diff --git a/urdf/common.xacro b/urdf/common.xacro
new file mode 100644
index 0000000..7556dad
--- /dev/null
+++ b/urdf/common.xacro
@@ -0,0 +1,29 @@
+<?xml version="1.0"?>
+<robot name="common" xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:property name="width" value=".2" />
+
+  <!-- PROPERTY LIST -->
+  <!-- All units in m-kg-s-radians unit system -->
+  <xacro:property name="M_PI" value="3.14159" />
+  <xacro:property name="SCALE_MM" value="0.001"/>
+  <xacro:property name="SCALE_CM" value="0.01"/>
+
+  <!-- Inertial macros. Units are kg*m^2 -->
+  <xacro:macro name="box_inertia" params="m x y z">
+    <inertia ixx="${m*(y*y+z*z)/12}" ixy = "0" ixz = "0"
+      iyy="${m*(z*z+x*x)/12}" iyz = "0"
+      izz="${m*(x*x+y*y)/12}" /> 
+  </xacro:macro>
+  <xacro:macro name="cylinder_inertia" params="m r h">
+    <inertia ixx="${m*(3*r*r+h*h)/12}" ixy="0" ixz="0"
+      iyy="${m*(3*r*r+h*h)/12}" iyz="0"
+      izz="${m*r*r/2}" />
+  </xacro:macro>
+  <xacro:macro name="sphere_inertia" params="m r">
+    <inertia ixx="${m*r*r/5}" ixy="0" ixz="0"
+      iyy="${m*r*r/5}" iyz="0"
+      izz="${m*r*r/5}" /> 
+  </xacro:macro>
+
+</robot>
diff --git a/urdf/mycobot/mycobot.gazebo.xacro b/urdf/mycobot/mycobot.gazebo.xacro
index 984df5d..c022870 100644
--- a/urdf/mycobot/mycobot.gazebo.xacro
+++ b/urdf/mycobot/mycobot.gazebo.xacro
@@ -3,7 +3,7 @@
 
   <xacro:arg name="robot_namespace" default="" />
 
-  <xacro:include filename="$(find mycobot_description)/urdf/mycobot/mycobot.urdf.xacro" />
+  <xacro:include filename="$(find tork_moveit_tutorial)/urdf/mycobot/mycobot.urdf.xacro" />
 
   <gazebo>
     <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
diff --git a/urdf/mycobot/mycobot.urdf.xacro b/urdf/mycobot/mycobot.urdf.xacro
index 53176f4..e92e18d 100644
--- a/urdf/mycobot/mycobot.urdf.xacro
+++ b/urdf/mycobot/mycobot.urdf.xacro
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <robot  xmlns:xacro="http://www.ros.org/wiki/xacro" name="mycobot" >
 
-  <xacro:include filename="$(find mycobot_description)/urdf/common.xacro" />
+  <xacro:include filename="$(find tork_moveit_tutorial)/urdf/common.xacro" />
 
   <link name="link1">
     <inertial>
@@ -11,13 +11,13 @@
     </inertial>
     <visual>
       <geometry>
-       <mesh filename="package://mycobot_description/urdf/mycobot/mesh/link1.dae"/>
+       <mesh filename="package://tork_moveit_tutorial/urdf/mycobot/mesh/link1.dae"/>
       </geometry>
       <origin xyz = "0.0 0 0 " rpy = " 0 0 -${pi/2}"/>
     </visual>
     <collision>
       <geometry>
-       <mesh filename="package://mycobot_description/urdf/mycobot/mesh/link1.dae"/>
+       <mesh filename="package://tork_moveit_tutorial/urdf/mycobot/mesh/link1.dae"/>
         </geometry>
         <origin xyz = "0.0 0 0 " rpy = " 0 0 -${pi/2}"/>
     </collision>
@@ -31,13 +31,13 @@
     </inertial>
     <visual>
       <geometry>
-       <mesh filename="package://mycobot_description/urdf/mycobot/mesh/link2.dae"/>
+       <mesh filename="package://tork_moveit_tutorial/urdf/mycobot/mesh/link2.dae"/>
       </geometry>
       <origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -${pi/2}"/>
     </visual>
     <collision>
      <geometry>
-       <mesh filename="package://mycobot_description/urdf/mycobot/mesh/link2.dae"/>
+       <mesh filename="package://tork_moveit_tutorial/urdf/mycobot/mesh/link2.dae"/>
       </geometry>
       <origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -${pi/2}"/>
