script>
-          <ambient>1 1 1 1</ambient>
-          <diffuse>1 1 1 1</diffuse>
-          <specular>0 0 0 1</specular>
-          <emissive>1 1 1 0</emissive>
-          <shader type='vertex'>
-            <normal_map>__default__</normal_map>
-          </shader>
-        </material>
-        <pose frame=''>0 0 0 0 -0 0</pose>
-        <cast_shadows>1</cast_shadows>
-        <transparency>0</transparency>
-      </visual>
-      <collision name='collision'>
-        <laser_retro>0</laser_retro>
-        <max_contacts>10</max_contacts>
-        <pose frame=''>0 0 0 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.05 0.05 1e-05</size>
-          </box>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>1</mu2>
-              <fdir1>0 0 0</fdir1>
-              <slip1>0</slip1>
-              <slip2>0</slip2>
-            </ode>
-            <torsional>
-              <coefficient>1</coefficient>
-              <patch_radius>0</patch_radius>
-              <surface_radius>0</surface_radius>
-              <use_patch_radius>1</use_patch_radius>
-              <ode>
-                <slip>0</slip>
-              </ode>
-            </torsional>
-          </friction>
-          <bounce>
-            <restitution_coefficient>0</restitution_coefficient>
-            <threshold>1e+06</threshold>
-          </bounce>
-          <contact>
-            <collide_without_contact>0</collide_without_contact>
-            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
-            <collide_bitmask>1</collide_bitmask>
-            <ode>
-              <soft_cfm>0</soft_cfm>
-              <soft_erp>0.2</soft_erp>
-              <kp>1e+13</kp>
-              <kd>1</kd>
-              <max_vel>0.01</max_vel>
-              <min_depth>0</min_depth>
-            </ode>
-            <bullet>
-              <split_impulse>1</split_impulse>
-              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
-              <soft_cfm>0</soft_cfm>
-              <soft_erp>0.2</soft_erp>
-              <kp>1e+13</kp>
-              <kd>1</kd>
-            </bullet>
-          </contact>
-        </surface>
-      </collision>
-    </link>
-
-    <joint name='marker_JOINT_marker_pad_large' type='revolute'>
-      <parent>aruco_visual_marker_0::marker</parent>
-      <child>marker_pad_large</child>
-      <axis>
-        <xyz>0 0 1</xyz>
-        <limit>
-          <upper>0</upper>
-          <lower>0</lower>
-        </limit>
-      </axis>
-    </joint>
-
-    <joint name='pad_large_JOINT_marker_num' type='revolute'>
-      <parent>marker_pad_large</parent>
-      <child>marker_num</child>
-      <axis>
-        <xyz>0 0 1</xyz>
-        <limit>
-          <upper>0</upper>
-          <lower>0</lower>
-        </limit>
-      </axis>
-    </joint>
-
-    <static>1</static>
-    <allow_auto_disable>1</allow_auto_disable>
-
-  </model>
-</sdf>
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_1/materials/scripts/aruco_visual_marker_1_marker.material b/urc_gazebo/urdf/models/aruco_visual_marker_1/materials/scripts/aruco_visual_marker_1_marker.material
deleted file mode 100644
index 58450852..00000000
--- a/urc_gazebo/urdf/models/aruco_visual_marker_1/materials/scripts/aruco_visual_marker_1_marker.material
+++ /dev/null
@@ -1,13 +0,0 @@
-material ArucoVisualMarker1/Marker
-{
-	technique
-	{
-		pass
-		{
-			texture_unit
-			{
-				texture aruco_mark_1.png
-			}
-		}
-	}
-}
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_1/materials/textures/aruco_mark_1(old).png b/urc_gazebo/urdf/models/aruco_visual_marker_1/materials/textures/aruco_mark_1(old).png
deleted file mode 100644
index 86e28ac7..00000000
Binary files a/urc_gazebo/urdf/models/aruco_visual_marker_1/materials/textures/aruco_mark_1(old).png and /dev/null differ
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_1/materials/textures/aruco_mark_1.png b/urc_gazebo/urdf/models/aruco_visual_marker_1/materials/textures/aruco_mark_1.png
deleted file mode 100644
index 327c7416..00000000
Binary files a/urc_gazebo/urdf/models/aruco_visual_marker_1/materials/textures/aruco_mark_1.png and /dev/null differ
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_1/model.config b/urc_gazebo/urdf/models/aruco_visual_marker_1/model.config
deleted file mode 100644
index 0fb6c6f8..00000000
--- a/urc_gazebo/urdf/models/aruco_visual_marker_1/model.config
+++ /dev/null
@@ -1,11 +0,0 @@
-<?xml version="1.0" ?>
-<model>
-    <name>aruco_visual_marker_1</name>
-    <version>1.0</version>
-    <sdf version="1.6">model.sdf</sdf>
-    <author>
-        <name></name>
-        <email></email>
-    </author>
-    <description></description>
-</model>
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_1/model.sdf b/urc_gazebo/urdf/models/aruco_visual_marker_1/model.sdf
deleted file mode 100644
index 421c40b5..00000000
--- a/urc_gazebo/urdf/models/aruco_visual_marker_1/model.sdf
+++ /dev/null
@@ -1,97 +0,0 @@
-<?xml version='1.0'?>
-<sdf version='1.5'>
-  <model name='aruco_visual_marker_1'>
-
-    <link name='marker'>
-      <pose frame=''>0 0 0 0 0 0</pose>
-      <visual name='visual'>
-        <geometry>
-          <box>
-            <size>0.2 0.2 1e-5</size>
-          </box>
-        </geometry>
-        <material>
-          <script>
-            <uri>model://aruco_visual_marker_1/materials/scripts</uri>
-            <uri>model://aruco_visual_marker_1/materials/textures</uri>
-            <name>ArucoVisualMarker1/Marker</name>
-          </script>
-          <ambient>1 1 1 1</ambient>
-          <diffuse>1 1 1 1</diffuse>
-          <specular>0 0 0 1</specular>
-          <emissive>1 1 1 0</emissive>
-          <shader type='vertex'>
-            <normal_map>__default__</normal_map>
-          </shader>
-        </material>
-        <pose frame=''>0 0 0 0 -0 0</pose>
-        <cast_shadows>1</cast_shadows>
-        <transparency>0</transparency>
-      </visual>
-      <collision name='collision'>
-        <laser_retro>0</laser_retro>
-        <max_contacts>10</max_contacts>
-        <pose frame=''>0 0 0 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.2 0.2 1e-5</size>
-          </box>
-        </geometry>
-      </collision>
-    </link>
-
-    <link name='marker_pad'>
-      <pose frame='marker'>0 0 -1e-5 0 -0 0</pose>
-      <visual name='visual'>
-        <geometry>
-          <box>
-            <size>0.2 0.2 1e-5</size>
-          </box>
-        </geometry>
-        <material>
-          <lighting>1</lighting>
-          <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/White</name>
-          </script>
-          <ambient>0.3 0.3 0.3 1</ambient>
-          <diffuse>0.7 0.7 0.7 1</diffuse>
-          <specular>0.01 0.01 0.01 1</specular>
-          <emissive>1 1 1 0</emissive>
-          <shader type='vertex'>
-            <normal_map>__default__</normal_map>
-          </shader>
-        </material>
-        <cast_shadows>1</cast_shadows>
-        <transparency>0</transparency>
-      </visual>
-      <collision name='collision'>
-        <laser_retro>0</laser_retro>
-        <max_contacts>10</max_contacts>
-        <pose frame=''>0 0 0 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.2 0.2 1e-5</size>
-          </box>
-        </geometry>
-      </collision>
-    </link>
-
-    <joint name='marker_JOINT_marker_pad' type='revolute'>
-      <parent>marker</parent>
-      <child>marker_pad</child>
-      <pose frame=''>0 0 0 0 -0 0</pose>
-      <axis>
-        <xyz>0 0 1</xyz>
-        <limit>
-          <upper>0</upper>
-          <lower>0</lower>
-        </limit>
-      </axis>
-    </joint>
-
-    <static>1</static>
-    <allow_auto_disable>1</allow_auto_disable>
-
-  </model>
-</sdf>
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_1_pad/materials/scripts/aruco_visual_marker_1_marker.material b/urc_gazebo/urdf/models/aruco_visual_marker_1_pad/materials/scripts/aruco_visual_marker_1_marker.material
deleted file mode 100644
index 58450852..00000000
--- a/urc_gazebo/urdf/models/aruco_visual_marker_1_pad/materials/scripts/aruco_visual_marker_1_marker.material
+++ /dev/null
@@ -1,13 +0,0 @@
-material ArucoVisualMarker1/Marker
-{
-	technique
-	{
-		pass
-		{
-			texture_unit
-			{
-				texture aruco_mark_1.png
-			}
-		}
-	}
-}
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_1_pad/materials/scripts/aruco_visual_marker_1_num.material b/urc_gazebo/urdf/models/aruco_visual_marker_1_pad/materials/scripts/aruco_visual_marker_1_num.material
deleted file mode 100644
index 7bafedef..00000000
--- a/urc_gazebo/urdf/models/aruco_visual_marker_1_pad/materials/scripts/aruco_visual_marker_1_num.material
+++ /dev/null
@@ -1,13 +0,0 @@
-material ArucoVisualMarker1/Num
-{
-	technique
-	{
-		pass
-		{
-			texture_unit
-			{
-				texture aruco_mark_1_num.png
-			}
-		}
-	}
-}
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_1_pad/materials/textures/aruco_mark_1(old).png b/urc_gazebo/urdf/models/aruco_visual_marker_1_pad/materials/textures/aruco_mark_1(old).png
deleted file mode 100644
index 86e28ac7..00000000
Binary files a/urc_gazebo/urdf/models/aruco_visual_marker_1_pad/materials/textures/aruco_mark_1(old).png and /dev/null differ
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_1_pad/materials/textures/aruco_mark_1.png b/urc_gazebo/urdf/models/aruco_visual_marker_1_pad/materials/textures/aruco_mark_1.png
deleted file mode 100644
index 327c7416..00000000
Binary files a/urc_gazebo/urdf/models/aruco_visual_marker_1_pad/materials/textures/aruco_mark_1.png and /dev/null differ
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_1_pad/materials/textures/aruco_mark_1_num.png b/urc_gazebo/urdf/models/aruco_visual_marker_1_pad/materials/textures/aruco_mark_1_num.png
deleted file mode 100644
index d113d57a..00000000
Binary files a/urc_gazebo/urdf/models/aruco_visual_marker_1_pad/materials/textures/aruco_mark_1_num.png and /dev/null differ
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_1_pad/materials/textures/aruco_mark_1_num.svg b/urc_gazebo/urdf/models/aruco_visual_marker_1_pad/materials/textures/aruco_mark_1_num.svg
deleted file mode 100644
index caca18aa..00000000
--- a/urc_gazebo/urdf/models/aruco_visual_marker_1_pad/materials/textures/aruco_mark_1_num.svg
+++ /dev/null
@@ -1,73 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?>
-<!-- Created with Inkscape (http://www.inkscape.org/) -->
-
-<svg
-   xmlns:dc="http://purl.org/dc/elements/1.1/"
-   xmlns:cc="http://creativecommons.org/ns#"
-   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
-   xmlns:svg="http://www.w3.org/2000/svg"
-   xmlns="http://www.w3.org/2000/svg"
-   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
-   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
-   width="19.931944mm"
-   height="8.5383244mm"
-   viewBox="0 0 70.624998 30.253905"
-   id="svg2"
-   version="1.1"
-   inkscape:version="0.91 r"
-   sodipodi:docname="aruco_mark_1_num.svg">
-  <defs
-     id="defs4" />
-  <sodipodi:namedview
-     id="base"
-     pagecolor="#ffffff"
-     bordercolor="#666666"
-     borderopacity="1.0"
-     inkscape:pageopacity="0.0"
-     inkscape:pageshadow="2"
-     inkscape:zoom="0.35"
-     inkscape:cx="-929.14342"
-     inkscape:cy="89.137838"
-     inkscape:document-units="px"
-     inkscape:current-layer="layer1"
-     showgrid="false"
-     fit-margin-top="0"
-     fit-margin-left="0"
-     fit-margin-right="0"
-     fit-margin-bottom="0"
-     inkscape:window-width="1317"
-     inkscape:window-height="744"
-     inkscape:window-x="49"
-     inkscape:window-y="24"
-     inkscape:window-maximized="1" />
-  <metadata
-     id="metadata7">
-    <rdf:RDF>
-      <cc:Work
-         rdf:about="">
-        <dc:format>image/svg+xml</dc:format>
-        <dc:type
-           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
-        <dc:title />
-      </cc:Work>
-    </rdf:RDF>
-  </metadata>
-  <g
-     inkscape:label="Layer 1"
-     inkscape:groupmode="layer"
-     id="layer1"
-     transform="translate(-131.28627,-476.96042)">
-    <text
-       xml:space="preserve"
-       style="font-style:normal;font-weight:normal;font-size:40px;line-height:125%;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
-       x="128.57143"
-       y="506.64792"
-       id="text3336"
-       sodipodi:linespacing="125%"><tspan
-         sodipodi:role="line"
-         id="tspan3338"
-         x="128.57143"
-         y="506.64792"
-         style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:40px;line-height:125%;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Bold';text-align:start;writing-mode:lr-tb;text-anchor:start"># 1</tspan></text>
-  </g>
-</svg>
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_1_pad/model.config b/urc_gazebo/urdf/models/aruco_visual_marker_1_pad/model.config
deleted file mode 100644
index 992a4fa1..00000000
--- a/urc_gazebo/urdf/models/aruco_visual_marker_1_pad/model.config
+++ /dev/null
@@ -1,11 +0,0 @@
-<?xml version="1.0" ?>
-<model>
-    <name>aruco_visual_marker_1_pad</name>
-    <version>1.0</version>
-    <sdf version="1.6">model.sdf</sdf>
-    <author>
-        <name></name>
-        <email></email>
-    </author>
-    <description></description>
-</model>
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_1_pad/model.sdf b/urc_gazebo/urdf/models/aruco_visual_marker_1_pad/model.sdf
deleted file mode 100644
index e34f4a87..00000000
--- a/urc_gazebo/urdf/models/aruco_visual_marker_1_pad/model.sdf
+++ /dev/null
@@ -1,204 +0,0 @@
-<?xml version='1.0'?>
-<sdf version='1.5'>
-  <model name='aruco_visual_marker_1_pad'>
-
-    <include>
-      <uri>model://aruco_visual_marker_1</uri>
-    </include>
-
-
-    <link name='marker_pad_large'>
-      <pose frame='aruco_visual_marker_1::marker'>-0.035 0 -1e-5 0 0 0</pose>
-      <visual name='visual'>
-        <geometry>
-          <box>
-            <size>0.297 0.210 1e-5</size>
-          </box>
-        </geometry>
-        <material>
-          <lighting>1</lighting>
-          <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/White</name>
-          </script>
-          <ambient>0.3 0.3 0.3 1</ambient>
-          <diffuse>0.7 0.7 0.7 1</diffuse>
-          <specular>0.01 0.01 0.01 1</specular>
-          <emissive>1 1 1 0</emissive>
-          <shader type='vertex'>
-            <normal_map>__default__</normal_map>
-          </shader>
-        </material>
-        <cast_shadows>1</cast_shadows>
-        <transparency>0</transparency>
-      </visual>
-      <collision name='collision'>
-        <laser_retro>0</laser_retro>
-        <max_contacts>10</max_contacts>
-        <pose frame=''>0 0 0 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.297 0.210 1e-5</size>
-          </box>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>1</mu2>
-              <fdir1>0 0 0</fdir1>
-              <slip1>0</slip1>
-              <slip2>0</slip2>
-            </ode>
-            <torsional>
-              <coefficient>1</coefficient>
-              <patch_radius>0</patch_radius>
-              <surface_radius>0</surface_radius>
-              <use_patch_radius>1</use_patch_radius>
-              <ode>
-                <slip>0</slip>
-              </ode>
-            </torsional>
-          </friction>
-          <bounce>
-            <restitution_coefficient>0</restitution_coefficient>
-            <threshold>1e+06</threshold>
-          </bounce>
-          <contact>
-            <collide_without_contact>0</collide_without_contact>
-            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
-            <collide_bitmask>1</collide_bitmask>
-            <ode>
-              <soft_cfm>0</soft_cfm>
-              <soft_erp>0.2</soft_erp>
-              <kp>1e+13</kp>
-              <kd>1</kd>
-              <max_vel>0.01</max_vel>
-              <min_depth>0</min_depth>
-            </ode>
-            <bullet>
-              <split_impulse>1</split_impulse>
-              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
-              <soft_cfm>0</soft_cfm>
-              <soft_erp>0.2</soft_erp>
-              <kp>1e+13</kp>
-              <kd>1</kd>
-            </bullet>
-          </contact>
-        </surface>
-      </collision>
-    </link>
-
-
-    <link name='marker_num'>
-      <pose frame='marker_pad_large'>-0.14 0.0 1e-5 0 -0 0</pose>
-      <visual name='visual'>
-        <geometry>
-          <box>
-            <size>0.05 0.05 1e-05</size>
-          </box>
-        </geometry>
-        <material>
-          <script>
-            <uri>model://aruco_visual_marker_1_pad/materials/scripts</uri>
-            <uri>model://aruco_visual_marker_1_pad/materials/textures</uri>
-            <name>ArucoVisualMarker1/Num</name>
-          </script>
-          <ambient>1 1 1 1</ambient>
-          <diffuse>1 1 1 1</diffuse>
-          <specular>0 0 0 1</specular>
-          <emissive>1 1 1 0</emissive>
-          <shader type='vertex'>
-            <normal_map>__default__</normal_map>
-          </shader>
-        </material>
-        <pose frame=''>0 0 0 0 -0 0</pose>
-        <cast_shadows>1</cast_shadows>
-        <transparency>0</transparency>
-      </visual>
-      <collision name='collision'>
-        <laser_retro>0</laser_retro>
-        <max_contacts>10</max_contacts>
-        <pose frame=''>0 0 0 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.05 0.05 1e-05</size>
-          </box>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>1</mu2>
-              <fdir1>0 0 0</fdir1>
-              <slip1>0</slip1>
-              <slip2>0</slip2>
-            </ode>
-            <torsional>
-              <coefficient>1</coefficient>
-              <patch_radius>0</patch_radius>
-              <surface_radius>0</surface_radius>
-              <use_patch_radius>1</use_patch_radius>
-              <ode>
-                <slip>0</slip>
-              </ode>
-            </torsional>
-          </friction>
-          <bounce>
-            <restitution_coefficient>0</restitution_coefficient>
-            <threshold>1e+06</threshold>
-          </bounce>
-          <contact>
-            <collide_without_contact>0</collide_without_contact>
-            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
-            <collide_bitmask>1</collide_bitmask>
-            <ode>
-              <soft_cfm>0</soft_cfm>
-              <soft_erp>0.2</soft_erp>
-              <kp>1e+13</kp>
-              <kd>1</kd>
-              <max_vel>0.01</max_vel>
-              <min_depth>0</min_depth>
-            </ode>
-            <bullet>
-              <split_impulse>1</split_impulse>
-              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
-              <soft_cfm>0</soft_cfm>
-              <soft_erp>0.2</soft_erp>
-              <kp>1e+13</kp>
-              <kd>1</kd>
-            </bullet>
-          </contact>
-        </surface>
-      </collision>
-    </link>
-
-    <joint name='marker_JOINT_marker_pad_large' type='revolute'>
-      <parent>aruco_visual_marker_1::marker</parent>
-      <child>marker_pad_large</child>
-      <axis>
-        <xyz>0 0 1</xyz>
-        <limit>
-          <upper>0</upper>
-          <lower>0</lower>
-        </limit>
-      </axis>
-    </joint>
-
-    <joint name='pad_large_JOINT_marker_num' type='revolute'>
-      <parent>marker_pad_large</parent>
-      <child>marker_num</child>
-      <axis>
-        <xyz>0 0 1</xyz>
-        <limit>
-          <upper>0</upper>
-          <lower>0</lower>
-        </limit>
-      </axis>
-    </joint>
-
-    <static>1</static>
-    <allow_auto_disable>1</allow_auto_disable>
-
-  </model>
-</sdf>
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_2/materials/scripts/aruco_visual_marker_2_marker.material b/urc_gazebo/urdf/models/aruco_visual_marker_2/materials/scripts/aruco_visual_marker_2_marker.material
deleted file mode 100644
index 09de9d6a..00000000
--- a/urc_gazebo/urdf/models/aruco_visual_marker_2/materials/scripts/aruco_visual_marker_2_marker.material
+++ /dev/null
@@ -1,13 +0,0 @@
-material ArucoVisualMarker2/Marker
-{
-	technique
-	{
-		pass
-		{
-			texture_unit
-			{
-				texture aruco_mark_2.png
-			}
-		}
-	}
-}
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_2/materials/textures/aruco_mark_2(old).png b/urc_gazebo/urdf/models/aruco_visual_marker_2/materials/textures/aruco_mark_2(old).png
deleted file mode 100644
index 309d30fd..00000000
Binary files a/urc_gazebo/urdf/models/aruco_visual_marker_2/materials/textures/aruco_mark_2(old).png and /dev/null differ
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_2/materials/textures/aruco_mark_2.png b/urc_gazebo/urdf/models/aruco_visual_marker_2/materials/textures/aruco_mark_2.png
deleted file mode 100644
index 7087618b..00000000
Binary files a/urc_gazebo/urdf/models/aruco_visual_marker_2/materials/textures/aruco_mark_2.png and /dev/null differ
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_2/model.config b/urc_gazebo/urdf/models/aruco_visual_marker_2/model.config
deleted file mode 100644
index a6bdaae7..00000000
--- a/urc_gazebo/urdf/models/aruco_visual_marker_2/model.config
+++ /dev/null
@@ -1,11 +0,0 @@
-<?xml version="1.0" ?>
-<model>
-    <name>aruco_visual_marker_2</name>
-    <version>1.0</version>
-    <sdf version="1.6">model.sdf</sdf>
-    <author>
-        <name></name>
-        <email></email>
-    </author>
-    <description></description>
-</model>
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_2/model.sdf b/urc_gazebo/urdf/models/aruco_visual_marker_2/model.sdf
deleted file mode 100644
index b306e925..00000000
--- a/urc_gazebo/urdf/models/aruco_visual_marker_2/model.sdf
+++ /dev/null
@@ -1,97 +0,0 @@
-<?xml version='1.0'?>
-<sdf version='1.5'>
-  <model name='aruco_visual_marker_2'>
-
-    <link name='marker'>
-      <pose frame=''>0 0 0 0 0 0</pose>
-      <visual name='visual'>
-        <geometry>
-          <box>
-            <size>0.2 0.2 1e-5</size>
-          </box>
-        </geometry>
-        <material>
-          <script>
-            <uri>model://aruco_visual_marker_2/materials/scripts</uri>
-            <uri>model://aruco_visual_marker_2/materials/textures</uri>
-            <name>ArucoVisualMarker2/Marker</name>
-          </script>
-          <ambient>1 1 1 1</ambient>
-          <diffuse>1 1 1 1</diffuse>
-          <specular>0 0 0 1</specular>
-          <emissive>1 1 1 0</emissive>
-          <shader type='vertex'>
-            <normal_map>__default__</normal_map>
-          </shader>
-        </material>
-        <pose frame=''>0 0 0 0 -0 0</pose>
-        <cast_shadows>1</cast_shadows>
-        <transparency>0</transparency>
-      </visual>
-      <collision name='collision'>
-        <laser_retro>0</laser_retro>
-        <max_contacts>10</max_contacts>
-        <pose frame=''>0 0 0 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.2 0.2 1e-5</size>
-          </box>
-        </geometry>
-      </collision>
-    </link>
-
-    <link name='marker_pad'>
-      <pose frame='marker'>0 0 -1e-5 0 -0 0</pose>
-      <visual name='visual'>
-        <geometry>
-          <box>
-            <size>0.2 0.2 1e-5</size>
-          </box>
-        </geometry>
-        <material>
-          <lighting>1</lighting>
-          <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/White</name>
-          </script>
-          <ambient>0.3 0.3 0.3 1</ambient>
-          <diffuse>0.7 0.7 0.7 1</diffuse>
-          <specular>0.01 0.01 0.01 1</specular>
-          <emissive>1 1 1 0</emissive>
-          <shader type='vertex'>
-            <normal_map>__default__</normal_map>
-          </shader>
-        </material>
-        <cast_shadows>1</cast_shadows>
-        <transparency>0</transparency>
-      </visual>
-      <collision name='collision'>
