diff --git a/openarm_two_arms/openarm_two_arms/CMakeLists.txt b/openarm_two_arms/CMakeLists.txt
similarity index 100%
rename from openarm_two_arms/openarm_two_arms/CMakeLists.txt
rename to openarm_two_arms/CMakeLists.txt
diff --git a/openarm_two_arms/openarm_two_arms/launch/description.launch.py b/openarm_two_arms/launch/description.launch.py
similarity index 100%
rename from openarm_two_arms/openarm_two_arms/launch/description.launch.py
rename to openarm_two_arms/launch/description.launch.py
diff --git a/openarm_two_arms/openarm_two_arms/launch/display.launch.py b/openarm_two_arms/launch/display.launch.py
similarity index 100%
rename from openarm_two_arms/openarm_two_arms/launch/display.launch.py
rename to openarm_two_arms/launch/display.launch.py
diff --git a/openarm_two_arms/openarm_two_arms/launch/gazebo.launch.py b/openarm_two_arms/launch/gazebo.launch.py
similarity index 100%
rename from openarm_two_arms/openarm_two_arms/launch/gazebo.launch.py
rename to openarm_two_arms/launch/gazebo.launch.py
diff --git a/openarm_two_arms/openarm_two_arms/meshes/full_upper_base_link_int1ku.dae b/openarm_two_arms/meshes/full_upper_base_link_int1ku.dae
similarity index 100%
rename from openarm_two_arms/openarm_two_arms/meshes/full_upper_base_link_int1ku.dae
rename to openarm_two_arms/meshes/full_upper_base_link_int1ku.dae
diff --git a/openarm_two_arms/openarm_two_arms/meshes/full_upper_col_left_jaw_v002_col_obj_he8av6.dae b/openarm_two_arms/meshes/full_upper_col_left_jaw_v002_col_obj_he8av6.dae
similarity index 100%
rename from openarm_two_arms/openarm_two_arms/meshes/full_upper_col_left_jaw_v002_col_obj_he8av6.dae
rename to openarm_two_arms/meshes/full_upper_col_left_jaw_v002_col_obj_he8av6.dae
diff --git a/openarm_two_arms/openarm_two_arms/meshes/full_upper_col_left_jaw_v1_col_obj_wr4fju.dae b/openarm_two_arms/meshes/full_upper_col_left_jaw_v1_col_obj_wr4fju.dae
similarity index 100%
rename from openarm_two_arms/openarm_two_arms/meshes/full_upper_col_left_jaw_v1_col_obj_wr4fju.dae
rename to openarm_two_arms/meshes/full_upper_col_left_jaw_v1_col_obj_wr4fju.dae
diff --git a/openarm_two_arms/openarm_two_arms/meshes/full_upper_col_right_jaw_v002_col_obj_ln0sqy.dae b/openarm_two_arms/meshes/full_upper_col_right_jaw_v002_col_obj_ln0sqy.dae
similarity index 100%
rename from openarm_two_arms/openarm_two_arms/meshes/full_upper_col_right_jaw_v002_col_obj_ln0sqy.dae
rename to openarm_two_arms/meshes/full_upper_col_right_jaw_v002_col_obj_ln0sqy.dae
diff --git a/openarm_two_arms/openarm_two_arms/meshes/full_upper_col_right_jaw_v1_col_obj_9qatoq.dae b/openarm_two_arms/meshes/full_upper_col_right_jaw_v1_col_obj_9qatoq.dae
similarity index 100%
rename from openarm_two_arms/openarm_two_arms/meshes/full_upper_col_right_jaw_v1_col_obj_9qatoq.dae
rename to openarm_two_arms/meshes/full_upper_col_right_jaw_v1_col_obj_9qatoq.dae
diff --git a/openarm_two_arms/openarm_two_arms/meshes/full_upper_j1v1_fj2ul1.dae b/openarm_two_arms/meshes/full_upper_j1v1_fj2ul1.dae
