diff --git a/examples/mujoco-sim/URDF/franka_panda/panda.urdf b/examples/mujoco-sim/URDF/franka_panda/panda.urdf
deleted file mode 100644
index abb3b2ed..00000000
--- a/examples/mujoco-sim/URDF/franka_panda/panda.urdf
+++ /dev/null
@@ -1,338 +0,0 @@
-<?xml version="1.0" ?>
-<!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from panda_arm_hand.urdf.xacro      | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
-<!-- =================================================================================== -->
-<robot name="panda" xmlns:xacro="http://www.ros.org/wiki/xacro">
-  <link name="panda_link0">
-  	<inertial>
-      <origin rpy="0 0 0" xyz="0 0 0.05"/>
-       <mass value="2.9"/>
-       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
-    </inertial>
-    <visual>
-      <geometry>
-        <mesh filename="package://meshes/collision/link0.obj"/>
-      </geometry>
-      <material name="panda_white">
-    		<color rgba="1. 1. 1. 1."/>
-  		</material>
-    </visual>
-    <collision>
-      <geometry>
-        <mesh filename="package://meshes/collision/link0.obj"/>
-      </geometry>
-      <material name="panda_white"/>
-    </collision>
-  </link>
-  <link name="panda_link1">
-  	<inertial>
-      <origin rpy="0 0 0" xyz="0 -0.04 -0.05"/>
-       <mass value="2.7"/>
-       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
-    </inertial>
-    <visual>
-      <geometry>
-        <mesh filename="package://meshes/visual/link1.obj"/>
-      </geometry>
-      <material name="panda_white"/>
-    </visual>
-    <collision>
-      <geometry>
-        <mesh filename="package://meshes/collision/link1.obj"/>
-      </geometry>
-      <material name="panda_white"/>
-    </collision>
-  </link>
-  <joint name="panda_joint1" type="revolute">
-    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
-    <origin rpy="0 0 0" xyz="0 0 0.333"/>
-    <parent link="panda_link0"/>
-    <child link="panda_link1"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="87" lower="-2.9671" upper="2.9671" velocity="2.1750"/>
-  </joint>
-  <link name="panda_link2">
-  	<inertial>
-      <origin rpy="0 0 0" xyz="0 -0.04 0.06"/>
-       <mass value="2.73"/>
-       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
-    </inertial>
-    <visual>
-      <geometry>
-        <mesh filename="package://meshes/visual/link2.obj"/>
-      </geometry>
-      <material name="panda_white"/>
-    </visual>
-    <collision>
-      <geometry>
-        <mesh filename="package://meshes/collision/link2.obj"/>
-      </geometry>
-      <material name="panda_white"/>
-    </collision>
-  </link>
-  <joint name="panda_joint2" type="revolute">
-    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-1.7628" soft_upper_limit="1.7628"/>
-    <origin rpy="-1.57079632679 0 0" xyz="0 0 0"/>
-    <parent link="panda_link1"/>
-    <child link="panda_link2"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="87" lower="-1.8326" upper="1.8326" velocity="2.1750"/>
-  </joint>
-  <link name="panda_link3">
-	  <inertial>
-      <origin rpy="0 0 0" xyz="0.01 0.01 -0.05"/>
-       <mass value="2.04"/>
-       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
-    </inertial>
-    <visual>
-      <geometry>
-        <mesh filename="package://meshes/visual/link3.obj"/>
-      </geometry>
-      <material name="panda_red">
-    		<color rgba="1. 1. 1. 1."/>
-  		</material>
-    </visual>
-    <collision>
-      <geometry>
-        <mesh filename="package://meshes/collision/link3.obj"/>
-      </geometry>
-    </collision>
-  </link>
-  <joint name="panda_joint3" type="revolute">
-    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
-    <origin rpy="1.57079632679 0 0" xyz="0 -0.316 0"/>
-    <parent link="panda_link2"/>