-        <laser_retro>0</laser_retro>
-        <max_contacts>10</max_contacts>
-        <pose frame=''>0 0 0 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.2 0.2 1e-5</size>
-          </box>
-        </geometry>
-      </collision>
-    </link>
-
-    <joint name='marker_JOINT_marker_pad' type='revolute'>
-      <parent>marker</parent>
-      <child>marker_pad</child>
-      <pose frame=''>0 0 0 0 -0 0</pose>
-      <axis>
-        <xyz>0 0 1</xyz>
-        <limit>
-          <upper>0</upper>
-          <lower>0</lower>
-        </limit>
-      </axis>
-    </joint>
-
-    <static>1</static>
-    <allow_auto_disable>1</allow_auto_disable>
-
-  </model>
-</sdf>
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_2_pad/materials/scripts/aruco_visual_marker_2_marker.material b/urc_gazebo/urdf/models/aruco_visual_marker_2_pad/materials/scripts/aruco_visual_marker_2_marker.material
deleted file mode 100644
index 09de9d6a..00000000
--- a/urc_gazebo/urdf/models/aruco_visual_marker_2_pad/materials/scripts/aruco_visual_marker_2_marker.material
+++ /dev/null
@@ -1,13 +0,0 @@
-material ArucoVisualMarker2/Marker
-{
-	technique
-	{
-		pass
-		{
-			texture_unit
-			{
-				texture aruco_mark_2.png
-			}
-		}
-	}
-}
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_2_pad/materials/scripts/aruco_visual_marker_2_num.material b/urc_gazebo/urdf/models/aruco_visual_marker_2_pad/materials/scripts/aruco_visual_marker_2_num.material
deleted file mode 100644
index 965431f9..00000000
--- a/urc_gazebo/urdf/models/aruco_visual_marker_2_pad/materials/scripts/aruco_visual_marker_2_num.material
+++ /dev/null
@@ -1,13 +0,0 @@
-material ArucoVisualMarker2/Num
-{
-	technique
-	{
-		pass
-		{
-			texture_unit
-			{
-				texture aruco_mark_2_num.png
-			}
-		}
-	}
-}
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_2_pad/materials/textures/aruco_mark_2(old).png b/urc_gazebo/urdf/models/aruco_visual_marker_2_pad/materials/textures/aruco_mark_2(old).png
deleted file mode 100644
index 309d30fd..00000000
Binary files a/urc_gazebo/urdf/models/aruco_visual_marker_2_pad/materials/textures/aruco_mark_2(old).png and /dev/null differ
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_2_pad/materials/textures/aruco_mark_2.png b/urc_gazebo/urdf/models/aruco_visual_marker_2_pad/materials/textures/aruco_mark_2.png
deleted file mode 100644
index 7087618b..00000000
Binary files a/urc_gazebo/urdf/models/aruco_visual_marker_2_pad/materials/textures/aruco_mark_2.png and /dev/null differ
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_2_pad/materials/textures/aruco_mark_2_num.png b/urc_gazebo/urdf/models/aruco_visual_marker_2_pad/materials/textures/aruco_mark_2_num.png
deleted file mode 100644
index 00dd255c..00000000
Binary files a/urc_gazebo/urdf/models/aruco_visual_marker_2_pad/materials/textures/aruco_mark_2_num.png and /dev/null differ
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_2_pad/materials/textures/aruco_mark_2_num.svg b/urc_gazebo/urdf/models/aruco_visual_marker_2_pad/materials/textures/aruco_mark_2_num.svg
deleted file mode 100644
index 390d543e..00000000
--- a/urc_gazebo/urdf/models/aruco_visual_marker_2_pad/materials/textures/aruco_mark_2_num.svg
+++ /dev/null
@@ -1,73 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?>
-<!-- Created with Inkscape (http://www.inkscape.org/) -->
-
-<svg
-   xmlns:dc="http://purl.org/dc/elements/1.1/"
-   xmlns:cc="http://creativecommons.org/ns#"
-   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
-   xmlns:svg="http://www.w3.org/2000/svg"
-   xmlns="http://www.w3.org/2000/svg"
-   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
-   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
-   width="19.931944mm"
-   height="8.5383244mm"
-   viewBox="0 0 70.624998 30.253905"
-   id="svg2"
-   version="1.1"
-   inkscape:version="0.91 r"
-   sodipodi:docname="aruco_mark_2_num.svg">
-  <defs
-     id="defs4" />
-  <sodipodi:namedview
-     id="base"
-     pagecolor="#ffffff"
-     bordercolor="#666666"
-     borderopacity="1.0"
-     inkscape:pageopacity="0.0"
-     inkscape:pageshadow="2"
-     inkscape:zoom="0.35"
-     inkscape:cx="-929.14342"
-     inkscape:cy="-25.147876"
-     inkscape:document-units="px"
-     inkscape:current-layer="layer1"
-     showgrid="false"
-     fit-margin-top="0"
-     fit-margin-left="0"
-     fit-margin-right="0"
-     fit-margin-bottom="0"
-     inkscape:window-width="1317"
-     inkscape:window-height="744"
-     inkscape:window-x="49"
-     inkscape:window-y="24"
-     inkscape:window-maximized="1" />
-  <metadata
-     id="metadata7">
-    <rdf:RDF>
-      <cc:Work
-         rdf:about="">
-        <dc:format>image/svg+xml</dc:format>
-        <dc:type
-           rdf:resource="http://purl.org/dc/dcmitype/StillImage" />
-        <dc:title />
-      </cc:Work>
-    </rdf:RDF>
-  </metadata>
-  <g
-     inkscape:label="Layer 1"
-     inkscape:groupmode="layer"
-     id="layer1"
-     transform="translate(-131.28627,-476.96042)">
-    <text
-       xml:space="preserve"
-       style="font-style:normal;font-weight:normal;font-size:40px;line-height:125%;font-family:sans-serif;letter-spacing:0px;word-spacing:0px;fill:#000000;fill-opacity:1;stroke:none;stroke-width:1px;stroke-linecap:butt;stroke-linejoin:miter;stroke-opacity:1"
-       x="128.57143"
-       y="506.64792"
-       id="text3336"
-       sodipodi:linespacing="125%"><tspan
-         sodipodi:role="line"
-         id="tspan3338"
-         x="128.57143"
-         y="506.64792"
-         style="font-style:normal;font-variant:normal;font-weight:bold;font-stretch:normal;font-size:40px;line-height:125%;font-family:sans-serif;-inkscape-font-specification:'sans-serif, Bold';text-align:start;writing-mode:lr-tb;text-anchor:start"># 2</tspan></text>
-  </g>
-</svg>
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_2_pad/model.config b/urc_gazebo/urdf/models/aruco_visual_marker_2_pad/model.config
deleted file mode 100644
index 299a2006..00000000
--- a/urc_gazebo/urdf/models/aruco_visual_marker_2_pad/model.config
+++ /dev/null
@@ -1,11 +0,0 @@
-<?xml version="1.0" ?>
-<model>
-    <name>aruco_visual_marker_2_pad</name>
-    <version>1.0</version>
-    <sdf version="1.6">model.sdf</sdf>
-    <author>
-        <name></name>
-        <email></email>
-    </author>
-    <description></description>
-</model>
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_2_pad/model.sdf b/urc_gazebo/urdf/models/aruco_visual_marker_2_pad/model.sdf
deleted file mode 100644
index 1c94583b..00000000
--- a/urc_gazebo/urdf/models/aruco_visual_marker_2_pad/model.sdf
+++ /dev/null
@@ -1,204 +0,0 @@
-<?xml version='1.0'?>
-<sdf version='1.5'>
-  <model name='aruco_visual_marker_2_pad'>
-
-    <include>
-      <uri>model://aruco_visual_marker_2</uri>
-    </include>
-
-
-    <link name='marker_pad_large'>
-      <pose frame='aruco_visual_marker_2::marker'>-0.035 0 -1e-5 0 0 0</pose>
-      <visual name='visual'>
-        <geometry>
-          <box>
-            <size>0.297 0.210 1e-5</size>
-          </box>
-        </geometry>
-        <material>
-          <lighting>1</lighting>
-          <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/White</name>
-          </script>
-          <ambient>0.3 0.3 0.3 1</ambient>
-          <diffuse>0.7 0.7 0.7 1</diffuse>
-          <specular>0.01 0.01 0.01 1</specular>
-          <emissive>1 1 1 0</emissive>
-          <shader type='vertex'>
-            <normal_map>__default__</normal_map>
-          </shader>
-        </material>
-        <cast_shadows>1</cast_shadows>
-        <transparency>0</transparency>
-      </visual>
-      <collision name='collision'>
-        <laser_retro>0</laser_retro>
-        <max_contacts>10</max_contacts>
-        <pose frame=''>0 0 0 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.297 0.210 1e-5</size>
-          </box>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>1</mu2>
-              <fdir1>0 0 0</fdir1>
-              <slip1>0</slip1>
-              <slip2>0</slip2>
-            </ode>
-            <torsional>
-              <coefficient>1</coefficient>
-              <patch_radius>0</patch_radius>
-              <surface_radius>0</surface_radius>
-              <use_patch_radius>1</use_patch_radius>
-              <ode>
-                <slip>0</slip>
-              </ode>
-            </torsional>
-          </friction>
-          <bounce>
-            <restitution_coefficient>0</restitution_coefficient>
-            <threshold>1e+06</threshold>
-          </bounce>
-          <contact>
-            <collide_without_contact>0</collide_without_contact>
-            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
-            <collide_bitmask>1</collide_bitmask>
-            <ode>
-              <soft_cfm>0</soft_cfm>
-              <soft_erp>0.2</soft_erp>
-              <kp>1e+13</kp>
-              <kd>1</kd>
-              <max_vel>0.01</max_vel>
-              <min_depth>0</min_depth>
-            </ode>
-            <bullet>
-              <split_impulse>1</split_impulse>
-              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
-              <soft_cfm>0</soft_cfm>
-              <soft_erp>0.2</soft_erp>
-              <kp>1e+13</kp>
-              <kd>1</kd>
-            </bullet>
-          </contact>
-        </surface>
-      </collision>
-    </link>
-
-
-    <link name='marker_num'>
-      <pose frame='marker_pad_large'>-0.14 0.0 1e-5 0 -0 0</pose>
-      <visual name='visual'>
-        <geometry>
-          <box>
-            <size>0.05 0.05 1e-05</size>
-          </box>
-        </geometry>
-        <material>
-          <script>
-            <uri>model://aruco_visual_marker_2_pad/materials/scripts</uri>
-            <uri>model://aruco_visual_marker_2_pad/materials/textures</uri>
-            <name>ArucoVisualMarker2/Num</name>
-          </script>
-          <ambient>1 1 1 1</ambient>
-          <diffuse>1 1 1 1</diffuse>
-          <specular>0 0 0 1</specular>
-          <emissive>1 1 1 0</emissive>
-          <shader type='vertex'>
-            <normal_map>__default__</normal_map>
-          </shader>
-        </material>
-        <pose frame=''>0 0 0 0 -0 0</pose>
-        <cast_shadows>1</cast_shadows>
-        <transparency>0</transparency>
-      </visual>
-      <collision name='collision'>
-        <laser_retro>0</laser_retro>
-        <max_contacts>10</max_contacts>
-        <pose frame=''>0 0 0 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.05 0.05 1e-05</size>
-          </box>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>1</mu2>
-              <fdir1>0 0 0</fdir1>
-              <slip1>0</slip1>
-              <slip2>0</slip2>
-            </ode>
-            <torsional>
-              <coefficient>1</coefficient>
-              <patch_radius>0</patch_radius>
-              <surface_radius>0</surface_radius>
-              <use_patch_radius>1</use_patch_radius>
-              <ode>
-                <slip>0</slip>
-              </ode>
-            </torsional>
-          </friction>
-          <bounce>
-            <restitution_coefficient>0</restitution_coefficient>
-            <threshold>1e+06</threshold>
-          </bounce>
-          <contact>
-            <collide_without_contact>0</collide_without_contact>
-            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
-            <collide_bitmask>1</collide_bitmask>
-            <ode>
-              <soft_cfm>0</soft_cfm>
-              <soft_erp>0.2</soft_erp>
-              <kp>1e+13</kp>
-              <kd>1</kd>
-              <max_vel>0.01</max_vel>
-              <min_depth>0</min_depth>
-            </ode>
-            <bullet>
-              <split_impulse>1</split_impulse>
-              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
-              <soft_cfm>0</soft_cfm>
-              <soft_erp>0.2</soft_erp>
-              <kp>1e+13</kp>
-              <kd>1</kd>
-            </bullet>
-          </contact>
-        </surface>
-      </collision>
-    </link>
-
-    <joint name='marker_JOINT_marker_pad_large' type='revolute'>
-      <parent>aruco_visual_marker_2::marker</parent>
-      <child>marker_pad_large</child>
-      <axis>
-        <xyz>0 0 1</xyz>
-        <limit>
-          <upper>0</upper>
-          <lower>0</lower>
-        </limit>
-      </axis>
-    </joint>
-
-    <joint name='pad_large_JOINT_marker_num' type='revolute'>
-      <parent>marker_pad_large</parent>
-      <child>marker_num</child>
-      <axis>
-        <xyz>0 0 1</xyz>
-        <limit>
-          <upper>0</upper>
-          <lower>0</lower>
-        </limit>
-      </axis>
-    </joint>
-
-    <static>1</static>
-    <allow_auto_disable>1</allow_auto_disable>
-
-  </model>
-</sdf>
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_3/materials/scripts/aruco_visual_marker_3_marker.material b/urc_gazebo/urdf/models/aruco_visual_marker_3/materials/scripts/aruco_visual_marker_3_marker.material
deleted file mode 100644
index 24dd3d36..00000000
--- a/urc_gazebo/urdf/models/aruco_visual_marker_3/materials/scripts/aruco_visual_marker_3_marker.material
+++ /dev/null
@@ -1,13 +0,0 @@
-material ArucoVisualMarker3/Marker
-{
-	technique
-	{
-		pass
-		{
-			texture_unit
-			{
-				texture aruco_mark_3.png
-			}
-		}
-	}
-}
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_3/materials/textures/aruco_mark_3(old).png b/urc_gazebo/urdf/models/aruco_visual_marker_3/materials/textures/aruco_mark_3(old).png
deleted file mode 100644
index 703fb1d5..00000000
Binary files a/urc_gazebo/urdf/models/aruco_visual_marker_3/materials/textures/aruco_mark_3(old).png and /dev/null differ
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_3/materials/textures/aruco_mark_3.png b/urc_gazebo/urdf/models/aruco_visual_marker_3/materials/textures/aruco_mark_3.png
deleted file mode 100644
index 35c4849f..00000000
Binary files a/urc_gazebo/urdf/models/aruco_visual_marker_3/materials/textures/aruco_mark_3.png and /dev/null differ
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_3/model.config b/urc_gazebo/urdf/models/aruco_visual_marker_3/model.config
deleted file mode 100644
index e0b11875..00000000
--- a/urc_gazebo/urdf/models/aruco_visual_marker_3/model.config
+++ /dev/null
@@ -1,11 +0,0 @@
-<?xml version="1.0" ?>
-<model>
-    <name>aruco_visual_marker_3</name>
-    <version>1.0</version>
-    <sdf version="1.6">model.sdf</sdf>
-    <author>
-        <name></name>
-        <email></email>
-    </author>
-    <description></description>
-</model>
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_3/model.sdf b/urc_gazebo/urdf/models/aruco_visual_marker_3/model.sdf
deleted file mode 100644
index 2efd4b63..00000000
--- a/urc_gazebo/urdf/models/aruco_visual_marker_3/model.sdf
+++ /dev/null
@@ -1,97 +0,0 @@
-<?xml version='1.0'?>
-<sdf version='1.5'>
-  <model name='aruco_visual_marker_3'>
-
-    <link name='marker'>
-      <pose frame=''>0 0 0 0 0 0</pose>
-      <visual name='visual'>
-        <geometry>
-          <box>
-            <size>0.2 0.2 1e-5</size>
-          </box>
-        </geometry>
-        <material>
-          <script>
-            <uri>model://aruco_visual_marker_3/materials/scripts</uri>
-            <uri>model://aruco_visual_marker_3/materials/textures</uri>
-            <name>ArucoVisualMarker3/Marker</name>
-          </script>
-          <ambient>1 1 1 1</ambient>
-          <diffuse>1 1 1 1</diffuse>
-          <specular>0 0 0 1</specular>
-          <emissive>1 1 1 0</emissive>
-          <shader type='vertex'>
-            <normal_map>__default__</normal_map>
-          </shader>
-        </material>
-        <pose frame=''>0 0 0 0 -0 0</pose>
-        <cast_shadows>1</cast_shadows>
-        <transparency>0</transparency>
-      </visual>
-      <collision name='collision'>
-        <laser_retro>0</laser_retro>
-        <max_contacts>10</max_contacts>
-        <pose frame=''>0 0 0 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.2 0.2 1e-5</size>
-          </box>
-        </geometry>
-      </collision>
-    </link>
-
-    <link name='marker_pad'>
-      <pose frame='marker'>0 0 -1e-5 0 -0 0</pose>
-      <visual name='visual'>
-        <geometry>
-          <box>
-            <size>0.2 0.2 1e-5</size>
-          </box>
-        </geometry>
-        <material>
-          <lighting>1</lighting>
-          <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/White</name>
-          </script>
-          <ambient>0.3 0.3 0.3 1</ambient>
-          <diffuse>0.7 0.7 0.7 1</diffuse>
-          <specular>0.01 0.01 0.01 1</specular>
-          <emissive>1 1 1 0</emissive>
-          <shader type='vertex'>
-            <normal_map>__default__</normal_map>
-          </shader>
-        </material>
-        <cast_shadows>1</cast_shadows>
-        <transparency>0</transparency>
-      </visual>
-      <collision name='collision'>
-        <laser_retro>0</laser_retro>
-        <max_contacts>10</max_contacts>
-        <pose frame=''>0 0 0 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.2 0.2 1e-5</size>
-          </box>
-        </geometry>
-      </collision>
-    </link>
-
-    <joint name='marker_JOINT_marker_pad' type='revolute'>
-      <parent>marker</parent>
-      <child>marker_pad</child>
-      <pose frame=''>0 0 0 0 -0 0</pose>
-      <axis>
-        <xyz>0 0 1</xyz>
-        <limit>
-          <upper>0</upper>
-          <lower>0</lower>
-        </limit>
-      </axis>
-    </joint>
-
-    <static>1</static>
-    <allow_auto_disable>1</allow_auto_disable>
-
-  </model>
-</sdf>
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_3_pad/materials/scripts/aruco_visual_marker_3_marker.material b/urc_gazebo/urdf/models/aruco_visual_marker_3_pad/materials/scripts/aruco_visual_marker_3_marker.material
deleted file mode 100644
index 24dd3d36..00000000
--- a/urc_gazebo/urdf/models/aruco_visual_marker_3_pad/materials/scripts/aruco_visual_marker_3_marker.material
+++ /dev/null
@@ -1,13 +0,0 @@
-material ArucoVisualMarker3/Marker
-{
-	technique
-	{
-		pass
-		{
-			texture_unit
-			{
-				texture aruco_mark_3.png
-			}
-		}
-	}
-}
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_3_pad/materials/scripts/aruco_visual_marker_3_num.material b/urc_gazebo/urdf/models/aruco_visual_marker_3_pad/materials/scripts/aruco_visual_marker_3_num.material
deleted file mode 100644
index c2cfa02a..00000000
--- a/urc_gazebo/urdf/models/aruco_visual_marker_3_pad/materials/scripts/aruco_visual_marker_3_num.material
+++ /dev/null
@@ -1,13 +0,0 @@
-material ArucoVisualMarker3/Num
-{
-	technique
-	{
-		pass
-		{
-			texture_unit
-			{
-				texture aruco_mark_3_num.png
-			}
-		}
-	}
-}
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_3_pad/materials/textures/aruco_mark_3(old).png b/urc_gazebo/urdf/models/aruco_visual_marker_3_pad/materials/textures/aruco_mark_3(old).png
deleted file mode 100644
index 703fb1d5..00000000
Binary files a/urc_gazebo/urdf/models/aruco_visual_marker_3_pad/materials/textures/aruco_mark_3(old).png and /dev/null differ
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_3_pad/materials/textures/aruco_mark_3.png b/urc_gazebo/urdf/models/aruco_visual_marker_3_pad/materials/textures/aruco_mark_3.png
deleted file mode 100644
index 35c4849f..00000000
Binary files a/urc_gazebo/urdf/models/aruco_visual_marker_3_pad/materials/textures/aruco_mark_3.png and /dev/null differ
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deleted file mode 100644
index 5e79f6ba..00000000
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diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_3_pad/model.config b/urc_gazebo/urdf/models/aruco_visual_marker_3_pad/model.config
deleted file mode 100644
index f85a47a4..00000000
--- a/urc_gazebo/urdf/models/aruco_visual_marker_3_pad/model.config
+++ /dev/null
@@ -1,11 +0,0 @@
-<?xml version="1.0" ?>
-<model>
-    <name>aruco_visual_marker_3_pad</name>
-    <version>1.0</version>
-    <sdf version="1.6">model.sdf</sdf>
-    <author>
-        <name></name>
-        <email></email>
-    </author>
-    <description></description>
-</model>
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_3_pad/model.sdf b/urc_gazebo/urdf/models/aruco_visual_marker_3_pad/model.sdf
deleted file mode 100644
index dcff33d4..00000000
--- a/urc_gazebo/urdf/models/aruco_visual_marker_3_pad/model.sdf
+++ /dev/null
@@ -1,204 +0,0 @@
-<?xml version='1.0'?>
-<sdf version='1.5'>
-  <model name='aruco_visual_marker_3_pad'>
-
-    <include>
-      <uri>model://aruco_visual_marker_3</uri>
-    </include>
-
-
-    <link name='marker_pad_large'>
-      <pose frame='aruco_visual_marker_3::marker'>-0.035 0 -1e-5 0 0 0</pose>
-      <visual name='visual'>
-        <geometry>
-          <box>
-            <size>0.297 0.210 1e-5</size>
-          </box>
-        </geometry>
-        <material>
-          <lighting>1</lighting>
-          <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/White</name>
-          </script>
-          <ambient>0.3 0.3 0.3 1</ambient>
-          <diffuse>0.7 0.7 0.7 1</diffuse>
-          <specular>0.01 0.01 0.01 1</specular>
-          <emissive>1 1 1 0</emissive>
-          <shader type='vertex'>
-            <normal_map>__default__</normal_map>
-          </shader>
-        </material>
-        <cast_shadows>1</cast_shadows>
-        <transparency>0</transparency>
-      </visual>
-      <collision name='collision'>
-        <laser_retro>0</laser_retro>
-        <max_contacts>10</max_contacts>
-        <pose frame=''>0 0 0 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.297 0.210 1e-5</size>
-          </box>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>1</mu2>
-              <fdir1>0 0 0</fdir1>
-              <slip1>0</slip1>
-              <slip2>0</slip2>
-            </ode>
-            <torsional>
-              <coefficient>1</coefficient>
-              <patch_radius>0</patch_radius>
-              <surface_radius>0</surface_radius>
-              <use_patch_radius>1</use_patch_radius>
-              <ode>
-                <slip>0</slip>
-              </ode>
-            </torsional>
-          </friction>
-          <bounce>
-            <restitution_coefficient>0</restitution_coefficient>
-            <threshold>1e+06</threshold>
-          </bounce>
-          <contact>
-            <collide_without_contact>0</collide_without_contact>
-            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
-            <collide_bitmask>1</collide_bitmask>
-            <ode>
-              <soft_cfm>0</soft_cfm>
-              <soft_erp>0.2</soft_erp>
-              <kp>1e+13</kp>
-              <kd>1</kd>
-              <max_vel>0.01</max_vel>
-              <min_depth>0</min_depth>
-            </ode>
-            <bullet>
-              <split_impulse>1</split_impulse>
-              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
-              <soft_cfm>0</soft_cfm>
-              <soft_erp>0.2</soft_erp>
-              <kp>1e+13</kp>
-              <kd>1</kd>
-            </bullet>
-          </contact>
-        </surface>
-      </collision>
-    </link>
-
-
-    <link name='marker_num'>
-      <pose frame='marker_pad_large'>-0.14 0.0 1e-5 0 -0 0</pose>
-      <visual name='visual'>
-        <geometry>
-          <box>
-            <size>0.05 0.05 1e-05</size>
-          </box>
-        </geometry>
-        <material>
-          <script>
-            <uri>model://aruco_visual_marker_3_pad/materials/scripts</uri>
-            <uri>model://aruco_visual_marker_3_pad/materials/textures</uri>
-            <name>ArucoVisualMarker3/Num</name>
-          </script>
-          <ambient>1 1 1 1</ambient>
-          <diffuse>1 1 1 1</diffuse>
-          <specular>0 0 0 1</specular>