similarity index 100%
rename from openarm_two_arms/openarm_two_arms/meshes/full_upper_j1v1_fj2ul1.dae
rename to openarm_two_arms/meshes/full_upper_j1v1_fj2ul1.dae
diff --git a/openarm_two_arms/openarm_two_arms/meshes/full_upper_j2v1_xzm1cu.dae b/openarm_two_arms/meshes/full_upper_j2v1_xzm1cu.dae
similarity index 100%
rename from openarm_two_arms/openarm_two_arms/meshes/full_upper_j2v1_xzm1cu.dae
rename to openarm_two_arms/meshes/full_upper_j2v1_xzm1cu.dae
diff --git a/openarm_two_arms/openarm_two_arms/meshes/full_upper_j2v2_gscnlc.dae b/openarm_two_arms/meshes/full_upper_j2v2_gscnlc.dae
similarity index 100%
rename from openarm_two_arms/openarm_two_arms/meshes/full_upper_j2v2_gscnlc.dae
rename to openarm_two_arms/meshes/full_upper_j2v2_gscnlc.dae
diff --git a/openarm_two_arms/openarm_two_arms/meshes/full_upper_j3v005_2vn1gz.dae b/openarm_two_arms/meshes/full_upper_j3v005_2vn1gz.dae
similarity index 100%
rename from openarm_two_arms/openarm_two_arms/meshes/full_upper_j3v005_2vn1gz.dae
rename to openarm_two_arms/meshes/full_upper_j3v005_2vn1gz.dae
diff --git a/openarm_two_arms/openarm_two_arms/meshes/full_upper_j3v2_5nirfo.dae b/openarm_two_arms/meshes/full_upper_j3v2_5nirfo.dae
similarity index 100%
rename from openarm_two_arms/openarm_two_arms/meshes/full_upper_j3v2_5nirfo.dae
rename to openarm_two_arms/meshes/full_upper_j3v2_5nirfo.dae
diff --git a/openarm_two_arms/openarm_two_arms/meshes/full_upper_j4v1_u1e2xn.dae b/openarm_two_arms/meshes/full_upper_j4v1_u1e2xn.dae
similarity index 100%
rename from openarm_two_arms/openarm_two_arms/meshes/full_upper_j4v1_u1e2xn.dae
rename to openarm_two_arms/meshes/full_upper_j4v1_u1e2xn.dae
diff --git a/openarm_two_arms/openarm_two_arms/meshes/full_upper_j4v2_tzaxwp.dae b/openarm_two_arms/meshes/full_upper_j4v2_tzaxwp.dae
similarity index 100%
rename from openarm_two_arms/openarm_two_arms/meshes/full_upper_j4v2_tzaxwp.dae
rename to openarm_two_arms/meshes/full_upper_j4v2_tzaxwp.dae
diff --git a/openarm_two_arms/openarm_two_arms/meshes/full_upper_j5v005_didwyo.dae b/openarm_two_arms/meshes/full_upper_j5v005_didwyo.dae
similarity index 100%
rename from openarm_two_arms/openarm_two_arms/meshes/full_upper_j5v005_didwyo.dae
rename to openarm_two_arms/meshes/full_upper_j5v005_didwyo.dae
diff --git a/openarm_two_arms/openarm_two_arms/meshes/full_upper_j5v2_ckk9an.dae b/openarm_two_arms/meshes/full_upper_j5v2_ckk9an.dae
similarity index 100%
rename from openarm_two_arms/openarm_two_arms/meshes/full_upper_j5v2_ckk9an.dae
rename to openarm_two_arms/meshes/full_upper_j5v2_ckk9an.dae
diff --git a/openarm_two_arms/openarm_two_arms/meshes/full_upper_j6_leftv005_f8km11.dae b/openarm_two_arms/meshes/full_upper_j6_leftv005_f8km11.dae
similarity index 100%
rename from openarm_two_arms/openarm_two_arms/meshes/full_upper_j6_leftv005_f8km11.dae
rename to openarm_two_arms/meshes/full_upper_j6_leftv005_f8km11.dae
