diff --git a/mara_description/urdf/camera_side.urdf.xacro b/mara_description/urdf/camera_side.urdf.xacro
index 408254e..f3c0f53 100644
--- a/mara_description/urdf/camera_side.urdf.xacro
+++ b/mara_description/urdf/camera_side.urdf.xacro
@@ -12,7 +12,7 @@
         <visual>
           <origin rpy="0 0 0" xyz="0 0 0"/>
           <geometry>
-            <mesh filename="model://mara_description/meshes/demo/AIR_WorkArea.stl" scale="0.001 0.001 0.001"/>
+            <mesh filename="model://mara_description/meshes/demo/AIR_WorkArea.dae" scale="0.001 0.001 0.001"/>
           </geometry>
           <material name="Gazebo/Wood">
             <color rgba="0. 0. 0. 1"/>
@@ -21,7 +21,7 @@
         <collision>
           <origin rpy="0 0 0" xyz="0 0 0"/>
           <geometry>
-            <mesh filename="model://mara_description/meshes/demo/AIR_WorkArea.stl" scale="0.001 0.001 0.001"/>
+            <mesh filename="model://mara_description/meshes/demo/AIR_WorkArea.dae" scale="0.001 0.001 0.001"/>
           </geometry>
         </collision>
       </link>
@@ -39,7 +39,7 @@
         <visual>
           <origin rpy="0 0 0" xyz="0 0 0"/>
           <geometry>
-            <mesh filename="model://mara_description/meshes/demo/side/side_camera_support.stl" scale="0.001 0.001 0.001"/>
+            <mesh filename="model://mara_description/meshes/demo/side/side_camera_support.dae" scale="0.001 0.001 0.001"/>
           </geometry>
           <material name="Gazebo/Wood">
             <color rgba="0. 0. 0. 1"/>
@@ -48,7 +48,7 @@
         <collision>
           <origin rpy="0 0 0" xyz="0 0 0"/>
           <geometry>
-            <mesh filename="model://mara_description/meshes/demo/side/side_camera_support.stl" scale="0.001 0.001 0.001"/>
+            <mesh filename="model://mara_description/meshes/demo/side/side_camera_support.dae" scale="0.001 0.001 0.001"/>
           </geometry>
         </collision>
       </link>
@@ -66,7 +66,7 @@
         <visual>
           <origin xyz="0 0 0" rpy="0 0 0" />
           <geometry>
-            <mesh scale="0.001 0.001 0.001" filename="model://mara_description/meshes/camera/SCARA_DepthSensor_SIDE.stl" />
+            <mesh scale="0.001 0.001 0.001" filename="model://mara_description/meshes/camera/SCARA_DepthSensor_SIDE.dae" />
           </geometry>
           <material name="Gazebo/Grey">
             <color rgba="1. 1. 1. 1" />
diff --git a/mara_description/urdf/camera_top.urdf.xacro b/mara_description/urdf/camera_top.urdf.xacro
index 20bbb8e..f2549b1 100644
--- a/mara_description/urdf/camera_top.urdf.xacro
+++ b/mara_description/urdf/camera_top.urdf.xacro
@@ -11,7 +11,7 @@
         <visual>
           <origin rpy="0 0 0" xyz="0 0 0"/>
           <geometry>
-            <mesh filename="model://mara_description/meshes/demo/AIR_WorkArea.stl" scale="0.001 0.001 0.001"/>
+            <mesh filename="model://mara_description/meshes/demo/AIR_WorkArea.dae" scale="0.001 0.001 0.001"/>
           </geometry>
           <material name="Gazebo/Wood">
             <color rgba="0. 0. 0. 1"/>
@@ -20,7 +20,7 @@
         <collision>
           <origin rpy="0 0 0" xyz="0 0 0"/>
           <geometry>
-            <mesh filename="model://mara_description/meshes/demo/AIR_WorkArea.stl" scale="0.001 0.001 0.001"/>
+            <mesh filename="model://mara_description/meshes/demo/AIR_WorkArea.dae" scale="0.001 0.001 0.001"/>
           </geometry>
         </collision>
       </link>
@@ -38,7 +38,7 @@
         <visual>
           <origin rpy="0 0 0" xyz="0 0 0"/>
           <geometry>
-            <mesh filename="model://mara_description/meshes/demo/top/top_camera_support.stl" scale="0.001 0.001 0.001"/>
+            <mesh filename="model://mara_description/meshes/demo/top/top_camera_support.dae" scale="0.001 0.001 0.001"/>
           </geometry>
           <material name="Gazebo/Wood">
             <color rgba="0. 0. 0. 1"/>
@@ -47,7 +47,7 @@
         <collision>
           <origin rpy="0 0 0" xyz="0 0 0"/>
           <geometry>
-            <mesh filename="model://mara_description/meshes/demo/top/top_camera_support.stl" scale="0.002 0.001 0.001"/>
+            <mesh filename="model://mara_description/meshes/demo/top/top_camera_support.dae" scale="0.002 0.001 0.001"/>
           </geometry>
         </collision>
       </link>
@@ -65,7 +65,7 @@
         <visual>
           <origin xyz="0 0 0" rpy="0 0 0" />
           <geometry>
-            <mesh scale="0.001 0.001 0.001" filename="model://mara_description/meshes/depthSensor.stl" />
+            <mesh scale="0.001 0.001 0.001" filename="model://mara_description/meshes/depthSensor.dae" />
           </geometry>
           <material name="Gazebo/Grey">
             <color rgba="1. 1. 1. 1" />
@@ -74,7 +74,7 @@
         <collision>
