diff --git a/openarm_two_arms/meshes/full_upper_left_jawv1_6yxtlc.dae b/openarm_two_arms/meshes/left_jaw.dae
similarity index 100%
rename from openarm_two_arms/meshes/full_upper_left_jawv1_6yxtlc.dae
rename to openarm_two_arms/meshes/left_jaw.dae
diff --git a/openarm_two_arms/meshes/full_upper_j1v1_fj2ul1.dae b/openarm_two_arms/meshes/link1.dae
similarity index 100%
rename from openarm_two_arms/meshes/full_upper_j1v1_fj2ul1.dae
rename to openarm_two_arms/meshes/link1.dae
diff --git a/openarm_two_arms/meshes/full_upper_j2v1_xzm1cu.dae b/openarm_two_arms/meshes/link2.dae
similarity index 100%
rename from openarm_two_arms/meshes/full_upper_j2v1_xzm1cu.dae
rename to openarm_two_arms/meshes/link2.dae
diff --git a/openarm_two_arms/meshes/full_upper_j3v2_5nirfo.dae b/openarm_two_arms/meshes/link3.dae
similarity index 100%
rename from openarm_two_arms/meshes/full_upper_j3v2_5nirfo.dae
rename to openarm_two_arms/meshes/link3.dae
diff --git a/openarm_two_arms/meshes/full_upper_j4v1_u1e2xn.dae b/openarm_two_arms/meshes/link4.dae
similarity index 100%
rename from openarm_two_arms/meshes/full_upper_j4v1_u1e2xn.dae
rename to openarm_two_arms/meshes/link4.dae
diff --git a/openarm_two_arms/meshes/full_upper_j5v2_ckk9an.dae b/openarm_two_arms/meshes/link5.dae
similarity index 100%
rename from openarm_two_arms/meshes/full_upper_j5v2_ckk9an.dae
rename to openarm_two_arms/meshes/link5.dae
diff --git a/openarm_two_arms/meshes/full_upper_j6_leftv005_f8km11.dae b/openarm_two_arms/meshes/link6_leftarm.dae
similarity index 100%
rename from openarm_two_arms/meshes/full_upper_j6_leftv005_f8km11.dae
rename to openarm_two_arms/meshes/link6_leftarm.dae
diff --git a/openarm_two_arms/meshes/full_upper_j6v1_mg9rps.dae b/openarm_two_arms/meshes/link6_rightarm.dae
similarity index 100%
rename from openarm_two_arms/meshes/full_upper_j6v1_mg9rps.dae
rename to openarm_two_arms/meshes/link6_rightarm.dae
diff --git a/openarm_two_arms/meshes/full_upper_j7_leftv005_8ohvh2.dae b/openarm_two_arms/meshes/link7_leftarm.dae
similarity index 100%
rename from openarm_two_arms/meshes/full_upper_j7_leftv005_8ohvh2.dae
rename to openarm_two_arms/meshes/link7_leftarm.dae
diff --git a/openarm_two_arms/meshes/full_upper_j7v1_9yzky6.dae b/openarm_two_arms/meshes/link7_rightarm.dae
similarity index 100%
rename from openarm_two_arms/meshes/full_upper_j7v1_9yzky6.dae
rename to openarm_two_arms/meshes/link7_rightarm.dae
diff --git a/openarm_two_arms/meshes/full_upper_j8v1_dka5zq.dae b/openarm_two_arms/meshes/link8.dae
similarity index 100%
rename from openarm_two_arms/meshes/full_upper_j8v1_dka5zq.dae
rename to openarm_two_arms/meshes/link8.dae
diff --git a/openarm_two_arms/meshes/full_upper_pedestal_02_urdfv1_o8iqfl.dae b/openarm_two_arms/meshes/pedestal_link.dae
similarity index 100%
rename from openarm_two_arms/meshes/full_upper_pedestal_02_urdfv1_o8iqfl.dae
rename to openarm_two_arms/meshes/pedestal_link.dae
diff --git a/openarm_two_arms/meshes/full_upper_right_jawv1_0fmgsg.dae b/openarm_two_arms/meshes/right_jaw.dae
similarity index 100%
rename from openarm_two_arms/meshes/full_upper_right_jawv1_0fmgsg.dae
rename to openarm_two_arms/meshes/right_jaw.dae
diff --git a/openarm_two_arms/urdf/openarm.xacro b/openarm_two_arms/urdf/openarm.xacro