-    <child link="panda_link3"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="87" lower="-2.9671" upper="2.9671" velocity="2.1750"/>
-  </joint>
-  <link name="panda_link4">
-  	<inertial>
-      <origin rpy="0 0 0" xyz="-0.03 0.03 0.02"/>
-       <mass value="2.08"/>
-       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
-    </inertial>
-    <visual>
-      <geometry>
-        <mesh filename="package://meshes/visual/link4.obj"/>
-      </geometry>
-      <material name="panda_white"/>
-    </visual>
-    <collision>
-      <geometry>
-        <mesh filename="package://meshes/collision/link4.obj"/>
-      </geometry>
-      <material name="panda_white"/>
-    </collision>
-  </link>
-  <joint name="panda_joint4" type="revolute">
-    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-3.0718" soft_upper_limit="-0.0698"/>
-    <origin rpy="1.57079632679 0 0" xyz="0.0825 0 0"/>
-    <parent link="panda_link3"/>
-    <child link="panda_link4"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="87" lower="-3.1416" upper="0.0" velocity="2.1750"/>
-  </joint>
-  <link name="panda_link5">
-  	<inertial>
-      <origin rpy="0 0 0" xyz="0 0.04 -0.12"/>
-       <mass value="3"/>
-       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
-    </inertial>
-    <visual>
-      <geometry>
-        <mesh filename="package://meshes/visual/link5.obj"/>
-      </geometry>
-      <material name="panda_white"/>
-    </visual>
-    <collision>
-      <geometry>
-        <mesh filename="package://meshes/collision/link5.obj"/>
-      </geometry>
-      <material name="panda_white"/>
-    </collision>
-  </link>
-  <joint name="panda_joint5" type="revolute">
-    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
-    <origin rpy="-1.57079632679 0 0" xyz="-0.0825 0.384 0"/>
-    <parent link="panda_link4"/>
-    <child link="panda_link5"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="12" lower="-2.9671" upper="2.9671" velocity="2.6100"/>
-  </joint>
-  <link name="panda_link6">
-  	<inertial>
-      <origin rpy="0 0 0" xyz="0.04 0 0"/>
-       <mass value="1.3"/>
-       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
-    </inertial>
-    <visual>
-      <geometry>
-        <mesh filename="package://meshes/visual/link6.obj"/>
-      </geometry>
-      <material name="panda_white"/>
-    </visual>
-    <collision>
-      <geometry>
-        <mesh filename="package://meshes/collision/link6.obj"/>
-      </geometry>
-      <material name="panda_white"/>
-    </collision>
-  </link>
-  <joint name="panda_joint6" type="revolute">
-    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-0.0175" soft_upper_limit="3.7525"/>
-    <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
-    <parent link="panda_link5"/>
-    <child link="panda_link6"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="12" lower="-0.0873" upper="3.8223" velocity="2.6100"/>
-  </joint>
-  <link name="panda_link7">
-  	<inertial>
-      <origin rpy="0 0 0" xyz="0 0 0.08"/>
-       <mass value=".2"/>
-       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
-    </inertial>
-    <visual>
-      <geometry>
-        <mesh filename="package://meshes/collision/link7.obj"/>
-      </geometry>
-      <material name="panda_white"/>
-    </visual>
-    <collision>
-      <geometry>
-        <mesh filename="package://meshes/collision/link7.obj"/>
-      </geometry>
-      <material name="panda_white"/>
-    </collision>
-  </link>
-  <joint name="panda_joint7" type="revolute">
-    <safety_controller k_position="100.0" k_velocity="40.0" soft_lower_limit="-2.8973" soft_upper_limit="2.8973"/>
-    <origin rpy="1.57079632679 0 0" xyz="0.088 0 0"/>
-    <parent link="panda_link6"/>