     </collision>
@@ -51,13 +51,13 @@
     </inertial>
     <visual>
       <geometry>
-       <mesh filename="package://mycobot_description/urdf/mycobot/mesh/link3.dae"/>
+       <mesh filename="package://tork_moveit_tutorial/urdf/mycobot/mesh/link3.dae"/>
       </geometry>
     <origin xyz = "0.0 0 0.03256 " rpy = " 0 -${pi/2} 0"/>
     </visual>
     <collision>
       <geometry>
-       <mesh filename="package://mycobot_description/urdf/mycobot/mesh/link3.dae"/>
+       <mesh filename="package://tork_moveit_tutorial/urdf/mycobot/mesh/link3.dae"/>
       </geometry>
       <origin xyz = "0.0 0 0.03256 " rpy = " 0 -${pi/2} 0"/>
     </collision>
@@ -72,14 +72,14 @@
     <visual>
       <geometry>
        <!--- 0.0 0 -0.04 -->
-       <mesh filename="package://mycobot_description/urdf/mycobot/mesh/link4.dae"/>
+       <mesh filename="package://tork_moveit_tutorial/urdf/mycobot/mesh/link4.dae"/>
       </geometry>
       <origin xyz = "0.0 0 0.03056 " rpy = " 0 -${pi/2} 0"/>
     </visual>
     <collision>
       <geometry>
        <!--- 0.0 0 -0.04 -->
-       <mesh filename="package://mycobot_description/urdf/mycobot/mesh/link4.dae"/>
+       <mesh filename="package://tork_moveit_tutorial/urdf/mycobot/mesh/link4.dae"/>
       </geometry>
       <origin xyz = "0.0 0 0.03056 " rpy = " 0 -${pi/2} 0"/>
     </collision>
@@ -94,14 +94,14 @@
     <visual>
       <geometry>
        <!--- 0.0 0 -0.04 -->
-       <mesh filename="package://mycobot_description/urdf/mycobot/mesh/link5.dae"/>
+       <mesh filename="package://tork_moveit_tutorial/urdf/mycobot/mesh/link5.dae"/>
       </geometry>
     <origin xyz = "0.0 0 -0.03356 " rpy = " -${pi/2} 0 0"/>
     </visual>
     <collision>
        <geometry>
        <!--- 0.0 0 -0.04 -->
-       <mesh filename="package://mycobot_description/urdf/mycobot/mesh/link5.dae"/>
+       <mesh filename="package://tork_moveit_tutorial/urdf/mycobot/mesh/link5.dae"/>
       </geometry>
       <origin xyz = "0.0 0 -0.03356 " rpy = " -${pi/2} 0 0"/>
     </collision>
@@ -116,14 +116,14 @@
     <visual>
       <geometry>
        <!--- 0.0 0 -0.04 -->
-       <mesh filename="package://mycobot_description/urdf/mycobot/mesh/link6.dae"/>
+       <mesh filename="package://tork_moveit_tutorial/urdf/mycobot/mesh/link6.dae"/>
       </geometry>
     <origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
     </visual>
     <collision>
       <geometry>
        <!--- 0.0 0 -0.04 -->
-       <mesh filename="package://mycobot_description/urdf/mycobot/mesh/link6.dae"/>
+       <mesh filename="package://tork_moveit_tutorial/urdf/mycobot/mesh/link6.dae"/>
       </geometry>
     <origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
     </collision>
@@ -138,14 +138,14 @@
     <visual>
       <geometry>
        <!--- 0.0 0 -0.04 -->
-       <mesh filename="package://mycobot_description/urdf/mycobot/mesh/link7.dae"/>
+       <mesh filename="package://tork_moveit_tutorial/urdf/mycobot/mesh/link7.dae"/>
       </geometry>
     <origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
     </visual>
     <collision>
       <geometry>
        <!--- 0.0 0 -0.04 -->
-       <mesh filename="package://mycobot_description/urdf/mycobot/mesh/link7.dae"/>
+       <mesh filename="package://tork_moveit_tutorial/urdf/mycobot/mesh/link7.dae"/>
       </geometry>
     <origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
     </collision>
