diff --git a/mycobot_description/urdf/new_320_pi/mycobot_pro_320_pi.urdf b/mycobot_description/urdf/new_320_pi/mycobot_pro_320_pi.urdf
deleted file mode 100644
index 3a14be6..0000000
--- a/mycobot_description/urdf/new_320_pi/mycobot_pro_320_pi.urdf
+++ /dev/null
@@ -1,185 +0,0 @@
-<?xml version="1.0"?>
-<robot  xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter" >
-	
-<xacro:property name="width" value=".2" />
-
-
-  <link name="base">
-    <visual>
-      <geometry>
-	     <!--- 0.0 0 -0.04  1.5708 3.14159-->
-       <mesh filename="package://mycobot_description/urdf/new_320_pi/base.dae"/>
-      </geometry>
-    <origin xyz = "0.0 0 0 " rpy = " 0 0 3.1415926"/>
-    </visual>
-    <collision>
-      <geometry>
-	     <!--- 0.0 0 -0.04  1.5708 3.14159-->
-       <mesh filename="package://mycobot_description/urdf/new_320_pi/base.dae"/>
-        </geometry>
-        <origin xyz = "0.0 0 0 " rpy = " 0 0 3.1415926"/>
-    </collision>
-  </link>
-
-  <link name="link1">
-    <visual>
-      <geometry>
-       <mesh filename="package://mycobot_description/urdf/new_320_pi/link1.dae"/>
-      </geometry>
-
-    <origin xyz = "0.115 -0.172 -0.086 " rpy = " 0 0 3.1415926"/>
-    </visual>
-    <collision>
-     <geometry>
-       <mesh filename="package://mycobot_description/urdf/new_320_pi/link1.dae"/>
-      </geometry>
-      <origin xyz = "0.115 -0.172 -0.09 " rpy = " 0 0 3.1415926"/>
-    </collision>
-  </link>
-
-
-  <link name="link2">
-    <visual>
-      <geometry>
-       
-       <mesh filename="package://mycobot_description/urdf/new_320_pi/link2.dae"/>
-      </geometry>
-      <origin xyz = "-0.075 -0.115 -0.022 " rpy = " 1.5708 0 1.5708"/>
-    </visual>
-    <collision>
-      <geometry>
-       <mesh filename="package://mycobot_description/urdf/new_320_pi/link2.dae"/>
-      </geometry>
-      <origin xyz = "-0.075 -0.115 -0.022 " rpy = " 1.5708 0 1.5708"/>
-    </collision>
-  </link>
-
-
-  <link name="link3">
-    <visual>
-      <geometry>
-       <!--- 0.0 0 -0.04 -->
-       <mesh filename="package://mycobot_description/urdf/new_320_pi/link3.dae"/>
-      </geometry>
-    <origin xyz = "-0.22 -0.115 0.142 " rpy = " 1.5708 0 1.5708"/>
-    </visual>
-    <collision>
-      <geometry>
-       <!--- 0.0 0 -0.04 -->
-       <mesh filename="package://mycobot_description/urdf/new_320_pi/link3.dae"/>
-      </geometry>
-      <origin xyz = "-0.22 -0.115 0.142 " rpy = " 1.5708 0 1.5708"/>
-    </collision>
-  </link>
-
-
-  <link name="link4">
-    <visual>
-      <geometry>
-       <!--- 0.0 0 -0.04 -->
-       <mesh filename="package://mycobot_description/urdf/new_320_pi/link4.dae"/>
-      </geometry>
-    <origin xyz = "-0.115 0.338 -0.1435" rpy = " 1.5708 0 0"/>
-    </visual>
-    <collision>
-       <geometry>
-       <!--- 0.0 0 -0.04 -->
-       <mesh filename="package://mycobot_description/urdf/new_320_pi/link4.dae"/>
-      </geometry>
-      <origin xyz = "-0.115 0.338 -0.1435 " rpy = " 1.5708 0 0"/>
-    </collision>
-  </link>
-
-
-  <link name="link5">
-    <visual>
-      <geometry>
-       <!--- 0.0 0 -0.04 -->
-       <mesh filename="package://mycobot_description/urdf/new_320_pi/link5.dae"/>
-      </geometry>
-    <origin xyz = "-0.1149 -0.0322  -0.482 " rpy = " 0  0 0"/>
-    </visual>
-    <collision>
-      <geometry>
-       <!--- 0.0 0 -0.04 -->
-       <mesh filename="package://mycobot_description/urdf/new_320_pi/link5.dae"/>
-      </geometry>
-    <origin xyz = "-0.1149 -0.0322  -0.482 " rpy = " 0  0 0"/>
-    </collision>
-  </link>
-
-
-  <link name="link6">
-    <visual>
-      <geometry>
-      <!--- 0.0 0 -0.04 -->
-       <mesh filename="package://mycobot_description/urdf/new_320_pi/link6.dae"/>
-      </geometry>
-    <origin xyz = "-0.11478 0.433 -0.15 " rpy = " 1.5708 0 0"/>
-    </visual>
-    <collision>
-      <geometry>
-       <!--- 0.0 0 -0.04 -->
-       <mesh filename="package://mycobot_description/urdf/new_320_pi/link6.dae"/>
-      </geometry>
-    <origin xyz = "-0.11478 0.433 -0.15 " rpy = " 1.5708 0 0"/>
-    </collision>
-  </link>
-
-
-  <joint name="joint2_to_joint1" type="revolute">
-    <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/>
-    <parent link="base"/>
-    <child link="link1"/>
-    <origin xyz= "0 0 0.162" rpy = "0 0 0"/> 
-  </joint>
-
-
-  <joint name="joint3_to_joint2" type="revolute">
-    <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
-    <parent link="link1"/>
-    <child link="link2"/>
-       <origin xyz= "0 0 0" rpy = "0 -1.5708 1.5708"/> 
-  </joint>
-
-
-  <joint name="joint4_to_joint3" type="revolute">
-    <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
-    <parent link="link2"/>
-    <child link="link3"/>
-    <origin xyz= "0.13635 0 0   " rpy = "0 0 0"/>  
-  </joint>
-
-
-  <joint name="joint5_to_joint4" type="revolute">
-    <axis xyz=" 0 0 1"/>
-    <limit effort = "1000.0" lower = "-2.79" upper = "2.79" velocity = "0"/>
-    <parent link="link3"/>
-    <child link="link4"/>
-     <!-- <origin xyz = "0.12 0 0.09 " rpy = " 0 0 1.57080"/> -->
-     <origin xyz = "0.1205 0 0.082 " rpy = " 0 0 1.57080"/>
-  </joint>
-
-
-  <joint name="joint6_to_joint5" type="revolute">
-    <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-2.96" upper = "2.96" velocity = "0"/>
-    <parent link="link4"/>
-    <child link="link5"/>
-     <origin xyz= "0 -0.084 0" rpy = "1.5708 0 0"/>
-  </joint>
-
-
-  <joint name="joint6output_to_joint6" type="revolute">
-    <axis xyz="0 0 1"/>
-    <limit effort = "1000.0" lower = "-3.05" upper = "3.05" velocity = "0"/>
-    <parent link="link5"/>
-    <child link="link6"/>
-     <origin xyz= "0 0.06635 0" rpy = "-1.5708 0 0"/>
-  </joint>
-
-
-</robot>