diff --git a/sr_description/CMakeLists.txt b/sr_description/CMakeLists.txt
index 3d16516e..74c204d5 100644
--- a/sr_description/CMakeLists.txt
+++ b/sr_description/CMakeLists.txt
@@ -32,5 +32,5 @@ install(DIRECTORY loaders/
 install(DIRECTORY robots/
    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/robots)
 
-install(FILES materials.urdf.xacro
+install(FILES other/xacro/materials.urdf.xacro
    DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
diff --git a/sr_description/README.md b/sr_description/README.md
index 50749ab1..42ddf131 100644
--- a/sr_description/README.md
+++ b/sr_description/README.md
@@ -2,11 +2,4 @@ This package contains the description for Shadow Robot's Hands.
 
 You can find the different complete models in [robots](robots).
 
-You can also find more information about the computation of the [hand kinematics](doc/HandInertia.md).
-
-
-*Tips: To automatically reformat the different xacro files you can use the following command:*
-
-```bash
-find . -name "*.urdf.xacro" -type f -exec tidy -xml -i -m -q "{}" \;
-```
+You can also find more information about the computation of the [hand kinematics](doc/HandInertia.md).
\ No newline at end of file
diff --git a/sr_description/hand/xacro/finger/distal/distal.urdf.xacro b/sr_description/hand/xacro/finger/distal/distal.urdf.xacro
index fdecb3b7..08e360a9 100644
--- a/sr_description/hand/xacro/finger/distal/distal.urdf.xacro
+++ b/sr_description/hand/xacro/finger/distal/distal.urdf.xacro
@@ -1,25 +1,20 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro"
-xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#slider"
-xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
-xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom">
+       xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+       xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#slider"
+       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+       xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
+       xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom">
 
   <xacro:include filename="$(find sr_description)/hand/xacro/finger/distal/distal.gazebo.xacro" />
   <xacro:include filename="$(find sr_description)/hand/xacro/finger/distal/distal.transmission.xacro" />
-  <!-- tip_sensor describes the sensor bt_2p, bt_sp, pst -->
-  <!-- prefix can be anything but usually is "r_" or  "l_" for right and left hands distinction -->
-  <!-- link_prefix prepends fingername to the link names -->
-  <!-- joint_prefix prepends fingername to the joint names -->
-  <!-- parent is the parent link for the joint -->
+
   <xacro:macro name="distal" params="prefix:=^ link_prefix:=^ joint_prefix:=^ tip_sensor:=^|pst parent">
     <link name="${prefix}${link_prefix}distal">
       <inertial>
         <mass value="0.012" />
         <origin xyz="0 0 0.012" />
-        <inertia ixx="0.00000094" ixy="0.0" ixz="0.0"
-		 iyy="0.0000011" iyz="0.0" izz="0.00000053" />
+        <inertia ixx="0.00000094" ixy="0.0" ixz="0.0" iyy="0.0000011" iyz="0.0" izz="0.00000053" />
       </inertial>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
@@ -61,8 +56,7 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom">
         <origin xyz="0 0 0.025" rpy="0 0 0" />
         <axis xyz="1 0 0" />
         <!-- standard distal joint -->
-        <limit lower="0" upper="${pi/2}" effort="2"
-        velocity="2.0" />
+        <limit lower="0" upper="${pi/2}" effort="2" velocity="2.0" />
         <dynamics damping="0.1" />
       </joint>
       <gazebo reference="${prefix}${joint_prefix}J1">
@@ -72,8 +66,7 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom">
       <link name="${prefix}${link_prefix}tip">
         <inertial>
           <mass value="0.001" />
-          <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0"
-          iyz="0.0" izz="0.0" />
+          <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
         </inertial>
       </link>
       <joint name="${prefix}${joint_prefix}tip" type="fixed">
diff --git a/sr_description/hand/xacro/finger/knuckle/knuckle.gazebo.xacro b/sr_description/hand/xacro/finger/knuckle/knuckle.gazebo.xacro
index 648e7c07..3ed98b28 100644
--- a/sr_description/hand/xacro/finger/knuckle/knuckle.gazebo.xacro
+++ b/sr_description/hand/xacro/finger/knuckle/knuckle.gazebo.xacro
@@ -2,20 +2,7 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
   <xacro:macro name="knuckle_gazebo" params="prefix:=^ link_prefix:=^">
     <gazebo reference="${prefix}${link_prefix}knuckle">
-      <sensor type="contact" name="${prefix}${link_prefix}knuckle_contact">
-        <always_on>1</always_on>
-        <update_rate>1000.0</update_rate>
-        <contact>
-          <collision>${prefix}${link_prefix}knuckle_collision</collision>
-          <topic>${prefix}${link_prefix}knuckle_collision</topic>
-        </contact>
-        <plugin name="${prefix}${link_prefix}knuckle_gazebo_ros_bumper_controller" filename="libgazebo_ros_bumper.so">
-          <alwaysOn>true</alwaysOn>
-          <frameName>${prefix}${link_prefix}knuckle</frameName>
-          <updateRate>100.0</updateRate>
-          <bumperTopicName>contacts/${prefix}${link_prefix}/knuckle</bumperTopicName>
-        </plugin>
-      </sensor>
+      <!-- knuckle is not highly exposed, so bumper is not useful -->
       <material>Gazebo/Grey</material>
     </gazebo>
   </xacro:macro>
diff --git a/sr_description/hand/xacro/finger/lfmetacarpal/lfmetacarpal.urdf.xacro b/sr_description/hand/xacro/finger/lfmetacarpal/lfmetacarpal.urdf.xacro
index 66083cea..4a685894 100644
--- a/sr_description/hand/xacro/finger/lfmetacarpal/lfmetacarpal.urdf.xacro
+++ b/sr_description/hand/xacro/finger/lfmetacarpal/lfmetacarpal.urdf.xacro
@@ -1,24 +1,20 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro"
-xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#slider"
-xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
-xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom">
+       xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+       xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#slider"
+       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+       xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
+       xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom">
 