-          <emissive>1 1 1 0</emissive>
-          <shader type='vertex'>
-            <normal_map>__default__</normal_map>
-          </shader>
-        </material>
-        <pose frame=''>0 0 0 0 -0 0</pose>
-        <cast_shadows>1</cast_shadows>
-        <transparency>0</transparency>
-      </visual>
-      <collision name='collision'>
-        <laser_retro>0</laser_retro>
-        <max_contacts>10</max_contacts>
-        <pose frame=''>0 0 0 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.05 0.05 1e-05</size>
-          </box>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>1</mu2>
-              <fdir1>0 0 0</fdir1>
-              <slip1>0</slip1>
-              <slip2>0</slip2>
-            </ode>
-            <torsional>
-              <coefficient>1</coefficient>
-              <patch_radius>0</patch_radius>
-              <surface_radius>0</surface_radius>
-              <use_patch_radius>1</use_patch_radius>
-              <ode>
-                <slip>0</slip>
-              </ode>
-            </torsional>
-          </friction>
-          <bounce>
-            <restitution_coefficient>0</restitution_coefficient>
-            <threshold>1e+06</threshold>
-          </bounce>
-          <contact>
-            <collide_without_contact>0</collide_without_contact>
-            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
-            <collide_bitmask>1</collide_bitmask>
-            <ode>
-              <soft_cfm>0</soft_cfm>
-              <soft_erp>0.2</soft_erp>
-              <kp>1e+13</kp>
-              <kd>1</kd>
-              <max_vel>0.01</max_vel>
-              <min_depth>0</min_depth>
-            </ode>
-            <bullet>
-              <split_impulse>1</split_impulse>
-              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
-              <soft_cfm>0</soft_cfm>
-              <soft_erp>0.2</soft_erp>
-              <kp>1e+13</kp>
-              <kd>1</kd>
-            </bullet>
-          </contact>
-        </surface>
-      </collision>
-    </link>
-
-    <joint name='marker_JOINT_marker_pad_large' type='revolute'>
-      <parent>aruco_visual_marker_3::marker</parent>
-      <child>marker_pad_large</child>
-      <axis>
-        <xyz>0 0 1</xyz>
-        <limit>
-          <upper>0</upper>
-          <lower>0</lower>
-        </limit>
-      </axis>
-    </joint>
-
-    <joint name='pad_large_JOINT_marker_num' type='revolute'>
-      <parent>marker_pad_large</parent>
-      <child>marker_num</child>
-      <axis>
-        <xyz>0 0 1</xyz>
-        <limit>
-          <upper>0</upper>
-          <lower>0</lower>
-        </limit>
-      </axis>
-    </joint>
-
-    <static>1</static>
-    <allow_auto_disable>1</allow_auto_disable>
-
-  </model>
-</sdf>
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_4/materials/scripts/aruco_visual_marker_4_marker.material b/urc_gazebo/urdf/models/aruco_visual_marker_4/materials/scripts/aruco_visual_marker_4_marker.material
deleted file mode 100644
index b085e1e7..00000000
--- a/urc_gazebo/urdf/models/aruco_visual_marker_4/materials/scripts/aruco_visual_marker_4_marker.material
+++ /dev/null
@@ -1,13 +0,0 @@
-material ArucoVisualMarker4/Marker
-{
-	technique
-	{
-		pass
-		{
-			texture_unit
-			{
-				texture aruco_mark_4.png
-			}
-		}
-	}
-}
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_4/materials/textures/aruco_mark_4(old).png b/urc_gazebo/urdf/models/aruco_visual_marker_4/materials/textures/aruco_mark_4(old).png
deleted file mode 100644
index 193561a4..00000000
Binary files a/urc_gazebo/urdf/models/aruco_visual_marker_4/materials/textures/aruco_mark_4(old).png and /dev/null differ
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_4/materials/textures/aruco_mark_4.png b/urc_gazebo/urdf/models/aruco_visual_marker_4/materials/textures/aruco_mark_4.png
deleted file mode 100644
index c8fbaa64..00000000
Binary files a/urc_gazebo/urdf/models/aruco_visual_marker_4/materials/textures/aruco_mark_4.png and /dev/null differ
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_4/model.config b/urc_gazebo/urdf/models/aruco_visual_marker_4/model.config
deleted file mode 100644
index 2c46c189..00000000
--- a/urc_gazebo/urdf/models/aruco_visual_marker_4/model.config
+++ /dev/null
@@ -1,11 +0,0 @@
-<?xml version="1.0" ?>
-<model>
-    <name>aruco_visual_marker_4</name>
-    <version>1.0</version>
-    <sdf version="1.6">model.sdf</sdf>
-    <author>
-        <name></name>
-        <email></email>
-    </author>
-    <description></description>
-</model>
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_4/model.sdf b/urc_gazebo/urdf/models/aruco_visual_marker_4/model.sdf
deleted file mode 100644
index 03e86652..00000000
--- a/urc_gazebo/urdf/models/aruco_visual_marker_4/model.sdf
+++ /dev/null
@@ -1,97 +0,0 @@
-<?xml version='1.0'?>
-<sdf version='1.5'>
-  <model name='aruco_visual_marker_4'>
-
-    <link name='marker'>
-      <pose frame=''>0 0 0 0 0 0</pose>
-      <visual name='visual'>
-        <geometry>
-          <box>
-            <size>0.2 0.2 1e-5</size>
-          </box>
-        </geometry>
-        <material>
-          <script>
-            <uri>model://aruco_visual_marker_4/materials/scripts</uri>
-            <uri>model://aruco_visual_marker_4/materials/textures</uri>
-            <name>ArucoVisualMarker4/Marker</name>
-          </script>
-          <ambient>1 1 1 1</ambient>
-          <diffuse>1 1 1 1</diffuse>
-          <specular>0 0 0 1</specular>
-          <emissive>1 1 1 0</emissive>
-          <shader type='vertex'>
-            <normal_map>__default__</normal_map>
-          </shader>
-        </material>
-        <pose frame=''>0 0 0 0 -0 0</pose>
-        <cast_shadows>1</cast_shadows>
-        <transparency>0</transparency>
-      </visual>
-      <collision name='collision'>
-        <laser_retro>0</laser_retro>
-        <max_contacts>10</max_contacts>
-        <pose frame=''>0 0 0 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.2 0.2 1e-5</size>
-          </box>
-        </geometry>
-      </collision>
-    </link>
-
-    <link name='marker_pad'>
-      <pose frame='marker'>0 0 -1e-5 0 -0 0</pose>
-      <visual name='visual'>
-        <geometry>
-          <box>
-            <size>0.2 0.2 1e-5</size>
-          </box>
-        </geometry>
-        <material>
-          <lighting>1</lighting>
-          <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/White</name>
-          </script>
-          <ambient>0.3 0.3 0.3 1</ambient>
-          <diffuse>0.7 0.7 0.7 1</diffuse>
-          <specular>0.01 0.01 0.01 1</specular>
-          <emissive>1 1 1 0</emissive>
-          <shader type='vertex'>
-            <normal_map>__default__</normal_map>
-          </shader>
-        </material>
-        <cast_shadows>1</cast_shadows>
-        <transparency>0</transparency>
-      </visual>
-      <collision name='collision'>
-        <laser_retro>0</laser_retro>
-        <max_contacts>10</max_contacts>
-        <pose frame=''>0 0 0 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.2 0.2 1e-5</size>
-          </box>
-        </geometry>
-      </collision>
-    </link>
-
-    <joint name='marker_JOINT_marker_pad' type='revolute'>
-      <parent>marker</parent>
-      <child>marker_pad</child>
-      <pose frame=''>0 0 0 0 -0 0</pose>
-      <axis>
-        <xyz>0 0 1</xyz>
-        <limit>
-          <upper>0</upper>
-          <lower>0</lower>
-        </limit>
-      </axis>
-    </joint>
-
-    <static>1</static>
-    <allow_auto_disable>1</allow_auto_disable>
-
-  </model>
-</sdf>
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_4_pad/materials/scripts/aruco_visual_marker_4_marker.material b/urc_gazebo/urdf/models/aruco_visual_marker_4_pad/materials/scripts/aruco_visual_marker_4_marker.material
deleted file mode 100644
index b085e1e7..00000000
--- a/urc_gazebo/urdf/models/aruco_visual_marker_4_pad/materials/scripts/aruco_visual_marker_4_marker.material
+++ /dev/null
@@ -1,13 +0,0 @@
-material ArucoVisualMarker4/Marker
-{
-	technique
-	{
-		pass
-		{
-			texture_unit
-			{
-				texture aruco_mark_4.png
-			}
-		}
-	}
-}
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_4_pad/materials/scripts/aruco_visual_marker_4_num.material b/urc_gazebo/urdf/models/aruco_visual_marker_4_pad/materials/scripts/aruco_visual_marker_4_num.material
deleted file mode 100644
index 04ede828..00000000
--- a/urc_gazebo/urdf/models/aruco_visual_marker_4_pad/materials/scripts/aruco_visual_marker_4_num.material
+++ /dev/null
@@ -1,13 +0,0 @@
-material ArucoVisualMarker4/Num
-{
-	technique
-	{
-		pass
-		{
-			texture_unit
-			{
-				texture aruco_mark_4_num.png
-			}
-		}
-	}
-}
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deleted file mode 100644
index 193561a4..00000000
Binary files a/urc_gazebo/urdf/models/aruco_visual_marker_4_pad/materials/textures/aruco_mark_4(old).png and /dev/null differ
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_4_pad/materials/textures/aruco_mark_4.png b/urc_gazebo/urdf/models/aruco_visual_marker_4_pad/materials/textures/aruco_mark_4.png
deleted file mode 100644
index c8fbaa64..00000000
Binary files a/urc_gazebo/urdf/models/aruco_visual_marker_4_pad/materials/textures/aruco_mark_4.png and /dev/null differ
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_4_pad/materials/textures/aruco_mark_4_num.png b/urc_gazebo/urdf/models/aruco_visual_marker_4_pad/materials/textures/aruco_mark_4_num.png
deleted file mode 100644
index 431d29a1..00000000
Binary files a/urc_gazebo/urdf/models/aruco_visual_marker_4_pad/materials/textures/aruco_mark_4_num.png and /dev/null differ
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_4_pad/materials/textures/aruco_mark_4_num.svg b/urc_gazebo/urdf/models/aruco_visual_marker_4_pad/materials/textures/aruco_mark_4_num.svg
deleted file mode 100644
index 10e17908..00000000
--- a/urc_gazebo/urdf/models/aruco_visual_marker_4_pad/materials/textures/aruco_mark_4_num.svg
+++ /dev/null
@@ -1,73 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?>
-<!-- Created with Inkscape (http://www.inkscape.org/) -->
-
-<svg
-   xmlns:dc="http://purl.org/dc/elements/1.1/"
-   xmlns:cc="http://creativecommons.org/ns#"
-   xmlns:rdf="http://www.w3.org/1999/02/22-rdf-syntax-ns#"
-   xmlns:svg="http://www.w3.org/2000/svg"
-   xmlns="http://www.w3.org/2000/svg"
-   xmlns:sodipodi="http://sodipodi.sourceforge.net/DTD/sodipodi-0.dtd"
-   xmlns:inkscape="http://www.inkscape.org/namespaces/inkscape"
-   width="19.931944mm"
-   height="8.5383244mm"
-   viewBox="0 0 70.624998 30.253905"
-   id="svg2"
-   version="1.1"
-   inkscape:version="0.91 r"
-   sodipodi:docname="aruco_mark_4_num.svg">
-  <defs
-     id="defs4" />
-  <sodipodi:namedview
-     id="base"
-     pagecolor="#ffffff"
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diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_4_pad/model.config b/urc_gazebo/urdf/models/aruco_visual_marker_4_pad/model.config
deleted file mode 100644
index 822cf948..00000000
--- a/urc_gazebo/urdf/models/aruco_visual_marker_4_pad/model.config
+++ /dev/null
@@ -1,11 +0,0 @@
-<?xml version="1.0" ?>
-<model>
-    <name>aruco_visual_marker_4_pad</name>
-    <version>1.0</version>
-    <sdf version="1.6">model.sdf</sdf>
-    <author>
-        <name></name>
-        <email></email>
-    </author>
-    <description></description>
-</model>
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_4_pad/model.sdf b/urc_gazebo/urdf/models/aruco_visual_marker_4_pad/model.sdf
deleted file mode 100644
index 1b5aebaa..00000000
--- a/urc_gazebo/urdf/models/aruco_visual_marker_4_pad/model.sdf
+++ /dev/null
@@ -1,204 +0,0 @@
-<?xml version='1.0'?>
-<sdf version='1.5'>
-  <model name='aruco_visual_marker_4_pad'>
-
-    <include>
-      <uri>model://aruco_visual_marker_4</uri>
-    </include>
-
-
-    <link name='marker_pad_large'>
-      <pose frame='aruco_visual_marker_4::marker'>-0.035 0 -1e-5 0 0 0</pose>
-      <visual name='visual'>
-        <geometry>
-          <box>
-            <size>0.297 0.210 1e-5</size>
-          </box>
-        </geometry>
-        <material>
-          <lighting>1</lighting>
-          <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/White</name>
-          </script>
-          <ambient>0.3 0.3 0.3 1</ambient>
-          <diffuse>0.7 0.7 0.7 1</diffuse>
-          <specular>0.01 0.01 0.01 1</specular>
-          <emissive>1 1 1 0</emissive>
-          <shader type='vertex'>
-            <normal_map>__default__</normal_map>
-          </shader>
-        </material>
-        <cast_shadows>1</cast_shadows>
-        <transparency>0</transparency>
-      </visual>
-      <collision name='collision'>
-        <laser_retro>0</laser_retro>
-        <max_contacts>10</max_contacts>
-        <pose frame=''>0 0 0 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.297 0.210 1e-5</size>
-          </box>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>1</mu2>
-              <fdir1>0 0 0</fdir1>
-              <slip1>0</slip1>
-              <slip2>0</slip2>
-            </ode>
-            <torsional>
-              <coefficient>1</coefficient>
-              <patch_radius>0</patch_radius>
-              <surface_radius>0</surface_radius>
-              <use_patch_radius>1</use_patch_radius>
-              <ode>
-                <slip>0</slip>
-              </ode>
-            </torsional>
-          </friction>
-          <bounce>
-            <restitution_coefficient>0</restitution_coefficient>
-            <threshold>1e+06</threshold>
-          </bounce>
-          <contact>
-            <collide_without_contact>0</collide_without_contact>
-            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
-            <collide_bitmask>1</collide_bitmask>
-            <ode>
-              <soft_cfm>0</soft_cfm>
-              <soft_erp>0.2</soft_erp>
-              <kp>1e+13</kp>
-              <kd>1</kd>
-              <max_vel>0.01</max_vel>
-              <min_depth>0</min_depth>
-            </ode>
-            <bullet>
-              <split_impulse>1</split_impulse>
-              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
-              <soft_cfm>0</soft_cfm>
-              <soft_erp>0.2</soft_erp>
-              <kp>1e+13</kp>
-              <kd>1</kd>
-            </bullet>
-          </contact>
-        </surface>
-      </collision>
-    </link>
-
-
-    <link name='marker_num'>
-      <pose frame='marker_pad_large'>-0.14 0.0 1e-5 0 -0 0</pose>
-      <visual name='visual'>
-        <geometry>
-          <box>
-            <size>0.05 0.05 1e-05</size>
-          </box>
-        </geometry>
-        <material>
-          <script>
-            <uri>model://aruco_visual_marker_4_pad/materials/scripts</uri>
-            <uri>model://aruco_visual_marker_4_pad/materials/textures</uri>
-            <name>ArucoVisualMarker4/Num</name>
-          </script>
-          <ambient>1 1 1 1</ambient>
-          <diffuse>1 1 1 1</diffuse>
-          <specular>0 0 0 1</specular>
-          <emissive>1 1 1 0</emissive>
-          <shader type='vertex'>
-            <normal_map>__default__</normal_map>
-          </shader>
-        </material>
-        <pose frame=''>0 0 0 0 -0 0</pose>
-        <cast_shadows>1</cast_shadows>
-        <transparency>0</transparency>
-      </visual>
-      <collision name='collision'>
-        <laser_retro>0</laser_retro>
-        <max_contacts>10</max_contacts>
-        <pose frame=''>0 0 0 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.05 0.05 1e-05</size>
-          </box>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>1</mu>
-              <mu2>1</mu2>
-              <fdir1>0 0 0</fdir1>
-              <slip1>0</slip1>
-              <slip2>0</slip2>
-            </ode>
-            <torsional>
-              <coefficient>1</coefficient>
-              <patch_radius>0</patch_radius>
-              <surface_radius>0</surface_radius>
-              <use_patch_radius>1</use_patch_radius>
-              <ode>
-                <slip>0</slip>
-              </ode>
-            </torsional>
-          </friction>
-          <bounce>
-            <restitution_coefficient>0</restitution_coefficient>
-            <threshold>1e+06</threshold>
-          </bounce>
-          <contact>
-            <collide_without_contact>0</collide_without_contact>
-            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
-            <collide_bitmask>1</collide_bitmask>
-            <ode>
-              <soft_cfm>0</soft_cfm>
-              <soft_erp>0.2</soft_erp>
-              <kp>1e+13</kp>
-              <kd>1</kd>
-              <max_vel>0.01</max_vel>
-              <min_depth>0</min_depth>
-            </ode>
-            <bullet>
-              <split_impulse>1</split_impulse>
-              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
-              <soft_cfm>0</soft_cfm>
-              <soft_erp>0.2</soft_erp>
-              <kp>1e+13</kp>
-              <kd>1</kd>
-            </bullet>
-          </contact>
-        </surface>
-      </collision>
-    </link>
-
-    <joint name='marker_JOINT_marker_pad_large' type='revolute'>
-      <parent>aruco_visual_marker_4::marker</parent>
-      <child>marker_pad_large</child>
-      <axis>
-        <xyz>0 0 1</xyz>
-        <limit>
-          <upper>0</upper>
-          <lower>0</lower>
-        </limit>
-      </axis>
-    </joint>
-
-    <joint name='pad_large_JOINT_marker_num' type='revolute'>
-      <parent>marker_pad_large</parent>
-      <child>marker_num</child>
-      <axis>
-        <xyz>0 0 1</xyz>
-        <limit>
-          <upper>0</upper>
-          <lower>0</lower>
-        </limit>
-      </axis>
-    </joint>
-
-    <static>1</static>
-    <allow_auto_disable>1</allow_auto_disable>
-
-  </model>
-</sdf>
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_5/materials/scripts/aruco_visual_marker_5_marker.material b/urc_gazebo/urdf/models/aruco_visual_marker_5/materials/scripts/aruco_visual_marker_5_marker.material
deleted file mode 100644
index fe01f31d..00000000
--- a/urc_gazebo/urdf/models/aruco_visual_marker_5/materials/scripts/aruco_visual_marker_5_marker.material
+++ /dev/null
@@ -1,13 +0,0 @@
-material ArucoVisualMarker5/Marker
-{
-	technique
-	{
-		pass
-		{
-			texture_unit
-			{
-				texture aruco_mark_5.png
-			}
-		}
-	}
-}
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_5/materials/textures/aruco_mark_5(old).png b/urc_gazebo/urdf/models/aruco_visual_marker_5/materials/textures/aruco_mark_5(old).png
deleted file mode 100644
index aaac95fb..00000000
Binary files a/urc_gazebo/urdf/models/aruco_visual_marker_5/materials/textures/aruco_mark_5(old).png and /dev/null differ
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_5/materials/textures/aruco_mark_5.png b/urc_gazebo/urdf/models/aruco_visual_marker_5/materials/textures/aruco_mark_5.png
deleted file mode 100644
index 4bd81ecc..00000000
Binary files a/urc_gazebo/urdf/models/aruco_visual_marker_5/materials/textures/aruco_mark_5.png and /dev/null differ
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_5/model.config b/urc_gazebo/urdf/models/aruco_visual_marker_5/model.config
deleted file mode 100644
index d4ce4f4d..00000000
--- a/urc_gazebo/urdf/models/aruco_visual_marker_5/model.config
+++ /dev/null
@@ -1,11 +0,0 @@
-<?xml version="1.0" ?>
-<model>
-    <name>aruco_visual_marker_5</name>
-    <version>1.0</version>
-    <sdf version="1.6">model.sdf</sdf>
-    <author>
-        <name></name>
-        <email></email>
-    </author>
-    <description></description>
-</model>
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_5/model.sdf b/urc_gazebo/urdf/models/aruco_visual_marker_5/model.sdf
deleted file mode 100644
index db5ec8eb..00000000
--- a/urc_gazebo/urdf/models/aruco_visual_marker_5/model.sdf
+++ /dev/null
@@ -1,97 +0,0 @@
-<?xml version='1.0'?>
-<sdf version='1.5'>
-  <model name='aruco_visual_marker_5'>
-
-    <link name='marker'>
-      <pose frame=''>0 0 0 0 0 0</pose>
-      <visual name='visual'>
-        <geometry>
-          <box>
-            <size>0.2 0.2 1e-5</size>
-          </box>
-        </geometry>
-        <material>
-          <script>
-            <uri>model://aruco_visual_marker_5/materials/scripts</uri>
-            <uri>model://aruco_visual_marker_5/materials/textures</uri>
-            <name>ArucoVisualMarker5/Marker</name>
-          </script>
-          <ambient>1 1 1 1</ambient>
-          <diffuse>1 1 1 1</diffuse>
-          <specular>0 0 0 1</specular>
-          <emissive>1 1 1 0</emissive>
-          <shader type='vertex'>
-            <normal_map>__default__</normal_map>
-          </shader>
-        </material>
-        <pose frame=''>0 0 0 0 -0 0</pose>
-        <cast_shadows>1</cast_shadows>
-        <transparency>0</transparency>
-      </visual>
-      <collision name='collision'>
-        <laser_retro>0</laser_retro>
-        <max_contacts>10</max_contacts>
-        <pose frame=''>0 0 0 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.2 0.2 1e-5</size>
-          </box>
-        </geometry>
-      </collision>
-    </link>
-
-    <link name='marker_pad'>
-      <pose frame='marker'>0 0 -1e-5 0 -0 0</pose>
-      <visual name='visual'>
-        <geometry>
-          <box>
-            <size>0.2 0.2 1e-5</size>
-          </box>
-        </geometry>
-        <material>
-          <lighting>1</lighting>
-          <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/White</name>
-          </script>
-          <ambient>0.3 0.3 0.3 1</ambient>
-          <diffuse>0.7 0.7 0.7 1</diffuse>
-          <specular>0.01 0.01 0.01 1</specular>
-          <emissive>1 1 1 0</emissive>
-          <shader type='vertex'>
-            <normal_map>__default__</normal_map>
-          </shader>
-        </material>
-        <cast_shadows>1</cast_shadows>
-        <transparency>0</transparency>
-      </visual>
-      <collision name='collision'>
-        <laser_retro>0</laser_retro>
-        <max_contacts>10</max_contacts>
-        <pose frame=''>0 0 0 0 -0 0</pose>
-        <geometry>
-          <box>
-            <size>0.2 0.2 1e-5</size>
-          </box>
-        </geometry>
-      </collision>
-    </link>
-
-    <joint name='marker_JOINT_marker_pad' type='revolute'>
-      <parent>marker</parent>
-      <child>marker_pad</child>
-      <pose frame=''>0 0 0 0 -0 0</pose>
-      <axis>
-        <xyz>0 0 1</xyz>
-        <limit>
-          <upper>0</upper>
-          <lower>0</lower>
-        </limit>
-      </axis>
-    </joint>
-
-    <static>1</static>
-    <allow_auto_disable>1</allow_auto_disable>
-
-  </model>
-</sdf>
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_5_pad/materials/scripts/aruco_visual_marker_5_marker.material b/urc_gazebo/urdf/models/aruco_visual_marker_5_pad/materials/scripts/aruco_visual_marker_5_marker.material
deleted file mode 100644
index fe01f31d..00000000
--- a/urc_gazebo/urdf/models/aruco_visual_marker_5_pad/materials/scripts/aruco_visual_marker_5_marker.material
+++ /dev/null
@@ -1,13 +0,0 @@
-material ArucoVisualMarker5/Marker
-{
-	technique
-	{
-		pass
-		{
-			texture_unit
-			{
-				texture aruco_mark_5.png
-			}
-		}
-	}
-}
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_5_pad/materials/scripts/aruco_visual_marker_5_num.material b/urc_gazebo/urdf/models/aruco_visual_marker_5_pad/materials/scripts/aruco_visual_marker_5_num.material
deleted file mode 100644
index 7bacfba3..00000000
--- a/urc_gazebo/urdf/models/aruco_visual_marker_5_pad/materials/scripts/aruco_visual_marker_5_num.material
+++ /dev/null
@@ -1,13 +0,0 @@
-material ArucoVisualMarker5/Num
-{
-	technique
-	{
-		pass
-		{
-			texture_unit
-			{
-				texture aruco_mark_5_num.png
-			}
-		}
-	}
-}