diff --git a/urdf/mycobot/mycobot_with_vision.urdf b/urdf/mycobot/mycobot_with_vision.urdf
index 816b554..a046eae 100644
--- a/urdf/mycobot/mycobot_with_vision.urdf
+++ b/urdf/mycobot/mycobot_with_vision.urdf
@@ -6,7 +6,7 @@
     <visual>
       <geometry>
         <!--- 0.0 0 -0.04  1.5708 3.14159-->
-        <mesh filename="package://mycobot_description/urdf/mycobot/suit_env.dae"/>
+        <mesh filename="package://tork_moveit_tutorial/urdf/mycobot/suit_env.dae"/>
       </geometry>
       <origin xyz = "0 0 -0.02 " rpy = "1.5708 0 -1.5708"/>
     </visual>
@@ -16,14 +16,14 @@
     <visual>
       <geometry>
         <!--- 0.0 0 -0.04  1.5708 3.14159-->
-        <mesh filename="package://mycobot_description/urdf/mycobot/joint1.dae"/>
+        <mesh filename="package://tork_moveit_tutorial/urdf/mycobot/joint1.dae"/>
       </geometry>
       <origin xyz = "0.0 0 0 " rpy = " 0 0 -1.5708"/>
     </visual>
     <collision>
       <geometry>
         <!--- 0.0 0 -0.04  1.5708 3.14159-->
-        <mesh filename="package://mycobot_description/urdf/mycobot/joint1.dae"/>
+        <mesh filename="package://tork_moveit_tutorial/urdf/mycobot/joint1.dae"/>
       </geometry>
       <origin xyz = "0.0 0 0 " rpy = " 0 0 -1.5708"/>
     </collision>
@@ -32,13 +32,13 @@
   <link name="joint2">
     <visual>
       <geometry>
-        <mesh filename="package://mycobot_description/urdf/mycobot/joint2.dae"/>
+        <mesh filename="package://tork_moveit_tutorial/urdf/mycobot/joint2.dae"/>
       </geometry>
       <origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://mycobot_description/urdf/mycobot/joint2.dae"/>
+        <mesh filename="package://tork_moveit_tutorial/urdf/mycobot/joint2.dae"/>
       </geometry>
       <origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
     </collision>
@@ -48,13 +48,13 @@
   <link name="joint3">
     <visual>
       <geometry>
-        <mesh filename="package://mycobot_description/urdf/mycobot/joint3.dae"/>
+        <mesh filename="package://tork_moveit_tutorial/urdf/mycobot/joint3.dae"/>
       </geometry>
       <origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
     </visual>
     <collision>
       <geometry>
-        <mesh filename="package://mycobot_description/urdf/mycobot/joint3.dae"/>
+        <mesh filename="package://tork_moveit_tutorial/urdf/mycobot/joint3.dae"/>
       </geometry>
       <origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
     </collision>
@@ -65,14 +65,14 @@
     <visual>
       <geometry>
         <!--- 0.0 0 -0.04 -->
-        <mesh filename="package://mycobot_description/urdf/mycobot/joint4.dae"/>
+        <mesh filename="package://tork_moveit_tutorial/urdf/mycobot/joint4.dae"/>
       </geometry>
       <origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
     </visual>
     <collision>
       <geometry>
         <!--- 0.0 0 -0.04 -->
-        <mesh filename="package://mycobot_description/urdf/mycobot/joint4.dae"/>
+        <mesh filename="package://tork_moveit_tutorial/urdf/mycobot/joint4.dae"/>
       </geometry>
       <origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
     </collision>
@@ -83,14 +83,14 @@
     <visual>
       <geometry>
         <!--- 0.0 0 -0.04 -->
-        <mesh filename="package://mycobot_description/urdf/mycobot/joint5.dae"/>
+        <mesh filename="package://tork_moveit_tutorial/urdf/mycobot/joint5.dae"/>
       </geometry>
       <origin xyz = "0.0 0 -0.03356 " rpy = "-1.5708 0 0"/>