-    <child link="panda_link7"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="12" lower="-2.9671" upper="2.9671" velocity="2.6100"/>
-  </joint>
-  <link name="panda_link8">
-  	 <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-       <mass value="0.0"/>
-       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
-    </inertial>
-  </link>
-  <joint name="panda_joint8" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0 0.107"/>
-    <parent link="panda_link7"/>
-    <child link="panda_link8"/>
-    <axis xyz="0 0 0"/>
-  </joint>
-  <joint name="panda_hand_joint" type="fixed">
-    <parent link="panda_link8"/>
-    <child link="panda_hand"/>
-    <origin rpy="0 0 -0.785398163397" xyz="0 0 0"/>
-  </joint>
-  <link name="panda_hand">
-  	<inertial>
-      <origin rpy="0 0 0" xyz="0 0 0.04"/>
-       <mass value=".81"/>
-       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
-    </inertial>
-    <visual>
-      <geometry>
-        <mesh filename="package://meshes/visual/hand.obj"/>
-      </geometry>
-      <material name="panda_white"/>
-    </visual>
-    <collision>
-      <geometry>
-        <mesh filename="package://meshes/collision/hand.obj"/>
-      </geometry>
-      <material name="panda_white"/>
-    </collision>
-  </link>
-  <link name="panda_leftfinger">
-       <contact>
-      <friction_anchor/>
-      <stiffness value="30000.0"/>
-      <damping value="1000.0"/>
-      <spinning_friction value="0.1"/>
-      <lateral_friction value="1.0"/>
-    </contact>
-  	<inertial>
-      <origin rpy="0 0 0" xyz="0 0.01 0.02"/>
-       <mass value="0.1"/>
-       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
-    </inertial>
-    <visual>
-      <geometry>
-        <mesh filename="package://meshes/visual/finger.obj"/>
-      </geometry>
-      <material name="panda_white"/>
-    </visual>
-    <collision>
-      <geometry>
-        <mesh filename="package://meshes/collision/finger.obj"/>
-      </geometry>
-      <material name="panda_white"/>
-    </collision>
-  </link>
-  <link name="panda_rightfinger">
-        <contact>
-      <friction_anchor/>
-      <stiffness value="30000.0"/>
-      <damping value="1000.0"/>
-      <spinning_friction value="0.1"/>
-      <lateral_friction value="1.0"/>
-    </contact>
-
-  	<inertial>
-      <origin rpy="0 0 0" xyz="0 -0.01 0.02"/>
-       <mass value="0.1"/>
-       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://meshes/visual/finger.obj"/>
-      </geometry>
-      <material name="panda_white"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://meshes/collision/finger.obj"/>
-      </geometry>
-      <material name="panda_white"/>
-    </collision>
-  </link>
-  <joint name="panda_finger_joint1" type="prismatic">
-    <parent link="panda_hand"/>
-    <child link="panda_leftfinger"/>
-    <origin rpy="0 0 0" xyz="0 0 0.0584"/>
-    <axis xyz="0 1 0"/>
-    <limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
-  </joint>
-  <joint name="panda_finger_joint2" type="prismatic">
-    <parent link="panda_hand"/>
-    <child link="panda_rightfinger"/>
-    <origin rpy="0 0 0" xyz="0 0 0.0584"/>
-    <axis xyz="0 -1 0"/>
-    <limit effort="20" lower="0.0" upper="0.04" velocity="0.2"/>
-    <mimic joint="panda_finger_joint1"/>
-  </joint>
-   <link name="panda_grasptarget">
- <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-       <mass value="0.0"/>
-       <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
-    </inertial>
-   </link>
-   <joint name="panda_grasptarget_hand" type="fixed">
-    <parent link="panda_hand"/>
-    <child link="panda_grasptarget"/>
-    <origin rpy="0 0 0" xyz="0 0 0.105"/>
-  </joint>
-  
-</robot>
diff --git a/examples/mujoco-sim/URDF/kuka_iiwa/model.urdf b/examples/mujoco-sim/URDF/kuka_iiwa/model.urdf
deleted file mode 100644
index 98e54cb3..00000000