           <origin rpy="0 0 0" xyz="0 0 0"/>
           <geometry>
-            <mesh filename="model://mara_description/meshes/depthSensor.stl" scale="0.002 0.002 0.002" />
+            <mesh filename="model://mara_description/meshes/depthSensor.dae" scale="0.002 0.002 0.002" />
           </geometry>
         </collision>
       </link>
diff --git a/mara_description/urdf/mara_robot_camera_top.urdf b/mara_description/urdf/mara_robot_camera_top.urdf
index ac908ef..e9261c0 100644
--- a/mara_description/urdf/mara_robot_camera_top.urdf
+++ b/mara_description/urdf/mara_robot_camera_top.urdf
@@ -7,7 +7,7 @@
   <!--
   Author: Alejandro  Hernandez
 -->
-  <!-- <xacro:include filename="$(find mara_description)/urdf/camera_top.urdf.xacro" /> -->
+  <!-- <xacro:include filename="$(find robotiq_140_gripper_description)/urdf/robotiq_140.urdf.xacro" /> -->
   <link name="base_link">
     <inertial>
       <origin rpy="0 0 0" xyz="8.625E-08 -4.6583E-06 0.03145"/>
@@ -21,6 +21,7 @@
       </geometry>
       <material name="Gazebo/Grey">
         <color rgba="0. 0. 0. 1"/>
+        <texture filename="package://mara_description/material/gazebo.material"/>
       </material>
     </visual>
     <collision>
@@ -47,6 +48,7 @@
       </geometry>
       <material name="Gazebo/Black">
         <color rgba="0. 0. 0. 1"/>
+        <texture filename="package://mara_description/material/gazebo.material"/>
       </material>
     </visual>
     <collision>
@@ -73,6 +75,7 @@
       </geometry>
       <material name="Gazebo/White">
         <color rgba="0. 0. 0. 1"/>
+        <texture filename="package://mara_description/material/gazebo.material"/>
       </material>
     </visual>
     <collision>
@@ -99,6 +102,7 @@
       </geometry>
       <material name="Gazebo/Black">
         <color rgba="0. 0. 0. 1"/>
+        <texture filename="package://mara_description/material/gazebo.material"/>
       </material>
     </visual>
     <collision>
@@ -125,6 +129,7 @@
       </geometry>
       <material name="Gazebo/Black">
         <color rgba="0. 0. 0. 1"/>
+        <texture filename="package://mara_description/material/gazebo.material"/>
       </material>
     </visual>
     <collision>
@@ -151,6 +156,7 @@
       </geometry>
       <material name="Gazebo/White">
         <color rgba="0. 0. 0. 1"/>
+        <texture filename="package://mara_description/material/gazebo.material"/>
       </material>
     </visual>
     <collision>
@@ -177,6 +183,7 @@
       </geometry>
       <material name="Gazebo/Black">
         <color rgba="0. 0. 0. 1"/>
+        <texture filename="package://mara_description/material/gazebo.material"/>
       </material>
     </visual>
     <collision>
@@ -203,6 +210,7 @@
       </geometry>
       <material name="Gazebo/Black">
         <color rgba="0. 0. 0. 1"/>
+        <texture filename="package://mara_description/material/gazebo.material"/>
       </material>
     </visual>
     <collision>
@@ -229,6 +237,7 @@
       </geometry>
       <material name="Gazebo/White">
         <color rgba="0. 0. 0. 1"/>
+        <texture filename="package://mara_description/material/gazebo.material"/>
       </material>
     </visual>
     <collision>
@@ -255,6 +264,7 @@
       </geometry>
       <material name="Gazebo/Black">
         <color rgba="0. 0. 0. 1"/>
+        <texture filename="package://mara_description/material/gazebo.material"/>
       </material>
     </visual>
     <collision>
@@ -281,6 +291,7 @@
       </geometry>
       <material name="Gazebo/Black">
         <color rgba="0. 0. 0. 1"/>
+        <texture filename="package://mara_description/material/gazebo.material"/>
       </material>
     </visual>
     <collision>
@@ -370,6 +381,7 @@
   </joint>
   <joint name="ee_link" type="fixed">
     <origin rpy="0 -1.57 0" xyz="0 0.0 0.24"/>
+    <!-- 0.24 -->
     <parent link="motor6_link"/>
     <child link="ee_link"/>
   </joint>
@@ -473,421 +485,16 @@
       <type>series20</type>
     </plugin>
   </gazebo>
-  <link name="robotiq_adapter_link">
-    <inertial>
-      <origin rpy="0 0 0" xyz="8.625E-08 -4.6583E-06 0.03145"/>
-      <mass value="0.22652"/>
-      <inertia ixx="0.00020005" ixy="0" ixz="0" iyy="0.00017832" iyz="0" izz="0.00013478"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://robotiq_85_gripper_description/meshes/hros_robotiq_adapter.dae" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="Gazebo/Black">
-        <color rgba="0.1 0.1 0.1 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://robotiq_85_gripper_description/meshes/hros_robotiq_adapter.dae" scale="0.001 0.001 0.001"/>
-      </geometry>
-    </collision>
-  </link>
-  <gazebo reference="robotiq_adapter_link">
-    <material>Gazebo/Black</material>
-    <selfCollide>True</selfCollide>