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deleted file mode 100644
index aaac95fb..00000000
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index 4bd81ecc..00000000
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diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_5_pad/materials/textures/aruco_mark_5_num.png b/urc_gazebo/urdf/models/aruco_visual_marker_5_pad/materials/textures/aruco_mark_5_num.png
deleted file mode 100644
index 437110b5..00000000
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deleted file mode 100644
index 02886412..00000000
--- a/urc_gazebo/urdf/models/aruco_visual_marker_5_pad/materials/textures/aruco_mark_5_num.svg
+++ /dev/null
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diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_5_pad/model.config b/urc_gazebo/urdf/models/aruco_visual_marker_5_pad/model.config
deleted file mode 100644
index 61b46906..00000000
--- a/urc_gazebo/urdf/models/aruco_visual_marker_5_pad/model.config
+++ /dev/null
@@ -1,11 +0,0 @@
-<?xml version="1.0" ?>
-<model>
-    <name>aruco_visual_marker_5_pad</name>
-    <version>1.0</version>
-    <sdf version="1.6">model.sdf</sdf>
-    <author>
-        <name></name>
-        <email></email>
-    </author>
-    <description></description>
-</model>
diff --git a/urc_gazebo/urdf/models/aruco_visual_marker_5_pad/model.sdf b/urc_gazebo/urdf/models/aruco_visual_marker_5_pad/model.sdf
deleted file mode 100644
index 53ba6d2f..00000000
--- a/urc_gazebo/urdf/models/aruco_visual_marker_5_pad/model.sdf
+++ /dev/null
@@ -1,204 +0,0 @@
-<?xml version='1.0'?>
-<sdf version='1.5'>
-  <model name='aruco_visual_marker_5_pad'>
-
-    <include>
-      <uri>model://aruco_visual_marker_5</uri>
-    </include>
-
-
-    <link name='marker_pad_large'>
-      <pose frame='aruco_visual_marker_5::marker'>-0.035 0 -1e-5 0 0 0</pose>
-      <visual name='visual'>
-        <geometry>
-          <box>
-            <size>0.297 0.210 1e-5</size>
-          </box>
-        </geometry>
-        <material>
-          <lighting>1</lighting>
-          <script>
-            <uri>file://media/materials/scripts/gazebo.material</uri>
-            <name>Gazebo/White</name>
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-          <diffuse>0.7 0.7 0.7 1</diffuse>
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-        </material>
-        <cast_shadows>1</cast_shadows>
-        <transparency>0</transparency>
-      </visual>
-      <collision name='collision'>
-        <laser_retro>0</laser_retro>
-        <max_contacts>10</max_contacts>
-        <pose frame=''>0 0 0 0 -0 0</pose>
-        <geometry>
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-          </box>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
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-              <mu2>1</mu2>
-              <fdir1>0 0 0</fdir1>
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-            <threshold>1e+06</threshold>
-          </bounce>
-          <contact>
-            <collide_without_contact>0</collide_without_contact>
-            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
-            <collide_bitmask>1</collide_bitmask>
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-              <soft_erp>0.2</soft_erp>
-              <kp>1e+13</kp>
-              <kd>1</kd>
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-            </ode>
-            <bullet>
-              <split_impulse>1</split_impulse>
-              <split_impulse_penetration_threshold>-0.01</split_impulse_penetration_threshold>
-              <soft_cfm>0</soft_cfm>
-              <soft_erp>0.2</soft_erp>
-              <kp>1e+13</kp>
-              <kd>1</kd>
-            </bullet>
-          </contact>
-        </surface>
-      </collision>
-    </link>
-
-
-    <link name='marker_num'>
-      <pose frame='marker_pad_large'>-0.14 0.0 1e-5 0 -0 0</pose>
-      <visual name='visual'>
-        <geometry>
-          <box>
-            <size>0.05 0.05 1e-05</size>
-          </box>
-        </geometry>
-        <material>
-          <script>
-            <uri>model://aruco_visual_marker_5_pad/materials/scripts</uri>
-            <uri>model://aruco_visual_marker_5_pad/materials/textures</uri>
-            <name>ArucoVisualMarker5/Num</name>
-          </script>
-          <ambient>1 1 1 1</ambient>
-          <diffuse>1 1 1 1</diffuse>
-          <specular>0 0 0 1</specular>
-          <emissive>1 1 1 0</emissive>
-          <shader type='vertex'>
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-        </material>
-        <pose frame=''>0 0 0 0 -0 0</pose>
-        <cast_shadows>1</cast_shadows>
-        <transparency>0</transparency>
-      </visual>
-      <collision name='collision'>
-        <laser_retro>0</laser_retro>
-        <max_contacts>10</max_contacts>
-        <pose frame=''>0 0 0 0 -0 0</pose>
-        <geometry>
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-        <surface>
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-              <mu2>1</mu2>
-              <fdir1>0 0 0</fdir1>
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-              <surface_radius>0</surface_radius>
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-            </torsional>
-          </friction>
-          <bounce>
-            <restitution_coefficient>0</restitution_coefficient>
-            <threshold>1e+06</threshold>
-          </bounce>
-          <contact>
-            <collide_without_contact>0</collide_without_contact>
-            <collide_without_contact_bitmask>1</collide_without_contact_bitmask>
-            <collide_bitmask>1</collide_bitmask>
-            <ode>
-              <soft_cfm>0</soft_cfm>
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-              <kp>1e+13</kp>
-              <kd>1</kd>
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-            <bullet>
-              <split_impulse>1</split_impulse>
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-              <kp>1e+13</kp>
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-        </surface>
-      </collision>
-    </link>
-
-    <joint name='marker_JOINT_marker_pad_large' type='revolute'>
-      <parent>aruco_visual_marker_5::marker</parent>
-      <child>marker_pad_large</child>
-      <axis>
-        <xyz>0 0 1</xyz>
-        <limit>
-          <upper>0</upper>
-          <lower>0</lower>
-        </limit>
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-
-    <joint name='pad_large_JOINT_marker_num' type='revolute'>
-      <parent>marker_pad_large</parent>
-      <child>marker_num</child>
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-        <limit>
-          <upper>0</upper>
-          <lower>0</lower>
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-
-    <static>1</static>
-    <allow_auto_disable>1</allow_auto_disable>
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-  </model>
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diff --git a/urc_gazebo/urdf/models/barrel/meshes/Barrel.png b/urc_gazebo/urdf/models/barrel/meshes/Barrel.png
deleted file mode 100644
index 417f16d6..00000000
Binary files a/urc_gazebo/urdf/models/barrel/meshes/Barrel.png and /dev/null differ
diff --git a/urc_gazebo/urdf/models/barrel/meshes/barrel.dae b/urc_gazebo/urdf/models/barrel/meshes/barrel.dae
deleted file mode 100644
index f29b5c4b..00000000
--- a/urc_gazebo/urdf/models/barrel/meshes/barrel.dae
+++ /dev/null
@@ -1,115 +0,0 @@
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-      <author>Blender User</author>
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-    <modified>2019-10-12T11:06:07</modified>
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-    <up_axis>Z_UP</up_axis>
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-        <newparam sid="Barrel-sampler">
-          <sampler2D>
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-  </library_effects>
-  <library_images>
-    <image id="Barrel" name="Barrel">
-      <init_from>Barrel.png</init_from>
-    </image>
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-  <library_materials>
-    <material id="Material-material" name="Material">
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1619 30 30 1620 34 34 1621 46 46 1622 34 34 1623 38 38 1624 46 46 1625 38 38 1626 42 42 1627 46 46 1628 46 46 1629 50 50 1630 62 64 1631 50 50 1632 54 54 1633 62 64 1634 62 64 1635 6 6 1636 14 14 1637 14 14 1638 22 22 1639 62 64 1640 22 22 1641 30 30 1642 62 64 1643 72 66 1644 104 127 1645 105 67 1646 25 25 1647 76 94 1648 77 69 1649 45 45 1650 43 43 1651 85 70 1652 61 63 1653 94 95 1654 95 72 1655 17 17 1656 72 66 1657 73 68 1658 37 37 1659 35 35 1660 81 73 1661 53 53 1662 90 96 1663 91 75 1664 9 9 1665 68 62 1666 69 76 1667 27 27 1668 77 69 1669 78 77 1670 45 45 1671 86 71 1672 87 78 1673 3 3 1674 1 0 1675 65 79 1676 63 65 1677 95 72 1678 65 79 1679 19 19 1680 73 68 1681 74 81 1682 37 37 1683 82 74 1684 83 82 1685 55 55 1686 91 75 1687 92 83 1688 11 11 1689 69 76 1690 70 84 1691 29 29 1692 78 77 1693 79 85 1694 47 47 1695 87 78 1696 88 86 1697 3 3 1698 64 80 1699 66 87 1700 21 21 1701 74 81 1702 75 88 1703 41 41 1704 39 39 1705 83 82 1706 59 59 1707 57 57 1708 92 83 1709 13 13 1710 70 84 1711 71 91 1712 31 31 1713 79 85 1714 80 92 1715 51 51 1716 49 49 1717 88 86 1718 7 7 1719 5 5 1720 66 87 1721 23 23 1722 75 88 1723 76 94 1724 41 41 1725 84 89 1726 85 70 1727 61 63 1728 59 59 1729 93 90 1730 15 15 1731 71 91 1732 72 66 1733 33 33 1734 80 92 1735 81 73 1736 53 53 1737 51 51 1738 89 93 1739 107 97 1740 139 159 1741 140 98 1742 86 71 1743 118 128 1744 119 100 1745 73 68 1746 105 67 1747 106 101 1748 87 78 1749 119 100 1750 120 102 1751 74 81 1752 106 101 1753 107 97 1754 88 86 1755 120 102 1756 121 103 1757 75 88 1758 107 97 1759 108 99 1760 89 93 1761 121 103 1762 122 104 1763 76 94 1764 108 99 1765 109 105 1766 90 96 1767 122 104 1768 123 106 1769 77 69 1770 109 105 1771 110 107 1772 65 79 1773 97 121 1774 96 108 1775 91 75 1776 123 106 1777 124 109 1778 78 77 1779 110 107 1780 111 110 1781 64 80 1782 96 108 1783 98 111 1784 92 83 1785 124 109 1786 125 112 1787 79 85 1788 111 110 1789 112 113 1790 66 87 1791 98 111 1792 99 114 1793 93 90 1794 125 112 1795 126 115 1796 80 92 1797 112 113 1798 113 116 1799 67 61 1800 99 114 1801 100 117 1802 94 95 1803 126 115 1804 127 118 1805 81 73 1806 113 116 1807 114 119 1808 68 62 1809 100 117 1810 101 120 1811 95 72 1812 127 118 1813 97 121 1814 82 74 1815 114 119 1816 115 122 1817 69 76 1818 101 120 1819 102 123 1820 83 82 1821 115 122 1822 116 124 1823 70 84 1824 102 123 1825 103 125 1826 84 89 1827 116 124 1828 117 126 1829 71 91 1830 103 125 1831 104 127 1832 85 70 1833 117 126 1834 118 128 1835 142 129 1836 174 190 1837 175 130 1838 121 103 1839 153 160 1840 154 132 1841 108 99 1842 140 98 1843 141 133 1844 123 106 1845 122 104 1846 154 132 1847 110 107 1848 109 105 1849 141 133 1850 96 108 1851 97 121 1852 129 135 1853 124 109 1854 123 106 1855 155 134 1856 111 110 1857 110 107 1858 142 129 1859 96 108 1860 128 136 1861 130 138 1862 124 109 1863 156 137 1864 157 139 1865 111 110 1866 143 131 1867 144 140 1868 98 111 1869 130 138 1870 131 141 1871 125 112 1872 157 139 1873 158 142 1874 112 113 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1952 131 141 1953 163 167 1954 164 169 1955 158 142 1956 190 168 1957 191 170 1958 145 143 1959 177 161 1960 178 163 1961 132 144 1962 164 169 1963 165 171 1964 159 145 1965 191 170 1966 161 172 1967 146 146 1968 178 163 1969 179 173 1970 133 147 1971 165 171 1972 166 174 1973 147 148 1974 179 173 1975 180 175 1976 134 149 1977 166 174 1978 167 176 1979 148 150 1980 180 175 1981 181 177 1982 135 151 1983 167 176 1984 168 178 1985 149 152 1986 181 177 1987 182 179 1988 136 153 1989 168 178 1990 169 180 1991 150 154 1992 182 179 1993 183 181 1994 137 155 1995 169 180 1996 170 182 1997 151 156 1998 183 181 1999 184 183 2000 138 157 2001 170 182 2002 171 184 2003 152 158 2004 184 183 2005 185 185 2006 139 159 2007 171 184 2008 172 186 2009 153 160 2010 185 185 2011 186 187 2012 140 98 2013 172 186 2014 173 188 2015 154 132 2016 186 187 2017 187 189 2018 141 133 2019 173 188 2020 174 190 2021 129 135 2022 161 172 2023 160 191 2024 155 134 2025 187 189 2026 188 192 2027 212 193 2028 244 255 2029 245 194 2030 164 169 2031 196 223 2032 197 196 2033 191 170 2034 223 224 2035 193 197 2036 178 163 2037 210 162 2038 211 198 2039 165 171 2040 197 196 2041 198 199 2042 179 173 2043 211 198 2044 212 193 2045 166 174 2046 198 199 2047 199 200 2048 181 177 2049 180 175 2050 212 193 2051 168 178 2052 167 176 2053 199 200 2054 182 179 2055 181 177 2056 213 195 2057 168 178 2058 200 201 2059 201 203 2060 182 179 2061 214 202 2062 215 204 2063 169 180 2064 201 203 2065 202 205 2066 184 183 2067 183 181 2068 215 204 2069 171 184 2070 170 182 2071 202 205 2072 184 183 2073 216 206 2074 217 208 2075 171 184 2076 203 207 2077 204 209 2078 185 185 2079 217 208 2080 218 210 2081 172 186 2082 204 209 2083 205 211 2084 186 187 2085 218 210 2086 219 212 2087 174 190 2088 173 188 2089 205 211 2090 161 172 2091 193 197 2092 192 214 2093 188 192 2094 187 189 2095 219 212 2096 175 130 2097 174 190 2098 206 213 2099 160 191 2100 192 214 2101 194 217 2102 188 192 2103 220 215 2104 221 218 2105 175 130 2106 207 216 2107 208 219 2108 162 164 2109 194 217 2110 195 220 2111 189 165 2112 221 218 2113 222 221 2114 176 166 2115 208 219 2116 209 222 2117 163 167 2118 195 220 2119 196 223 2120 191 170 2121 190 168 2122 222 221 2123 247 225 2124 279 288 2125 280 226 2126 199 200 2127 231 256 2128 232 228 2129 213 195 2130 245 194 2131 246 229 2132 200 201 2133 232 228 2134 233 230 2135 214 202 2136 246 229 2137 247 225 2138 201 203 2139 233 230 2140 234 231 2141 215 204 2142 247 225 2143 248 227 2144 202 205 2145 234 231 2146 235 232 2147 216 206 2148 248 227 2149 249 233 2150 203 207 2151 235 232 2152 236 234 2153 217 208 2154 249 233 2155 250 235 2156 204 209 2157 236 234 2158 237 236 2159 218 210 2160 250 235 2161 251 237 2162 205 211 2163 237 236 2164 238 238 2165 193 197 2166 225 252 2167 224 239 2168 219 212 2169 251 237 2170 252 240 2171 206 213 2172 238 238 2173 239 241 2174 192 214 2175 224 239 2176 226 242 2177 220 215 2178 252 240 2179 253 243 2180 207 216 2181 239 241 2182 240 244 2183 194 217 2184 226 242 2185 227 245 2186 221 218 2187 253 243 2188 254 246 2189 208 219 2190 240 244 2191 241 247 2192 195 220 2193 227 245 2194 228 248 2195 222 221 2196 254 246 2197 255 249 2198 209 222 2199 241 247 2200 242 250 2201 196 223 2202 228 248 2203 229 251 2204 223 224 2205 255 249 2206 225 252 2207 210 162 2208 242 250 2209 243 253 2210 197 196 2211 229 251 2212 230 254 2213 211 198 2214 243 253 2215 244 255 2216 198 199 2217 230 254 2218 231 256 2219 282 257 2220 314 319 2221 315 258 2222 235 232 2223 234 231 2224 266 260 2225 249 233 2226 248 227 2227 280 226 2228 236 234 2229 235 232 2230 267 261 2231 250 235 2232 249 233 2233 281 262 2234 236 234 2235 268 263 2236 269 264 2237 251 237 2238 250 235 2239 282 257 2240 237 236 2241 269 264 2242 270 265 2243 225 252 2244 257 279 2245 256 266 2246 251 237 2247 283 259 2248 284 267 2249 238 238 2250 270 265 2251 271 268 2252 226 242 2253 224 239 2254 256 266 2255 252 240 2256 284 267 2257 285 270 2258 239 241 2259 271 268 2260 272 271 2261 226 242 2262 258 269 2263 259 272 2264 253 243 2265 285 270 2266 286 273 2267 241 247 2268 240 244 2269 272 271 2270 227 245 2271 259 272 2272 260 275 2273 254 246 2274 286 273 2275 287 276 2276 242 250 2277 241 247 2278 273 274 2279 228 248 2280 260 275 2281 261 278 2282 255 249 2283 287 276 2284 257 279 2285 242 250 2286 274 277 2287 275 280 2288 229 251 2289 261 278 2290 262 281 2291 243 253 2292 275 280 2293 276 282 2294 230 254 2295 262 281 2296 263 283 2297 244 255 2298 276 282 2299 277 284 2300 231 256 2301 263 283 2302 264 285 2303 246 229 2304 245 194 2305 277 284 2306 232 228 2307 264 285 2308 265 287 2309 246 229 2310 278 286 2311 279 288 2312 233 230 2313 265 287 2314 266 260 2315 309 289 2316 341 351 2317 342 290 2318 269 264 2319 301 320 2320 302 292 2321 257 279 2322 289 306 2323 288 293 2324 283 259 2325 315 258 2326 316 294 2327 270 265 2328 302 292 2329 303 295 2330 256 266 2331 288 293 2332 290 296 2333 284 267 2334 316 294 2335 317 297 2336 271 268 2337 303 295 2338 304 298 2339 258 269 2340 290 296 2341 291 299 2342 285 270 2343 317 297 2344 318 300 2345 272 271 2346 304 298 2347 305 301 2348 259 272 2349 291 299 2350 292 302 2351 286 273 2352 318 300 2353 319 303 2354 273 274 2355 305 301 2356 306 304 2357 260 275 2358 292 302 2359 293 305 2360 287 276 2361 319 303 2362 289 306 2363 274 277 2364 306 304 2365 307 307 2366 261 278 2367 293 305 2368 294 308 2369 275 280 2370 307 307 2371 308 309 2372 262 281 2373 294 308 2374 295 310 2375 276 282 2376 308 309 2377 309 289 2378 263 283 2379 295 310 2380 296 311 2381 277 284 2382 309 289 2383 310 291 2384 264 285 2385 296 311 2386 297 312 2387 278 286 2388 310 291 2389 311 313 2390 265 287 2391 297 312 2392 298 314 2393 279 288 2394 311 313 2395 312 315 2396 266 260 2397 298 314 2398 299 316 2399 280 226 2400 312 315 2401 313 317 2402 267 261 2403 299 316 2404 300 318 2405 281 262 2406 313 317 2407 314 319 2408 268 263 2409 300 318 2410 301 320 2411 344 321 2412 376 382 2413 377 322 2414 296 311 2415 328 352 2416 329 324 2417 311 313 2418 310 291 2419 342 290 2420 297 312 2421 329 324 2422 330 326 2423 311 313 2424 343 325 2425 344 321 2426 298 314 2427 330 326 2428 331 327 2429 312 315 2430 344 321 2431 345 323 2432 299 316 2433 331 327 2434 332 328 2435 314 319 2436 313 317 2437 345 323 2438 301 320 2439 300 318 2440 332 328 2441 314 319 2442 346 329 2443 347 331 2444 301 320 2445 333 330 2446 334 332 2447 289 306 2448 321 346 2449 320 333 2450 315 258 2451 347 331 2452 348 334 2453 303 295 2454 302 292 2455 334 332 2456 288 293 2457 320 333 2458 322 336 2459 316 294 2460 348 334 2461 349 337 2462 303 295 2463 335 335 2464 336 338 2465 291 299 2466 290 296 2467 322 336 2468 318 300 2469 317 297 2470 349 337 2471 304 298 2472 336 338 2473 337 341 2474 291 299 2475 323 339 2476 324 342 2477 319 303 2478 318 300 2479 350 340 2480 305 301 2481 337 341 2482 338 344 2483 292 302 2484 324 342 2485 325 345 2486 319 303 2487 351 343 2488 321 346 2489 306 304 2490 338 344 2491 339 347 2492 293 305 2493 325 345 2494 326 348 2495 308 309 2496 307 307 2497 339 347 2498 294 308 2499 326 348 2500 327 350 2501 309 289 2502 308 309 2503 340 349 2504 295 310 2505 327 350 2506 328 352 2507 331 327 2508 363 383 2509 364 353 2510 345 323 2511 377 322 2512 378 354 2513 332 328 2514 364 353 2515 365 355 2516 346 329 2517 378 354 2518 379 356 2519 333 330 2520 365 355 2521 366 357 2522 321 346 2523 353 371 2524 352 358 2525 347 331 2526 379 356 2527 380 359 2528 334 332 2529 366 357 2530 367 360 2531 320 333 2532 352 358 2533 354 361 2534 348 334 2535 380 359 2536 381 362 2537 335 335 2538 367 360 2539 368 363 2540 322 336 2541 354 361 2542 355 364 2543 349 337 2544 381 362 2545 382 365 2546 336 338 2547 368 363 2548 369 366 2549 323 339 2550 355 364 2551 356 367 2552 350 340 2553 382 365 2554 383 368 2555 337 341 2556 369 366 2557 370 369 2558 324 342 2559 356 367 2560 357 370 2561 351 343 2562 383 368 2563 353 371 2564 338 344 2565 370 369 2566 371 372 2567 325 345 2568 357 370 2569 358 373 2570 339 347 2571 371 372 2572 372 374 2573 326 348 2574 358 373 2575 359 375 2576 340 349 2577 372 374 2578 373 376 2579 327 350 2580 359 375 2581 360 377 2582 341 351 2583 373 376 2584 374 378 2585 328 352 2586 360 377 2587 361 379 2588 342 290 2589 374 378 2590 375 380 2591 329 324 2592 361 379 2593 362 381 2594 343 325 2595 375 380 2596 376 382 2597 330 326 2598 362 381 2599 363 383 2600 364 353 2601 363 383 2602 399 384 2603 377 322 2604 376 382 2605 412 386 2606 363 383 2607 362 381 2608 398 388 2609 376 382 2610 375 380 2611 411 389 2612 362 381 2613 361 379 2614 397 390 2615 375 380 2616 374 378 2617 410 391 2618 361 379 2619 360 377 2620 396 392 2621 374 378 2622 373 376 2623 409 393 2624 386 394 2625 384 417 2626 497 395 2627 360 377 2628 359 375 2629 395 397 2630 373 376 2631 372 374 2632 408 398 2633 387 399 2634 386 394 2635 500 396 2636 359 375 2637 358 373 2638 394 401 2639 372 374 2640 371 372 2641 407 402 2642 385 403 2643 387 399 2644 498 400 2645 358 373 2646 357 370 2647 393 405 2648 371 372 2649 370 369 2650 406 406 2651 353 371 2652 383 368 2653 419 407 2654 357 370 2655 356 367 2656 392 409 2657 370 369 2658 369 366 2659 405 410 2660 383 368 2661 382 365 2662 418 411 2663 356 367 2664 355 364 2665 391 412 2666 369 366 2667 368 363 2668 404 413 2669 385 403 2670 384 417 2671 386 394 2672 382 365 2673 381 362 2674 417 414 2675 355 364 2676 354 361 2677 390 415 2678 368 363 2679 367 360 2680 403 416 2681 384 417 2682 385 403 2683 495 404 2684 381 362 2685 380 359 2686 416 418 2687 354 361 2688 352 358 2689 388 419 2690 367 360 2691 366 357 2692 402 420 2693 380 359 2694 379 356 2695 415 421 2696 352 358 2697 353 371 2698 389 408 2699 366 357 2700 365 355 2701 401 422 2702 379 356 2703 378 354 2704 414 423 2705 365 355 2706 364 353 2707 400 385 2708 378 354 2709 377 322 2710 413 387 2711 419 407 2712 514 432 2713 422 424 2714 388 419 2715 421 428 2716 427 425 2717 416 418 2718 505 454 2719 508 426 2720 403 416 2721 466 455 2722 469 427 2723 389 408 2724 422 424 2725 421 428 2726 417 414 2727 508 426 2728 511 429 2729 404 413 2730 469 427 2731 472 430 2732 391 412 2733 430 437 2734 433 431 2735 418 411 2736 511 429 2737 514 432 2738 405 410 2739 472 430 2740 475 433 2741 392 409 2742 433 431 2743 436 434 2744 407 402 2745 406 406 2746 475 433 2747 393 405 2748 436 434 2749 439 436 2750 390 415 2751 427 425 2752 430 437 2753 407 402 2754 478 435 2755 481 438 2756 394 401 2757 439 436 2758 442 439 2759 408 398 2760 481 438 2761 484 440 2762 395 397 2763 442 439 2764 445 441 2765 410 391 2766 409 393 2767 484 440 2768 397 390 2769 396 392 2770 445 441 2771 411 389 2772 410 391 2773 487 442 2774 397 390 2775 448 443 2776 451 445 2777 411 389 2778 490 444 2779 493 446 2780 398 388 2781 451 445 2782 454 447 2783 412 386 2784 493 446 2785 496 448 2786 400 385 2787 399 384 2788 454 447 2789 413 387 2790 496 448 2791 499 450 2792 401 422 2793 400 385 2794 457 449 2795 415 421 2796 414 423 2797 499 450 2798 402 420 2799 401 422 2800 460 451 2801 415 421 2802 502 452 2803 505 454 2804 403 416 2805 402 420 2806 463 453 2807 421 428 2808 422 424 2809 423 456 2810 420 457 2811 423 456 2812 425 458 2813 427 425 2814 421 428 2815 420 457 2816 426 460 2817 420 457 2818 424 459 2819 427 425 2820 426 460 2821 429 462 2822 426 460 2823 428 461 2824 431 463 2825 430 437 2826 429 462 2827 432 464 2828 429 462 2829 431 463 2830 434 465 2831 433 431 2832 432 464 2833 435 466 2834 432 464 2835 434 465 2836 437 467 2837 436 434 2838 435 466 2839 438 468 2840 435 466 2841 437 467 2842 440 469 2843 439 436 2844 438 468 2845 441 470 2846 438 468 2847 440 469 2848 443 471 2849 442 439 2850 441 470 2851 444 472 2852 441 470 2853 443 471 2854 446 473 2855 445 441 2856 444 472 2857 447 474 2858 444 472 2859 446 473 2860 449 475 2861 448 443 2862 447 474 2863 450 476 2864 450 476 2865 447 474 2866 449 475 2867 454 447 2868 451 445 2869 450 476 2870 453 478 2871 450 476 2872 452 477 2873 454 447 2874 453 478 2875 456 480 2876 453 478 2877 455 479 2878 458 481 2879 460 451 2880 457 449 2881 456 480 2882 456 480 2883 458 481 2884 461 483 2885 460 451 2886 459 482 2887 462 484 2888 459 482 2889 461 483 2890 464 485 2891 463 453 2892 462 484 2893 465 486 2894 462 484 2895 464 485 2896 467 487 2897 469 427 2898 466 455 2899 465 486 2900 468 488 2901 465 486 2902 467 487 2903 472 430 2904 469 427 2905 468 488 2906 471 490 2907 468 488 2908 470 489 2909 472 430 2910 471 490 2911 474 492 2912 471 490 2913 473 491 2914 476 493 2915 475 433 2916 474 492 2917 477 494 2918 474 492 2919 476 493 2920 479 495 2921 478 435 2922 477 494 2923 480 496 2924 477 494 2925 479 495 2926 482 497 2927 484 440 2928 481 438 2929 480 496 2930 483 498 2931 480 496 2932 482 497 2933 484 440 2934 483 498 2935 486 500 2936 483 498 2937 485 499 2938 488 501 2939 487 442 2940 486 500 2941 489 502 2942 486 500 2943 488 501 2944 491 503 2945 493 446 2946 490 444 2947 489 502 2948 492 504 2949 489 502 2950 491 503 2951 496 448 2952 493 446 2953 492 504 2954 495 404 2955 492 504 2956 494 505 2957 496 448 2958 495 404 2959 498 400 2960 499 450 2961 498 400 2962 501 506 2963 498 400 2964 500 396 2965 503 507 2966 502 452 2967 501 506 2968 504 508 2969 501 506 2970 503 507 2971 506 509 2972 505 454 2973 504 508 2974 507 510 2975 507 510 2976 504 508 2977 506 509 2978 511 429 2979 508 426 2980 507 510 2981 507 510 2982 509 511 2983 512 513 2984 514 432 2985 511 429 2986 510 512 2987 513 514 2988 510 512 2989 512 513 2990 514 432 2991 513 514 2992 423 456 2993 513 514 2994 515 515 2995 425 458 2996 428 461 2997 424 459 2998 425 458 2999 425 458 3000 515 515 3001 428 461 3002 515 515 3003 512 513 3004 428 461 3005 512 513 3006 509 511 3007 506 509 3008 506 509 3009 503 507 3010 500 396 3011 500 396 3012 497 395 3013 494 505 3014 494 505 3015 491 503 3016 488 501 3017 488 501 3018 485 499 3019 476 493 3020 485 499 3021 482 497 3022 476 493 3023 482 497 3024 479 495 3025 476 493 3026 476 493 3027 473 491 3028 470 489 3029 470 489 3030 467 487 3031 464 485 3032 464 485 3033 461 483 3034 458 481 3035 458 481 3036 455 479 3037 464 485 3038 455 479 3039 452 477 3040 464 485 3041 452 477 3042 449 475 3043 446 473 3044 446 473 3045 443 471 3046 440 469 3047 440 469 3048 437 467 3049 434 465 3050 434 465 3051 431 463 3052 428 461 3053 512 513 3054 506 509 3055 428 461 3056 506 509 3057 500 396 3058 428 461 3059 500 396 3060 494 505 3061 476 493 3062 494 505 3063 488 501 3064 476 493 3065 476 493 3066 470 489 3067 452 477 3068 470 489 3069 464 485 3070 452 477 3071 452 477 3072 446 473 3073 440 469 3074 440 469 3075 434 465 3076 452 477 3077 434 465 3078 428 461 3079 452 477 3080 428 461 3081 500 396 3082 476 493 3083</p>