   <xacro:include filename="$(find sr_description)/hand/xacro/finger/lfmetacarpal/lfmetacarpal.gazebo.xacro" />
   <xacro:include filename="$(find sr_description)/hand/xacro/finger/lfmetacarpal/lfmetacarpal.transmission.xacro" />
-  <!-- prefix can be anything but usually is "r_" or  "l_" for right and left hands distinction -->
-  <!-- reflect is either 1 (for right hand) or -1 (for left hand) -->
-  <!-- parent is the parent link for the joint -->
-  <xacro:macro name="lfmetacarpal"
-  params="prefix:=^ reflect:=^ parent">
+
+  <xacro:macro name="lfmetacarpal" params="prefix:=^ reflect:=^ parent">
     <link name="${prefix}lfmetacarpal">
       <inertial>
         <origin xyz="0 0 0.04" rpy="0 0 0" />
         <mass value="0.030" />
-        <inertia ixx="0.0000145" ixy="0.0" ixz="0.0"
-        iyy="0.00001638" iyz="0.0" izz="0.000004272" />
+        <inertia ixx="0.0000145" ixy="0.0" ixz="0.0" iyy="0.00001638" iyz="0.0" izz="0.000004272" />
       </inertial>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
@@ -40,8 +36,7 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom">
       <child link="${prefix}lfmetacarpal" />
       <origin xyz="${reflect*-0.033} 0 0.02071" rpy="0 0 0" />
       <axis xyz="0.573576436 0 ${reflect*0.819152044}" />
-      <limit lower="0" upper="${45/180*pi}" effort="2"
-      velocity="2.0" />
+      <limit lower="0" upper="${45/180*pi}" effort="2" velocity="2.0" />
       <dynamics damping="0.1" />
     </joint>
     <gazebo reference="${prefix}LFJ5">
diff --git a/sr_description/hand/xacro/finger/proximal/proximal.urdf.xacro b/sr_description/hand/xacro/finger/proximal/proximal.urdf.xacro
index 72260201..58162066 100644
--- a/sr_description/hand/xacro/finger/proximal/proximal.urdf.xacro
+++ b/sr_description/hand/xacro/finger/proximal/proximal.urdf.xacro
@@ -1,10 +1,10 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro"
-xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#slider"
-xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
-xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom">
+       xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+       xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#slider"
+       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+       xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
+       xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom">
 