-  </gazebo>
-  <link name="robotiq_arg2f_base_link">
-    <inertial>
-      <origin rpy="0 0 0" xyz="8.625E-08 -4.6583E-06 0.03145"/>
-      <mass value="0.22652"/>
-      <inertia ixx="0.00020005" ixy="0" ixz="0" iyy="0.00017832" iyz="0" izz="0.00013478"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 1.57" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://robotiq_140_gripper_description/meshes/GRIPPER_base_axis.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="Gazebo/Black">
-        <color rgba="0.1 0.1 0.1 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 1.57" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://robotiq_140_gripper_description/meshes/GRIPPER_base_axis.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-    </collision>
-  </link>
-  <gazebo reference="robotiq_arg2f_base_link">
-    <material>Gazebo/Black</material>
-    <selfCollide>True</selfCollide>
-  </gazebo>
-  <link name="left_outer_knuckle">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0.00853198276973456"/>
-      <inertia ixx="2.89328108496468E-06" ixy="0" ixz="0" iyy="1.86719750325683E-06" iyz="-1.21858577871576E-06" izz="1.21905238907251E-06"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_left_outer_knuckle.stl"/>
-      </geometry>
-      <material name="">
-        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_left_outer_knuckle.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <gazebo reference="left_outer_knuckle">
-    <material>Gazebo/Grey</material>
-    <selfCollide>True</selfCollide>
-  </gazebo>
-  <link name="right_outer_knuckle">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0.00853198276973456"/>
-      <inertia ixx="2.89328108496468E-06" ixy="0" ixz="0" iyy="1.86719750325683E-06" iyz="-1.21858577871576E-06" izz="1.21905238907251E-06"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_right_outer_knuckle.stl"/>
-      </geometry>
-      <material name="">
-        <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_right_outer_knuckle.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <gazebo reference="right_outer_knuckle">
-    <material>Gazebo/Grey</material>
-    <selfCollide>True</selfCollide>
-  </gazebo>
-  <link name="left_inner_knuckle">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0.000123011831763771 0.0507850843201817 0.00103968640075166"/>
-      <mass value="0.0271177346495152"/>
-      <inertia ixx="2.61910379223783E-05" ixy="-2.43616858946494E-07" ixz="-6.37789906117123E-09" iyy="2.8270243746167E-06" iyz="-5.37200748039765E-07" izz="2.83695868220296E-05"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_left_inner_knuckle.stl"/>
-      </geometry>
-      <material name="Gazebo/Black">
-        <color rgba="0.1 0.1 0.1 1"/>
-      </material>
-    </visual>
-  </link>
-  <gazebo reference="left_inner_knuckle">
-    <material>Gazebo/Black</material>
-    <selfCollide>True</selfCollide>
-  </gazebo>
-  <link name="right_inner_knuckle">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0.000123011831763771 0.0507850843201817 0.00103968640075166"/>
-      <mass value="0.0271177346495152"/>
-      <inertia ixx="2.61910379223783E-05" ixy="-2.43616858946494E-07" ixz="-6.37789906117123E-09" iyy="2.8270243746167E-06" iyz="-5.37200748039765E-07" izz="2.83695868220296E-05"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_right_inner_knuckle.stl"/>
-      </geometry>
-      <material name="Gazebo/Black">
-        <color rgba="0.1 0.1 0.1 1"/>
-      </material>
-    </visual>
-  </link>
-  <gazebo reference="right_inner_knuckle">
-    <material>Gazebo/Black</material>
-    <selfCollide>True</selfCollide>
-  </gazebo>
-  <link name="left_inner_finger">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0.0 0.031506174 -0.017648840"/>
-      <mass value="0.0104003125914103"/>
-      <inertia ixx="6.06863499e-06" ixy="0" ixz="0" iyy="7.46305064e-07" iyz="0" izz="6.21796490e-06"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_left_inner_finger.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="Gazebo/Black">
-        <color rgba="0.1 0.1 0.1 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_left_inner_finger.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-    </collision>
-  </link>
-  <gazebo reference="left_inner_finger">
-    <material>Gazebo/Black</material>
-    <selfCollide>True</selfCollide>
-  </gazebo>
-  <link name="right_inner_finger">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0.0 0.031506174 -0.017648840"/>
-      <mass value="0.0104003125914103"/>
-      <inertia ixx="6.06863499e-06" ixy="0" ixz="0" iyy="7.46305064e-07" iyz="0" izz="6.21796490e-06"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_right_inner_finger.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="Gazebo/Black">