diff --git a/openarm_two_arms/openarm_two_arms/meshes/full_upper_j6v1_mg9rps.dae b/openarm_two_arms/meshes/full_upper_j6v1_mg9rps.dae
similarity index 100%
rename from openarm_two_arms/openarm_two_arms/meshes/full_upper_j6v1_mg9rps.dae
rename to openarm_two_arms/meshes/full_upper_j6v1_mg9rps.dae
diff --git a/openarm_two_arms/openarm_two_arms/meshes/full_upper_j7_leftv005_8ohvh2.dae b/openarm_two_arms/meshes/full_upper_j7_leftv005_8ohvh2.dae
similarity index 100%
rename from openarm_two_arms/openarm_two_arms/meshes/full_upper_j7_leftv005_8ohvh2.dae
rename to openarm_two_arms/meshes/full_upper_j7_leftv005_8ohvh2.dae
diff --git a/openarm_two_arms/openarm_two_arms/meshes/full_upper_j7v1_9yzky6.dae b/openarm_two_arms/meshes/full_upper_j7v1_9yzky6.dae
similarity index 100%
rename from openarm_two_arms/openarm_two_arms/meshes/full_upper_j7v1_9yzky6.dae
rename to openarm_two_arms/meshes/full_upper_j7v1_9yzky6.dae
diff --git a/openarm_two_arms/openarm_two_arms/meshes/full_upper_j8v004_upij9o.dae b/openarm_two_arms/meshes/full_upper_j8v004_upij9o.dae
similarity index 100%
rename from openarm_two_arms/openarm_two_arms/meshes/full_upper_j8v004_upij9o.dae
rename to openarm_two_arms/meshes/full_upper_j8v004_upij9o.dae
diff --git a/openarm_two_arms/openarm_two_arms/meshes/full_upper_j8v1_dka5zq.dae b/openarm_two_arms/meshes/full_upper_j8v1_dka5zq.dae
similarity index 100%
rename from openarm_two_arms/openarm_two_arms/meshes/full_upper_j8v1_dka5zq.dae
rename to openarm_two_arms/meshes/full_upper_j8v1_dka5zq.dae
diff --git a/openarm_two_arms/openarm_two_arms/meshes/full_upper_left_jawv003_9ggcxr.dae b/openarm_two_arms/meshes/full_upper_left_jawv003_9ggcxr.dae
similarity index 100%
rename from openarm_two_arms/openarm_two_arms/meshes/full_upper_left_jawv003_9ggcxr.dae
rename to openarm_two_arms/meshes/full_upper_left_jawv003_9ggcxr.dae
diff --git a/openarm_two_arms/openarm_two_arms/meshes/full_upper_left_jawv1_6yxtlc.dae b/openarm_two_arms/meshes/full_upper_left_jawv1_6yxtlc.dae
similarity index 100%
rename from openarm_two_arms/openarm_two_arms/meshes/full_upper_left_jawv1_6yxtlc.dae
rename to openarm_two_arms/meshes/full_upper_left_jawv1_6yxtlc.dae
diff --git a/openarm_two_arms/openarm_two_arms/meshes/full_upper_pedestal_02_urdfv1_o8iqfl.dae b/openarm_two_arms/meshes/full_upper_pedestal_02_urdfv1_o8iqfl.dae
similarity index 100%
rename from openarm_two_arms/openarm_two_arms/meshes/full_upper_pedestal_02_urdfv1_o8iqfl.dae
rename to openarm_two_arms/meshes/full_upper_pedestal_02_urdfv1_o8iqfl.dae
diff --git a/openarm_two_arms/openarm_two_arms/meshes/full_upper_right_jawv003_5v80f0.dae b/openarm_two_arms/meshes/full_upper_right_jawv003_5v80f0.dae
similarity index 100%
rename from openarm_two_arms/openarm_two_arms/meshes/full_upper_right_jawv003_5v80f0.dae
rename to openarm_two_arms/meshes/full_upper_right_jawv003_5v80f0.dae