index e16360a..b81fe77 100644
--- a/openarm_two_arms/urdf/openarm.xacro
+++ b/openarm_two_arms/urdf/openarm.xacro
@@ -13,7 +13,7 @@
             <visual>
                 <origin rpy="0 0 0" xyz="0.0 0.0 -0.0007"/>
                 <geometry>
-                    <mesh filename="package://openarm_two_arms/meshes/full_upper_j1v1_fj2ul1.dae"/>
+                    <mesh filename="package://openarm_two_arms/meshes/link1.dae"/>
                 </geometry>
             </visual>
             <collision>
@@ -32,7 +32,7 @@
             <visual>
                 <origin rpy="0 0 0" xyz="0.0 0.0 -0.05395"/>
                 <geometry>
-                    <mesh filename="package://openarm_two_arms/meshes/full_upper_j2v1_xzm1cu.dae"/>
+                    <mesh filename="package://openarm_two_arms/meshes/link2.dae"/>
                 </geometry>
             </visual>
             <collision>
@@ -51,7 +51,7 @@
             <visual>
                 <origin rpy="${pi * 0.5} 0 0" xyz="0.0 0.0987 0.02975"/>
                 <geometry>
-                    <mesh filename="package://openarm_two_arms/meshes/full_upper_j3v2_5nirfo.dae"/>
+                    <mesh filename="package://openarm_two_arms/meshes/link3.dae"/>
                 </geometry>
             </visual>
             <collision>
@@ -70,7 +70,7 @@
             <visual>
                 <origin rpy="${pi} -1.5620381439005742 0" xyz="-0.0986962 0.0 0.0621144"/>
                 <geometry>
-                    <mesh filename="package://openarm_two_arms/meshes/full_upper_j4v1_u1e2xn.dae"/>
+                    <mesh filename="package://openarm_two_arms/meshes/link4.dae"/>
                 </geometry>
             </visual>
             <collision>
@@ -89,7 +89,7 @@
             <visual>
                 <origin rpy="0 -0.008758182894317394 0" xyz="0.303864 0.0 -0.128451"/>
                 <geometry>
-                    <mesh filename="package://openarm_two_arms/meshes/full_upper_j5v2_ckk9an.dae"/>
+                    <mesh filename="package://openarm_two_arms/meshes/link5.dae"/>
                 </geometry>
             </visual>
             <collision>
@@ -108,7 +108,7 @@
             <visual>
                 <origin rpy="${-2.1276679791326423*reflect + rotate} ${reflect* -1.5542266826921929} ${rotate}" xyz="${reflect*-0.0485412 + (0 if side=='right' else 0.012)} ${reflect*-0.0860404 +(0 if side=='right' else 0.0018)} ${0.437784- (0 if side=='right' else 0.0023)}"/>
                 <geometry>
-                    <mesh filename="package://openarm_two_arms/meshes/${'full_upper_j6v1_mg9rps.dae' if side=='right' else 'full_upper_j6_leftv005_f8km11.dae'}"/>
+                    <mesh filename="package://openarm_two_arms/meshes/${'link6_rightarm.dae' if side=='right' else 'link6_leftarm.dae'}"/>
                 </geometry>
             </visual>
             <collision>
@@ -127,7 +127,7 @@
             <visual>
                 <origin rpy="0 ${reflect*-0.008758182894510852 + rotate} 0" xyz="0.558839 ${reflect*-0.00358671 + (0 if side=='right' else -0.007)} ${reflect*-0.0631962 + (0 if side=='right' else 0.071)}"/>
                 <geometry>