   <xacro:include filename="$(find sr_description)/hand/xacro/finger/proximal/proximal.gazebo.xacro" />
   <xacro:include filename="$(find sr_description)/hand/xacro/finger/proximal/proximal.transmission.xacro" />
diff --git a/sr_description/hand/xacro/forearm/forearm_c.urdf.xacro b/sr_description/hand/xacro/forearm/forearm_c.urdf.xacro
index de489444..0f897f89 100644
--- a/sr_description/hand/xacro/forearm/forearm_c.urdf.xacro
+++ b/sr_description/hand/xacro/forearm/forearm_c.urdf.xacro
@@ -14,8 +14,7 @@
       <inertial>
         <origin xyz="0 0 0.09" rpy="0 0 0" />
         <mass value="3.0" />
-        <inertia ixx="0.0138" ixy="0.0" ixz="0.0" iyy="0.0138"
-        iyz="0.0" izz="0.00744" />
+        <inertia ixx="0.0138" ixy="0.0" ixz="0.0" iyy="0.0138" iyz="0.0" izz="0.00744" />
       </inertial>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
diff --git a/sr_description/hand/xacro/forearm/forearm_e.urdf.xacro b/sr_description/hand/xacro/forearm/forearm_e.urdf.xacro
index 24da6df5..12e30e35 100644
--- a/sr_description/hand/xacro/forearm/forearm_e.urdf.xacro
+++ b/sr_description/hand/xacro/forearm/forearm_e.urdf.xacro
@@ -14,8 +14,7 @@
       <inertial>
         <origin xyz="0 0 0.09" rpy="0 0 0" />
         <mass value="3.0" />
-        <inertia ixx="0.0138" ixy="0.0" ixz="0.0" iyy="0.0138"
-        iyz="0.0" izz="0.00744" />
+        <inertia ixx="0.0138" ixy="0.0" ixz="0.0" iyy="0.0138" iyz="0.0" izz="0.00744" />
       </inertial>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
diff --git a/sr_description/hand/xacro/hand.urdf.xacro b/sr_description/hand/xacro/hand.urdf.xacro
index 9666e1ea..d7df4fe6 100644
--- a/sr_description/hand/xacro/hand.urdf.xacro
+++ b/sr_description/hand/xacro/hand.urdf.xacro
@@ -3,8 +3,10 @@
        xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
        xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
 
-  <xacro:macro name="sr_hand"
-               params="hand_type hand_version side fingers tip_sensors prox_sensors mid_sensors palm_sensor">
+  <xacro:macro name="sr_hand" params="hand_type hand_version side fingers tip_sensors prox_sensors mid_sensors palm_sensor">
+
+    <!-- Process hand type, version and side parameters -->
+    <xacro:include filename="$(find sr_description)/hand/xacro/process_hand_type_version_side_parameters.xacro" />
 
     <xacro:if value="${side == 'right'}">
       <xacro:property name="reflect" value="1" />
@@ -16,15 +18,15 @@
     </xacro:if>
 
     <!-- Selecting hand according with hand_type -->
-    <xacro:if value="${hand_type == 'hand_e'}">
+    <xacro:if value="${hand_type == 'E'}">
        <xacro:include filename="$(find sr_description)/hand/xacro/hand_e.urdf.xacro" />
        <xacro:sr_hand_e />
     </xacro:if>
-    <xacro:if value="${hand_type == 'hand_g'}">
+    <xacro:if value="${hand_type == 'G'}">
        <xacro:include filename="$(find sr_description)/hand/xacro/hand_g.urdf.xacro" />
        <xacro:sr_hand_g />
     </xacro:if>
-    <xacro:if value="${hand_type == 'hand_c'}">
+    <xacro:if value="${hand_type == 'C'}">
        <xacro:include filename="$(find sr_description)/hand/xacro/hand_c.urdf.xacro" />
        <xacro:sr_hand_c />
     </xacro:if>
diff --git a/sr_description/hand/xacro/hand_c.urdf.xacro b/sr_description/hand/xacro/hand_c.urdf.xacro
index 46333666..5aa196e7 100644
--- a/sr_description/hand/xacro/hand_c.urdf.xacro
+++ b/sr_description/hand/xacro/hand_c.urdf.xacro
@@ -5,7 +5,6 @@
   <xacro:include filename="$(find sr_description)/hand/xacro/finger/fingers.urdf.xacro" />
   <xacro:include filename="$(find sr_description)/hand/xacro/thumb/thumb.urdf.xacro" />
 