diff --git a/openarm_two_arms/openarm_two_arms/meshes/full_upper_right_jawv1_0fmgsg.dae b/openarm_two_arms/meshes/full_upper_right_jawv1_0fmgsg.dae
similarity index 100%
rename from openarm_two_arms/openarm_two_arms/meshes/full_upper_right_jawv1_0fmgsg.dae
rename to openarm_two_arms/meshes/full_upper_right_jawv1_0fmgsg.dae
diff --git a/openarm_two_arms/overcross/openarm_two_arms_controllers.yaml b/openarm_two_arms/overcross/openarm_two_arms_controllers.yaml
deleted file mode 100644
index 2a3f593..0000000
--- a/openarm_two_arms/overcross/openarm_two_arms_controllers.yaml
+++ /dev/null
@@ -1,3 +0,0 @@
-controller_manager:
-  ros__parameters:
-    update_rate: 250
diff --git a/openarm_two_arms/overcross/robot_meta.xml b/openarm_two_arms/overcross/robot_meta.xml
deleted file mode 100644
index 5f7708e..0000000
--- a/openarm_two_arms/overcross/robot_meta.xml
+++ /dev/null
@@ -1,174 +0,0 @@
-<?xml version="1.0" ?>
-<robotMeta>
- <robotName>openarm_two_arms</robotName>
- <urdfFileName>openarm_two_arms.urdf</urdfFileName>
- <packageName>openarm_two_arms</packageName>
- <meshesDir>meshes </meshesDir>
- <robotType>nonspecific</robotType>
- <generateCodeForRosVersion>jazzy</generateCodeForRosVersion>
- <rootLinkName>l_pedestal_02_urdf_v002</rootLinkName>
- <xacroWrapperFileName>openarm_two_arms_wrapper.urdf.xacro</xacroWrapperFileName>
- <controllersConfigFileName>openarm_two_arms_controllers.yaml</controllersConfigFileName>
- <joints>
-  <joint>
-   <name>l_pedestal_02_urdf_v002__to__l_J1_v002</name>
-   <jointSpecific>unset</jointSpecific>
-   <jointRotationDirection>unset</jointRotationDirection>
-   <jointRelTotalCenterOfMass_x>0.08985200228416441</jointRelTotalCenterOfMass_x>
-   <jointRelTotalCenterOfMass_y>0.008374721740674768</jointRelTotalCenterOfMass_y>
-   <jointRelTotalCenterOfMass_z>0.3536408675879255</jointRelTotalCenterOfMass_z>
-  </joint>
-  <joint>
-   <name>l_J1_v002__to__l_J2_v002</name>
-   <jointSpecific>unset</jointSpecific>
-   <jointRotationDirection>unset</jointRotationDirection>
-   <jointRelTotalCenterOfMass_x>0.14310200228416442</jointRelTotalCenterOfMass_x>
-   <jointRelTotalCenterOfMass_y>0.008374721740674426</jointRelTotalCenterOfMass_y>
-   <jointRelTotalCenterOfMass_z>0.3536408675879219</jointRelTotalCenterOfMass_z>
-  </joint>
-  <joint>
-   <name>l_J2_v002__to__l_J3_v003</name>
-   <jointSpecific>unset</jointSpecific>
-   <jointRotationDirection>unset</jointRotationDirection>
-   <jointRelTotalCenterOfMass_x>0.18785200228416438</jointRelTotalCenterOfMass_x>
-   <jointRelTotalCenterOfMass_y>0.03812472174067446</jointRelTotalCenterOfMass_y>
-   <jointRelTotalCenterOfMass_z>0.3536408675879187</jointRelTotalCenterOfMass_z>
-  </joint>
-  <joint>
-   <name>l_J3_v003__to__l_J4_v002</name>
-   <jointSpecific>unset</jointSpecific>
-   <jointRotationDirection>unset</jointRotationDirection>
-   <jointRelTotalCenterOfMass_x>0.1883884341284738</jointRelTotalCenterOfMass_x>
-   <jointRelTotalCenterOfMass_y>0.008374721740673765</jointRelTotalCenterOfMass_y>