-        </triangles>
-      </mesh>
-    </geometry>
-  </library_geometries>
-  <library_visual_scenes>
-    <visual_scene id="Scene" name="Scene">
-      <node id="Cylinder" name="Cylinder" type="NODE">
-        <matrix sid="transform">0 0.6372222 0 0 -0.6372222 0 0 0 0 0 0.637 0 0 0 0 1</matrix>
-        <instance_geometry url="#Cylinder-mesh" name="Cylinder">
-          <bind_material>
-            <technique_common>
-              <instance_material symbol="Material-material" target="#Material-material">
-                <bind_vertex_input semantic="UVMap" input_semantic="TEXCOORD" input_set="0"/>
-              </instance_material>
-            </technique_common>
-          </bind_material>
-        </instance_geometry>
-      </node>
-    </visual_scene>
-  </library_visual_scenes>
-  <scene>
-    <instance_visual_scene url="#Scene"/>
-  </scene>
-</COLLADA>
\ No newline at end of file
diff --git a/urc_gazebo/urdf/models/barrel/model.config b/urc_gazebo/urdf/models/barrel/model.config
deleted file mode 100644
index 989f99ca..00000000
--- a/urc_gazebo/urdf/models/barrel/model.config
+++ /dev/null
@@ -1,17 +0,0 @@
-<?xml version="1.0"?>
-
-<model>
-  <name>Barrel</name>
-  <version>1.0</version>
-  <sdf version="1.5">model.sdf</sdf>
-
-  <author>
-    <name>Oswin So</name>
-    <email>oswinso@gmail.com</email>
-  </author>
-
-  <description>
-    A model of a traffic barrel
-  </description>
-
-</model>
diff --git a/urc_gazebo/urdf/models/barrel/model.sdf b/urc_gazebo/urdf/models/barrel/model.sdf
deleted file mode 100644
index fb3f9b66..00000000
--- a/urc_gazebo/urdf/models/barrel/model.sdf
+++ /dev/null
@@ -1,50 +0,0 @@
-<?xml version="1.0"?>
-<sdf version="1.5">
-  <model name='construction_barrel'>
-    <link name='link'>
-      <gravity>1</gravity>
-      <inertial>
-        <mass>500</mass>
-        <inertia>
-          <ixx>51.2096</ixx>
-          <iyy>51.2096</iyy>
-          <izz>25</izz>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyz>0</iyz>
-        </inertia>
-      </inertial>
-      <collision name='collision'>
-        <geometry>
-          <mesh>
-            <uri>model://barrel/meshes/barrel.dae</uri>
-            <scale>1 1 1</scale>
-          </mesh>
-        </geometry>
-        <max_contacts>10</max_contacts>
-        <surface>
-          <contact>
-            <ode/>
-          </contact>
-          <bounce/>
-          <friction>
-            <torsional>
-              <ode/>
-            </torsional>
-            <ode/>
-          </friction>
-        </surface>
-      </collision>
-      <visual name='visual'>
-        <geometry>
-          <mesh>
-            <uri>model://barrel/meshes/barrel.dae</uri>
-            <scale>1 1 1</scale>
-          </mesh>
-        </geometry>
-      </visual>
-      <self_collide>0</self_collide>
-      <kinematic>0</kinematic>
-    </link>
-  </model>
-</sdf>
diff --git a/urc_gazebo/urdf/models/desert_surface/materials/scripts/desert.material b/urc_gazebo/urdf/models/desert_surface/materials/scripts/desert.material
deleted file mode 100644
index 35844d4f..00000000
--- a/urc_gazebo/urdf/models/desert_surface/materials/scripts/desert.material
+++ /dev/null
@@ -1,18 +0,0 @@
-material Gazebo/Desert
-{
-  technique
-  {
-    pass
-    {
-      ambient 0.8 0.8 0.8 1.0
-      diffuse 0.8 0.8 0.8 1.0
-      specular 0.01 0.01 0.01 1.0 2.0
-      texture_unit
-      {
-        texture mars_texture.jpg
-        filtering trilinear
-        scale 0.02 0.02
-      }
-    }
-  }
-}
\ No newline at end of file
diff --git a/urc_gazebo/urdf/models/desert_surface/materials/textures/mars_texture.jpg b/urc_gazebo/urdf/models/desert_surface/materials/textures/mars_texture.jpg
deleted file mode 100644
index 2a151eec..00000000
Binary files a/urc_gazebo/urdf/models/desert_surface/materials/textures/mars_texture.jpg and /dev/null differ
diff --git a/urc_gazebo/urdf/models/desert_surface/model.config b/urc_gazebo/urdf/models/desert_surface/model.config
deleted file mode 100644
index 71386645..00000000
--- a/urc_gazebo/urdf/models/desert_surface/model.config
+++ /dev/null
@@ -1,16 +0,0 @@
-<?xml version="1.0"?>
-
-<model>
-  <name>Desert Plane</name>
-  <version>1.0</version>
-  <sdf version="1.7">model.sdf</sdf>
-
-  <author>
-    <name>Matthew Hannay</name>
-    <email>mhannay3@gatech.edu</email>
-  </author>
-
-  <description>
-    A desert surface
-  </description>
-</model>
diff --git a/urc_gazebo/urdf/models/desert_surface/model.sdf b/urc_gazebo/urdf/models/desert_surface/model.sdf
deleted file mode 100644
index 2f81ec8e..00000000
--- a/urc_gazebo/urdf/models/desert_surface/model.sdf
+++ /dev/null
@@ -1,40 +0,0 @@
-<?xml version="1.0"?>
-<sdf version="1.7">
-  <model name="desert_surface">
-    <static>true</static>
-    <link name="link">
-      <collision name="collision">
-        <geometry>
-          <plane>
-            <normal>0 0 1</normal>
-            <size>100 100</size>
-          </plane>
-        </geometry>
-        <surface>
-          <friction>
-            <ode>
-              <mu>100</mu>
-              <mu2>50</mu2>
-            </ode>
-          </friction>
-        </surface>
-      </collision>
-      <visual name="visual">
-        <cast_shadows>false</cast_shadows>
-        <geometry>
-          <plane>
-            <normal>0 0 1</normal>
-            <size>100 100</size>
-          </plane>
-        </geometry>
-        <material>
-          <script>
-            <uri>model://desert_surface/materials/scripts/</uri>
-            <uri>model://desert_surface/materials/textures/</uri>
-            <name>Gazebo/Desert</name>
-          </script>
-        </material>
-      </visual>
-    </link>
-  </model>
-</sdf>
diff --git a/urc_gazebo/urdf/models/marsyard2022_terrain/dem/marsyard2022_terrain_hm.tif b/urc_gazebo/urdf/models/marsyard2022_terrain/dem/marsyard2022_terrain_hm.tif
deleted file mode 100644
index b2ae7f16..00000000
Binary files a/urc_gazebo/urdf/models/marsyard2022_terrain/dem/marsyard2022_terrain_hm.tif and /dev/null differ
diff --git a/urc_gazebo/urdf/models/marsyard2022_terrain/dem/marsyard2022_terrain_texture.png b/urc_gazebo/urdf/models/marsyard2022_terrain/dem/marsyard2022_terrain_texture.png
deleted file mode 100644
index ae011a28..00000000
Binary files a/urc_gazebo/urdf/models/marsyard2022_terrain/dem/marsyard2022_terrain_texture.png and /dev/null differ
diff --git a/urc_gazebo/urdf/models/marsyard2022_terrain/model.config b/urc_gazebo/urdf/models/marsyard2022_terrain/model.config
deleted file mode 100644
index c06eec1b..00000000
--- a/urc_gazebo/urdf/models/marsyard2022_terrain/model.config
+++ /dev/null
@@ -1,12 +0,0 @@
-<?xml version="1.0"?>
-
-<model>
-  <name>Marsyard 2022 terrain</name>
-  <version>1.0</version>
-  <sdf version="1.7">model.sdf</sdf>
-
-  <description>
-    marsyard terrain model
-  </description>
-
-</model>
\ No newline at end of file
diff --git a/urc_gazebo/urdf/models/marsyard2022_terrain/model.sdf b/urc_gazebo/urdf/models/marsyard2022_terrain/model.sdf
deleted file mode 100644
index daa3c212..00000000
--- a/urc_gazebo/urdf/models/marsyard2022_terrain/model.sdf
+++ /dev/null
@@ -1,39 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://sdformat.org/schemas/root.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<sdf version="1.7">
-  <model name="marsyard2022_terrain">
-    <pose>0 0 0 0 0 0</pose>
-    <static>true</static>
-
-    <link name="marsyard_terrain">
-
-      <collision name="terrain_collision">
-        <geometry>
-          <heightmap>
-            <uri>model://marsyard2022_terrain/dem/marsyard2022_terrain_hm.tif</uri>
-            <pos>0 0 0</pos>
-            <size>50 50 4.820803273566</size>
-          </heightmap>
-        </geometry>
-      </collision>
-
-      <visual name="terrain_visual">
-        <geometry>
-          <heightmap>
-            <use_terrain_paging>false</use_terrain_paging>
-            <uri>model://marsyard2022_terrain/dem/marsyard2022_terrain_hm.tif</uri>
-            <pos>0 0 0</pos>
-            <size>50 50 4.820803273566</size>
-            <texture>
-              <diffuse>model://marsyard2022_terrain/dem/marsyard2022_terrain_texture.png</diffuse>
-              <normal>file://media/materials/textures/flat_normal.png</normal>
-              <size>50</size>
-            </texture>
-          </heightmap>
-        </geometry>
-      </visual>
-
-    </link>
-
-  </model>
-</sdf>
\ No newline at end of file
diff --git a/urc_gazebo/urdf/models/sun/model.config b/urc_gazebo/urdf/models/sun/model.config
deleted file mode 100644
index d71e0325..00000000
--- a/urc_gazebo/urdf/models/sun/model.config
+++ /dev/null
@@ -1,16 +0,0 @@
-<?xml version="1.0"?>
-
-<model>
-  <name>Sun</name>
-  <version>1.0</version>
-  <sdf version="1.5">model.sdf</sdf>
-
-  <author>
-    <name>Nate Koenig</name>
-    <email>nate@osrfoundation.org</email>
-  </author>
-
-  <description>
-    A directional light for the sun.
-  </description>
-</model>
\ No newline at end of file
diff --git a/urc_gazebo/urdf/models/sun/model.sdf b/urc_gazebo/urdf/models/sun/model.sdf
deleted file mode 100644
index fe27d377..00000000
--- a/urc_gazebo/urdf/models/sun/model.sdf
+++ /dev/null
@@ -1,16 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version="1.5">
-  <light type="directional" name="sun">
-    <cast_shadows>true</cast_shadows>
-    <pose>0 0 10 0 0 0</pose>
-    <diffuse>0.8 0.8 0.8 1</diffuse>
-    <specular>0.2 0.2 0.2 1</specular>
-    <attenuation>
-      <range>1000</range>
-      <constant>0.9</constant>
-      <linear>0.01</linear>
-      <quadratic>0.001</quadratic>
-    </attenuation>
-    <direction>-0.5 0.1 -0.9</direction>
-  </light>
-</sdf>
\ No newline at end of file
diff --git a/urc_gazebo/urdf/worlds/nav2_world.sdf b/urc_gazebo/urdf/worlds/nav2_world.sdf
deleted file mode 100644
index 1914cb58..00000000
--- a/urc_gazebo/urdf/worlds/nav2_world.sdf
+++ /dev/null
@@ -1,243 +0,0 @@
-<!-- This is just an example world from Nav2 docs-->
-<sdf version='1.7'>
-  <world name='default'>
-    <light name='sun' type='directional'>
-      <cast_shadows>1</cast_shadows>
-      <pose>0 0 10 0 -0 0</pose>
-      <diffuse>0.8 0.8 0.8 1</diffuse>
-      <specular>0.2 0.2 0.2 1</specular>
-      <attenuation>
-        <range>1000</range>
-        <constant>0.9</constant>
-        <linear>0.01</linear>
-        <quadratic>0.001</quadratic>
-      </attenuation>
-      <direction>-0.5 0.1 -0.9</direction>
-      <spot>
-        <inner_angle>0</inner_angle>
-        <outer_angle>0</outer_angle>
-        <falloff>0</falloff>
-      </spot>
-    </light>
-    <model name='ground_plane'>
-      <static>1</static>
-      <link name='link'>
-        <collision name='collision'>
-          <geometry>
-            <plane>
-              <normal>0 0 1</normal>
-              <size>100 100</size>
-            </plane>
-          </geometry>
-          <surface>
-            <friction>
-              <ode>
-                <mu>100</mu>
-                <mu2>50</mu2>
-              </ode>
-              <torsional>
-                <ode/>
-              </torsional>
-            </friction>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-          </surface>
-          <max_contacts>10</max_contacts>
-        </collision>
-        <visual name='visual'>
-          <cast_shadows>0</cast_shadows>
-          <geometry>
-            <plane>
-              <normal>0 0 1</normal>
-              <size>100 100</size>
-            </plane>
-          </geometry>
-          <material>
-            <script>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-              <name>Gazebo/Grey</name>
-            </script>
-          </material>
-        </visual>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-    </model>
-    <gravity>0 0 -9.8</gravity>
-    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
-    <atmosphere type='adiabatic'/>
-    <physics type='ode'>
-      <max_step_size>0.001</max_step_size>
-      <real_time_factor>1</real_time_factor>
-      <real_time_update_rate>1000</real_time_update_rate>
-    </physics>
-    <scene>
-      <ambient>0.4 0.4 0.4 1</ambient>
-      <background>0.7 0.7 0.7 1</background>
-      <shadows>1</shadows>
-    </scene>
-    <wind/>
-    <spherical_coordinates>
-      <surface_model>EARTH_WGS84</surface_model>
-      <latitude_deg>0</latitude_deg>
-      <longitude_deg>0</longitude_deg>
-      <elevation>0</elevation>
-      <heading_deg>0</heading_deg>
-    </spherical_coordinates>
-    <model name='unit_box'>
-      <pose>1.51271 -0.181418 0.5 0 -0 0</pose>
-      <link name='link'>
-        <inertial>
-          <mass>1</mass>
-          <inertia>
-            <ixx>0.166667</ixx>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyy>0.166667</iyy>
-            <iyz>0</iyz>
-            <izz>0.166667</izz>
-          </inertia>
-          <pose>0 0 0 0 -0 0</pose>
-        </inertial>
-        <collision name='collision'>
-          <geometry>
-            <box>
-              <size>1 1 1</size>
-            </box>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='visual'>
-          <geometry>
-            <box>
-              <size>1 1 1</size>
-            </box>
-          </geometry>
-          <material>
-            <script>
-              <name>Gazebo/Grey</name>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-            </script>
-          </material>
-        </visual>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-    </model>
-    <model name='unit_sphere'>
-      <pose>-1.89496 2.36764 0.5 0 -0 0</pose>
-      <link name='link'>
-        <inertial>
-          <mass>1</mass>
-          <inertia>
-            <ixx>0.1</ixx>
-            <ixy>0</ixy>
-            <ixz>0</ixz>
-            <iyy>0.1</iyy>
-            <iyz>0</iyz>
-            <izz>0.1</izz>
-          </inertia>
-          <pose>0 0 0 0 -0 0</pose>
-        </inertial>
-        <collision name='collision'>
-          <geometry>
-            <sphere>
-              <radius>0.5</radius>
-            </sphere>
-          </geometry>
-          <max_contacts>10</max_contacts>
-          <surface>
-            <contact>
-              <ode/>
-            </contact>
-            <bounce/>
-            <friction>
-              <torsional>
-                <ode/>
-              </torsional>
-              <ode/>
-            </friction>
-          </surface>
-        </collision>
-        <visual name='visual'>
-          <geometry>
-            <sphere>
-              <radius>0.5</radius>
-            </sphere>
-          </geometry>
-          <material>
-            <script>
-              <name>Gazebo/Grey</name>
-              <uri>file://media/materials/scripts/gazebo.material</uri>
-            </script>
-          </material>
-        </visual>
-        <self_collide>0</self_collide>
-        <enable_wind>0</enable_wind>
-        <kinematic>0</kinematic>
-      </link>
-    </model>
-    <state world_name='default'>
-      <sim_time>0 0</sim_time>
-      <real_time>0 0</real_time>
-      <wall_time>1626668720 808592627</wall_time>
-      <iterations>0</iterations>
-      <model name='ground_plane'>
-        <pose>0 0 0 0 -0 0</pose>
-        <scale>1 1 1</scale>
-        <link name='link'>
-          <pose>0 0 0 0 -0 0</pose>
-          <velocity>0 0 0 0 -0 0</velocity>
-          <acceleration>0 0 0 0 -0 0</acceleration>
-          <wrench>0 0 0 0 -0 0</wrench>
-        </link>
-      </model>
-      <model name='unit_box'>
-        <pose>1.51272 -0.181418 0.499995 0 1e-05 0</pose>
-        <scale>1 1 1</scale>
-        <link name='link'>
-          <pose>1.51272 -0.181418 0.499995 0 1e-05 0</pose>
-          <velocity>0 0 0 0 -0 0</velocity>
-          <acceleration>0.010615 -0.006191 -9.78231 0.012424 0.021225 1.8e-05</acceleration>
-          <wrench>0.010615 -0.006191 -9.78231 0 -0 0</wrench>
-        </link>
-      </model>
-      <model name='unit_sphere'>
-        <pose>-0.725833 1.36206 0.5 0 -0 0</pose>
-        <scale>1 1 1</scale>
-        <link name='link'>
-          <pose>-0.944955 1.09802 0.5 0 -0 0</pose>
-          <velocity>0 0 0 0 -0 0</velocity>
-          <acceleration>0 0 0 0 -0 0</acceleration>
-          <wrench>0 0 0 0 -0 0</wrench>
-        </link>
-      </model>
-      <light name='sun'>
-        <pose>0 0 10 0 -0 0</pose>
-      </light>
-    </state>
-    <gui fullscreen='0'>
-      <camera name='user_camera'>
-        <pose>3.17226 -5.10401 6.58845 0 0.739643 2.19219</pose>
-        <view_controller>orbit</view_controller>
-        <projection_type>perspective</projection_type>
-      </camera>
-    </gui>
-  </world>
-</sdf>
\ No newline at end of file
diff --git a/urc_gazebo/urdf/worlds/urc_world.world b/urc_gazebo/urdf/worlds/urc_world.world
deleted file mode 100644
index e9048ebe..00000000
--- a/urc_gazebo/urdf/worlds/urc_world.world
+++ /dev/null
@@ -1,60 +0,0 @@
-<?xml version="1.0"?>
-<sdf version="1.7">
-  <world name="default">
-    <light name='sun' type='directional'>
-      <pose>0 0 100 0 0 0.01</pose>
-      <diffuse>1 1 1 1</diffuse>
-      <specular>0.1 0.1 0.1 1</specular>
-      <cast_shadows>1</cast_shadows>
-      <direction>-0.2 -1.0 -1.0</direction>
-    </light>
-
-    <include>
-      <uri>model://marsyard2022_terrain</uri>
-    </include>
-
-    <state world_name='default'>
-      <sim_time>0 0</sim_time>
-      <real_time>0 0</real_time>
-      <wall_time>1626668720 808592627</wall_time>
-      <iterations>0</iterations>
-      <light name='sun'>
-        <pose>0 0 10 0 -0 0</pose>
-      </light>
-    </state>
-
-    <gui fullscreen='0'>
-      <camera name='user_camera'>
-        <pose>3.17226 -5.10401 6.58845 0 0.739643 2.19219</pose>
-        <view_controller>orbit</view_controller>
-        <projection_type>perspective</projection_type>
-      </camera>
-    </gui>
-
-    <gravity>0 0 -9.8</gravity>
-
-    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
-
-    <atmosphere type='adiabatic' />
-
-    <physics type='ode'>
-      <max_step_size>0.001</max_step_size>
-      <real_time_factor>1</real_time_factor>
-      <real_time_update_rate>1000</real_time_update_rate>
-    </physics>
-
-    <scene>
-      <ambient>0.6 0.6 0.6 1.0</ambient>
-      <shadows>true</shadows>
-      <origin_visual>false</origin_visual>
-    </scene>
-
-    <spherical_coordinates>
-      <surface_model>EARTH_WGS84</surface_model>
-      <latitude_deg>0</latitude_deg>
-      <longitude_deg>0</longitude_deg>
-      <elevation>0</elevation>
-      <heading_deg>0</heading_deg>
-    </spherical_coordinates>
-  </world>
-</sdf>
\ No newline at end of file
diff --git a/urc_imu/README.md b/urc_imu/README.md
deleted file mode 100644
index 9cee6a13..00000000
--- a/urc_imu/README.md
+++ /dev/null
@@ -1,8 +0,0 @@
-# URC IMU
-This node is responsible for transmitting serial IMU messages over the ROS2 network.
-
-[config/imu_serial_driver.yaml](config/imu_serial_driver.yaml) defines the configuration for the serial driver.  
-[launch/imu_serial_driver.launch.py](launch/imu_serial_driver.launch.py) is the launch file for the serial driver node.  
-[src/driver.py](src/driver.py) defines the main serial driver.  
-[src/parser.py](src/parser.py) helps to driver by parsing serial information.  
-[src/nodes/imu_serial_driver.py](src/nodes/imu_serial_driver.py) is the source of the rospy serial driver node.  
\ No newline at end of file
diff --git a/urc_imu/config/imu_serial_driver.yaml b/urc_imu/config/imu_serial_driver.yaml
deleted file mode 100644
index d6140aff..00000000
--- a/urc_imu/config/imu_serial_driver.yaml
+++ /dev/null
@@ -1,7 +0,0 @@
-imu_driver:
-  ros__parameters:
-    port: "/dev/ttyACM0"
-    baud: 115200
-    frame_id: "gps"
-    time_ref_source: "gps"
-    useRMC: False
diff --git a/urc_imu/launch/imu_serial_driver.launch.py b/urc_imu/launch/imu_serial_driver.launch.py
deleted file mode 100644
index c4dc5b8a..00000000
--- a/urc_imu/launch/imu_serial_driver.launch.py
+++ /dev/null
@@ -1,47 +0,0 @@
-# Copyright 2018 Open Source Robotics Foundation, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-""" A simple launch file for the imu_serial_driver node. """
-
-import os
-import sys
-
-from ament_index_python.packages import get_package_share_directory
-from launch import LaunchDescription, LaunchService
-from launch_ros import actions
-
-
-def generate_launch_description():
-    """Generate a launch description for a single serial driver."""
-    config_file = os.path.join(
-        get_package_share_directory("imu_driver"),
-        "config", "imu_serial_driver.yaml")
-    driver_node = actions.Node(
-        package='imu_driver',
-        executable='imu_serial_driver',
-        output='screen',
-        parameters=[config_file])
-
-    return LaunchDescription([driver_node])
-
-
-def main(argv):
-    ld = generate_launch_description()
-    ls = LaunchService()
-    ls.include_launch_description(ld)
-    return ls.run()
-
-
-if __name__ == '__main__':
-    main(sys.argv)
diff --git a/urc_imu/package.xml b/urc_imu/package.xml
deleted file mode 100644
index 577d772f..00000000
--- a/urc_imu/package.xml
+++ /dev/null
@@ -1,28 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format2.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="2">
-    <name>imu_driver</name>
-    <version>2.0.1</version>
-    <description>
-        Package to parse IMU strings and publish a very simple IMU message.