-  <!-- hand_type can be: hand_e, hand_g, hand_c -->
   <!-- fingers: list-like string specifying available fingers, default: 'th ff mf rf' -->
   <!-- tip_sensors: plain or dict-like string specifying the fingertip (tactile) sensors: 'th=bt_2p ff=bt_sp mf=pst rf=pst, lf=pst' -->
   <!-- mid_sensors: plain or dict-like string specifying the middle-phalange (tactile) sensors -->
@@ -14,10 +13,7 @@
   <xacro:macro name="sr_hand_c" params="hand_version:=^ reflect:=^ prefix:=^ fingers:=^|all tip_sensors:=^|pst
                prox_sensors:=^|none mid_sensors:=^|none palm_sensor:=^|none">
 
-    <!-- Unify hand type parameter -->
-    <xacro:property name="hand_type" value="hand_c" />
-    <xacro:include filename="$(find sr_description)/hand/xacro/process_hand_type_parameter.xacro" />
-    <!-- Process fingers parameter, also handling deprecated lf -->
+    <!-- Process fingers parameter -->
     <xacro:property name="_all_finger_tokens_" value="${python.set('th ff mf rf lf'.split())}" />
     <xacro:include filename="$(find sr_description)/hand/xacro/process_fingers_parameter.xacro" />
     <!-- Process sensor parameters -->
diff --git a/sr_description/hand/xacro/hand_e.urdf.xacro b/sr_description/hand/xacro/hand_e.urdf.xacro
index ccb4ef41..a4ed63b5 100644
--- a/sr_description/hand/xacro/hand_e.urdf.xacro
+++ b/sr_description/hand/xacro/hand_e.urdf.xacro
@@ -9,7 +9,6 @@
   <xacro:include filename="$(find sr_description)/hand/xacro/finger/fingers.urdf.xacro" />
   <xacro:include filename="$(find sr_description)/hand/xacro/thumb/thumb.urdf.xacro" />
 
-  <!-- hand_type can be: hand_e, hand_g, hand_c -->
   <!-- fingers: list-like string specifying available fingers, default: 'th ff mf rf' -->
   <!-- tip_sensors: plain or dict-like string specifying the fingertip (tactile) sensors: 'th=bt_2p ff=bt_sp mf=pst rf=pst, lf=pst' -->
   <!-- mid_sensors: plain or dict-like string specifying the middle-phalange (tactile) sensors -->
@@ -18,10 +17,7 @@
   <xacro:macro name="sr_hand_e" params="hand_version:=^ reflect:=^ prefix:=^ fingers:=^|all tip_sensors:=^|pst
                prox_sensors:=^|none mid_sensors:=^|none palm_sensor:=^|none">
 
-    <!-- Unify hand type parameter -->
-    <xacro:property name="hand_type" value="hand_e" />
-    <xacro:include filename="$(find sr_description)/hand/xacro/process_hand_type_parameter.xacro" />
-    <!-- Process fingers parameter, also handling deprecated lf -->
+    <!-- Process fingers parameter -->
     <xacro:property name="_all_finger_tokens_" value="${python.set('th ff mf rf lf'.split())}" />
     <xacro:include filename="$(find sr_description)/hand/xacro/process_fingers_parameter.xacro" />
     <!-- Process sensor parameters -->
diff --git a/sr_description/hand/xacro/hand_g.urdf.xacro b/sr_description/hand/xacro/hand_g.urdf.xacro
index 72ad38e1..e52ba86f 100644
--- a/sr_description/hand/xacro/hand_g.urdf.xacro
+++ b/sr_description/hand/xacro/hand_g.urdf.xacro
@@ -9,7 +9,6 @@
   <xacro:include filename="$(find sr_description)/hand/xacro/finger/fingers.urdf.xacro" />
   <xacro:include filename="$(find sr_description)/hand/xacro/thumb/thumb.urdf.xacro" />
 
-  <!-- hand_type can be: hand_e, hand_g, hand_c -->
   <!-- fingers: list-like string specifying available fingers, default: 'th ff mf rf' -->
   <!-- tip_sensors: plain or dict-like string specifying the fingertip (tactile) sensors: 'th=bt_2p ff=bt_sp mf=pst rf=pst, lf=pst' -->
   <!-- mid_sensors: plain or dict-like string specifying the middle-phalange (tactile) sensors -->
@@ -18,10 +17,7 @@
   <xacro:macro name="sr_hand_g" params="hand_version:=^ reflect:=^ prefix:=^ fingers:=^|all tip_sensors:=^|pst
                prox_sensors:=^|none mid_sensors:=^|none palm_sensor:=^|none">
 