-   <jointRelTotalCenterOfMass_z>0.2923932166870344</jointRelTotalCenterOfMass_z>
-  </joint>
-  <joint>
-   <name>l_J4_v002__to__l_J5_v003</name>
-   <jointSpecific>unset</jointSpecific>
-   <jointRotationDirection>unset</jointRotationDirection>
-   <jointRelTotalCenterOfMass_x>0.22025922472459597</jointRelTotalCenterOfMass_x>
-   <jointRelTotalCenterOfMass_y>0.008374721740355901</jointRelTotalCenterOfMass_y>
-   <jointRelTotalCenterOfMass_z>0.050913081930198584</jointRelTotalCenterOfMass_z>
-  </joint>
-  <joint>
-   <name>l_J5_v003__to__l_J6_right_wrist</name>
-   <jointSpecific>unset</jointSpecific>
-   <jointRotationDirection>unset</jointRotationDirection>
-   <jointRelTotalCenterOfMass_x>0.19167872532322497</jointRelTotalCenterOfMass_x>
-   <jointRelTotalCenterOfMass_y>0.0064906429748443194</jointRelTotalCenterOfMass_y>
-   <jointRelTotalCenterOfMass_z>-0.08327912378977964</jointRelTotalCenterOfMass_z>
-  </joint>
-  <joint>
-   <name>l_J6_right_wrist__to__l_J7_v002</name>
-   <jointSpecific>unset</jointSpecific>
-   <jointRotationDirection>unset</jointRotationDirection>
-   <jointRelTotalCenterOfMass_x>0.15724014645135684</jointRelTotalCenterOfMass_x>
-   <jointRelTotalCenterOfMass_y>0.004788009645123903</jointRelTotalCenterOfMass_y>
-   <jointRelTotalCenterOfMass_z>-0.20462341836146958</jointRelTotalCenterOfMass_z>
-  </joint>
-  <joint>
-   <name>l_J7_v002__to__l_J8_v002</name>
-   <jointSpecific>unset</jointSpecific>
-   <jointRotationDirection>unset</jointRotationDirection>
-   <jointRelTotalCenterOfMass_x>0.19274068817153964</jointRelTotalCenterOfMass_x>
-   <jointRelTotalCenterOfMass_y>0.020236481260391712</jointRelTotalCenterOfMass_y>
-   <jointRelTotalCenterOfMass_z>-0.20452981106538665</jointRelTotalCenterOfMass_z>
-  </joint>
-  <joint>
-   <name>l_J8_v002__to__l_left_jaw_v002</name>
-   <jointSpecific>unset</jointSpecific>
-   <jointRotationDirection>unset</jointRotationDirection>
-   <jointRelTotalCenterOfMass_x>0.11588209690508</jointRelTotalCenterOfMass_x>
-   <jointRelTotalCenterOfMass_y>0.005535639545575529</jointRelTotalCenterOfMass_y>
-   <jointRelTotalCenterOfMass_z>-0.31143348516325103</jointRelTotalCenterOfMass_z>
-  </joint>
-  <joint>
-   <name>l_J8_v002__to__l_right_jaw_v002</name>
-   <jointSpecific>unset</jointSpecific>
-   <jointRotationDirection>unset</jointRotationDirection>
-   <jointRelTotalCenterOfMass_x>0.2708761523021711</jointRelTotalCenterOfMass_x>
-   <jointRelTotalCenterOfMass_y>0.005536094754475288</jointRelTotalCenterOfMass_y>
-   <jointRelTotalCenterOfMass_z>-0.3100436226578966</jointRelTotalCenterOfMass_z>
-  </joint>
-  <joint>
-   <name>l_pedestal_02_urdf_v002__to__l_base_link001</name>
-   <jointSpecific>unset</jointSpecific>
-   <jointRotationDirection>unset</jointRotationDirection>
-   <jointRelTotalCenterOfMass_x>-0.09014799771583559</jointRelTotalCenterOfMass_x>