-        <color rgba="0.1 0.1 0.1 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_right_inner_finger.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-    </collision>
-  </link>
-  <gazebo reference="right_inner_finger">
-    <material>Gazebo/Black</material>
-    <selfCollide>True</selfCollide>
-  </gazebo>
-  <link name="left_outer_finger">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0.00030115855001899 0.0373907951953854 -0.0208027427000385"/>
-      <mass value="0.022614240507152"/>
-      <inertia ixx="1.52518312458174E-05" ixy="9.76583423954399E-10" ixz="-5.43838577022588E-10" iyy="6.17694243867776E-06" iyz="6.78636130740228E-06" izz="1.16494917907219E-05"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_left_outer_finger.stl"/>
-      </geometry>
-      <material name="Gazebo/Black">
-        <color rgba="0.1 0.1 0.1 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_left_outer_finger.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <gazebo reference="left_outer_finger">
-    <material>Gazebo/Black</material>
-    <selfCollide>True</selfCollide>
-  </gazebo>
-  <link name="right_outer_finger">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0.00030115855001899 0.0373907951953854 -0.0208027427000385"/>
-      <mass value="0.022614240507152"/>
-      <inertia ixx="1.52518312458174E-05" ixy="9.76583423954399E-10" ixz="-5.43838577022588E-10" iyy="6.17694243867776E-06" iyz="6.78636130740228E-06" izz="1.16494917907219E-05"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_right_outer_finger.stl"/>
-      </geometry>
-      <material name="Gazebo/Black">
-        <color rgba="0.1 0.1 0.1 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_right_outer_finger.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <gazebo reference="right_outer_finger">
-    <material>Gazebo/Black</material>
-    <selfCollide>True</selfCollide>
-  </gazebo>
-  <joint name="base_adapter_to_base_robotiq_joint" type="fixed">
-    <origin rpy="0 0 0" xyz=" 0 0 0.03653"/>
-    <parent link="robotiq_adapter_link"/>
-    <child link="robotiq_arg2f_base_link"/>
-  </joint>
-  <joint name="left_outer_knuckle_joint" type="revolute">
-    <origin rpy="2.31 0 0" xyz="0 -0.030601 0.054905"/>
-    <parent link="robotiq_arg2f_base_link"/>
-    <child link="left_outer_knuckle"/>
-    <axis xyz="-1 0 0"/>
-    <limit effort="1000" lower="0" upper="0.78" velocity="2.0"/>
-  </joint>
-  <joint name="right_outer_knuckle_joint" type="revolute">
-    <origin rpy="2.31 0 3.14159265359" xyz="0 0.030601 0.054905"/>
-    <parent link="robotiq_arg2f_base_link"/>
-    <child link="right_outer_knuckle"/>
-    <axis xyz="-1 0 0"/>
-    <limit effort="1000" lower="0" upper="0.78" velocity="2.0"/>
-  </joint>
-  <joint name="left_inner_knuckle_joint" type="revolute">
-    <origin rpy="2.29 0 0" xyz="0 -0.0127 0.06142"/>
-    <parent link="robotiq_arg2f_base_link"/>
-    <child link="left_inner_knuckle"/>
-    <axis xyz="-1 0 0"/>
-    <limit effort="1000" lower="0" upper="0.78" velocity="2.0"/>
-  </joint>
-  <joint name="right_inner_knuckle_joint" type="revolute">
-    <origin rpy="2.29 0 -3.14159265359" xyz="0 0.0127 0.06142"/>
-    <parent link="robotiq_arg2f_base_link"/>
-    <child link="right_inner_knuckle"/>
-    <axis xyz="-1 0 0"/>
-    <limit effort="1000" lower="0" upper="0.78" velocity="2.0"/>
-  </joint>
-  <joint name="left_outer_finger_joint" type="revolute">
-    <origin rpy="0 0 0" xyz="0 0.01821998610742 0.0260018192872234"/>
-    <parent link="left_outer_knuckle"/>
-    <child link="left_outer_finger"/>
-    <axis xyz="-1 0 0"/>
-    <limit effort="1000" lower="-0.875" upper="-0.0075" velocity="2.0"/>
-  </joint>
-  <joint name="right_outer_finger_joint" type="revolute">
-    <origin rpy="0 0 0" xyz="0 0.01821998610742 0.0260018192872234"/>
-    <parent link="right_outer_knuckle"/>
-    <child link="right_outer_finger"/>
-    <axis xyz="-1 0 0"/>
-    <limit effort="1000" lower="-0.875" upper="-0.0075" velocity="2.0"/>
-  </joint>
-  <joint name="left_inner_finger_joint" type="revolute">
-    <origin rpy="-.725 0 0" xyz="0 0.0817554015893473 -0.0282203446692936"/>
-    <parent link="left_outer_finger"/>
-    <child link="left_inner_finger"/>
-    <axis xyz="1 0 0"/>
-    <limit effort="1000" lower="-0.875" upper="0.8757" velocity="2.0"/>
-  </joint>
-  <joint name="right_inner_finger_joint" type="revolute">
-    <origin rpy="-.725 0 0" xyz="0 0.0817554015893473 -0.0282203446692936"/>
-    <parent link="right_outer_finger"/>
-    <child link="right_inner_finger"/>
-    <axis xyz="1 0 0"/>
-    <limit effort="1000" lower="-0.875" upper="0.8757" velocity="2.0"/>
-  </joint>
-  <gazebo>
-    <joint name="left_inner_finger_knuckle_joint" type="revolute">