     </visual>
     <collision>
       <geometry>
         <!--- 0.0 0 -0.04 -->
-        <mesh filename="package://mycobot_description/urdf/mycobot/joint5.dae"/>
+        <mesh filename="package://tork_moveit_tutorial/urdf/mycobot/joint5.dae"/>
       </geometry>
       <origin xyz = "0.0 0 -0.03356 " rpy = "-1.5708 0 0"/>
     </collision>
@@ -101,14 +101,14 @@
     <visual>
       <geometry>
         <!--- 0.0 0 -0.04 -->
-        <mesh filename="package://mycobot_description/urdf/mycobot/joint6.dae"/>
+        <mesh filename="package://tork_moveit_tutorial/urdf/mycobot/joint6.dae"/>
       </geometry>
       <origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
     </visual>
     <collision>
       <geometry>
         <!--- 0.0 0 -0.04 -->
-        <mesh filename="package://mycobot_description/urdf/mycobot/joint6.dae"/>
+        <mesh filename="package://tork_moveit_tutorial/urdf/mycobot/joint6.dae"/>
       </geometry>
       <origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
     </collision>
@@ -119,14 +119,14 @@
     <visual>
       <geometry>
         <!--- 0.0 0 -0.04 -->
-        <mesh filename="package://mycobot_description/urdf/mycobot/joint7.dae"/>
+        <mesh filename="package://tork_moveit_tutorial/urdf/mycobot/joint7.dae"/>
       </geometry>
       <origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
     </visual>
     <collision>
       <geometry>
         <!--- 0.0 0 -0.04 -->
-        <mesh filename="package://mycobot_description/urdf/mycobot/joint7.dae"/>
+        <mesh filename="package://tork_moveit_tutorial/urdf/mycobot/joint7.dae"/>
       </geometry>
       <origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
     </collision>
diff --git a/urdf/mycobot/withenv.urdf b/urdf/mycobot/withenv.urdf
index 5dcfac9..4fd460d 100644
--- a/urdf/mycobot/withenv.urdf
+++ b/urdf/mycobot/withenv.urdf
@@ -15,7 +15,7 @@
     <visual>
       <geometry>
 	     <!--- 0.0 0 -0.04  1.5708 3.14159-->
-       <mesh filename="package://mycobot_description/urdf/mycobot/suit_env.dae"/>
+       <mesh filename="package://tork_moveit_tutorial/urdf/mycobot/suit_env.dae"/>
       </geometry>
       <origin xyz = "0 0 0.0" rpy = "1.5708 0 -1.5708"/>
     </visual>
@@ -33,14 +33,14 @@
     <visual>
       <geometry>
 	     <!--- 0.0 0 -0.04  1.5708 3.14159-->
-       <mesh filename="package://mycobot_description/urdf/mycobot/joint1.dae"/>
+       <mesh filename="package://tork_moveit_tutorial/urdf/mycobot/joint1.dae"/>
       </geometry>
       <origin xyz = "0.0 0 0.02 " rpy = " 0 0 -1.5708"/>
     </visual>
     <collision>
       <geometry>
 	     <!--- 0.0 0 -0.04  1.5708 3.14159-->
-       <mesh filename="package://mycobot_description/urdf/mycobot/joint1.dae"/>
+       <mesh filename="package://tork_moveit_tutorial/urdf/mycobot/joint1.dae"/>
         </geometry>
         <origin xyz = "0.0 0 0.02 " rpy = " 0 0 -1.5708"/>
     </collision>
@@ -57,13 +57,13 @@
     </inertial>
     <visual>
       <geometry>
-       <mesh filename="package://mycobot_description/urdf/mycobot/joint2.dae"/>
+       <mesh filename="package://tork_moveit_tutorial/urdf/mycobot/joint2.dae"/>
       </geometry>
       <origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
     </visual>
     <collision>
      <geometry>
-       <mesh filename="package://mycobot_description/urdf/mycobot/joint2.dae"/>
+       <mesh filename="package://tork_moveit_tutorial/urdf/mycobot/joint2.dae"/>