-                    <mesh filename="package://openarm_two_arms/meshes/${'full_upper_j7v1_9yzky6.dae' if side=='right' else 'full_upper_j7_leftv005_8ohvh2.dae'}"/>
+                    <mesh filename="package://openarm_two_arms/meshes/${'link7_rightarm.dae' if side=='right' else 'link7_leftarm.dae'}"/>
                 </geometry>
             </visual>
             <collision>
@@ -146,7 +146,7 @@
             <visual>
                 <origin rpy="1.5709195259578714 -0.014065461951077267 0" xyz="0.557948 0.103587 0.019724"/>
                 <geometry>
-                    <mesh filename="package://openarm_two_arms/meshes/full_upper_j8v1_dka5zq.dae"/>
+                    <mesh filename="package://openarm_two_arms/meshes/link8.dae"/>
                 </geometry>
             </visual>
             <collision>
@@ -165,13 +165,13 @@
             <visual>
                 <origin rpy="0 -0.008758182894469432 0" xyz="0.665265 -0.00286677 -0.0209282"/>
                 <geometry>
-                    <mesh filename="package://openarm_two_arms/meshes/full_upper_left_jawv1_6yxtlc.dae"/>
+                    <mesh filename="package://openarm_two_arms/meshes/left_jaw.dae"/>
                 </geometry>
             </visual>
             <collision>
                 <origin rpy="0 -0.0087581828944695 0" xyz="0.665265 -0.00286677 -0.0209282"/>
                 <geometry>
-                    <mesh filename="package://openarm_two_arms/meshes/full_upper_col_left_jaw_v1_col_obj_wr4fju.dae"/>
+                    <mesh filename="package://openarm_two_arms/meshes/left_jaw.dae"/>
                 </geometry>
             </collision>
             <inertial>
@@ -184,13 +184,13 @@
             <visual>
                 <origin rpy="0 -0.008758182898001485 0" xyz="0.665265 -0.00286677 -0.175928"/>
                 <geometry>
-                    <mesh filename="package://openarm_two_arms/meshes/full_upper_right_jawv1_0fmgsg.dae"/>
+                    <mesh filename="package://openarm_two_arms/meshes/right_jaw.dae"/>
                 </geometry>
             </visual>
             <collision>
                 <origin rpy="0 -0.008758182898001553 0" xyz="0.665265 -0.00286677 -0.175928"/>
                 <geometry>
-                    <mesh filename="package://openarm_two_arms/meshes/full_upper_col_right_jaw_v1_col_obj_9qatoq.dae"/>
+                    <mesh filename="package://openarm_two_arms/meshes/right_jaw.dae"/>
                 </geometry>
             </collision>
             <inertial>
diff --git a/openarm_two_arms/urdf/openarm_two_arms.urdf b/openarm_two_arms/urdf/openarm_two_arms.urdf
index b2d0f41..27a4a9f 100644
--- a/openarm_two_arms/urdf/openarm_two_arms.urdf
+++ b/openarm_two_arms/urdf/openarm_two_arms.urdf
@@ -6,17 +6,14 @@
 <robot name="openarm_two_arms">
   <link name="world"/>
   <!-- <xacro:property name="zero_pos" value="vertical"/> -->
-  <!--Generated by RobotCAD, a ROS Workbench for FreeCAD (https://github.com/drfenixion/freecad.robotcad)-->
   <link name="pedestal_link">
     <visual>
-      <!--pedestal_cad/Part__Feature.-->
       <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
       <geometry>
-        <mesh filename="package://openarm_two_arms/meshes/full_upper_pedestal_02_urdfv1_o8iqfl.dae"/>