-   <jointRelTotalCenterOfMass_y>0.008374721740674999</jointRelTotalCenterOfMass_y>
-   <jointRelTotalCenterOfMass_z>0.35364086758792995</jointRelTotalCenterOfMass_z>
-  </joint>
-  <joint>
-   <name>l_base_link001__to__l_J2_v003</name>
-   <jointSpecific>unset</jointSpecific>
-   <jointRotationDirection>unset</jointRotationDirection>
-   <jointRelTotalCenterOfMass_x>-0.14339799771583558</jointRelTotalCenterOfMass_x>
-   <jointRelTotalCenterOfMass_y>0.008374721740675389</jointRelTotalCenterOfMass_y>
-   <jointRelTotalCenterOfMass_z>0.3536408675879335</jointRelTotalCenterOfMass_z>
-  </joint>
-  <joint>
-   <name>l_J2_v003__to__l_J3_v004</name>
-   <jointSpecific>unset</jointSpecific>
-   <jointRotationDirection>unset</jointRotationDirection>
-   <jointRelTotalCenterOfMass_x>-0.1881479977158356</jointRelTotalCenterOfMass_x>
-   <jointRelTotalCenterOfMass_y>-0.021375278259324573</jointRelTotalCenterOfMass_y>
-   <jointRelTotalCenterOfMass_z>0.353640867587937</jointRelTotalCenterOfMass_z>
-  </joint>
-  <joint>
-   <name>l_J3_v004__to__l_J4_v003</name>
-   <jointSpecific>unset</jointSpecific>
-   <jointRotationDirection>unset</jointRotationDirection>
-   <jointRelTotalCenterOfMass_x>-0.1886844295601532</jointRelTotalCenterOfMass_x>
-   <jointRelTotalCenterOfMass_y>0.008374721740675183</jointRelTotalCenterOfMass_y>
-   <jointRelTotalCenterOfMass_z>0.2923932166870525</jointRelTotalCenterOfMass_z>
-  </joint>
-  <joint>
-   <name>l_J4_v003__to__l_J5_v004</name>
-   <jointSpecific>unset</jointSpecific>
-   <jointRotationDirection>unset</jointRotationDirection>
-   <jointRelTotalCenterOfMass_x>-0.16104816625753005</jointRelTotalCenterOfMass_x>
-   <jointRelTotalCenterOfMass_y>0.008374721740337383</jointRelTotalCenterOfMass_y>
-   <jointRelTotalCenterOfMass_z>0.05039189494258471</jointRelTotalCenterOfMass_z>
-  </joint>
-  <joint>
-   <name>l_J5_v004__to__l_J6_Left_v004</name>
-   <jointSpecific>unset</jointSpecific>
-   <jointRotationDirection>unset</jointRotationDirection>
-   <jointRelTotalCenterOfMass_x>-0.19197472075495053</jointRelTotalCenterOfMass_x>
-   <jointRelTotalCenterOfMass_y>0.006490642974852389</jointRelTotalCenterOfMass_y>
-   <jointRelTotalCenterOfMass_z>-0.08327912378976009</jointRelTotalCenterOfMass_z>
-  </joint>
-  <joint>
-   <name>l_J6_Left_v004__to__l_J7_Left_v004</name>
-   <jointSpecific>unset</jointSpecific>
-   <jointRotationDirection>unset</jointRotationDirection>
-   <jointRelTotalCenterOfMass_x>-0.15753614188309684</jointRelTotalCenterOfMass_x>
-   <jointRelTotalCenterOfMass_y>0.004788009644679908</jointRelTotalCenterOfMass_y>
-   <jointRelTotalCenterOfMass_z>-0.20462341836144668</jointRelTotalCenterOfMass_z>
-  </joint>
-  <joint>
-   <name>l_J7_Left_v004__to__l_J8_v003</name>
-   <jointSpecific>unset</jointSpecific>
-   <jointRotationDirection>unset</jointRotationDirection>
-   <jointRelTotalCenterOfMass_x>-0.1930375916126833</jointRelTotalCenterOfMass_x>