-    </description>
-    <maintainer email="evenator@gmail.com">Ed Venator</maintainer>
-    <license>BSD</license>
-    <url type="website">http://ros.org/wiki/nmea_navsat_driver</url>
-    <author email="eric@ericperko.com">Eric Perko</author>
-    <author>Steven Martin</author>
-    <exec_depend>geometry_msgs</exec_depend>
-    <exec_depend>std_msgs</exec_depend>
-    <exec_depend>nmea_msgs</exec_depend>
-    <exec_depend>rclpy</exec_depend>
-    <exec_depend>sensor_msgs</exec_depend>
-    <exec_depend>python3-numpy</exec_depend>
-    <exec_depend>python3-serial</exec_depend>
-    <exec_depend>tf_transformations</exec_depend>
-
-    <test_depend>python3-pytest</test_depend>
-
-    <export>
-        <build_type>ament_python</build_type>
-    </export>
-</package>
diff --git a/urc_imu/resource/imu_driver b/urc_imu/resource/imu_driver
deleted file mode 100644
index e69de29b..00000000
diff --git a/urc_imu/setup.cfg b/urc_imu/setup.cfg
deleted file mode 100644
index a7104b44..00000000
--- a/urc_imu/setup.cfg
+++ /dev/null
@@ -1,10 +0,0 @@
-[develop]
-script_dir=$base/lib/imu_driver
-
-[install]
-install_scripts=$base/lib/imu_driver
-
-[pycodestyle]
-max-line-length = 120
-statistics = True
-show-pep8 = True
diff --git a/urc_imu/setup.py b/urc_imu/setup.py
deleted file mode 100644
index 49bb6508..00000000
--- a/urc_imu/setup.py
+++ /dev/null
@@ -1,40 +0,0 @@
-from glob import glob
-import os
-from setuptools import setup
-
-PACKAGE_NAME = "imu_driver"
-SHARE_DIR = os.path.join("share", PACKAGE_NAME)
-
-setup(
-    name=PACKAGE_NAME,
-    version='2.0.1',
-    packages=["libimu_driver", "libimu_driver.nodes"],
-    data_files=[
-        ('share/ament_index/resource_index/packages',
-         ['resource/' + PACKAGE_NAME]),
-        ('share/' + PACKAGE_NAME, ['package.xml']),
-        (os.path.join(SHARE_DIR, "launch"),
-         glob(os.path.join("launch", "*.launch.py"))),
-        (os.path.join(SHARE_DIR, "config"),
-         glob(os.path.join("config", "*.yaml")))],
-    package_dir={'': 'src', },
-    py_modules=[],
-    zip_safe=True,
-    install_requires=['setuptools',
-                      'pyserial',
-                      'numpy',
-                      'pyyaml'],
-    author='Eric Perko',
-    maintainer='Ed Venator',
-    keywords=['ROS2'],
-    description='Package to parse IMU strings' +
-    'and publish a very simple GPS message.',
-    license='BSD',
-    entry_points={
-        'console_scripts': [
-            'imu_serial_driver = libimu_driver.nodes.imu_serial_driver:main',
-            'imu_topic_driver = libimu_driver.nodes.imu_topic_driver:main',
-            'imu_topic_serial_reader = libimu_driver.nodes.' +
-            'imu_topic_serial_reader:main'],
-    }
-)
diff --git a/urc_imu/src/libimu_driver/__init__.py b/urc_imu/src/libimu_driver/__init__.py
deleted file mode 100644
index e69de29b..00000000
diff --git a/urc_imu/src/libimu_driver/checksum_utils.py b/urc_imu/src/libimu_driver/checksum_utils.py
deleted file mode 100644
index eb1b25b4..00000000
--- a/urc_imu/src/libimu_driver/checksum_utils.py
+++ /dev/null
@@ -1,48 +0,0 @@
-# Software License Agreement (BSD License)
-#
-# Copyright (c) 2013, Eric Perko
-# All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-#  * Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-#  * Redistributions in binary form must reproduce the above
-#    copyright notice, this list of conditions and the following
-#    disclaimer in the documentation and/or other materials provided
-#    with the distribution.
-#  * Neither the names of the authors nor the names of their
-#    affiliated organizations may be used to endorse or promote products derived
-#    from this software without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-
-
-# Check the NMEA sentence checksum. Return True if passes and False if failed
-def check_imu_checksum(imu_sentence):
-    return True  # (for now)
-    split_sentence = imu_sentence.split('*')
-    if len(split_sentence) != 2:
-        # No checksum bytes were found... improperly formatted/incomplete NMEA data?
-        return False
-    transmitted_checksum = split_sentence[1].strip()
-
-    # Remove the $ at the front
-    data_to_checksum = split_sentence[0][1:]
-    checksum = 0
-    for c in data_to_checksum:
-        checksum ^= ord(c)
-    return ("%02X" % checksum) == transmitted_checksum.upper()
diff --git a/urc_imu/src/libimu_driver/driver.py b/urc_imu/src/libimu_driver/driver.py
deleted file mode 100644
index d6c3f357..00000000
--- a/urc_imu/src/libimu_driver/driver.py
+++ /dev/null
@@ -1,51 +0,0 @@
-from rclpy.node import Node
-from sensor_msgs.msg import Imu
-from std_msgs.msg import Int32
-from libimu_driver.checksum_utils import check_imu_checksum
-import re
-
-
-class Ros2IMUDriver(Node):
-    def __init__(self):
-        super().__init__('imu_driver')
-
-        self.imu_pub = self.create_publisher(Imu, '/imu', 10)
-        self.yaw_pub = self.create_publisher(Int32, '/yaw', 10)
-
-    # Returns True if we successfully did something with the passed in
-    def add_sentence(self, imu_string, frame_id, timestamp=None):
-        if not check_imu_checksum(imu_string):
-            self.get_logger().warn("Received a sentence with"
-                                   " an invalid checksum. "
-                                   "Sentence was: %s" % imu_string)
-            return False
-
-        # self.get_logger().info("Sentence received: %s" % imu_string)
-        things = re.findall(r"-?[0-9]?[0-9]?[0-9]\.[0-9][0-9]", str(imu_string))
-        current_imu = Imu()
-        current_yaw = Int32()
-        current_imu.orientation.x = float(things[0])
-        current_imu.orientation.y = float(things[1])
-        current_imu.orientation.z = float(things[2])
-        current_imu.orientation.w = float(things[3])
-        current_yaw.data = int(float(things[4]))
-        current_imu.linear_acceleration.x = float(things[5])
-        current_imu.linear_acceleration.y = float(things[6])
-        current_imu.linear_acceleration.z = float(things[7])
-        current_imu.angular_velocity.x = float(things[8])
-        current_imu.angular_velocity.y = float(things[9])
-        current_imu.angular_velocity.z = float(things[10])
-        if len(things) > 11:
-            print("Too many items received in IMU driver message!")
-        self.imu_pub.publish(current_imu)
-        self.yaw_pub.publish(current_yaw)
-
-        return True
-
-    """Helper method for getting the frame_id with the correct TF prefix"""
-    def get_frame_id(self):
-        frame_id = self.declare_parameter('frame_id', 'gps').value
-        prefix = self.declare_parameter('tf_prefix', '').value
-        if len(prefix):
-            return '%s/%s' % (prefix, frame_id)
-        return frame_id
diff --git a/urc_imu/src/libimu_driver/nodes/__init__.py b/urc_imu/src/libimu_driver/nodes/__init__.py
deleted file mode 100644
index e69de29b..00000000
diff --git a/urc_imu/src/libimu_driver/nodes/imu_serial_driver.py b/urc_imu/src/libimu_driver/nodes/imu_serial_driver.py
deleted file mode 100755
index cd21203f..00000000
--- a/urc_imu/src/libimu_driver/nodes/imu_serial_driver.py
+++ /dev/null
@@ -1,75 +0,0 @@
-# Software License Agreement (BSD License)
-#
-# Copyright (c) 2013, Eric Perko
-# All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-#  * Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-#  * Redistributions in binary form must reproduce the above
-#    copyright notice, this list of conditions and the following
-#    disclaimer in the documentation and/or other materials provided
-#    with the distribution.
-#  * Neither the names of the authors nor the names of their
-#    affiliated organizations may be used to endorse or promote products
-#    derived from this software without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-
-import serial
-
-import rclpy
-
-from libimu_driver.driver import Ros2IMUDriver
-
-
-def main(args=None):
-    rclpy.init(args=args)
-
-    driver = Ros2IMUDriver()
-    frame_id = driver.get_frame_id()
-
-    serial_port = driver.declare_parameter('port', '/dev/ttyACM0').value
-    serial_baud = driver.declare_parameter('baud', 115200).value
-
-    try:
-        IMU = serial.Serial(port=serial_port, baudrate=serial_baud, timeout=2)
-        driver.get_logger().info(
-            "Successfully connected to {0} at {1}.".format(
-                serial_port, serial_baud))
-        try:
-            while rclpy.ok():
-                data = IMU.readline().strip()
-                try:
-                    if isinstance(data, bytes):
-                        data = data.decode("utf-8")
-                    driver.add_sentence(data, frame_id)
-                except ValueError as e:
-                    driver.get_logger().warn(
-                        "Value error, likely due to missing fields in the"
-                        "IMU message. Error was: %s. Please report this "
-                        "issue at github.com/ros-drivers/nmea_navsat_driver,"
-                        " including a bag file "
-                        "with the NMEA sentences that caused it." % e)
-
-        except Exception as e:
-            driver.get_logger().error("Ros error: {0}".format(e))
-            IMU.close()  # Close GPS serial port
-    except serial.SerialException as ex:
-        driver.get_logger().fatal(
-            "Could not open serial port: I/O "
-            "error({0}): {1}".format(ex.errno, ex.strerror))
diff --git a/urc_imu/src/libimu_driver/nodes/imu_topic_driver.py b/urc_imu/src/libimu_driver/nodes/imu_topic_driver.py
deleted file mode 100755
index 9fc70373..00000000
--- a/urc_imu/src/libimu_driver/nodes/imu_topic_driver.py
+++ /dev/null
@@ -1,69 +0,0 @@
-# Software License Agreement (BSD License)
-#
-# Copyright (c) 2013, Eric Perko
-# All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-#  * Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-#  * Redistributions in binary form must reproduce the above
-#    copyright notice, this list of conditions and the following
-#    disclaimer in the documentation and/or other materials provided
-#    with the distribution.
-#  * Neither the names of the authors nor the names of their
-#    affiliated organizations may be used to endorse or promote products
-#    derived from this software without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-
-
-from functools import partial
-
-from nmea_msgs.msg import Sentence
-import rclpy
-
-from libimu_driver.driver import Ros2IMUDriver
-
-
-def imu_sentence_callback(imu_sentence, driver):
-    try:
-        driver.add_sentence(imu_sentence.sentence,
-                            frame_id=imu_sentence.header.frame_id,
-                            timestamp=imu_sentence.header.stamp)
-    except ValueError as e:
-        rclpy.get_logger().warn(
-            "Value error, likely due to missing fields in the IMU message. "
-            "Error was: %s. "
-            "Please report this issue at "
-            "github.com/ros-drivers/nmea_navsat_driver, "
-            "including a bag file with "
-            "the IMU sentences that caused it." % e)
-
-
-def main(args=None):
-    rclpy.init(args=args)
-
-    driver = Ros2IMUDriver()
-    driver.get_frame_id()
-
-    driver.create_subscription(
-        Sentence, 'imu_sentence', partial(
-            imu_sentence_callback, driver=driver), 10)
-
-    rclpy.spin(driver)
-
-    rclpy.shutdown()
diff --git a/urc_imu/src/libimu_driver/nodes/imu_topic_serial_reader.py b/urc_imu/src/libimu_driver/nodes/imu_topic_serial_reader.py
deleted file mode 100755
index 99a70f3f..00000000
--- a/urc_imu/src/libimu_driver/nodes/imu_topic_serial_reader.py
+++ /dev/null
@@ -1,72 +0,0 @@
-# Software License Agreement (BSD License)
-#
-# Copyright (c) 2013, Eric Perko
-# All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-#  * Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-#  * Redistributions in binary form must reproduce the above
-#    copyright notice, this list of conditions and the following
-#    disclaimer in the documentation and/or other materials provided
-#    with the distribution.
-#  * Neither the names of the authors nor the names of their
-#    affiliated organizations may be used to endorse or promote products
-#    derived from this software without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
-# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-
-import serial
-
-from nmea_msgs.msg import Sentence
-import rclpy
-
-from libimu_driver.driver import Ros2IMUDriver
-
-
-def main(args=None):
-    rclpy.init(args=args)
-
-    driver = Ros2IMUDriver()
-
-    nmea_pub = driver.create_publisher(Sentence, "nmea_sentence", 10)
-
-    serial_port = driver.declare_parameter('port', '/dev/ttyACM0').value
-    serial_baud = driver.declare_parameter('baud', 115200).value
-
-    # Get the frame_id
-    frame_id = driver.get_frame_id()
-
-    try:
-        IMU = serial.Serial(port=serial_port, baudrate=serial_baud, timeout=2)
-        try:
-            while rclpy.ok():
-                data = IMU.readline().strip()
-
-                sentence = Sentence()
-                sentence.header.stamp = driver.get_clock().now().to_msg()
-                sentence.header.frame_id = frame_id
-                sentence.sentence = data.decode("ascii")
-                nmea_pub.publish(sentence)
-
-        except Exception as e:
-            driver.get_logger().error("Ros error: {0}".format(e))
-            IMU.close()  # Close GPS serial port
-    except serial.SerialException as ex:
-        driver.get_logger().fatal("Could not open serial port"
-                                  ": I/O error({0}): {1}".format(
-                                      ex.errno, ex.strerror))
diff --git a/urc_manipulation/CMakeLists.txt b/urc_manipulation/CMakeLists.txt
deleted file mode 100644
index febc2bf9..00000000
--- a/urc_manipulation/CMakeLists.txt
+++ /dev/null
@@ -1,99 +0,0 @@
-cmake_minimum_required(VERSION 3.5)
-project(urc_manipulation)
-
-include(../cmake/default_settings.cmake)
-
-# find dependencies
-find_package(ament_cmake REQUIRED)
-find_package(rclcpp REQUIRED)
-find_package(rclcpp_components REQUIRED)
-find_package(sensor_msgs REQUIRED)
-find_package(geometry_msgs REQUIRED)
-find_package(std_srvs REQUIRED)
-find_package(moveit_msgs REQUIRED)
-find_package(control_msgs REQUIRED)
-find_package(moveit_servo REQUIRED)
-
-
-include_directories(
-  include
-)
-
-# Library creation
-add_library(${PROJECT_NAME} SHARED
-  src/joy_to_servo_pub.cpp
-  src/arm_rt_server.cpp
-)
-
-set(dependencies
-  rclcpp
-  rclcpp_components
-  sensor_msgs
-  geometry_msgs
-  std_srvs
-  moveit_msgs
-  control_msgs
-  moveit_servo
-)
-
-ament_target_dependencies(${PROJECT_NAME}
-  ${dependencies}
-)
-
-# Node registration
-rclcpp_components_register_node(
-  ${PROJECT_NAME}
-  PLUGIN "joy_to_servo_pub::JoyToServoPub"
-  EXECUTABLE ${PROJECT_NAME}_JoyToServoPub
-)
-
-rclcpp_components_register_node(
-  ${PROJECT_NAME}
-  PLUGIN "urc_manipulation::ArmRTServer"
-  EXECUTABLE ${PROJECT_NAME}_ArmRT
-)
-
-add_executable(arm_servo src/servo_node.cpp)
-target_include_directories(arm_servo PUBLIC
-  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
-  $<INSTALL_INTERFACE:include>)
-target_compile_features(arm_servo PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
-ament_target_dependencies(
-  arm_servo
-  ${dependencies}
-)
-install(TARGETS arm_servo
-  DESTINATION lib/${PROJECT_NAME})
-
-# Install launch files.
-install(
-  DIRECTORY
-  launch
-  config
-  DESTINATION share/${PROJECT_NAME}/
-)
-
-# Install library
-install(TARGETS
-  ${PROJECT_NAME}
-  ARCHIVE DESTINATION lib
-  LIBRARY DESTINATION lib
-  RUNTIME DESTINATION lib/${PROJECT_NAME}
-)
-
-if(BUILD_TESTING)
-  find_package(ament_lint_auto REQUIRED)
-  # the following line skips the copyright linker
-  set(ament_cmake_copyright_FOUND TRUE)
-  # the following line skips cpplint (only works in a git repo)
-  set(ament_cmake_cpplint_FOUND TRUE)
-
-  ament_lint_auto_find_test_dependencies()
-endif()
-
-ament_export_include_directories(include)
-
-ament_export_libraries(${PROJECT_NAME})
-ament_export_dependencies(${dependencies})
-
-ament_package()
diff --git a/urc_manipulation/config/joy_to_servo_pub_params.yaml b/urc_manipulation/config/joy_to_servo_pub_params.yaml
deleted file mode 100644
index 1524baed..00000000
--- a/urc_manipulation/config/joy_to_servo_pub_params.yaml
+++ /dev/null
@@ -1,5 +0,0 @@
-joy_to_servo_pub:
-  ros__parameters:
-    joy_topic: "/joy"
-    twist_topic: "/servo_node/delta_twist_cmds"
-    base_frame_id: "base_link" # Will need to change to the arm's actual base frame
diff --git a/urc_manipulation/include/arm_rt_server.hpp b/urc_manipulation/include/arm_rt_server.hpp
deleted file mode 100644
index 67b0e93f..00000000
--- a/urc_manipulation/include/arm_rt_server.hpp
+++ /dev/null
@@ -1,121 +0,0 @@
-#ifndef INCLUDE_ARM_RT_SERVER_HPP__
-#define INCLUDE_ARM_RT_SERVER_HPP__
-
-#include <array>
-#include <atomic>
-#include <control_msgs/msg/detail/joint_jog__struct.hpp>
-#include <cstdint>
-#include <geometry_msgs/msg/detail/pose__struct.hpp>
-#include <geometry_msgs/msg/detail/pose_stamped__struct.hpp>
-#include <geometry_msgs/msg/detail/twist_stamped__struct.hpp>
-#include <map>
-#include <memory>
-#include "map"
-#include "thread"
-
-#include "rclcpp/rclcpp.hpp"
-
-#include "std_srvs/srv/trigger.hpp"
-#include "std_srvs/srv/set_bool.hpp"
-#include "moveit_servo/servo.h"
-#include "moveit/planning_scene_monitor/planning_scene_monitor.h"
-#include "geometry_msgs/msg/twist_stamped.hpp"
-#include <moveit/move_group_interface/move_group_interface.h>
-#include <moveit_msgs/msg/detail/collision_object__struct.hpp>
-#include <moveit_msgs/msg/detail/planning_scene__struct.hpp>
-#include <moveit_servo/pose_tracking.h>
-#include <moveit_servo/servo_parameters.h>
-#include <moveit_servo/servo_parameters.h>
-#include <moveit_servo/make_shared_from_pool.h>
-#include <mutex>
-#include <rclcpp/executors/multi_threaded_executor.hpp>
-#include <rclcpp/executors/single_threaded_executor.hpp>
-#include <rclcpp/node.hpp>
-#include <rclcpp/publisher.hpp>
-#include <rclcpp/rate.hpp>
-#include <rclcpp/service.hpp>
-#include <rclcpp/subscription.hpp>
-#include <std_msgs/msg/detail/int8__struct.hpp>
-#include <std_msgs/msg/detail/string__struct.hpp>
-#include <std_srvs/srv/detail/set_bool__struct.hpp>
-#include <thread>
-
-namespace urc_manipulation
-{
-
-enum ControlMode
-{
-  POSE,
-  TWIST,
-  IDLE
-};
-class ArmRTServer : public rclcpp::Node
-{
-public:
-  ArmRTServer(const rclcpp::NodeOptions & options);
-
-private:
-  ControlMode mode = ControlMode::TWIST;
-  ControlMode desired_mode_ = ControlMode::TWIST;
-  std::atomic_bool pose_tracking_pause = false;
-  std::atomic_bool pose_tracking_stop = false;
-  std::mutex mode_lock;
-  geometry_msgs::msg::PoseStamped current_pose_target_;
-
-  rclcpp::Rate::SharedPtr update_freq;
-  std::array<double, 3> config_parameters;
-
-  std::shared_ptr<rclcpp::Node> node_;
-  std::unique_ptr<moveit_servo::Servo> servo_;
-  std::unique_ptr<moveit_servo::PoseTracking> pose_tracking_;
-  std::shared_ptr<rclcpp::Node> move_group_node_;
-  std::shared_ptr<rclcpp::executors::MultiThreadedExecutor> move_group_node_executor_;
-  std::shared_ptr<moveit::planning_interface::MoveGroupInterface> move_group_;
-
-  std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
-  std::shared_ptr<planning_scene_monitor::PlanningSceneMonitor> planning_scene_monitor_;
-  rclcpp::Subscription<geometry_msgs::msg::PoseStamped>::SharedPtr pose_target_subscriber_;
-  rclcpp::Publisher<geometry_msgs::msg::PoseStamped>::SharedPtr pose_target_publisher_;
-  rclcpp::Publisher<std_msgs::msg::Int8>::SharedPtr control_status_publisher_;
-  rclcpp::Publisher<geometry_msgs::msg::Pose>::SharedPtr current_pose_publisher_;
-
-  /** \brief Start the servo loop. Must be called once to begin Servoing. */
-  void startServo(
-    const std::shared_ptr<std_srvs::srv::Trigger::Request> & request,
-    const std::shared_ptr<std_srvs::srv::Trigger::Response> & response);
-  rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr start_servo_service_;
-
-  /** \brief Stop the servo loop. This involves more overhead than pauseCB, e.g. it clears the planning scene monitor.
-   * We recommend using pauseCB/unpauseCB if you will resume the Servo loop soon.
-   */
-  void stopServo(
-    const std::shared_ptr<std_srvs::srv::Trigger::Request> & request,
-    const std::shared_ptr<std_srvs::srv::Trigger::Response> & response);
-  rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr stop_servo_service_;
-
-  /** \brief Pause the servo loop but continue monitoring joint state so we can resume easily. */
-  void pauseServo(
-    const std::shared_ptr<std_srvs::srv::Trigger::Request> & request,
-    const std::shared_ptr<std_srvs::srv::Trigger::Response> & response);
-  rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr pause_servo_service_;
-
-  /** \brief Resume the servo loop after pauseCB has been called. */
-  void unpauseServo(
-    const std::shared_ptr<std_srvs::srv::Trigger::Request> & request,
-    const std::shared_ptr<std_srvs::srv::Trigger::Response> & response);
-  rclcpp::Service<std_srvs::srv::Trigger>::SharedPtr unpause_servo_service_;
-
-  /** \brief Switch servoing control mode. Only being effective during idle state.
-   * True for twist, false for pose tracking.
-   */
-  void switchMode(
-    const std::shared_ptr<std_srvs::srv::SetBool::Request> & request,
-    const std::shared_ptr<std_srvs::srv::SetBool::Response> & response);
-  rclcpp::Service<std_srvs::srv::SetBool>::SharedPtr swtich_mode_service;
-
-  void moveToPoseUpdate();
-};
-
-}  // namespace urc_manipulation
-
-#endif /* INCLUDE_ARM_RT_SERVER_HPP__ */
diff --git a/urc_manipulation/include/joy_to_servo_pub.hpp b/urc_manipulation/include/joy_to_servo_pub.hpp
deleted file mode 100644
index ebcb411e..00000000
--- a/urc_manipulation/include/joy_to_servo_pub.hpp
+++ /dev/null
@@ -1,92 +0,0 @@
-#include <sensor_msgs/msg/joy.hpp>
-#include <geometry_msgs/msg/twist_stamped.hpp>
-#include <control_msgs/msg/joint_jog.hpp>
-#include <std_srvs/srv/trigger.hpp>
-#include <moveit_msgs/msg/planning_scene.hpp>
-#include <rclcpp/client.hpp>
-#include <rclcpp/experimental/buffers/intra_process_buffer.hpp>
-#include <rclcpp/node.hpp>
-#include <rclcpp/publisher.hpp>
-#include <rclcpp/qos.hpp>
-#include <rclcpp/qos_event.hpp>
-#include <rclcpp/subscription.hpp>
-#include <rclcpp/time.hpp>
-#include <rclcpp/utilities.hpp>
-#include <thread>
-#include <rclcpp_components/register_node_macro.hpp>
-
-namespace joy_to_servo_pub
-{
-
-// For XBOX 1 controller
-enum Axis
-{
-  LEFT_STICK_X = 0,
-  LEFT_STICK_Y = 1,
-  LEFT_TRIGGER = 2,
-  RIGHT_STICK_X = 3,
-  RIGHT_STICK_Y = 4,
-  RIGHT_TRIGGER = 5,
-  D_PAD_X = 6,
-  D_PAD_Y = 7
-};
-
-enum Button
-{
-  A = 0,
-  B = 1,
-  X = 2,
-  Y = 3,
-  LEFT_BUMPER = 4,
-  RIGHT_BUMPER = 5,
-  CHANGE_VIEW = 6,
-  MENU = 7,
-  HOME = 8,
-  LEFT_STICK_CLICK = 9,
-  RIGHT_STICK_CLICK = 10
-};
-
-class JoyToServoPub : public rclcpp::Node
-{
-public:
-  /** \brief // This converts a joystick axes and buttons array to a TwistStamped message
-   * @param axes The vector of continuous controller joystick axes
-   * @param buttons The vector of discrete controller button values
-   * @param twist A TwistStamped message to update in prep for publishing
-   */
-  bool convertJoyToCmd(
-    const std::vector<float> & axes, const std::vector<int> & buttons,
-    std::unique_ptr<geometry_msgs::msg::TwistStamped> & twist,
-    std::unique_ptr<control_msgs::msg::JointJog> & joint);
-
-  JoyToServoPub(const rclcpp::NodeOptions & options);
-  ~JoyToServoPub() override;
-  void joyCB(const sensor_msgs::msg::Joy::ConstSharedPtr & msg);
-
-  void updateCmdFrame(std::string & frame_name, const std::vector<int> & buttons);
-
-private:
-  rclcpp::Subscription<sensor_msgs::msg::Joy>::SharedPtr joy_sub_;
-  rclcpp::Publisher<geometry_msgs::msg::TwistStamped>::SharedPtr twist_pub_;
-  rclcpp::Publisher<control_msgs::msg::JointJog>::SharedPtr joint_pub_;
-  rclcpp::Publisher<moveit_msgs::msg::PlanningScene>::SharedPtr collision_pub_;
-  rclcpp::Client<std_srvs::srv::Trigger>::SharedPtr servo_start_client_;
-
-  std::string frame_to_publish_;
-  std::thread collision_pub_thread_;
-
-  std::string joy_topic;
-  std::string twist_topic;
-  std::string joint_topic;
-  std::string base_frame_id;
-  std::string eef_frame_id;
-
-
-  // Some axes have offsets (e.g. the default trigger position is 1.0 not 0)
-  // This will map the default values for the axes
-  std::map<Axis, double> AXIS_DEFAULTS = {{LEFT_TRIGGER, 1.0}, {RIGHT_TRIGGER, 1.0}};
-  std::map<Button, double> BUTTON_DEFAULTS;
-
-};  // class JoyToServoPub
-
-}
diff --git a/urc_manipulation/launch/arm_controls.launch.py b/urc_manipulation/launch/arm_controls.launch.py
deleted file mode 100644
index e5655625..00000000
--- a/urc_manipulation/launch/arm_controls.launch.py
+++ /dev/null
@@ -1,94 +0,0 @@
-import os
-
-from launch import LaunchDescription
-
-from ament_index_python.packages import get_package_share_directory
-from launch_ros.actions import Node
-
-from launch_ros.actions import ComposableNodeContainer
-from launch_ros.descriptions import ComposableNode
-
-from moveit_configs_utils import MoveItConfigsBuilder
-
-# Note: Joint Trajectory controllers are initialized in simulation.launch.py
-# The same goes for the Joint State Broadcaster.