+        <mesh filename="package://openarm_two_arms/meshes/pedestal_link.dae"/>
       </geometry>
     </visual>
     <collision>
-      <!--bounding_pedestal/col_pedestal_02_urdf_v1__BoundBox.-->
       <origin rpy="0 0 0" xyz="0.0 0.0 0.489"/>
       <geometry>
         <box size="0.18 0.06 0.978000000000004"/>
@@ -32,7 +29,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0.0 0.0 -0.0007"/>
       <geometry>
-        <mesh filename="package://openarm_two_arms/meshes/full_upper_j1v1_fj2ul1.dae"/>
+        <mesh filename="package://openarm_two_arms/meshes/link1.dae"/>
       </geometry>
     </visual>
     <collision>
@@ -51,7 +48,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0.0 0.0 -0.05395"/>
       <geometry>
-        <mesh filename="package://openarm_two_arms/meshes/full_upper_j2v1_xzm1cu.dae"/>
+        <mesh filename="package://openarm_two_arms/meshes/link2.dae"/>
       </geometry>
     </visual>
     <collision>
@@ -70,7 +67,7 @@
     <visual>
       <origin rpy="1.5707963267948966 0 0" xyz="0.0 0.0987 0.02975"/>
       <geometry>
-        <mesh filename="package://openarm_two_arms/meshes/full_upper_j3v2_5nirfo.dae"/>
+        <mesh filename="package://openarm_two_arms/meshes/link3.dae"/>
       </geometry>
     </visual>
     <collision>
@@ -89,7 +86,7 @@
     <visual>
       <origin rpy="3.141592653589793 -1.5620381439005742 0" xyz="-0.0986962 0.0 0.0621144"/>
       <geometry>
-        <mesh filename="package://openarm_two_arms/meshes/full_upper_j4v1_u1e2xn.dae"/>
+        <mesh filename="package://openarm_two_arms/meshes/link4.dae"/>
       </geometry>
     </visual>
     <collision>
@@ -108,7 +105,7 @@
     <visual>
       <origin rpy="0 -0.008758182894317394 0" xyz="0.303864 0.0 -0.128451"/>
       <geometry>
-        <mesh filename="package://openarm_two_arms/meshes/full_upper_j5v2_ckk9an.dae"/>
+        <mesh filename="package://openarm_two_arms/meshes/link5.dae"/>
       </geometry>
     </visual>
     <collision>
@@ -127,7 +124,7 @@
     <visual>
       <origin rpy="-2.1276679791326423 -1.5542266826921929 0" xyz="-0.0485412 -0.0860404 0.437784"/>
       <geometry>
-        <mesh filename="package://openarm_two_arms/meshes/full_upper_j6v1_mg9rps.dae"/>
+        <mesh filename="package://openarm_two_arms/meshes/link6_rightarm.dae"/>
       </geometry>
     </visual>
     <collision>
@@ -146,7 +143,7 @@
     <visual>
       <origin rpy="0 -0.008758182894510852 0" xyz="0.558839 -0.00358671 -0.0631962"/>
       <geometry>
-        <mesh filename="package://openarm_two_arms/meshes/full_upper_j7v1_9yzky6.dae"/>
+        <mesh filename="package://openarm_two_arms/meshes/link7_rightarm.dae"/>
       </geometry>
     </visual>
     <collision>
@@ -165,7 +162,7 @@
     <visual>
       <origin rpy="1.5709195259578714 -0.014065461951077267 0" xyz="0.557948 0.103587 0.019724"/>
       <geometry>
-        <mesh filename="package://openarm_two_arms/meshes/full_upper_j8v1_dka5zq.dae"/>
+        <mesh filename="package://openarm_two_arms/meshes/link8.dae"/>
       </geometry>
     </visual>
     <collision>
@@ -184,13 +181,13 @@
     <visual>
       <origin rpy="0 -0.008758182894469432 0" xyz="0.665265 -0.00286677 -0.0209282"/>
       <geometry>