-      <pose frame="">0 0.006 -0.018 0 0 0</pose>
-      <parent>mara::left_inner_knuckle</parent>
-      <child>mara::left_inner_finger</child>
-      <axis>
-        <xyz>1 0 0</xyz>
-        <limit>
-          <lower>-0.8</lower>
-          <upper>0.8</upper>
-          <velocity>2.0</velocity>
-          <effort>1000</effort>
-        </limit>
-      </axis>
-    </joint>
-    <joint name="right_inner_finger_knuckle_joint" type="revolute">
-      <pose frame="">0 0.006 -0.018 0 0 0</pose>
-      <parent>mara::right_inner_knuckle</parent>
-      <child>mara::right_inner_finger</child>
-      <axis>
-        <xyz>-1 0 0</xyz>
-        <limit>
-          <lower>-0.8</lower>
-          <upper>0.8</upper>
-          <velocity>2.0</velocity>
-          <effort>1000</effort>
-        </limit>
-      </axis>
-    </joint>
-    <plugin filename="librobotiq_gripper_gazebo_plugin.so" name="hros_actuation_gripper_000000000004">
-      <left_joint>left_inner_knuckle_joint</left_joint>
-      <left_joint>left_outer_knuckle_joint</left_joint>
-      <right_joint>right_inner_knuckle_joint</right_joint>
-      <right_joint>right_outer_knuckle_joint</right_joint>
-    </plugin>
-  </gazebo>
-  <link name="table">
-    <contact>
-      <lateral_friction value="1.0"/>
-    </contact>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <mass value="0.00001"/>
-      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0.6"/>
-      <geometry>
-        <mesh filename="package://mara_description/urdf/table.obj" scale="1.5 1 0.05"/>
-      </geometry>
-      <material name="brown">
-        <color rgba="0.63 0.16 0.16 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0.6"/>
-      <geometry>
-        <box size="1.5 1 0.05"/>
-      </geometry>
-    </collision>
-    <visual>
-      <origin rpy="0 0 0" xyz="-0.65 -0.4 0.29"/>
-      <geometry>
-        <mesh filename="package://mara_description/urdf/table.obj" scale="0.1 0.1 0.58"/>
-      </geometry>
-      <material name="framemat0"/>
-    </visual>
-    <visual>
-      <origin rpy="0 0 0" xyz="-0.65 0.4 0.29"/>
-      <geometry>
-        <mesh filename="package://mara_description/urdf/table.obj" scale="0.1 0.1 0.58"/>
-      </geometry>
-      <material name="framemat0"/>
-    </visual>
-    <visual>
-      <origin rpy="0 0 0" xyz="0.65 -0.4 0.29"/>
-      <geometry>
-        <mesh filename="package://mara_description/urdf/table.obj" scale="0.1 0.1 0.58"/>
-      </geometry>
-      <material name="framemat0"/>
-    </visual>
-    <visual>
-      <origin rpy="0 0 0" xyz="0.65 0.4 0.29"/>
-      <geometry>
-        <mesh filename="package://mara_description/urdf/table.obj" scale="0.1 0.1 0.58"/>
-      </geometry>
-    </visual>
-  </link>
-  <gazebo reference="table">
-    <material>Gazebo/Brown</material>
-    <selfCollide>True</selfCollide>
-  </gazebo>
+  <!-- <xacro:robotiq_gripper prefix="mara" /> -->
   <link name="world"/>
-  <joint name="end_effector_adapter_to_robotiq" type="fixed">
-    <origin rpy="0 0 1.57" xyz=" 0 0 0.04659"/>
+  <!-- <joint name="end_effector_adapter_to_robotiq" type="fixed">
+    <origin rpy="0 0 1.57" xyz=" 0 0 0.0353"/>
     <parent link="motor6_link"/>
-    <child link="robotiq_adapter_link"/>
-  </joint>
-  <joint name="world_to_table_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0 0.02"/>
-    <parent link="world"/>
-    <child link="table"/>
-  </joint>
+    <child link="robotiq_arg2f_base_link"/>
+  </joint> -->
   <joint name="table_to_base_joint" type="fixed">
-    <origin rpy="0 0 1.57" xyz="0 0 0.62"/>
-    <parent link="table"/>
+    <origin rpy="0 0 1.57" xyz="0 0 0.0"/>
+    <parent link="world"/>
     <child link="base_link"/>
   </joint>
 </robot>
diff --git a/mara_description/urdf/mara_robot_camera_top.urdf.xacro b/mara_description/urdf/mara_robot_camera_top.urdf.xacro
index fec29d5..97d7d0a 100644
--- a/mara_description/urdf/mara_robot_camera_top.urdf.xacro
+++ b/mara_description/urdf/mara_robot_camera_top.urdf.xacro
@@ -5,39 +5,24 @@
   <!-- common stuff -->
   <xacro:include filename="$(find mara_description)/urdf/mara_gazebo.urdf.xacro" />
 
-  <!-- mara -->
   <xacro:include filename="$(find mara_description)/urdf/mara.urdf.xacro" />
 
-  <!-- robotiq 140 gripper -->
-  <xacro:include filename="$(find robotiq_140_gripper_description)/urdf/robotiq_140.urdf.xacro" />
+  <!-- <xacro:include filename="$(find robotiq_140_gripper_description)/urdf/robotiq_140.urdf.xacro" /> -->
 
-  <!-- <xacro:include filename="$(find mara_description)/urdf/camera_top.urdf.xacro" /> -->
-
-  <xacro:include filename="$(find mara_description)/urdf/table.urdf.xacro" />
-
-  <!-- arm -->
-  <xacro:mara_robot prefix="" joint_limited="false"/>
-  <xacro:robotiq_gripper prefix="mara" />