-
-
-def generate_launch_description():
-    arm_moveit_pkg_path = get_package_share_directory("urc_arm_moveit_config")
-
-    moveit_config = (
-        MoveItConfigsBuilder("urc_arm")
-        .robot_description(file_path="config/walli_arm.urdf.xacro")
-        .robot_description_semantic(file_path="config/walli_arm.srdf")
-        .trajectory_execution(file_path="config/moveit_controllers.yaml")
-        .robot_description_kinematics(file_path="config/kinematics.yaml")
-        .planning_scene_monitor(
-            publish_robot_description=True, publish_robot_description_semantic=True
-        )
-        .planning_pipelines(pipelines=["ompl"])
-        .to_moveit_configs()
-    )
-
-    # Get parameters for the Servo node
-    servo_yaml = os.path.join(
-        arm_moveit_pkg_path, "/config/walli_arm_simulated_config.yaml"
-    )
-    servo_params = {"moveit_servo": servo_yaml}
-
-    # Launch as much as possible in components
-    container = ComposableNodeContainer(
-        name="urc_manipulation_container",
-        namespace="/",
-        package="rclcpp_components",
-        executable="component_container_mt",
-        composable_node_descriptions=[
-            # Example of launching Servo as a node component
-            # Assuming ROS2 intraprocess communications works well, this is a more efficient way.
-            # ComposableNode(
-            #     package="moveit_servo",
-            #     plugin="moveit_servo::ServoServer",
-            #     name="servo_server",
-            #     parameters=[
-            #         servo_params,
-            #         moveit_config.robot_description,
-            #         moveit_config.robot_description_semantic,
-            #     ],
-            # ),
-            ComposableNode(
-                package="tf2_ros",
-                plugin="tf2_ros::StaticTransformBroadcasterNode",
-                name="static_tf2_broadcaster",
-                # check if child frame id and base link are correct
-                parameters=[
-                    {"child_frame_id": "/leftgripper", "frame_id": "/arm_base_link"}
-                ],
-            ),
-            ComposableNode(
-                package="urc_manipulation",
-                plugin="joy_to_servo_pub::JoyToServoPub",
-                name="controller_to_servo_node",
-            ),
-            ComposableNode(
-                package="joy",
-                plugin="joy::Joy",
-                name="joy_node",
-            ),
-        ],
-        output="screen",
-    )
-
-    # Standalone arm control node. Could be necessary if servo runs on different PC
-    arm_controls_node = Node(
-        package="urc_manipulation",
-        executable="servo_node_main",
-        output="screen",
-        parameters=[
-            servo_params,
-            moveit_config.robot_description,
-            moveit_config.robot_description_semantic,
-            moveit_config.robot_description_kinematics,
-        ],
-    )
-
-    return LaunchDescription([arm_controls_node, container])
diff --git a/urc_manipulation/package.xml b/urc_manipulation/package.xml
deleted file mode 100644
index fc17b29a..00000000
--- a/urc_manipulation/package.xml
+++ /dev/null
@@ -1,50 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
-  <name>urc_manipulation</name>
-  <version>0.0.0</version>
-  <description>Package for controlling any manipulation devices on the rover.</description>
-  <maintainer email="matthew.scott.hannay@gmail.com">matthewhannay</maintainer>
-  <license>MIT</license>
-
-  <buildtool_depend>ament_cmake</buildtool_depend>
-  <depend>moveit_common</depend>
-
-  <depend>controller_manager</depend>
-  <depend>controller_manager_msgs</depend>
-  <depend>control_msgs</depend>
-  <depend>control_toolbox</depend>
-  <depend>rclcpp</depend>
-  <depend>rclcpp_components</depend>
-  <depend>sensor_msgs</depend>
-  <depend>geometry_msgs</depend>
-  <depend>std_srvs</depend>
-  <depend>moveit_msgs</depend>
-  <depend>moveit_core</depend>
-  <depend>moveit_ros_planning_interface</depend>
-  <depend>pluginlib</depend>
-  <depend>std_msgs</depend>
-  <depend>tf2_eigen</depend>
-  <depend>trajectory_msgs</depend>
-  <depend>pinocchio</depend>
-  <depend>moveit_servo</depend>
-
-  <exec_depend>moveit_ros</exec_depend>
-  <exec_depend>gripper_controllers</exec_depend>
-  <exec_depend>joint_state_broadcaster</exec_depend>
-  <exec_depend>joint_trajectory_controller</exec_depend>
-  <exec_depend>joy</exec_depend>
-  <exec_depend>robot_state_publisher</exec_depend>
-  <exec_depend>tf2_ros</exec_depend>
-  <exec_depend>moveit_configs_utils</exec_depend>
-  <exec_depend>launch_param_builder</exec_depend>
-
-
-  <test_depend>ament_lint_auto</test_depend>
-  <test_depend>ament_lint_common</test_depend>
-  <test_depend>urc_arm_moveit_config</test_depend>
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>
\ No newline at end of file
diff --git a/urc_manipulation/src/arm_rt_server.cpp b/urc_manipulation/src/arm_rt_server.cpp
deleted file mode 100644
index 6c66c379..00000000
--- a/urc_manipulation/src/arm_rt_server.cpp
+++ /dev/null
@@ -1,285 +0,0 @@
-#include "arm_rt_server.hpp"
-#include <Eigen/src/Core/Matrix.h>
-#include <control_msgs/msg/detail/joint_jog__struct.hpp>
-#include <geometry_msgs/msg/detail/pose__struct.hpp>
-#include <geometry_msgs/msg/detail/pose_stamped__struct.hpp>
-#include <geometry_msgs/msg/detail/transform_stamped__struct.hpp>
-#include <geometry_msgs/msg/detail/twist_stamped__struct.hpp>
-#include <memory>
-#include <moveit/planning_scene_monitor/planning_scene_monitor.h>
-#include <moveit_msgs/msg/detail/planning_scene__struct.hpp>
-#include <moveit_servo/pose_tracking.h>
-#include <moveit_servo/servo.h>
-#include <moveit_servo/servo_parameters.h>
-#include <mutex>
-#include <rclcpp/executors/multi_threaded_executor.hpp>
-#include <rclcpp/executors/single_threaded_executor.hpp>
-#include <rclcpp/logging.hpp>
-#include <rclcpp/node.hpp>
-#include <rclcpp/node_options.hpp>
-#include <rclcpp/publisher.hpp>
-#include <rclcpp/qos.hpp>
-#include <rclcpp/rate.hpp>
-#include <rclcpp/time.hpp>
-#include <rclcpp_lifecycle/lifecycle_node.hpp>
-#include <std_msgs/msg/detail/int8__struct.hpp>
-#include <std_msgs/msg/detail/string__struct.hpp>
-#include <std_srvs/srv/detail/set_bool__struct.hpp>
-#include <string>
-#include <thread>
-#include <unistd.h>
-
-namespace urc_manipulation
-{
-ArmRTServer::ArmRTServer(const rclcpp::NodeOptions & options)
-: rclcpp::Node("arm_rt_server", options),
-  node_{std::make_shared<rclcpp::Node>("servo_node", options)}
-// , move_group_node_{ std::make_shared<rclcpp::Node>("move_group_node", options) }
-{
-  RCLCPP_INFO(get_logger(), "Servo node starting...");
-  if (!options.use_intra_process_comms()) {
-    RCLCPP_WARN_STREAM(
-      get_logger(),
-      "Intra-process communication is disabled, consider enabling it by adding: "
-      "\nextra_arguments=[{'use_intra_process_comms' : True}]\nto the Servo composable node "
-      "in the launch file");
-  }
-
-  declare_parameter<std::string>("arm_planning_group", "arm");
-
-  // Set up services for interacting with Servo
-  start_servo_service_ = node_->create_service<std_srvs::srv::Trigger>(
-    "~/start_servo", [this](const std::shared_ptr<std_srvs::srv::Trigger::Request> & request,
-    const std::shared_ptr<std_srvs::srv::Trigger::Response> & response) {
-      return startServo(request, response);
-    });
-  stop_servo_service_ = node_->create_service<std_srvs::srv::Trigger>(
-    "~/stop_servo", [this](const std::shared_ptr<std_srvs::srv::Trigger::Request> & request,
-    const std::shared_ptr<std_srvs::srv::Trigger::Response> & response) {
-      return stopServo(request, response);
-    });
-  pause_servo_service_ = node_->create_service<std_srvs::srv::Trigger>(
-    "~/pause_servo", [this](const std::shared_ptr<std_srvs::srv::Trigger::Request> & request,
-    const std::shared_ptr<std_srvs::srv::Trigger::Response> & response) {
-      return pauseServo(request, response);
-    });
-  unpause_servo_service_ = node_->create_service<std_srvs::srv::Trigger>(
-    "~/unpause_servo", [this](const std::shared_ptr<std_srvs::srv::Trigger::Request> & request,
-    const std::shared_ptr<std_srvs::srv::Trigger::Response> & response) {
-      return unpauseServo(request, response);
-    });
-  swtich_mode_service = node_->create_service<std_srvs::srv::SetBool>(
-    "~/switch_mode", [this](const std::shared_ptr<std_srvs::srv::SetBool::Request> & request,
-    const std::shared_ptr<std_srvs::srv::SetBool::Response> & response) {
-      return switchMode(request, response);
-    });
-
-  pose_target_subscriber_ = node_->create_subscription<geometry_msgs::msg::PoseStamped>(
-    "~/pose_target_cmds", rclcpp::SystemDefaultsQoS(),
-    [this](const geometry_msgs::msg::PoseStamped::SharedPtr msg) {current_pose_target_ = *msg;});
-  pose_target_publisher_ =
-    node_->create_publisher<geometry_msgs::msg::PoseStamped>(
-    "/target_pose",
-    rclcpp::SystemDefaultsQoS());
-
-  control_status_publisher_ =
-    node_->create_publisher<std_msgs::msg::Int8>("~/control_status", rclcpp::SystemDefaultsQoS());
-  current_pose_publisher_ =
-    node_->create_publisher<geometry_msgs::msg::Pose>(
-    "~/current_pose",
-    rclcpp::SystemDefaultsQoS());
-
-  // Can set robot_description name from parameters
-  std::string robot_description_name = "robot_description";
-  node_->get_parameter_or("robot_description_name", robot_description_name, robot_description_name);
-
-  // Get the servo parameters
-  auto servo_parameters = moveit_servo::ServoParameters::makeServoParameters(node_);
-  if (servo_parameters == nullptr) {
-    RCLCPP_ERROR(get_logger(), "Failed to load the servo parameters");
-    throw std::runtime_error("Failed to load the servo parameters");
-  }
-
-  // Set up planning_scene_monitor
-  planning_scene_monitor_ = std::make_shared<planning_scene_monitor::PlanningSceneMonitor>(
-    node_, robot_description_name, "planning_scene_monitor");
-  planning_scene_monitor_->startStateMonitor(servo_parameters->joint_topic);
-  planning_scene_monitor_->startSceneMonitor(servo_parameters->monitored_planning_scene_topic);
-  planning_scene_monitor_->setPlanningScenePublishingFrequency(25);
-  planning_scene_monitor_->getStateMonitor()->enableCopyDynamics(true);
-  planning_scene_monitor_->startPublishingPlanningScene(
-    planning_scene_monitor::PlanningSceneMonitor::UPDATE_SCENE,
-    std::string(node_->get_fully_qualified_name()) +
-    "/publish_planning_scene");
-  // If the planning scene monitor in servo is the primary one we provide /get_planning_scene service so RViz displays
-  // or secondary planning scene monitors can fetch the scene, otherwise we request the planning scene from the
-  // primary planning scene monitor (e.g. move_group)
-  if (servo_parameters->is_primary_planning_scene_monitor) {
-    planning_scene_monitor_->providePlanningSceneService();
-  } else {
-    planning_scene_monitor_->requestPlanningSceneState();
-  }
-  std::cout << servo_parameters->ee_frame_name << std::endl;
-
-  double update_freq_value = get_parameter_or("update_freq", 30.0);
-  update_freq = std::make_shared<rclcpp::Rate>(update_freq_value);
-  config_parameters[0] = get_parameter_or("position_err_tolerance_meters", 0.01);
-  config_parameters[1] = get_parameter_or("velocity_err_tolerance_meters", 0.05);
-  config_parameters[2] = get_parameter_or("angular_err_tolerance_radians", 0.0349);
-
-  // Create threads
-  std::thread(
-    [this]() {
-      for (;; ) {
-        auto msg = std_msgs::msg::Int8();
-        switch (mode) {
-          case POSE:
-            msg.data = 1;
-            break;
-          case TWIST:
-            msg.data = 2;
-            break;
-          default:
-            msg.data = 0;
-        }
-        control_status_publisher_->publish(msg);
-        update_freq->sleep();
-      }
-    }).detach();
-
-  // Create Servo
-  servo_ = std::make_unique<moveit_servo::Servo>(node_, servo_parameters, planning_scene_monitor_);
-  servo_->setPaused(false);
-  RCLCPP_INFO(get_logger(), "Servo node has started.");
-  pose_tracking_ = std::make_unique<moveit_servo::PoseTracking>(
-    node_, servo_parameters,
-    planning_scene_monitor_);
-  pose_tracking_->stopMotion();
-  pose_tracking_pause = true;
-  RCLCPP_INFO(get_logger(), "Pose tracking node has started.");
-}
-
-void ArmRTServer::startServo(
-  const std::shared_ptr<std_srvs::srv::Trigger::Request> & /* unused */,
-  const std::shared_ptr<std_srvs::srv::Trigger::Response> & response)
-{
-  std::unique_lock<std::mutex> lock(mode_lock);
-  if (mode != IDLE) {
-    RCLCPP_WARN(get_logger(), "RT Control has already started!");
-    response->success = false;
-    response->message = "RT Control has already started!";
-    return;
-  }
-
-  pose_tracking_->stopMotion();
-  servo_->setPaused(true);
-
-  if (desired_mode_ == ControlMode::POSE) {
-    mode = ControlMode::POSE;
-    pose_tracking_->resetTargetPose();
-    pose_tracking_pause = false;
-    pose_tracking_stop = false;
-    std::thread([this]() {moveToPoseUpdate();}).detach();
-  } else if (desired_mode_ == ControlMode::TWIST) {
-    mode = ControlMode::TWIST;
-    servo_->setPaused(false);
-    servo_->start();
-  }
-  mode_lock.unlock();
-  response->success = true;
-}
-
-void ArmRTServer::stopServo(
-  const std::shared_ptr<std_srvs::srv::Trigger::Request> & /* unused */,
-  const std::shared_ptr<std_srvs::srv::Trigger::Response> & response)
-{
-  std::unique_lock<std::mutex> lock(mode_lock);
-  mode = IDLE;
-
-  servo_->setPaused(true);
-  pose_tracking_stop = true;
-  pose_tracking_->stopMotion();
-  response->success = true;
-}
-
-void ArmRTServer::pauseServo(
-  const std::shared_ptr<std_srvs::srv::Trigger::Request> & /* unused */,
-  const std::shared_ptr<std_srvs::srv::Trigger::Response> & response)
-{
-  std::unique_lock<std::mutex> lock(mode_lock);
-  if (desired_mode_ == ControlMode::POSE) {
-    servo_->setPaused(true);
-  } else if (desired_mode_ == ControlMode::TWIST) {
-    pose_tracking_pause = true;
-  }
-
-  mode = ControlMode::IDLE;
-  response->success = true;
-}
-
-void ArmRTServer::unpauseServo(
-  const std::shared_ptr<std_srvs::srv::Trigger::Request> & /* unused */,
-  const std::shared_ptr<std_srvs::srv::Trigger::Response> & response)
-{
-  std::unique_lock<std::mutex> lock(mode_lock);
-  if (desired_mode_ == ControlMode::POSE) {
-    servo_->setPaused(false);
-  } else if (desired_mode_ == ControlMode::TWIST) {
-    pose_tracking_pause = false;
-  } else {
-    RCLCPP_WARN(get_logger(), "Invalid desired mode!");
-    response->success = false;
-    return;
-  }
-
-  mode = desired_mode_;
-  response->success = true;
-}
-
-void ArmRTServer::switchMode(
-  const std::shared_ptr<std_srvs::srv::SetBool::Request> & request,
-  const std::shared_ptr<std_srvs::srv::SetBool::Response> & response)
-{
-  std::unique_lock<std::mutex> lock(mode_lock);
-  if (request->data) {
-    desired_mode_ = ControlMode::POSE;
-  } else {
-    desired_mode_ = ControlMode::TWIST;
-  }
-  response->success = true;
-}
-
-void ArmRTServer::moveToPoseUpdate()
-{
-  for (;; ) {
-    if (mode != POSE) {
-      break;
-    }
-
-    if (pose_tracking_stop) {
-      RCLCPP_INFO(get_logger(), "Stop flag see. Stopping...");
-      pose_tracking_stop = false;
-      break;
-    }
-
-    if (!pose_tracking_pause) {
-      geometry_msgs::msg::TransformStamped current_ee_tf;
-      pose_tracking_->getCommandFrameTransform(current_ee_tf);
-
-      current_pose_target_.header.frame_id = current_ee_tf.header.frame_id;
-      current_pose_target_.header.stamp = node_->get_clock()->now();
-
-      pose_target_publisher_->publish(current_pose_target_);
-      pose_tracking_->moveToPose(
-        Eigen::Vector3d(config_parameters[0], config_parameters[0], config_parameters[0]),
-        config_parameters[2], 1.0);
-    }
-
-    update_freq->sleep();
-  }
-}
-
-}  // namespace urc_manipulation
-
-#include "rclcpp_components/register_node_macro.hpp"
-RCLCPP_COMPONENTS_REGISTER_NODE(urc_manipulation::ArmRTServer);
diff --git a/urc_manipulation/src/joy_to_servo_pub.cpp b/urc_manipulation/src/joy_to_servo_pub.cpp
deleted file mode 100644
index 87f436cd..00000000
--- a/urc_manipulation/src/joy_to_servo_pub.cpp
+++ /dev/null
@@ -1,144 +0,0 @@
-#include "joy_to_servo_pub.hpp"
-#include <rclcpp/logger.hpp>
-#include <rclcpp/logging.hpp>
-
-namespace joy_to_servo_pub
-{
-
-JoyToServoPub::JoyToServoPub(const rclcpp::NodeOptions & options)
-: Node("arm_driver", options)
-{
-  declare_parameter<std::string>("joy_topic", "/joy");
-  get_parameter<std::string>("joy_topic", joy_topic);
-
-  declare_parameter<std::string>("twist_topic", "/servo_node/delta_twist_cmds");
-  get_parameter<std::string>("twist_topic", twist_topic);
-
-  declare_parameter<std::string>("joint_topic", "/servo_node/delta_joint_cmds");
-  get_parameter<std::string>("joint_topic", joint_topic);
-
-  declare_parameter<std::string>("base_frame_id", "arm_base_link");
-  get_parameter<std::string>("base_frame_id", base_frame_id);
-
-  declare_parameter<std::string>("eef_frame_id", "leftgripper");
-  get_parameter<std::string>("eef_frame_id", eef_frame_id);
-
-  // Setup pub/sub
-  joy_sub_ = create_subscription<sensor_msgs::msg::Joy>(
-    joy_topic, rclcpp::SystemDefaultsQoS(),
-    [this](const sensor_msgs::msg::Joy::ConstSharedPtr & msg) {return joyCB(msg);});
-
-  twist_pub_ = create_publisher<geometry_msgs::msg::TwistStamped>(
-    twist_topic,
-    rclcpp::SystemDefaultsQoS());
-  joint_pub_ = this->create_publisher<control_msgs::msg::JointJog>(
-    joint_topic,
-    rclcpp::SystemDefaultsQoS());
-  collision_pub_ = create_publisher<moveit_msgs::msg::PlanningScene>(
-    "/planning_scene",
-    rclcpp::SystemDefaultsQoS());
-
-  // Create a service client to start the ServoNode
-  servo_start_client_ = create_client<std_srvs::srv::Trigger>("/servo_node/start_servo");
-  servo_start_client_->wait_for_service(std::chrono::seconds(1));
-  servo_start_client_->async_send_request(std::make_shared<std_srvs::srv::Trigger::Request>());
-
-  // Load the collision scene asynchronously
-  collision_pub_thread_ = std::thread(
-    [this]() {
-      rclcpp::sleep_for(std::chrono::seconds(3));
-      moveit_msgs::msg::PlanningSceneWorld psw;
-
-      auto ps = std::make_unique<moveit_msgs::msg::PlanningScene>();
-      ps->world = psw;
-      ps->is_diff = true;
-      collision_pub_->publish(std::move(ps));
-    });
-}
-
-JoyToServoPub::~JoyToServoPub()
-{
-  if (collision_pub_thread_.joinable()) {
-    collision_pub_thread_.join();
-  }
-}
-
-bool JoyToServoPub::convertJoyToCmd(
-  const std::vector<float> & axes, const std::vector<int> & buttons,
-  std::unique_ptr<geometry_msgs::msg::TwistStamped> & twist,
-  std::unique_ptr<control_msgs::msg::JointJog> & joint)
-{
-  // Give joint jogging priority because it is only buttons
-  // If any joint jog command is requested, we are only publishing joint commands
-  if (buttons[A] || buttons[B] || buttons[X] || buttons[Y] || axes[D_PAD_X] || axes[D_PAD_Y]) {
-    // Map the D_PAD to the proximal joints
-    joint->joint_names.push_back("shoulderjoint");
-    joint->velocities.push_back(axes[D_PAD_X]);
-    joint->joint_names.push_back("bicepjoint");
-    joint->velocities.push_back(axes[D_PAD_Y]);
-
-    // Map the diamond to the distal joints
-    joint->joint_names.push_back("leftgripper");
-    joint->velocities.push_back(buttons[B] - buttons[X]);
-    joint->joint_names.push_back("clawjoint");
-    joint->velocities.push_back(buttons[Y] - buttons[A]);
-    return false;
-  }
-
-  // The bread and butter: map buttons to twist commands
-  twist->twist.linear.z = axes[RIGHT_STICK_Y];
-  twist->twist.linear.y = axes[RIGHT_STICK_X];
-
-  double lin_x_right = -0.5 * (axes[RIGHT_TRIGGER] - AXIS_DEFAULTS.at(RIGHT_TRIGGER));
-  double lin_x_left = 0.5 * (axes[LEFT_TRIGGER] - AXIS_DEFAULTS.at(LEFT_TRIGGER));
-  twist->twist.linear.x = lin_x_right + lin_x_left;
-
-  twist->twist.angular.y = axes[LEFT_STICK_Y];
-  twist->twist.angular.x = axes[LEFT_STICK_X];
-
-  double roll_positive = buttons[RIGHT_BUMPER];
-  double roll_negative = -1 * (buttons[LEFT_BUMPER]);
-  twist->twist.angular.z = roll_positive + roll_negative;
-
-  return true;
-}
-
-/** \brief // This should update the frame_to_publish_ as needed for changing command frame via controller
- * @param frame_name Set the command frame to this
- * @param buttons The vector of discrete controller button values
- */
-void JoyToServoPub::updateCmdFrame(std::string & frame_name, const std::vector<int> & buttons)
-{
-  if (buttons[CHANGE_VIEW] && frame_name == eef_frame_id) {
-    frame_name = base_frame_id;
-  } else if (buttons[MENU] && frame_name == base_frame_id) {
-    frame_name = eef_frame_id;
-  }
-}
-
-void JoyToServoPub::joyCB(const sensor_msgs::msg::Joy::ConstSharedPtr & msg)
-{
-  // Create the messages we might publish
-  auto twist_msg = std::make_unique<geometry_msgs::msg::TwistStamped>();
-  auto joint_msg = std::make_unique<control_msgs::msg::JointJog>();
-
-  // This call updates the frame for twist commands
-  updateCmdFrame(frame_to_publish_, msg->buttons);
-
-  // Convert the joystick message to Twist or JointJog and publish
-  if (convertJoyToCmd(msg->axes, msg->buttons, twist_msg, joint_msg)) {
-    // publish the TwistStamped
-    twist_msg->header.frame_id = frame_to_publish_;
-    twist_msg->header.stamp = this->now();
-    twist_pub_->publish(std::move(twist_msg));
-  } else {
-    // publish the JointJog
-    joint_msg->header.stamp = this->now();
-    joint_msg->header.frame_id = "elbowjoint";
-    joint_pub_->publish(std::move(joint_msg));
-  }
-}
-
-}  // namespace joy_to_servo_pub
-
-RCLCPP_COMPONENTS_REGISTER_NODE(joy_to_servo_pub::JoyToServoPub)
diff --git a/urc_manipulation/src/servo_node.cpp b/urc_manipulation/src/servo_node.cpp
deleted file mode 100644
index 2287d544..00000000
--- a/urc_manipulation/src/servo_node.cpp
+++ /dev/null
@@ -1,18 +0,0 @@
-#include "moveit_servo/servo_node.h"
-#include <memory>
-#include <rclcpp/logger.hpp>
-
-int main(int argc, char * argv[])
-{
-  rclcpp::init(argc, argv);
-
-  rclcpp::NodeOptions options;
-
-  auto servo_node = std::make_shared<moveit_servo::ServoNode>(options);
-  auto logger = std::make_unique<rclcpp::Logger>(rclcpp::get_logger("Servo"));
-  RCLCPP_INFO(*logger, "Starting Servo Node!");
-
-  rclcpp::spin(servo_node->get_node_base_interface());
-
-  rclcpp::shutdown();
-}
diff --git a/urc_platform/config/camera_params.yaml b/urc_platform/config/camera_params.yaml
deleted file mode 100644
index 43f9007a..00000000
--- a/urc_platform/config/camera_params.yaml
+++ /dev/null
@@ -1,11 +0,0 @@
-camera:
-  ros__parameters:
