diff --git a/data/gripper/wsg50_one_motor_gripper_free.sdf b/data/gripper/wsg50_one_motor_gripper_free.sdf
deleted file mode 100644
index c37e1d8b7..000000000
--- a/data/gripper/wsg50_one_motor_gripper_free.sdf
+++ /dev/null
@@ -1,364 +0,0 @@
-<?xml version="1.0" ?>
-<sdf version='1.6'>
-  <world name='default'>
-  <model name='wsg50_with_gripper'>
-
-    <link name='base_link'>
-      <pose frame=''>0 0 0 0 0 0</pose>
-      <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
-        <mass>1.2</mass>
-        <inertia>
-          <ixx>1</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>1</iyy>
-          <iyz>0</iyz>
-          <izz>1</izz>
-        </inertia>
-      </inertial>
-	  
-      <visual name='base_link_visual'>
-        <pose frame=''>0 0 0 0 -0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1</scale>
-            <uri>meshes/WSG50_110.stl</uri>
-          </mesh>
-        </geometry>
-        <material>
-
-        </material>
-      </visual>
-	  
-    </link>
-	
-    <link name='motor'>
-      <pose frame=''>0 0 0.03 0 0 0</pose>
-      <inertial>
-        <pose frame=''>0 0 0 0 0 0</pose>
-        <mass>0.1</mass>
-        <inertia>
-          <ixx>0.1</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.1</iyy>
-          <iyz>0</iyz>
-          <izz>0.1</izz>
-        </inertia>
-      </inertial>
-      <visual name='motor_visual'>
-        <pose frame=''>0 0 0.01 0 0 0</pose>
-        <geometry>
-		  <box>
-            <size>0.02 0.02 0.02 </size>
-          </box>
-        </geometry>
-      </visual>
-    </link>
-	
-    <joint name='base_joint_motor' type='prismatic'>
-      <child>motor</child>
-      <parent>base_link</parent>
-      <axis>
-        <xyz>0 0 1</xyz>
-        <limit>
-          <lower>-0.047</lower>
-          <upper>0.001</upper>
-          <effort>10.0</effort>
-          <velocity>10.0</velocity>
-        </limit>
-        <dynamics>
-          <damping>0</damping>
-          <friction>0</friction>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-      </axis>
-    </joint>
-	
-    <link name='left_hinge'>
-      <pose frame=''>0 0 0.04 0 0 0</pose>
-      <inertial>
-        <pose frame=''>0 0 0.035 0 0 0</pose>
-        <mass>0.1</mass>
-        <inertia>
-          <ixx>0.1</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.1</iyy>
-          <iyz>0</iyz>
-          <izz>0.1</izz>
-        </inertia>
-      </inertial>
-      <visual name='motor_visual'>
-        <pose frame=''>-0.03 0 0.01 0 -1.2 0</pose>
-        <geometry>
-		  <box>
-            <size>0.02 0.02 0.07 </size>
-          </box>
-        </geometry>
-      </visual>
-    </link>
-	
-    <joint name='motor_left_hinge_joint' type='revolute'>
-      <child>left_hinge</child>
-      <parent>motor</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-20.0</lower>
-          <upper>20.0</upper>
-          <effort>10</effort>
-          <velocity>10</velocity>
-        </limit>
-        <dynamics>
-          <damping>0</damping>
-          <friction>0</friction>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-	
-    <link name='right_hinge'>
-      <pose frame=''>0 0 0.04 0 0 0</pose>
-      <inertial>
-        <pose frame=''>0 0 0.035 0 0 0</pose>
-        <mass>0.1</mass>
-        <inertia>
-          <ixx>0.1</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.1</iyy>
-          <iyz>0</iyz>
-          <izz>0.1</izz>
-        </inertia>
-      </inertial>
-      <visual name='motor_visual'>
-        <pose frame=''>0.03 0 0.01 0 1.2 0</pose>
-        <geometry>
-		  <box>
-            <size>0.02 0.02 0.07 </size>
-          </box>
-        </geometry>
-      </visual>
-    </link>
-	
-    <joint name='motor_right_hinge_joint' type='revolute'>
-      <child>right_hinge</child>
-      <parent>motor</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-20.0</lower>
-          <upper>20.0</upper>
-          <effort>10</effort>
-          <velocity>10</velocity>
-        </limit>
-        <dynamics>
-          <damping>0</damping>
-          <friction>0</friction>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-
-    <link name='gripper_left'>
-      <pose frame=''>-0.055 0 0.06 0 -0 0</pose>
-      <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
-        <mass>0.2</mass>
-        <inertia>