-  <!-- <xacro:mara_camera_top prefix="" /> -->
-  <xacro:table prefix="" />
+  <xacro:mara_robot prefix="" ee_link_distance="0.24"/>
+  <!-- <xacro:robotiq_gripper prefix="mara" /> -->
 
   <link name="world" />
 
-  <joint name="end_effector_adapter_to_robotiq" type="fixed">
-    <origin rpy="0 0 1.57" xyz=" 0 0 0.04659"/>
+  <!-- <joint name="end_effector_adapter_to_robotiq" type="fixed">
+    <origin rpy="0 0 1.57" xyz=" 0 0 0.0353"/>
     <parent link="motor6_link"/>
-    <child link="robotiq_adapter_link"/>
-  </joint>
-
-  <joint name="world_to_table_joint" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0 0.02"/>
-    <parent link="world"/>
-    <child link="table"/>
-  </joint>
+    <child link="robotiq_arg2f_base_link"/>
+  </joint> -->
 
   <joint name="table_to_base_joint" type="fixed">
-    <origin rpy="0 0 1.57" xyz="0 0 0.62"/>
-    <parent link="table"/>
+    <origin rpy="0 0 1.57" xyz="0 0 0.0"/>
+    <parent link="world"/>
     <child link="base_link"/>
   </joint>
 
diff --git a/mara_description/urdf/mara_robot_gripper_140.urdf b/mara_description/urdf/mara_robot_gripper_140.urdf
index 448114f..88733a3 100644
--- a/mara_description/urdf/mara_robot_gripper_140.urdf
+++ b/mara_description/urdf/mara_robot_gripper_140.urdf
@@ -494,7 +494,7 @@
     <visual>
       <origin rpy="0 0 1.57" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://robotiq_140_gripper_description/meshes/GRIPPER_base_axis.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://robotiq_140_gripper_description/meshes/GRIPPER_base_axis.dae" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="Gazebo/Black">
         <color rgba="0.1 0.1 0.1 1"/>
@@ -503,7 +503,7 @@
     <collision>
       <origin rpy="0 0 1.57" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://robotiq_140_gripper_description/meshes/GRIPPER_base_axis.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://robotiq_140_gripper_description/meshes/GRIPPER_base_axis.dae" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -520,7 +520,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_left_outer_knuckle.stl"/>
+        <mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_left_outer_knuckle.dae"/>
       </geometry>
       <material name="">
         <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
@@ -529,7 +529,7 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_left_outer_knuckle.stl"/>
+        <mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_left_outer_knuckle.dae"/>
       </geometry>
     </collision>
   </link>
@@ -546,7 +546,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_right_outer_knuckle.stl"/>
+        <mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_right_outer_knuckle.dae"/>
       </geometry>
       <material name="">
         <color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1"/>
@@ -555,7 +555,7 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_right_outer_knuckle.stl"/>
+        <mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_right_outer_knuckle.dae"/>
       </geometry>
     </collision>
   </link>
@@ -572,7 +572,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_left_inner_knuckle.stl"/>
+        <mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_left_inner_knuckle.dae"/>
       </geometry>
       <material name="Gazebo/Black">
         <color rgba="0.1 0.1 0.1 1"/>
@@ -592,7 +592,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_right_inner_knuckle.stl"/>
+        <mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_right_inner_knuckle.dae"/>
       </geometry>
       <material name="Gazebo/Black">
         <color rgba="0.1 0.1 0.1 1"/>
@@ -612,7 +612,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_left_inner_finger.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_left_inner_finger.dae" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="Gazebo/Black">
         <color rgba="0.1 0.1 0.1 1"/>
@@ -621,7 +621,7 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_left_inner_finger.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_left_inner_finger.dae" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -638,7 +638,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_right_inner_finger.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_right_inner_finger.dae" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="Gazebo/Black">
         <color rgba="0.1 0.1 0.1 1"/>
@@ -647,7 +647,7 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_right_inner_finger.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_right_inner_finger.dae" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -664,7 +664,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_left_outer_finger.stl"/>