-   <jointRelTotalCenterOfMass_y>0.02023467484404285</jointRelTotalCenterOfMass_y>
-   <jointRelTotalCenterOfMass_z>-0.2046334839704481</jointRelTotalCenterOfMass_z>
-  </joint>
-  <joint>
-   <name>l_J8_v003__to__l_right_jaw_v004</name>
-   <jointSpecific>unset</jointSpecific>
-   <jointRotationDirection>unset</jointRotationDirection>
-   <jointRelTotalCenterOfMass_x>-0.1167140742748525</jointRelTotalCenterOfMass_x>
-   <jointRelTotalCenterOfMass_y>0.004821133967191955</jointRelTotalCenterOfMass_y>
-   <jointRelTotalCenterOfMass_z>-0.3114360267081933</jointRelTotalCenterOfMass_z>
-  </joint>
-  <joint>
-   <name>l_J8_v003__to__l_left_jaw_v004</name>
-   <jointSpecific>unset</jointSpecific>
-   <jointRotationDirection>unset</jointRotationDirection>
-   <jointRelTotalCenterOfMass_x>-0.27170812973763375</jointRelTotalCenterOfMass_x>
-   <jointRelTotalCenterOfMass_y>0.004821803052998609</jointRelTotalCenterOfMass_y>
-   <jointRelTotalCenterOfMass_z>-0.31004632670935167</jointRelTotalCenterOfMass_z>
-  </joint>
- </joints>
-</robotMeta>
diff --git a/openarm_two_arms/openarm_two_arms/package.xml b/openarm_two_arms/package.xml
similarity index 100%
rename from openarm_two_arms/openarm_two_arms/package.xml
rename to openarm_two_arms/package.xml
diff --git a/openarm_two_arms/openarm_two_arms/rviz/robot_description.rviz b/openarm_two_arms/rviz/robot_description.rviz
similarity index 100%
rename from openarm_two_arms/openarm_two_arms/rviz/robot_description.rviz
rename to openarm_two_arms/rviz/robot_description.rviz
diff --git a/openarm_two_arms/openarm_two_arms/urdf/openarm_two_arms.urdf b/openarm_two_arms/urdf/openarm_two_arms.urdf
similarity index 100%
rename from openarm_two_arms/openarm_two_arms/urdf/openarm_two_arms.urdf
rename to openarm_two_arms/urdf/openarm_two_arms.urdf
diff --git a/openarm_two_arms/openarm_two_arms/urdf/openarm_two_arms_sensors.urdf.xacro b/openarm_two_arms/urdf/openarm_two_arms_sensors.urdf.xacro
similarity index 100%
rename from openarm_two_arms/openarm_two_arms/urdf/openarm_two_arms_sensors.urdf.xacro
rename to openarm_two_arms/urdf/openarm_two_arms_sensors.urdf.xacro
diff --git a/openarm_two_arms/openarm_two_arms/urdf/openarm_two_arms_wrapper.urdf.xacro b/openarm_two_arms/urdf/openarm_two_arms_wrapper.urdf.xacro
similarity index 100%
rename from openarm_two_arms/openarm_two_arms/urdf/openarm_two_arms_wrapper.urdf.xacro
rename to openarm_two_arms/urdf/openarm_two_arms_wrapper.urdf.xacro
diff --git a/openarm_two_arms/openarm_two_arms/worlds/cars_and_trees.sdf b/openarm_two_arms/worlds/cars_and_trees.sdf
similarity index 100%
rename from openarm_two_arms/openarm_two_arms/worlds/cars_and_trees.sdf
rename to openarm_two_arms/worlds/cars_and_trees.sdf
diff --git a/openarm_two_arms/openarm_two_arms/worlds/empty.sdf b/openarm_two_arms/worlds/empty.sdf
similarity index 100%
rename from openarm_two_arms/openarm_two_arms/worlds/empty.sdf
rename to openarm_two_arms/worlds/empty.sdf