-    <!-- Unify hand type parameter -->
-    <xacro:property name="hand_type" value="hand_g" />
-    <xacro:include filename="$(find sr_description)/hand/xacro/process_hand_type_parameter.xacro" />
-    <!-- Process fingers parameter, also handling deprecated -->
+    <!-- Process fingers parameter -->
     <xacro:property name="_all_finger_tokens_" value="${python.set('th ff mf rf'.split())}" />
     <xacro:include filename="$(find sr_description)/hand/xacro/process_fingers_parameter.xacro" />
     <!-- Process sensor parameters -->
diff --git a/sr_description/hand/xacro/legacy/ff_biotac_hand.urdf.xacro b/sr_description/hand/xacro/legacy/ff_biotac_hand.urdf.xacro
deleted file mode 100644
index e3e49e78..00000000
--- a/sr_description/hand/xacro/legacy/ff_biotac_hand.urdf.xacro
+++ /dev/null
@@ -1,13 +0,0 @@
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-  <xacro:macro name="shadowhand" params="muscletrans muscle bio bt_sp eli reflect prefix">
-    ${xacro.warning("The file ff_biotac_hand.urdf.xacro is deprecated", print_location=False)}
-    ${xacro.warning("Use hand.urdf.xacro instead with tip_sensors='ff=bt_2p'")}
-    <!-- translate old parameters to new ones, eventually initializing tip_sensors -->
-    <xacro:include filename="$(find sr_description)/hand/xacro/process_sensor_parameters.xacro" />
-    <!-- forward to generic macro -->
-    <xacro:include filename="$(find sr_description)/hand/xacro/hand.urdf.xacro" />
-    <!-- Enforce BioTac on First Finger -->
-    <xacro:sr_hand fingers="all" reflect="${reflect}" prefix="${prefix}"
-    tip_sensors="${' '.join([k+'='+v for k, v in tip_sensors.items()] + ['ff=bt_2p'])}"/>
-  </xacro:macro>
-</robot>
diff --git a/sr_description/hand/xacro/legacy/hand_E_no_mf_rf.urdf.xacro b/sr_description/hand/xacro/legacy/hand_E_no_mf_rf.urdf.xacro
deleted file mode 100644
index c0bc135d..00000000
--- a/sr_description/hand/xacro/legacy/hand_E_no_mf_rf.urdf.xacro
+++ /dev/null
@@ -1,17 +0,0 @@
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-  <!-- muscletrans is true for muscle transmission to be used, false to use motor transmission -->
-  <!-- muscle is true for muscle hand or false for motor hand -->
-  <!-- bio is true for biotac finger or false for standard finger -->
-  <!-- bt_sp is true for BT_SP finger or false for standard finger -->
-  <!-- eli is true for ellipsoid fingertip or false for standard finger -->
-  <!-- reflect is either 1 (for right hand) or -1 (for left hand) -->
-  <!-- prefix can be anything but usually is "r_" or  "l_" for right and left hands distinction -->
-  <!-- lf is true if we want a little finger, false otherwise -->
-  <xacro:macro name="shadowhand" params="muscletrans muscle bio bt_sp eli reflect prefix lf">
-    ${xacro.warning("The file hand_E_no_mf_rf.urdf.xacro is deprecated", print_location=False)}
-    ${xacro.warning("Use hand.urdf.xacro instead with fingers='th ff lf'")}
-    <!-- forward to generic macro -->
-    <xacro:include filename="$(find sr_description)/hand/xacro/hand.urdf.xacro" />
-    <xacro:sr_hand fingers="th ff ${'lf' if lf else ''}" reflect="${reflect}" prefix="${prefix}" />
-  </xacro:macro>
-</robot>
diff --git a/sr_description/hand/xacro/legacy/one_finger_unit.urdf.xacro b/sr_description/hand/xacro/legacy/one_finger_unit.urdf.xacro
deleted file mode 100644
index 9db740dd..00000000
--- a/sr_description/hand/xacro/legacy/one_finger_unit.urdf.xacro
+++ /dev/null
@@ -1,71 +0,0 @@
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-xmlns:xacro="http://www.ros.org/wiki/xacro">