--- a/examples/mujoco-sim/URDF/kuka_iiwa/model.urdf
+++ /dev/null
@@ -1,289 +0,0 @@
-<?xml version="1.0" ?>
-<!-- ======================================================================= -->
-<!-- | This document was autogenerated by xacro from lbr_iiwa.urdf.xacro   | -->
-<!-- | Original xacro: https://github.com/rtkg/lbr_iiwa/archive/master.zip | -->
-<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED                        | -->
-<!-- | Changes (kohlhoff):                                                 | -->
-<!-- |   * Removed gazebo tags.                                            | -->
-<!-- |   * Removed unused materials.                                       | -->
-<!-- |   * Made mesh paths relative.                                       | -->
-<!-- |   * Removed material fields from collision segments.                | -->
-<!-- |   * Removed the self_collision_checking segment.                    | -->
-<!-- |   * Removed transmission segments, since they didn't match the      | -->
-<!-- |     convention, will have to added back later.                      | -->
-<!-- ======================================================================= -->
-<!--LICENSE:                                                                 -->
-<!--Copyright (c) 2015, Robert Krug & Todor Stoyanov, AASS Research Center,  -->
-<!--Orebro University, Sweden                                                -->
-<!--All rights reserved.                                                     -->
-<!--                                                                         -->
-<!--Redistribution and use in source and binary forms, with or without       -->
-<!--modification, are permitted provided that the following conditions are   -->
-<!--met:                                                                     -->
-<!--                                                                         -->
-<!--1. Redistributions of source code must retain the above copyright notice,-->
-<!--   this list of conditions and the following disclaimer.                 -->
-<!--                                                                         -->
-<!--2. 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.  -->
-<!--                                                                         -->
-<!--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 HOLDER 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.             -->
-<robot name="lbr_iiwa" xmlns:xacro="http://www.ros.org/wiki/xacro">
-  <!-- Import Rviz colors -->
-  <material name="Grey">
-    <color rgba="0.2 0.2 0.2 1.0"/>
-  </material>
-  <material name="Orange">
-    <color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
-  </material>
-  <material name="Blue">
-  <color rgba="0.5 0.7 1.0 1.0"/>      
-</material>
-
-  <!--Import the lbr iiwa macro -->
-  <!--Import Transmissions -->
-  <!--Include Utilities -->
-  <!--The following macros are adapted from the LWR 4 definitions of the RCPRG - https://github.com/RCPRG-ros-pkg/lwr_robot -->
-  <!--Little helper macros to define the inertia matrix needed for links.-->
-  <!--Cuboid-->
-  <!--Cylinder: length is along the y-axis! -->
-  <!--lbr-->
-  <link name="lbr_iiwa_link_0">
-    <inertial>
-      <origin rpy="0 0 0" xyz="-0.1 0 0.07"/>
-      <!--Increase mass from 5 Kg original to provide a stable base to carry the
-          arm.-->
-      <mass value="0.0"/>
-      <inertia ixx="0.05" ixy="0" ixz="0" iyy="0.06" iyz="0" izz="0.03"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/link_0.obj"/>
-      </geometry>
-      <material name="Grey"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/link_0.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <!-- joint between link_0 and link_1 -->