-          <ixx>0.1</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.1</iyy>
-          <iyz>0</iyz>
-          <izz>0.1</izz>
-        </inertia>
-      </inertial>
-	  
-      <visual name='gripper_left_visual'>
-        <pose frame=''>0 0 -0.06 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>0.001 0.001 0.001</scale>
-            <uri>meshes/GUIDE_WSG50_110.stl</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
-        <pose frame=''>0 0 -0.037 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>0.001 0.001 0.001</scale>
-            <uri>meshes/WSG-FMF.stl</uri>
-          </mesh>
-        </geometry>
-      </visual>
-
-    </link>
-	
-    <joint name='gripper_left_hinge_joint' type='revolute'>
-      <child>gripper_left</child>
-      <parent>left_hinge</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1.0</lower>
-          <upper>1.0</upper>
-          <effort>10</effort>
-          <velocity>10</velocity>
-        </limit>
-        <dynamics>
-          <damping>0.01</damping>
-          <friction>0</friction>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-	
-    <link name='gripper_right'>
-      <pose frame=''>0.055 0 0.06 0 0 3.14159</pose>
-      <inertial>
-        <pose frame=''>0 0 0.0115 0 -0 0</pose>
-        <mass>0.2</mass>
-        <inertia>
-          <ixx>0.1</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.1</iyy>
-          <iyz>0</iyz>
-          <izz>0.1</izz>
-        </inertia>
-      </inertial>
-	  
-      <visual name='gripper_right_visual'>
-        <pose frame=''>0 0 -0.06 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>0.001 0.001 0.001</scale>
-            <uri>meshes/GUIDE_WSG50_110.stl</uri>
-          </mesh>
-        </geometry>
-      </visual>
-      <visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
-        <pose frame=''>0 0 -0.037 0 0 0</pose>
-        <geometry>
-          <mesh>
-            <scale>0.001 0.001 0.001</scale>
-            <uri>meshes/WSG-FMF.stl</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-	
-    <joint name='gripper_right_hinge_joint' type='revolute'>
-      <child>gripper_right</child>
-      <parent>right_hinge</parent>
-      <axis>
-        <xyz>0 1 0</xyz>
-        <limit>
-          <lower>-1.0</lower>
-          <upper>1.0</upper>
-          <effort>10</effort>
-          <velocity>10</velocity>
-        </limit>
-        <dynamics>
-          <damping>0.01</damping>
-          <friction>0</friction>
-          <spring_reference>0</spring_reference>
-          <spring_stiffness>0</spring_stiffness>
-        </dynamics>
-        <use_parent_model_frame>0</use_parent_model_frame>
-      </axis>
-    </joint>
-    
-    <link name='finger_right'>
-      <pose frame=''>0.062 0 0.145 0 0 1.5708</pose>
-      <inertial>
-        <mass>0.2</mass>
-        <inertia>
-          <ixx>0.1</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.1</iyy>
-          <iyz>0</iyz>
-          <izz>0.1</izz>
-        </inertia>
-      </inertial>
-	  
-        <collision name='finger_right_collision'>
-  	<pose frame=''>0 0 0.042 0 0 0 </pose>
-  	<geometry>        
-         <box>
-                <size>0.02 0.02 0.15 </size>
-              </box>
-
-          </geometry>
-        </collision>
-	  
-      <visual name='finger_right_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1 </scale>
-            <uri>meshes/l_gripper_tip_scaled.stl</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-	
-    <joint name='gripper_finger_right' type='fixed'>
-      <parent>gripper_right</parent>
-      <child>finger_right</child>
-    </joint>
-    
-    <link name='finger_left'>
-      <pose frame=''>-0.062 0 0.145 0 0 4.71239</pose>
-      <inertial>
-        <mass>0.2</mass>
-        <inertia>
-          <ixx>0.1</ixx>
-          <ixy>0</ixy>
-          <ixz>0</ixz>
-          <iyy>0.1</iyy>
-          <iyz>0</iyz>
-          <izz>0.1</izz>
-        </inertia>
-      </inertial>
-	  
-      <collision name='finger_left_collision'>
-        <pose frame=''>0 0 0.042 0 0 0 </pose>
-        <geometry>
-               <box>
-              <size>0.02 0.02 0.15 </size>
-            </box>
-
-        </geometry>
-      </collision>
-	  
-      <visual name='finger_left_visual'>
-        <pose frame=''>0 0 0 0 0 0 </pose>
