diff --git a/README.md b/README.md
deleted file mode 100644
index 0edb2ed..0000000
--- a/README.md
+++ /dev/null
@@ -1,2 +0,0 @@
-# duru_urdf
-
diff --git a/meshes/fwl_1_1.stl b/meshes/fwl_1_1_1.stl
similarity index 100%
rename from meshes/fwl_1_1.stl
rename to meshes/fwl_1_1_1.stl
diff --git a/meshes/fwr_1_1.stl b/meshes/fwr_1_1_1.stl
similarity index 100%
rename from meshes/fwr_1_1.stl
rename to meshes/fwr_1_1_1.stl
diff --git a/meshes/imu_1.stl b/meshes/imu_1_1.stl
similarity index 100%
rename from meshes/imu_1.stl
rename to meshes/imu_1_1.stl
diff --git a/meshes/lidar_1.stl b/meshes/lidar_1.stl
deleted file mode 100644
index 5cce0fa..0000000
Binary files a/meshes/lidar_1.stl and /dev/null differ
diff --git a/meshes/lidar_1_1.stl b/meshes/lidar_1_1.stl
new file mode 100644
index 0000000..89ed824
Binary files /dev/null and b/meshes/lidar_1_1.stl differ
diff --git a/meshes/rwl_1_1.stl b/meshes/rwl_1_1_1.stl
similarity index 100%
rename from meshes/rwl_1_1.stl
rename to meshes/rwl_1_1_1.stl
diff --git a/meshes/rwr_1_1.stl b/meshes/rwr_1_1_1.stl
similarity index 100%
rename from meshes/rwr_1_1.stl
rename to meshes/rwr_1_1_1.stl
diff --git a/urdf/duru_urdf.gazebo b/urdf/duru_urdf.gazebo
index b4b6899..3010e60 100644
--- a/urdf/duru_urdf.gazebo
+++ b/urdf/duru_urdf.gazebo
@@ -14,46 +14,4 @@
true
-
- ${body_color}
- 0.2
- 0.2
- true
-
-
-
- ${body_color}
- 0.2
- 0.2
- true
-
-
-
- ${body_color}
- 0.2
- 0.2
- true
-
-
-
- ${body_color}
- 0.2
- 0.2
- true
-
-
-
- ${body_color}
- 0.2
- 0.2
- true
-
-
-
- ${body_color}
- 0.2
- 0.2
- true
-
-
diff --git a/urdf/duru_urdf.trans b/urdf/duru_urdf.trans
index b018ab9..a2ef9f5 100644
--- a/urdf/duru_urdf.trans
+++ b/urdf/duru_urdf.trans
@@ -1,48 +1,4 @@
-
- transmission_interface/SimpleTransmission
-
- hardware_interface/EffortJointInterface
-
-
- hardware_interface/EffortJointInterface
- 1
-
-
-
-
- transmission_interface/SimpleTransmission
-
- hardware_interface/EffortJointInterface
-
-
- hardware_interface/EffortJointInterface
- 1
-
-
-
-
- transmission_interface/SimpleTransmission
-
- hardware_interface/EffortJointInterface
-
-
- hardware_interface/EffortJointInterface
- 1
-
-
-
-
- transmission_interface/SimpleTransmission
-
- hardware_interface/EffortJointInterface
-
-
- hardware_interface/EffortJointInterface
- 1
-
-
-
diff --git a/urdf/duru_urdf.xacro b/urdf/duru_urdf.xacro
index 5c68e6a..50b7d8a 100644
--- a/urdf/duru_urdf.xacro
+++ b/urdf/duru_urdf.xacro
@@ -25,170 +25,4 @@
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