-        <mesh filename="package://openarm_two_arms/meshes/full_upper_left_jawv1_6yxtlc.dae"/>
+        <mesh filename="package://openarm_two_arms/meshes/left_jaw.dae"/>
       </geometry>
     </visual>
     <collision>
       <origin rpy="0 -0.0087581828944695 0" xyz="0.665265 -0.00286677 -0.0209282"/>
       <geometry>
-        <mesh filename="package://openarm_two_arms/meshes/full_upper_col_left_jaw_v1_col_obj_wr4fju.dae"/>
+        <mesh filename="package://openarm_two_arms/meshes/left_jaw.dae"/>
       </geometry>
     </collision>
     <inertial>
@@ -203,13 +200,13 @@
     <visual>
       <origin rpy="0 -0.008758182898001485 0" xyz="0.665265 -0.00286677 -0.175928"/>
       <geometry>
-        <mesh filename="package://openarm_two_arms/meshes/full_upper_right_jawv1_0fmgsg.dae"/>
+        <mesh filename="package://openarm_two_arms/meshes/right_jaw.dae"/>
       </geometry>
     </visual>
     <collision>
       <origin rpy="0 -0.008758182898001553 0" xyz="0.665265 -0.00286677 -0.175928"/>
       <geometry>
-        <mesh filename="package://openarm_two_arms/meshes/full_upper_col_right_jaw_v1_col_obj_9qatoq.dae"/>
+        <mesh filename="package://openarm_two_arms/meshes/right_jaw.dae"/>
       </geometry>
     </collision>
     <inertial>
@@ -286,7 +283,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0.0 0.0 -0.0007"/>
       <geometry>
-        <mesh filename="package://openarm_two_arms/meshes/full_upper_j1v1_fj2ul1.dae"/>
+        <mesh filename="package://openarm_two_arms/meshes/link1.dae"/>
       </geometry>
     </visual>
     <collision>
@@ -305,7 +302,7 @@
     <visual>
       <origin rpy="0 0 0" xyz="0.0 0.0 -0.05395"/>
       <geometry>
-        <mesh filename="package://openarm_two_arms/meshes/full_upper_j2v1_xzm1cu.dae"/>
+        <mesh filename="package://openarm_two_arms/meshes/link2.dae"/>
       </geometry>
     </visual>
     <collision>
@@ -324,7 +321,7 @@
     <visual>
       <origin rpy="1.5707963267948966 0 0" xyz="0.0 0.0987 0.02975"/>
       <geometry>
-        <mesh filename="package://openarm_two_arms/meshes/full_upper_j3v2_5nirfo.dae"/>
+        <mesh filename="package://openarm_two_arms/meshes/link3.dae"/>
       </geometry>
     </visual>
     <collision>
@@ -343,7 +340,7 @@
     <visual>
       <origin rpy="3.141592653589793 -1.5620381439005742 0" xyz="-0.0986962 0.0 0.0621144"/>
       <geometry>
-        <mesh filename="package://openarm_two_arms/meshes/full_upper_j4v1_u1e2xn.dae"/>
+        <mesh filename="package://openarm_two_arms/meshes/link4.dae"/>
       </geometry>
     </visual>
     <collision>
@@ -362,7 +359,7 @@
     <visual>
       <origin rpy="0 -0.008758182894317394 0" xyz="0.303864 0.0 -0.128451"/>
       <geometry>
-        <mesh filename="package://openarm_two_arms/meshes/full_upper_j5v2_ckk9an.dae"/>
+        <mesh filename="package://openarm_two_arms/meshes/link5.dae"/>
       </geometry>
     </visual>
     <collision>
@@ -381,7 +378,7 @@
     <visual>
       <origin rpy="5.269260632722435 1.5542266826921929 3.141592653589793" xyz="0.0605412 0.0878404 0.435484"/>
       <geometry>
-        <mesh filename="package://openarm_two_arms/meshes/full_upper_j6_leftv005_f8km11.dae"/>
+        <mesh filename="package://openarm_two_arms/meshes/link6_leftarm.dae"/>