-  <joint name="lbr_iiwa_joint_1" type="revolute">
-    <parent link="lbr_iiwa_link_0"/>
-    <child link="lbr_iiwa_link_1"/>
-    <origin rpy="0 0 0" xyz="0 0 0.1575"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
-    <dynamics damping="0.5"/>
-  </joint>
-  <link name="lbr_iiwa_link_1">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 -0.03 0.12"/>
-      <mass value="4"/>
-      <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.09" iyz="0" izz="0.02"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/link_1.obj"/>
-      </geometry>
-      <material name="Blue"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/link_1.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <!-- joint between link_1 and link_2 -->
-  <joint name="lbr_iiwa_joint_2" type="revolute">
-    <parent link="lbr_iiwa_link_1"/>
-    <child link="lbr_iiwa_link_2"/>
-    <origin rpy="1.57079632679   0 3.14159265359" xyz="0 0 0.2025"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
-    <dynamics damping="0.5"/>
-  </joint>
-  <link name="lbr_iiwa_link_2">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0.0003 0.059 0.042"/>
-      <mass value="4"/>
-      <inertia ixx="0.05" ixy="0" ixz="0" iyy="0.018" iyz="0" izz="0.044"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/link_2.obj"/>
-      </geometry>
-      <material name="Blue"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/link_2.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <!-- joint between link_2 and link_3 -->
-  <joint name="lbr_iiwa_joint_3" type="revolute">
-    <parent link="lbr_iiwa_link_2"/>
-    <child link="lbr_iiwa_link_3"/>
-    <origin rpy="1.57079632679 0 3.14159265359" xyz="0 0.2045 0"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
-    <dynamics damping="0.5"/>
-  </joint>
-  <link name="lbr_iiwa_link_3">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0.03 0.13"/>
-      <mass value="3"/>
-      <inertia ixx="0.08" ixy="0" ixz="0" iyy="0.075" iyz="0" izz="0.01"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/link_3.obj"/>
-      </geometry>
-      <material name="Orange"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/link_3.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <!-- joint between link_3 and link_4 -->
-  <joint name="lbr_iiwa_joint_4" type="revolute">
-    <parent link="lbr_iiwa_link_3"/>
-    <child link="lbr_iiwa_link_4"/>
-    <origin rpy="1.57079632679 0 0" xyz="0 0 0.2155"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
-    <dynamics damping="0.5"/>
-  </joint>
-  <link name="lbr_iiwa_link_4">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0.067 0.034"/>
-      <mass value="2.7"/>
-      <inertia ixx="0.03" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.029"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/link_4.obj"/>
-      </geometry>
-      <material name="Blue"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/link_4.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <!-- joint between link_4 and link_5 -->
-  <joint name="lbr_iiwa_joint_5" type="revolute">
-    <parent link="lbr_iiwa_link_4"/>
-    <child link="lbr_iiwa_link_5"/>
-    <origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.1845 0"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="300" lower="-2.96705972839" upper="2.96705972839" velocity="10"/>
-    <dynamics damping="0.5"/>
-  </joint>
-  <link name="lbr_iiwa_link_5">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0.0001 0.021 0.076"/>
-      <mass value="1.7"/>
-      <inertia ixx="0.02" ixy="0" ixz="0" iyy="0.018" iyz="0" izz="0.005"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/link_5.obj"/>
-      </geometry>
-      <material name="Blue"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/link_5.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <!-- joint between link_5 and link_6 -->