+        <mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_left_outer_finger.dae"/>
       </geometry>
       <material name="Gazebo/Black">
         <color rgba="0.1 0.1 0.1 1"/>
@@ -673,7 +673,7 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_left_outer_finger.stl"/>
+        <mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_left_outer_finger.dae"/>
       </geometry>
     </collision>
   </link>
@@ -690,7 +690,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_right_outer_finger.stl"/>
+        <mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_right_outer_finger.dae"/>
       </geometry>
       <material name="Gazebo/Black">
         <color rgba="0.1 0.1 0.1 1"/>
@@ -699,7 +699,7 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_right_outer_finger.stl"/>
+        <mesh filename="package://robotiq_140_gripper_description/meshes/robotiq_140_right_outer_finger.dae"/>
       </geometry>
     </collision>
   </link>
diff --git a/mara_description/urdf/mara_robot_gripper_85.urdf b/mara_description/urdf/mara_robot_gripper_85.urdf
index 4528a77..223a5a1 100644
--- a/mara_description/urdf/mara_robot_gripper_85.urdf
+++ b/mara_description/urdf/mara_robot_gripper_85.urdf
@@ -493,7 +493,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://robotiq_85_gripper_description/meshes/base_gripper.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://robotiq_85_gripper_description/meshes/base_gripper.dae" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="Gazebo/Black">
         <color rgba="0.1 0.1 0.1 1"/>
@@ -502,7 +502,7 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://robotiq_85_gripper_description/meshes/base_gripper.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://robotiq_85_gripper_description/meshes/base_gripper.dae" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -519,7 +519,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://robotiq_85_gripper_description/meshes/2-F-85_1_l.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://robotiq_85_gripper_description/meshes/2-F-85_1_l.dae" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="Gazebo/Grey">
         <color rgba="0.1 0.1 0.1 1"/>
@@ -528,7 +528,7 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://robotiq_85_gripper_description/meshes/2-F-85_1_l.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://robotiq_85_gripper_description/meshes/2-F-85_1_l.dae" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -545,7 +545,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://robotiq_85_gripper_description/meshes/2-F-85_1_r.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://robotiq_85_gripper_description/meshes/2-F-85_1_r.dae" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="Gazebo/Grey">
         <color rgba="0.1 0.1 0.1 1"/>
@@ -554,7 +554,7 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://robotiq_85_gripper_description/meshes/2-F-85_1_r.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://robotiq_85_gripper_description/meshes/2-F-85_1_r.dae" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -571,7 +571,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://robotiq_85_gripper_description/meshes/2-F-85_3_l.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://robotiq_85_gripper_description/meshes/2-F-85_3_l.dae" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="Gazebo/Black">
         <color rgba="0.1 0.1 0.1 1"/>
@@ -580,7 +580,7 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://robotiq_85_gripper_description/meshes/2-F-85_3_l.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://robotiq_85_gripper_description/meshes/2-F-85_3_l.dae" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -597,7 +597,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://robotiq_85_gripper_description/meshes/2-F-85_3_r.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://robotiq_85_gripper_description/meshes/2-F-85_3_r.dae" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="Gazebo/Black">
         <color rgba="0.1 0.1 0.1 1"/>
@@ -606,7 +606,7 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://robotiq_85_gripper_description/meshes/2-F-85_3_r.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://robotiq_85_gripper_description/meshes/2-F-85_3_r.dae" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -623,7 +623,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://robotiq_85_gripper_description/meshes/2-F-85_2_l.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://robotiq_85_gripper_description/meshes/2-F-85_2_l.dae" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="Gazebo/Black">
         <color rgba="0.1 0.1 0.1 1"/>