-        <geometry>
-          <mesh>
-            <scale>1 1 1 </scale>
-            <uri>meshes/l_gripper_tip_scaled.stl</uri>
-          </mesh>
-        </geometry>
-      </visual>
-    </link>
-	
-    <joint name='gripper_finger_left' type='fixed'>
-      <parent>gripper_left</parent>
-      <child>finger_left</child>
-    </joint>
-  </model>
-</world>
-</sdf>
\ No newline at end of file
diff --git a/data/pr2_gripper_short.urdf b/data/pr2_gripper_short.urdf
deleted file mode 100644
index e41abf926..000000000
--- a/data/pr2_gripper_short.urdf
+++ /dev/null
@@ -1,142 +0,0 @@
-<?xml version="1.0"?>
-<robot name="physics">
-  <link name="gripper_pole">
-    <visual>
-      <geometry>
-        <cylinder length="0.04" radius=".01"/>
-      </geometry>
-      <origin rpy="0 1.57075 0 " xyz="0.02 0 0"/>
-      <material name="Gray">
-        <color rgba=".7 .7 .7 1"/>
-      </material>
-    </visual>
-    <collision>
-      <geometry>
-        <cylinder length="0.04" radius=".01"/>
-      </geometry>
-      <origin rpy="0 1.57075 0 " xyz="0.02 0 0"/>
-    </collision>
-    <inertial>
-      <mass value="0.5"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
-    </inertial>
-  </link>
-
-  <joint name="left_gripper_joint" type="revolute">
-    <axis xyz="0 0 1"/>
-    <limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
-    <origin rpy="0 0 0" xyz="0.02 0.01 0"/>
-    <parent link="gripper_pole"/>
-    <child link="left_gripper"/>
-  </joint>
-
-  <link name="left_gripper">
-    <contact>
-      <lateral_friction value="1.0"/>
-      <spinning_friction value="1.5"/>
-    </contact>
-    <visual>
-      <origin rpy="0.0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="l_finger_collision.stl"/>
-      </geometry>
-    </visual>
-    <collision>
-      <origin rpy="0.0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="l_finger_collision.stl"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.1"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
-    </inertial>
-  </link>
-
-  <joint name="left_tip_joint" type="fixed">
-    <parent link="left_gripper"/>
-    <child link="left_tip"/>
-  </joint>
-
-  <link name="left_tip">
-    <contact>
-      <lateral_friction value="1.0"/>
-      <spinning_friction value="1.5"/>
-    </contact>
-    <visual>
-      <origin rpy="0.0 0 0" xyz="0.09137 0.00495 0"/>
-      <geometry>
-        <mesh filename="l_finger_tip.stl"/>
-      </geometry>
-    </visual>
-    <collision>
-      <geometry>
-        <box size=".03 .03 .02"/>
-      </geometry>
-      <origin rpy="0.0 0 0" xyz="0.105 0.00495 0"/>
-    </collision>
-    <inertial>
-      <mass value="0.1"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
-    </inertial>
-  </link>
-
-  <joint name="right_gripper_joint" type="revolute">
-    <axis xyz="0 0 -1"/>
-    <limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
-    <origin rpy="0 0 0" xyz="0.02 -0.01 0"/>
-    <parent link="gripper_pole"/>
-    <child link="right_gripper"/>
-  </joint>
-
-  <link name="right_gripper">
-    <contact>
-      <lateral_friction value="1.0"/>
-      <spinning_friction value="1.5"/>
-    </contact>
-    <visual>
-      <origin rpy="-3.1415 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="l_finger_collision.stl"/>
-      </geometry>
-    </visual>
-         <collision>
-      <origin rpy="-3.1415 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="l_finger_collision.stl"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="0.1"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
-    </inertial>
-  </link>
-
-  <joint name="right_tip_joint" type="fixed">
-    <parent link="right_gripper"/>
-    <child link="right_tip"/>
-  </joint>
-
-  <link name="right_tip">
-    <contact>
-      <lateral_friction value="1.0"/>
-      <spinning_friction value="1.5"/>
-    </contact>
-    <visual>
-      <origin rpy="-3.1415 0 0" xyz="0.09137 0.00495 0"/>
-      <geometry>
-        <mesh filename="l_finger_tip.stl"/>
-      </geometry>
-    </visual>
-    <collision>
-      <geometry>
-      	<box size=".03 .03 .02"/>
-      </geometry>
-      <origin rpy="-3.1415 0 0" xyz="0.105 0.00495 0"/>
-    </collision>
-    <inertial>
-      <mass value="0.1"/>
-      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
-    </inertial>
-  </link>
-</robot>