-  <joint name="lbr_iiwa_joint_6" type="revolute">
-    <parent link="lbr_iiwa_link_5"/>
-    <child link="lbr_iiwa_link_6"/>
-    <origin rpy="1.57079632679 0 0" xyz="0 0 0.2155"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="300" lower="-2.09439510239" upper="2.09439510239" velocity="10"/>
-    <dynamics damping="0.5"/>
-  </joint>
-  <link name="lbr_iiwa_link_6">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0.0006 0.0004"/>
-      <mass value="1.8"/>
-      <inertia ixx="0.005" ixy="0" ixz="0" iyy="0.0036" iyz="0" izz="0.0047"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/link_6.obj"/>
-      </geometry>
-      <material name="Orange"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/link_6.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <!-- joint between link_6 and link_7 -->
-  <joint name="lbr_iiwa_joint_7" type="revolute">
-    <parent link="lbr_iiwa_link_6"/>
-    <child link="lbr_iiwa_link_7"/>
-    <origin rpy="-1.57079632679 3.14159265359 0" xyz="0 0.081 0"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="300" lower="-3.05432619099" upper="3.05432619099" velocity="10"/>
-    <dynamics damping="0.5"/>
-  </joint>
-  <link name="lbr_iiwa_link_7">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0 0.02"/>
-      <mass value="0.3"/>
-      <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"/>
-      <geometry>
-        <mesh filename="meshes/link_7.obj"/>
-      </geometry>
-      <material name="Grey"/>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="meshes/link_7.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  
-</robot>
-
diff --git a/examples/mujoco-sim/basic_simulation/basic.yml b/examples/mujoco-sim/basic_simulation/basic.yml
index 3bb8c3e3..ae077d78 100644
--- a/examples/mujoco-sim/basic_simulation/basic.yml
+++ b/examples/mujoco-sim/basic_simulation/basic.yml
@@ -3,10 +3,10 @@ nodes:
     build: pip install -e ../../../node-hub/dora-mujoco
     path: dora-mujoco
     inputs:
-      tick: dora/timer/millis/2  # 500 Hz simulation
+      tick: dora/timer/millis/2 # 500 Hz simulation
     outputs:
       - joint_positions
-      - joint_velocities 
+      - joint_velocities
       - sensor_data
     env:
-      MODEL_NAME: "go2"  # Load GO2
\ No newline at end of file
+      MODEL_NAME: "go2_mj_description" # Load GO2
diff --git a/examples/mujoco-sim/gamepad_control/gamepad_control_advanced.yml b/examples/mujoco-sim/gamepad_control/gamepad_control_advanced.yml
index 9e98c369..1a0508f1 100644
--- a/examples/mujoco-sim/gamepad_control/gamepad_control_advanced.yml
+++ b/examples/mujoco-sim/gamepad_control/gamepad_control_advanced.yml
@@ -12,15 +12,15 @@ nodes:
     build: pip install -e ../../../node-hub/dora-mujoco
     path: dora-mujoco
     inputs:
-      tick: dora/timer/millis/2  # 500 Hz simulation
+      tick: dora/timer/millis/2 # 500 Hz simulation
       control_input: gamepad_controller/joint_commands
     outputs:
       - joint_positions
-      - joint_velocities 
+      - joint_velocities
       - actuator_controls
       - sensor_data
     env:
-      MODEL_NAME: "kuka_iiwa14"
+      MODEL_NAME: "iiwa14_mj_description"
 
   - id: gamepad_controller
     path: nodes/gamepad_controller_differential_ik.py
@@ -43,9 +43,9 @@ nodes:
       fk_request: gamepad_controller/fk_request
       jacobian_request: gamepad_controller/jacobian_request
     outputs:
-      - fk_request  
-      - jacobian_request  
+      - fk_request
+      - jacobian_request
     env:
-      URDF_PATH: "../URDF/kuka_iiwa/model.urdf"
-      END_EFFECTOR_LINK: "lbr_iiwa_link_7"  
+      MODEL_NAME: "iiwa14_description"
+      END_EFFECTOR_LINK: "iiwa_link_7"
       TRANSFORM: "0. 0. 0. 1. 0. 0. 0."