@@ -632,7 +632,7 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://robotiq_85_gripper_description/meshes/2-F-85_2_l.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://robotiq_85_gripper_description/meshes/2-F-85_2_l.dae" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -649,7 +649,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://robotiq_85_gripper_description/meshes/2-F-85_2_r.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://robotiq_85_gripper_description/meshes/2-F-85_2_r.dae" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="Gazebo/Black">
         <color rgba="0.1 0.1 0.1 1"/>
@@ -658,7 +658,7 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://robotiq_85_gripper_description/meshes/2-F-85_2_r.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://robotiq_85_gripper_description/meshes/2-F-85_2_r.dae" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -675,7 +675,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://robotiq_85_gripper_description/meshes/2-F-85_4_l.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://robotiq_85_gripper_description/meshes/2-F-85_4_l.dae" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="Gazebo/Black">
         <color rgba="0.1 0.1 0.1 1"/>
@@ -684,7 +684,7 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://robotiq_85_gripper_description/meshes/2-F-85_4_l.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://robotiq_85_gripper_description/meshes/2-F-85_4_l.dae" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -701,7 +701,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://robotiq_85_gripper_description/meshes/2-F-85_4_r.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://robotiq_85_gripper_description/meshes/2-F-85_4_r.dae" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="Gazebo/Black">
         <color rgba="0.1 0.1 0.1 1"/>
@@ -710,7 +710,7 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://robotiq_85_gripper_description/meshes/2-F-85_4_r.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="package://robotiq_85_gripper_description/meshes/2-F-85_4_r.dae" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
diff --git a/mara_description/urdf/module.urdf b/mara_description/urdf/module.urdf
index a4d7653..7538f10 100644
--- a/mara_description/urdf/module.urdf
+++ b/mara_description/urdf/module.urdf
@@ -52,14 +52,14 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="model://mara_description/meshes/MARA_T49.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="model://mara_description/meshes/MARA_T49.dae" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="metal"/>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="model://mara_description/meshes/MARA_T49.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="model://mara_description/meshes/MARA_T49.dae" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -72,7 +72,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="model://mara_description/meshes/MARA_T49_Black.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="model://mara_description/meshes/MARA_T49_Black.dae" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="Gazebo/Black">
         <color rgba="0. 0. 0. 1"/>
@@ -81,7 +81,7 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="model://mara_description/meshes/MARA_T49_Black.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="model://mara_description/meshes/MARA_T49_Black.dae" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
diff --git a/mara_description/urdf/module.urdf.xacro b/mara_description/urdf/module.urdf.xacro
index 9a73632..f6635f2 100644
--- a/mara_description/urdf/module.urdf.xacro
+++ b/mara_description/urdf/module.urdf.xacro
@@ -26,14 +26,14 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="model://mara_description/meshes/MARA_T49.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="model://mara_description/meshes/MARA_T49.dae" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="metal"/>
     </visual>
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0" />
       <geometry>
-        <mesh filename="model://mara_description/meshes/MARA_T49.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="model://mara_description/meshes/MARA_T49.dae" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -47,7 +47,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="model://mara_description/meshes/MARA_T49_Black.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="model://mara_description/meshes/MARA_T49_Black.dae" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="Gazebo/Black">
         <color rgba="0. 0. 0. 1"/>
@@ -56,7 +56,7 @@
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="model://mara_description/meshes/MARA_T49_Black.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="model://mara_description/meshes/MARA_T49_Black.dae" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>