       </geometry>
     </visual>
     <collision>
@@ -400,7 +397,7 @@
     <visual>
       <origin rpy="0 3.150350836484304 0" xyz="0.558839 -0.0034132900000000002 0.1341962"/>
       <geometry>
-        <mesh filename="package://openarm_two_arms/meshes/full_upper_j7_leftv005_8ohvh2.dae"/>
+        <mesh filename="package://openarm_two_arms/meshes/link7_leftarm.dae"/>
       </geometry>
     </visual>
     <collision>
@@ -419,7 +416,7 @@
     <visual>
       <origin rpy="1.5709195259578714 -0.014065461951077267 0" xyz="0.557948 0.103587 0.019724"/>
       <geometry>
-        <mesh filename="package://openarm_two_arms/meshes/full_upper_j8v1_dka5zq.dae"/>
+        <mesh filename="package://openarm_two_arms/meshes/link8.dae"/>
       </geometry>
     </visual>
     <collision>
@@ -438,13 +435,13 @@
     <visual>
       <origin rpy="0 -0.008758182894469432 0" xyz="0.665265 -0.00286677 -0.0209282"/>
       <geometry>
-        <mesh filename="package://openarm_two_arms/meshes/full_upper_left_jawv1_6yxtlc.dae"/>
+        <mesh filename="package://openarm_two_arms/meshes/left_jaw.dae"/>
       </geometry>
     </visual>
     <collision>
       <origin rpy="0 -0.0087581828944695 0" xyz="0.665265 -0.00286677 -0.0209282"/>
       <geometry>
-        <mesh filename="package://openarm_two_arms/meshes/full_upper_col_left_jaw_v1_col_obj_wr4fju.dae"/>
+        <mesh filename="package://openarm_two_arms/meshes/left_jaw.dae"/>
       </geometry>
     </collision>
     <inertial>
@@ -457,13 +454,13 @@
     <visual>
       <origin rpy="0 -0.008758182898001485 0" xyz="0.665265 -0.00286677 -0.175928"/>
       <geometry>
-        <mesh filename="package://openarm_two_arms/meshes/full_upper_right_jawv1_0fmgsg.dae"/>
+        <mesh filename="package://openarm_two_arms/meshes/right_jaw.dae"/>
       </geometry>
     </visual>
     <collision>
       <origin rpy="0 -0.008758182898001553 0" xyz="0.665265 -0.00286677 -0.175928"/>
       <geometry>
-        <mesh filename="package://openarm_two_arms/meshes/full_upper_col_right_jaw_v1_col_obj_9qatoq.dae"/>
+        <mesh filename="package://openarm_two_arms/meshes/right_jaw.dae"/>
       </geometry>
     </collision>
     <inertial>
diff --git a/openarm_two_arms/urdf/openarm_two_arms_pedestal.urdf b/openarm_two_arms/urdf/openarm_two_arms_pedestal.urdf
index 715a4e8..6df8be7 100644
--- a/openarm_two_arms/urdf/openarm_two_arms_pedestal.urdf
+++ b/openarm_two_arms/urdf/openarm_two_arms_pedestal.urdf
@@ -1,16 +1,13 @@
 <?xml version="1.0" ?>
 <robot name="openarm_two_arms">
-  <!--Generated by RobotCAD, a ROS Workbench for FreeCAD (https://github.com/drfenixion/freecad.robotcad)-->
   <link name="pedestal_link">
     <visual>
-      <!--pedestal_cad/Part__Feature.-->
       <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
       <geometry>
-        <mesh filename="package://openarm_two_arms/meshes/full_upper_pedestal_02_urdfv1_o8iqfl.dae"/>
+        <mesh filename="package://openarm_two_arms/meshes/pedestal_link.dae"/>
       </geometry>
     </visual>
     <collision>
-      <!--bounding_pedestal/col_pedestal_02_urdf_v1__BoundBox.-->
       <origin rpy="0 0 0" xyz="0.0 0.0 0.489"/>
       <geometry>
         <box size="0.18 0.06 0.978000000000004"/>