-    video_device: "/dev/cam"
-    image_width: 640
-    image_height: 480
-    pixel_format: "mjepg"
-    io_method: "mmap"
-    camera_frame_id: "camera"
-    framerate: 30
-    camera_info_url: ""
-    camera_name: ""
\ No newline at end of file
diff --git a/urc_platform/config/motor_controller_params.yaml b/urc_platform/config/motor_controller_params.yaml
deleted file mode 100644
index 60634c72..00000000
--- a/urc_platform/config/motor_controller_params.yaml
+++ /dev/null
@@ -1,17 +0,0 @@
-motor_controller:
-  ros__parameters:
-    ip_addr: "192.168.8.150"
-    port: 8443
-    battery_alpha: 0.9
-    min_battery_voltage: 23.5
-    p_l: 0.0
-    p_r: 0.0
-    d_l: 0.0
-    d_r: 0.0
-    i_r: 0.0
-    i_l: 0.0
-    kv_l: 32.0
-    kv_r: 32.0
-    watchdog_delay: 3.0
-    frequency: 10.0
-    log_period: 5.0
\ No newline at end of file
diff --git a/urc_platform/include/motor_controller.hpp b/urc_platform/include/motor_controller.hpp
deleted file mode 100644
index b81ee305..00000000
--- a/urc_platform/include/motor_controller.hpp
+++ /dev/null
@@ -1,74 +0,0 @@
-#ifndef MOTOR_CONTROLLER_ROS_WRAPPER
-#define MOTOR_CONTROLLER_ROS_WRAPPER
-
-#include <memory>
-#include <string>
-#include <math.h>
-#include <algorithm>
-#include <rclcpp/rclcpp.hpp>
-#include <rclcpp/time.hpp>
-#include <rclcpp_components/register_node_macro.hpp>
-#include <boost/array.hpp>
-#include <boost/asio.hpp>
-#include <std_msgs/msg/bool.hpp>
-#include <std_msgs/msg/float64.hpp>
-#include <urc_msgs/msg/velocity_pair.hpp>
-#include <urc_nanopb/urc.pb.h>
-#include <pb_common.h>
-#include <pb_encode.h>
-#include <pb_decode.h>
-
-namespace motor_controller
-{
-
-class MotorControllerWrapper : public rclcpp::Node
-{
-public:
-  explicit MotorControllerWrapper(const rclcpp::NodeOptions & options);
-
-private:
-  class MotorControllerDriver
-  {
-private:
-    int port_;
-    std::string ip_addr_server_;
-    boost::asio::io_service io_service_;
-    std::unique_ptr<boost::asio::ip::udp::socket> sock_;
-    boost::asio::ip::udp::endpoint client_endpoint_;
-    boost::asio::ip::udp::endpoint server_endpoint_;
-
-public:
-    MotorControllerDriver(std::string ip_addr_server, int port);
-    void start();
-    void stop();
-    void motorsEnable();
-    void motorsDisable();
-    void motorsSleep();
-    int available() {return sock_->available();}
-    bool getEncoderTicks(DriveEncodersMessage & message);
-    bool setSpeed(RequestMessage & message);
-    int getPortNumber();
-  };
-
-  std::unique_ptr<MotorControllerDriver> driver;
-  rclcpp::Publisher<urc_msgs::msg::VelocityPair>::SharedPtr _enc_pub;
-  rclcpp::Subscription<urc_msgs::msg::VelocityPair>::SharedPtr _motor_sub;
-  rclcpp::TimerBase::SharedPtr timer_;
-  double publish_encoder_ticks_frequency_;
-
-  const int ENCODER_CPR = 2048;
-  const float WHEEL_RADIUS = 0.170;
-  const float VEL_TO_COUNTS_FACTOR = ENCODER_CPR / (2 * M_PI * WHEEL_RADIUS);
-  const int QPPR = 15562;
-  const float MAX_SPEED = QPPR / VEL_TO_COUNTS_FACTOR;
-  const float MIN_SPEED = -1 * MAX_SPEED;
-
-  void publishEncoderTicks();
-  void sendSpeed(const urc_msgs::msg::VelocityPair & vel);
-  int velocityToCounts(float vel) {return (int)(vel * VEL_TO_COUNTS_FACTOR);}
-  float countsToVelocity(int counts) {return counts / VEL_TO_COUNTS_FACTOR;}
-};
-
-}
-
-#endif
diff --git a/urc_platform/launch/camera.launch.py b/urc_platform/launch/camera.launch.py
deleted file mode 100644
index 887c8e29..00000000
--- a/urc_platform/launch/camera.launch.py
+++ /dev/null
@@ -1,24 +0,0 @@
-from launch import LaunchDescription
-from launch.substitutions import PathJoinSubstitution
-from launch_ros.actions import Node
-from launch_ros.substitutions import FindPackageShare
-
-
-def generate_launch_description():
-
-    # this node should produce both a uncompressed and compressed version of the image
-    # pub topics:
-    # ~<camera_name>/image_raw
-    # ~<camera_name>/image_raw/compressed
-    camera_node = Node(
-        package="usb_cam",
-        executable="usb_cam_node_exe",
-        output="screen",
-        parameters=[
-            PathJoinSubstitution(
-                [FindPackageShare("urc_platform"), "config", "camera_params.yaml"]
-            )
-        ],
-    )
-
-    return LaunchDescription([camera_node])
diff --git a/urc_platform/launch/motor_controller.launch.py b/urc_platform/launch/motor_controller.launch.py
deleted file mode 100644
index e04bc462..00000000
--- a/urc_platform/launch/motor_controller.launch.py
+++ /dev/null
@@ -1,28 +0,0 @@
-from launch import LaunchDescription
-from launch.substitutions import PathJoinSubstitution
-from launch_ros.actions import Node
-from launch_ros.substitutions import FindPackageShare
-
-
-def generate_launch_description():
-
-    motor_controller_node = Node(
-        package="urc_platform",
-        executable="urc_platform_MotorController",
-        output="screen",
-        parameters=[
-            PathJoinSubstitution(
-                [
-                    FindPackageShare("urc_platform"),
-                    "config",
-                    "motor_controller_params.yaml",
-                ]
-            )
-        ],
-        remappings=[
-            ("/motor_controller/encoders", "/encoders"),
-            ("/motor_controller/motors", "/motors"),
-        ],
-    )
-
-    return LaunchDescription([motor_controller_node])
diff --git a/urc_platform/src/motor_controller.cpp b/urc_platform/src/motor_controller.cpp
deleted file mode 100644
index 4cca3c45..00000000
--- a/urc_platform/src/motor_controller.cpp
+++ /dev/null
@@ -1,126 +0,0 @@
-#include "motor_controller.hpp"
-
-namespace motor_controller
-{
-
-namespace ip = boost::asio::ip;
-
-MotorControllerWrapper::MotorControllerDriver::MotorControllerDriver(
-  std::string ip_addr_server,
-  int port)
-{
-  this->ip_addr_server_ = ip_addr_server;
-  this->port_ = port;
-  this->client_endpoint_.address(ip::address_v4::from_string(ip_addr_server));
-  this->client_endpoint_.port(port);
-  this->server_endpoint_.address(ip::address_v4::from_string("192.168.8.167"));
-  this->server_endpoint_.port(port);
-  this->sock_ = std::make_unique<ip::udp::socket>(io_service_, client_endpoint_);
-}
-
-bool MotorControllerWrapper::MotorControllerDriver::getEncoderTicks(DriveEncodersMessage & message)
-{
-  size_t bytes_read;
-  uint8_t buffer[256];
-  boost::system::error_code error;
-  ip::udp::endpoint sender_endpoint;
-
-  bytes_read = sock_->receive_from(boost::asio::buffer(buffer), sender_endpoint);
-
-  message = DriveEncodersMessage_init_zero;
-  pb_istream_t istream = pb_istream_from_buffer(buffer, bytes_read);
-  bool status = pb_decode(&istream, DriveEncodersMessage_fields, &message);
-
-  return status;
-}
-
-bool MotorControllerWrapper::MotorControllerDriver::setSpeed(RequestMessage & message)
-{
-  uint8_t buffer[256];
-  size_t response_length;
-
-  pb_ostream_t ostream = pb_ostream_from_buffer(buffer, sizeof(buffer));
-  bool status = pb_encode(&ostream, RequestMessage_fields, &message);
-  response_length = ostream.bytes_written;
-
-  sock_->send_to(boost::asio::buffer(buffer), server_endpoint_);
-
-  return status;
-}
-
-int MotorControllerWrapper::MotorControllerDriver::getPortNumber()
-{
-  return this->port_;
-}
-
-MotorControllerWrapper::MotorControllerWrapper(const rclcpp::NodeOptions & options)
-: rclcpp::Node("motor_controller", options)
-{
-  std::string ip_addr_server_ = declare_parameter<std::string>("ip_addr");
-  int port_ = declare_parameter<int>("port");
-  publish_encoder_ticks_frequency_ = declare_parameter<double>("frequency");
-
-  driver = std::make_unique<MotorControllerDriver>(ip_addr_server_, port_);
-
-  _enc_pub = create_publisher<urc_msgs::msg::VelocityPair>(
-    "~/encoders",
-    rclcpp::SystemDefaultsQoS());
-
-  _motor_sub = create_subscription<urc_msgs::msg::VelocityPair>(
-    "~/motors",
-    rclcpp::SystemDefaultsQoS(),
-    [this](const urc_msgs::msg::VelocityPair vel) {sendSpeed(vel);}
-  );
-
-  timer_ = this->create_wall_timer(
-    std::chrono::duration<double>(1.0 / publish_encoder_ticks_frequency_),
-    [this]() {publishEncoderTicks();}
-  );
-}
-
-void MotorControllerWrapper::publishEncoderTicks()
-{
-  if (driver->available()) {
-    DriveEncodersMessage ticks;
-    bool success = driver->getEncoderTicks(ticks);
-
-    if (!success) {
-      RCLCPP_WARN(this->get_logger(), "Decoding Failed");
-    } else {
-      urc_msgs::msg::VelocityPair encoder_msg;
-      encoder_msg.left_velocity = ticks.leftSpeed;
-      encoder_msg.right_velocity = ticks.rightSpeed;
-      encoder_msg.duration = ticks.timestamp;
-      encoder_msg.header.stamp = this->get_clock()->now();
-
-      _enc_pub->publish(encoder_msg);
-    }
-  }
-
-}
-
-void MotorControllerWrapper::sendSpeed(const urc_msgs::msg::VelocityPair & vel)
-{
-
-  RequestMessage requestMessage;
-  requestMessage.requestSpeed = true;
-  requestMessage.requestDiagnostics = false;
-  requestMessage.leftSpeed =
-    velocityToCounts(
-    std::clamp(
-      static_cast<const float &>(vel.left_velocity), MIN_SPEED,
-      MAX_SPEED));
-  requestMessage.rightSpeed =
-    velocityToCounts(
-    std::clamp(
-      static_cast<const float &>(vel.right_velocity), MIN_SPEED,
-      MAX_SPEED));
-  requestMessage.duration = 1500;
-  requestMessage.timestamp = (int32_t) this->get_clock()->now().seconds();
-
-  bool success = driver->setSpeed(requestMessage);
-}
-
-}
-
-RCLCPP_COMPONENTS_REGISTER_NODE(motor_controller::MotorControllerWrapper)
diff --git a/urc_scripts/package.xml b/urc_scripts/package.xml
deleted file mode 100644
index 90d64c07..00000000
--- a/urc_scripts/package.xml
+++ /dev/null
@@ -1,18 +0,0 @@
-<?xml version="1.0"?>
-<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
-<package format="3">
-  <name>urc_scripts</name>
-  <version>0.0.0</version>
-  <description>TODO: Package description</description>
-  <maintainer email="zhiwan13579@126.com">keseterg</maintainer>
-  <license>TODO: License declaration</license>
-
-  <test_depend>ament_copyright</test_depend>
-  <test_depend>ament_flake8</test_depend>
-  <test_depend>ament_pep257</test_depend>
-  <test_depend>python3-pytest</test_depend>
-
-  <export>
-    <build_type>ament_python</build_type>
-  </export>
-</package>
diff --git a/urc_scripts/resource/urc_scripts b/urc_scripts/resource/urc_scripts
deleted file mode 100644
index e69de29b..00000000
diff --git a/urc_scripts/setup.cfg b/urc_scripts/setup.cfg
deleted file mode 100644
index 47880801..00000000
--- a/urc_scripts/setup.cfg
+++ /dev/null
@@ -1,4 +0,0 @@
-[develop]
-script_dir=$base/lib/urc_scripts
-[install]
-install_scripts=$base/lib/urc_scripts
diff --git a/urc_scripts/setup.py b/urc_scripts/setup.py
deleted file mode 100644
index 2d1a4f97..00000000
--- a/urc_scripts/setup.py
+++ /dev/null
@@ -1,26 +0,0 @@
-from setuptools import find_packages, setup
-
-package_name = "urc_scripts"
-
-setup(
-    name=package_name,
-    version="0.0.0",
-    packages=find_packages(exclude=["test"]),
-    data_files=[
-        ("share/ament_index/resource_index/packages", ["resource/" + package_name]),
-        ("share/" + package_name, ["package.xml"]),
-    ],
-    install_requires=["setuptools"],
-    zip_safe=True,
-    maintainer="keseterg",
-    maintainer_email="zhiwan13579@126.com",
-    description="TODO: Package description",
-    license="TODO: License declaration",
-    tests_require=["pytest"],
-    entry_points={
-        "console_scripts": [
-            "test_joint = urc_scripts.test_joint:main",
-            "joy_drive = urc_scripts.joy_drive:main",
-        ],
-    },
-)
diff --git a/urc_scripts/test/test_copyright.py b/urc_scripts/test/test_copyright.py
deleted file mode 100644
index ceffe896..00000000
--- a/urc_scripts/test/test_copyright.py
+++ /dev/null
@@ -1,27 +0,0 @@
-# Copyright 2015 Open Source Robotics Foundation, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from ament_copyright.main import main
-import pytest
-
-
-# Remove the `skip` decorator once the source file(s) have a copyright header
-@pytest.mark.skip(
-    reason="No copyright header has been placed in the generated source file."
-)
-@pytest.mark.copyright
-@pytest.mark.linter
-def test_copyright():
-    rc = main(argv=[".", "test"])
-    assert rc == 0, "Found errors"
diff --git a/urc_scripts/test/test_flake8.py b/urc_scripts/test/test_flake8.py
deleted file mode 100644
index ee79f31a..00000000
--- a/urc_scripts/test/test_flake8.py
+++ /dev/null
@@ -1,25 +0,0 @@
-# Copyright 2017 Open Source Robotics Foundation, Inc.
-#
-# Licensed under the Apache License, Version 2.0 (the "License");
-# you may not use this file except in compliance with the License.
-# You may obtain a copy of the License at
-#
-#     http://www.apache.org/licenses/LICENSE-2.0
-#
-# Unless required by applicable law or agreed to in writing, software
-# distributed under the License is distributed on an "AS IS" BASIS,
-# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-# See the License for the specific language governing permissions and
-# limitations under the License.
-
-from ament_flake8.main import main_with_errors
-import pytest
-
-
-@pytest.mark.flake8
-@pytest.mark.linter
-def test_flake8():
-    rc, errors = main_with_errors(argv=[])
-    assert rc == 0, "Found %d code style errors / warnings:\n" % len(
-        errors
-    ) + "\n".join(errors)
diff --git a/urc_scripts/urc_scripts/__init__.py b/urc_scripts/urc_scripts/__init__.py
deleted file mode 100644
index e69de29b..00000000
diff --git a/urc_scripts/urc_scripts/joy_drive.py b/urc_scripts/urc_scripts/joy_drive.py
deleted file mode 100644
index 05026518..00000000
--- a/urc_scripts/urc_scripts/joy_drive.py
+++ /dev/null
@@ -1,145 +0,0 @@
-import rclpy
-from rclpy.publisher import Publisher
-from rclpy.subscription import Subscription
-from rclpy.node import Node
-from rclpy.parameter import Parameter
-from rcl_interfaces.msg import SetParametersResult
-from geometry_msgs.msg import TwistStamped
-from sensor_msgs.msg import Joy
-
-
-class JoyDrive(Node):
-    """
-    Use joystick to command the drivetrain.
-
-    Args:
-        Node (_type_): node from ros2.
-    """
-
-    def __init__(self):
-        super().__init__("joy_drive")
-
-        # declare parameters
-        self.declare_parameter("max_linear_velocity_ms", 0.0)
-        self.declare_parameter("max_angular_velocity_radians", 0.0)
-        self.declare_parameter("joy_command_topic", "/joy")
-        self.declare_parameter("cmd_vel_topic", "/cmd_vel")
-        self.declare_parameter("target_axes", [1, 3])
-        self.declare_parameter("invert_linear_velocity", False)
-        self.declare_parameter("invert_angular_velocity", False)
-
-        # get parameters
-        self.max_linear = (
-            self.get_parameter("max_linear_velocity_ms")
-            .get_parameter_value()
-            .double_value
-        )
-        self.max_angular = (
-            self.get_parameter("max_angular_velocity_radians")
-            .get_parameter_value()
-            .double_value
-        )
-        self.joy_command_topic = (
-            self.get_parameter("joy_command_topic").get_parameter_value().string_value
-        )
-        self.cmd_vel_topic = (
-            self.get_parameter("cmd_vel_topic").get_parameter_value().string_value
-        )
-        self.op_axes = (
-            self.get_parameter("target_axes").get_parameter_value().integer_array_value
-        )
-        self.inv_linvel = (
-            self.get_parameter("invert_linear_velocity")
-            .get_parameter_value()
-            .double_value
-        )
-        self.inv_angvel = (
-            self.get_parameter("invert_angular_velocity")
-            .get_parameter_value()
-            .double_value
-        )
-
-        # register dynamic parameter callbacks
-        self.add_on_set_parameters_callback(self.on_param_update)
-
-        self.curr_twist = TwistStamped()
-        self.joy_msg_subscriber: Subscription = self.create_subscription(
-            Joy, self.joy_command_topic, self.update_vel_target, 10
-        )
-        self.cmd_vel_publisher: Publisher = self.create_publisher(
-            TwistStamped, self.cmd_vel_topic, 10
-        )
-
-        self.get_logger().info("Joy Drive Started.")
-        self.get_logger().info(
-            f"Default Settings: [linear velocity {self.max_linear} m/s],"
-            + f"[angular velocity {self.max_angular} rad/s]"
-        )
-
-    def update_vel_target(self, msg: Joy):
-        """Update velocity target for the drivetrain.
-
-        Args:
-            msg (Joy): joy message from the controller.
-        """
-        self.curr_twist.twist.linear.x = (
-            msg.axes[self.op_axes[0]] * self.max_linear * (-1 if self.inv_linvel else 1)
-        )
-        self.curr_twist.twist.angular.z = (
-            msg.axes[self.op_axes[1]]
-            * self.max_angular
-            * (-1 if self.inv_angvel else 1)
-        )
-        self.curr_twist.header.stamp = self.get_clock().now().to_msg()
-
-        self.cmd_vel_publisher.publish(self.curr_twist)
-
-    def on_param_update(self, params: list[Parameter]) -> SetParametersResult:
-        """When parameter is updated.
-
-        Args:
-            params (list[Parameter]): list of updated parameters
-
-        Returns:
-            SetParametersResult: result for setting the parameters.
-        """
-        result = SetParametersResult()
-
-        for param in params:
-            if param.name == "max_linear_velocity_ms":
-                self.max_linear = param.get_parameter_value().double_value
-                self.get_logger().info(f"Max linvel updated to {self.max_linear} m/s.")
-            if param.name == "max_angular_velocity_radians":
-                self.max_angular = param.get_parameter_value().double_value
-                self.get_logger().info(
-                    f"Max angvel updated to {self.max_angular} rad/s."
-                )
-            if param.name == "target_axes":
-                self.op_axes = param.get_parameter_value().integer_array_value
-                self.get_logger().info(f"Axies has be configured to {self.op_axes}.")
-            if param.name == "invert_linear_vel":
-                self.inv_linvel = param.get_parameter_value().bool_value
-                self.get_logger().info(f"Linear velocity inversion: {self.inv_linvel}")
-            if param.name == "invert_angular_vel":
-                self.inv_angvel = param.get_parameter_value().bool_value
-                self.get_logger().info(f"Angular velocity inversion: {self.inv_angvel}")
-        result.successful = True
-        return result
-
-
-def main(args=None):
-    """Entry function
-
-    Args:
-        args (_type_, optional): Arguments. Defaults to None.
-    """
-    rclpy.init(args=args)
-    node = JoyDrive()
-    while rclpy.ok():
-        rclpy.spin_once(node)
-    node.destroy_node()
-    rclpy.shutdown()
-
-
-if __name__ == "__main__":
-    main()
diff --git a/urc_scripts/urc_scripts/test_joint.py b/urc_scripts/urc_scripts/test_joint.py
deleted file mode 100644
index 15cff4c2..00000000
--- a/urc_scripts/urc_scripts/test_joint.py
+++ /dev/null
@@ -1,112 +0,0 @@
-import rclpy
-import numpy as np
-from rclpy.publisher import Publisher
-from rclpy.subscription import Subscription
-from rclpy.client import Client
-from rclpy.action import ActionClient
-from rclpy.node import Node
-from geometry_msgs.msg import Twist
-from sensor_msgs.msg import Joy
-from std_srvs.srv import Trigger
-from control_msgs.action import GripperCommand
-
-
-def rpy_to_quaternion(roll, pitch, yaw):
-    """
-    Convert Roll-Pitch-Yaw (RPY) angles to quaternion.
-
-    Parameters:
-        roll (float): Roll angle in radians.
-        pitch (float): Pitch angle in radians.
-        yaw (float): Yaw angle in radians.
-
-    Returns:
-        numpy.array: Quaternion in the form [w, x, y, z].
-    """
-    cy = np.cos(yaw * 0.5)
-    sy = np.sin(yaw * 0.5)
-    cr = np.cos(roll * 0.5)
-    sr = np.sin(roll * 0.5)
-    cp = np.cos(pitch * 0.5)
-    sp = np.sin(pitch * 0.5)
-
-    qw = cy * cr * cp + sy * sr * sp
-    qx = cy * sr * cp - sy * cr * sp
-    qy = cy * cr * sp + sy * sr * cp
-    qz = sy * cr * cp - cy * sr * sp
-
-    return qw, qx, qy, qz
-
-
-# Example usage
-
-
-class TestJoint(Node):
-    def __init__(self):
-        super().__init__("ff")
-        self.joy_subscriber: Subscription = self.create_subscription(
-            Joy, "/joy", self.pub, 10
-        )
-        self.cmd_twist_publisher: Publisher = self.create_publisher(
-            Twist, "/cmd_twist", 10
-        )
-        self.start_servo_service_request: Client = self.create_client(
-            Trigger, "/arm_rt_pinocchio/start_servo"
-        )
-        self.stop_servo_service_request: Client = self.create_client(
-            Trigger, "/arm_rt_pinocchio/stop_servo"
-        )
-        self.left_gripper_action_client: ActionClient = ActionClient(
-            self, GripperCommand, "/gripper_controller_left/gripper_cmd"
-        )
-        self.right_gripper_action_client: ActionClient = ActionClient(
-            self, GripperCommand, "/gripper_controller_right/gripper_cmd"
-        )
-        self.previous_open = False
-
-    def pub(self, msg: Joy):
-        t = Twist()
-        t.linear.x = msg.axes[1] * 0.30
-        t.linear.y = msg.axes[0] * 0.30
-
-        if msg.buttons[4] == 1:
-            t.linear.z = 0.10
-        elif msg.buttons[5] == 1:
-            t.linear.z = -0.10
-        else:
-            t.linear.z = 0.0
-
-        # t.angular.z = msg.axes[2] * 0.5
-        t.angular.y = msg.axes[3] * 0.2
-
-        self.cmd_twist_publisher.publish(t)
-
-        if msg.buttons[1] == 1:
-            self.start_servo_service_request.call_async(Trigger.Request())
-        if msg.buttons[2] == 1:
-            self.stop_servo_service_request.call_async(Trigger.Request())
-
-        if msg.buttons[3] == 1 and not self.previous_open:
-            target = GripperCommand.Goal()
-            target.command.position = 1.0
-            self.previous_open = True
-            self.left_gripper_action_client.send_goal_async(target)
-            self.right_gripper_action_client.send_goal_async(target)
-        elif msg.buttons[3] == 0 and self.previous_open:
-            target = GripperCommand.Goal()
-            target.command.position = -0.40
-            self.previous_open = False
-            self.left_gripper_action_client.send_goal_async(target)
-            self.right_gripper_action_client.send_goal_async(target)
-
-
-def main(args=None):
-    rclpy.init(args=args)
-    node = TestJoint()
-    rclpy.spin(node)
-    node.destroy_node()
-    rclpy.shutdown()
-
-
-if __name__ == "__main__":
-    main()