       </geometry>
       <origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
     </collision>
@@ -80,13 +80,13 @@
     </inertial>
     <visual>
       <geometry>
-       <mesh filename="package://mycobot_description/urdf/mycobot/joint3.dae"/>
+       <mesh filename="package://tork_moveit_tutorial/urdf/mycobot/joint3.dae"/>
       </geometry>
     <origin xyz = "-0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
     </visual>
     <collision>
       <geometry>
-       <mesh filename="package://mycobot_description/urdf/mycobot/joint3.dae"/>
+       <mesh filename="package://tork_moveit_tutorial/urdf/mycobot/joint3.dae"/>
       </geometry>
       <origin xyz = "-0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
     </collision>
@@ -104,14 +104,14 @@
     <visual>
       <geometry>
        <!--- 0.0 0 -0.04 -->
-       <mesh filename="package://mycobot_description/urdf/mycobot/joint4.dae"/>
+       <mesh filename="package://tork_moveit_tutorial/urdf/mycobot/joint4.dae"/>
       </geometry>
       <origin xyz = "-0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
     </visual>
     <collision>
       <geometry>
        <!--- 0.0 0 -0.04 -->
-       <mesh filename="package://mycobot_description/urdf/mycobot/joint4.dae"/>
+       <mesh filename="package://tork_moveit_tutorial/urdf/mycobot/joint4.dae"/>
       </geometry>
       <origin xyz = "-0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
     </collision>
@@ -130,14 +130,14 @@
     <visual>
       <geometry>
        <!--- 0.0 0 -0.04 -->
-       <mesh filename="package://mycobot_description/urdf/mycobot/joint5.stl"/>
+       <mesh filename="package://tork_moveit_tutorial/urdf/mycobot/joint5.stl"/>
       </geometry>
     <origin xyz = "0.0 0 -0.03356 " rpy = " 0 -1.5708 1.57080 "/>
     </visual>
     <collision>
        <geometry>
        <!--- 0.0 0 -0.04 -->
-       <mesh filename="package://mycobot_description/urdf/mycobot/joint5.stl"/>
+       <mesh filename="package://tork_moveit_tutorial/urdf/mycobot/joint5.stl"/>
       </geometry>
       <origin xyz = "0.0 0 -0.03356 " rpy = " 0 -1.5708 1.57080"/>
     </collision>
@@ -156,14 +156,14 @@
     <visual>
       <geometry>
        <!--- 0.0 0 -0.04 -->
-       <mesh filename="package://mycobot_description/urdf/mycobot/joint6.dae"/>
+       <mesh filename="package://tork_moveit_tutorial/urdf/mycobot/joint6.dae"/>
       </geometry>
     <origin xyz = "0.00 0.00 -0.048 " rpy = " 0 0 0"/>
     </visual>
     <collision>
       <geometry>
        <!--- 0.0 0 -0.04 -->
-       <mesh filename="package://mycobot_description/urdf/mycobot/joint6.dae"/>
+       <mesh filename="package://tork_moveit_tutorial/urdf/mycobot/joint6.dae"/>
       </geometry>
     <origin xyz = "0.00 0.00 -0.048 " rpy = " 0 0 0"/>
     </collision>
@@ -181,14 +181,14 @@
     <visual>
       <geometry>
        <!--- 0.0 0 -0.04 -->
-       <mesh filename="package://mycobot_description/urdf/mycobot/joint7.dae"/>
+       <mesh filename="package://tork_moveit_tutorial/urdf/mycobot/joint7.dae"/>
       </geometry>
     <origin xyz = "-0.00 -0.00 -0.026 " rpy = " 0 0 0"/>
     </visual>
     <collision>
       <geometry>
        <!--- 0.0 0 -0.04 -->
-       <mesh filename="package://mycobot_description/urdf/mycobot/joint7.dae"/>
+       <mesh filename="package://tork_moveit_tutorial/urdf/mycobot/joint7.dae"/>
       </geometry>
     <origin xyz = "-0.00 -0.00 -0.026 " rpy = " 0 0 0"/>
     </collision>