diff --git a/examples/mujoco-sim/gamepad_control/gamepad_control_basic.yml b/examples/mujoco-sim/gamepad_control/gamepad_control_basic.yml
index 3811d9f8..23d32a70 100644
--- a/examples/mujoco-sim/gamepad_control/gamepad_control_basic.yml
+++ b/examples/mujoco-sim/gamepad_control/gamepad_control_basic.yml
@@ -12,37 +12,26 @@ nodes:
     build: pip install -e ../../../node-hub/dora-mujoco
     path: dora-mujoco
     inputs:
-      tick: dora/timer/millis/2  # 500 Hz simulation
-      control_input: gamepad_controller/joint_commands
+      tick: dora/timer/millis/2 # 500 Hz simulation
+      control_input: pytorch_kinematics/cmd_vel
     outputs:
       - joint_positions
-      - joint_velocities 
+      - joint_velocities
       - actuator_controls
       - sensor_data
     env:
-      MODEL_NAME: "kuka_iiwa14"
-
-  - id: gamepad_controller
-    path: nodes/gamepad_controller_ik.py
-    inputs:
-      joint_positions: mujoco_sim/joint_positions
-      raw_control: gamepad/raw_control
-      cmd_vel: gamepad/cmd_vel
-      ik_request: pytorch_kinematics/ik_request
-    outputs:
-      - joint_commands
-      - ik_request
-      - joint_state
+      MODEL_NAME: "iiwa14_mj_description"
 
   - id: pytorch_kinematics
     build: pip install -e ../../../node-hub/dora-pytorch-kinematics
     path: dora-pytorch-kinematics
     inputs:
-      ik_request: gamepad_controller/ik_request
-      joint_state: gamepad_controller/joint_state
+      cmd_vel: gamepad/cmd_vel
+      pose: mujoco_sim/joint_positions
     outputs:
-      - ik_request
+      - cmd_vel
+      - pose
     env:
-      URDF_PATH: "../URDF/kuka_iiwa/model.urdf"
-      END_EFFECTOR_LINK: "lbr_iiwa_link_7"
-      TRANSFORM: "0. 0. 0. 1. 0. 0. 0."
\ No newline at end of file
+      MODEL_NAME: "iiwa14_description"
+      END_EFFECTOR_LINK: "iiwa_link_7"
+      TRANSFORM: "0. 0. 0. 1. 0. 0. 0."
diff --git a/examples/mujoco-sim/target_pose_control/control.yml b/examples/mujoco-sim/target_pose_control/control.yml
index 673814a0..1ab7388f 100644
--- a/examples/mujoco-sim/target_pose_control/control.yml
+++ b/examples/mujoco-sim/target_pose_control/control.yml
@@ -7,11 +7,11 @@ nodes:
       control_input: controller/joint_commands
     outputs:
       - joint_positions
-      - joint_velocities 
+      - joint_velocities
       - actuator_controls
       - sensor_data
     env:
-      MODEL_NAME: "panda"
+      MODEL_NAME: "panda_mj_description"
 
   - id: controller
     path: nodes/controller_ik.py
@@ -34,13 +34,13 @@ nodes:
       - ik_request
       - joint_state
     env:
-      URDF_PATH: "../URDF/franka_panda/panda.urdf"
+      MODEL_NAME: "panda_description"
       END_EFFECTOR_LINK: "panda_hand"
-      TRANSFORM: "0. 0. 0. 1. 0. 0. 0."  # Pytorch kinematics uses wxyz format for quaternion
+      TRANSFORM: "0. 0. 0. 1. 0. 0. 0." # Pytorch kinematics uses wxyz format for quaternion
 
   - id: pose_publisher
     path: nodes/pose_publisher.py
     inputs:
       tick: dora/timer/millis/5000
     outputs:
-      - target_pose
\ No newline at end of file
+      - target_pose
diff --git a/examples/mujoco-sim/target_pose_control/control_advanced.yml b/examples/mujoco-sim/target_pose_control/control_advanced.yml
index c2436c3f..03336f1f 100644
--- a/examples/mujoco-sim/target_pose_control/control_advanced.yml
+++ b/examples/mujoco-sim/target_pose_control/control_advanced.yml
@@ -7,11 +7,11 @@ nodes:
       control_input: controller/joint_commands
     outputs:
       - joint_positions
-      - joint_velocities 
+      - joint_velocities
       - actuator_controls
       - sensor_data
     env:
-      MODEL_NAME: "panda"
+      MODEL_NAME: "panda_mj_description"
 
   - id: controller
     path: nodes/controller_differential_ik.py
@@ -33,16 +33,16 @@ nodes:
       fk_request: controller/fk_request
       jacobian_request: controller/jacobian_request
     outputs:
-      - fk_request  
-      - jacobian_request  
+      - fk_request
+      - jacobian_request
     env:
-      URDF_PATH: "../URDF/franka_panda/panda.urdf"
+      MODEL_NAME: "panda_description"
       END_EFFECTOR_LINK: "panda_hand"
-      TRANSFORM: "0. 0. 0. 1. 0. 0. 0."  # Pytorch kinematics uses wxyz format for quaternion
+      TRANSFORM: "0. 0. 0. 1. 0. 0. 0." # Pytorch kinematics uses wxyz format for quaternion
 
   - id: pose_publisher
     path: nodes/pose_publisher.py
     inputs:
       tick: dora/timer/millis/5000
     outputs:
-      - target_pose
\ No newline at end of file
+      - target_pose
diff --git a/node-hub/dora-mujoco/dora_mujoco/robot_models.json b/node-hub/dora-mujoco/dora_mujoco/robot_models.json
deleted file mode 100644
index 529f7a56..00000000
--- a/node-hub/dora-mujoco/dora_mujoco/robot_models.json
+++ /dev/null
@@ -1,62 +0,0 @@
-{
-  "arms": {
-    "arx_l5": "arx_l5_mj_description",
-    "fr3": "fr3_mj_description",
-    "franka_panda": "panda_mj_description",
-    "panda": "panda_mj_description",
-    "gen3": "gen3_mj_description",
-    "iiwa14": "iiwa14_mj_description",
-    "kuka_iiwa14": "iiwa14_mj_description",
-    "piper": "piper_mj_description",
-    "sawyer": "sawyer_mj_description",
-    "so_arm100": "so_arm100_mj_description",
-    "ur10e": "ur10e_mj_description",
-    "ur5e": "ur5e_mj_description",
-    "viper": "viper_mj_description",
-    "widow": "widow_mj_description",
-    "xarm7": "xarm7_mj_description",
-    "yam": "yam_mj_description",
-    "z1": "z1_mj_description",
-    "low_cost_robot_arm": "low_cost_robot_arm_mj_description"
-  },
-  "bipeds": {
-    "cassie": "cassie_mj_description"
-  },
-  "dual_arms": {
-    "aloha": "aloha_mj_description",
-    "aloha_2": "aloha_mj_description"
-  },
-  "drones": {
-    "crazyflie_2": "cf2_mj_description",
-    "cf2": "cf2_mj_description",
-    "skydio_x2": "skydio_x2_mj_description"
-  },
-  "end_effectors": {
-    "ability_hand": "ability_hand_mj_description",
-    "allegro_hand": "allegro_hand_mj_description",
-    "leap_hand": "leap_hand_mj_description",
-    "robotiq_2f85": "robotiq_2f85_mj_description",
-    "robotiq_2f85_v4": "robotiq_2f85_v4_mj_description",
-    "shadow_dexee": "shadow_dexee_mj_description",
-    "shadow_hand": "shadow_hand_mj_description"
-  },
-  "humanoids": {
-    "apollo": "apollo_mj_description",
-    "adam_lite": "adam_lite_mj_description",
-    "elf2": "elf2_mj_description",
-    "g1": "g1_mj_description",
-    "h1": "h1_mj_description",
-    "jvrc": "jvrc_mj_description",
-    "op3": "op3_mj_description",
-    "talos": "talos_mj_description"
-  },
-  "quadrupeds": {
-    "a1": "a1_mj_description",
-    "aliengo": "aliengo_mj_description",
-    "anymal_b": "anymal_b_mj_description",
-    "anymal_c": "anymal_c_mj_description",
-    "go1": "go1_mj_description",
-    "go2": "go2_mj_description",
-    "spot": "spot_mj_description"
-  }
-}
\ No newline at end of file