-  <xacro:include filename="forearm_e.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/hand/xacro/finger/fingers.urdf.xacro" />
-  <!-- hand_type describes the hand type, motor, motor+, muscle (muscle) -->
-  <!-- muscletrans (deprecated) is true for muscle transmission to be used, false to use motor transmission -->
-  <!-- muscle (deprecated) is true for muscle hand or false for motor hand -->
-  <!-- muscle is true for muscle hand or false for motor hand -->
-  <!-- bio (deprecated) is true for biotac finger or false for standard finger -->
-  <!-- bt_sp (deprecated) is true for BT_SP finger or false for standard finger -->
-  <!-- eli (deprecated) is true for ellipsoid fingertip or false for standard finger -->
-  <!-- tip_sensor describes the sensor bt_2p, bt_sp, pst -->
-  <!-- mid_sensor describes the sensor -->
-  <!-- prox_sensor describes the sensor none, bumper -->
-  <!-- palm_sensor describes the sensor none, bumper -->
-  <!-- reflect is either 1 (for right hand) or -1 (for left hand) -->
-  <!-- prefix can be anything but usually is "r_" or  "l_" for right and left hands distinction -->
-  <xacro:macro name="shadowhand" params="hand_type:='motor' reflect prefix cable_mesh:=False
-          tip_sensor:=pst mid_sensor:=none prox_sensor:=none palm_sensor:=none
-          muscletrans:=${None} muscle:=${None} bio:=${None} bt_sp:=${None} eli:=${None}">
-    <!-- Unify hand type parameter, also handling deprecated muscletrans, muscle -->
-    <xacro:include filename="$(find sr_description)/hand/xacro/process_hand_type_parameter.xacro" />
-    <!-- Translate [tip|mid|prox]_sensor to plural form handled in process_sensor_parameters.xacro -->
-    <xacro:property name="tip_sensors" value="${tip_sensor}" />
-    <xacro:property name="mid_sensors" value="${mid_sensor}" />
-    <xacro:property name="prox_sensors" value="${prox_sensor}" />
-    <!-- Process sensor parameters -->
-    <xacro:include filename="$(find sr_description)/hand/xacro/process_sensor_parameters.xacro" />
-
-    <!-- Forearm -->
-    <xacro:forearm />
-    <!-- Dummy Palm -->
-    <link name="${prefix}palm">
-      <inertial>
-        <mass value="0.010" />
-        <origin xyz="0 0 0" />
-        <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0"
-        izz="0.0" />
-      </inertial>
-      <visual>
-        <origin xyz="0 0 0.0505" rpy="0 0 0" />
-        <geometry name="${prefix}palm_visual">
-          <box size="0.015 0.015 0.110" />
-        </geometry>
-        <material name="Grey" />
-      </visual>
-      <collision>
-        <origin xyz="0 0 0.0" rpy="0 0 0" />
-        <geometry name="${prefix}palm_collision_geom">
-          <box size="0.015 0.015 0.110" />
-        </geometry>
-      </collision>
-    </link>
-    <joint name="${prefix}forearm_to_dummy" type="fixed">
-      <parent link="${prefix}forearm" />
-      <child link="${prefix}palm" />
-      <origin xyz="${reflect*0.011} 0.010 0.22"
-      rpy="0 0 ${pi}" />
-    </joint>
-    <!-- mfknuckle is at [0.011 -0.01 0.346] from the bottom of forearm -->
-    <!-- Middle Finger -->
-    <!-- TODO: Check if offset is the same for muscle hand -->
-    <xacro:finger link_prefix="mf" joint_prefix="MF" tip_sensor="${tip_sensors.mf}" prox_sensor="${prox_sensors.mf}" mid_sensor="${mid_sensors.mf}"
-                  parent="${prefix}palm">
-      <origin xyz="0.0 0 0.116" rpy="0 0 0" />
-      <axis xyz="0 ${-1*reflect} 0" />
-    </xacro:finger>
-  </xacro:macro>
-</robot>
diff --git a/sr_description/hand/xacro/legacy/th_ff_rf_ellipsoid_hand.urdf.xacro b/sr_description/hand/xacro/legacy/th_ff_rf_ellipsoid_hand.urdf.xacro
deleted file mode 100644
index e95bda5d..00000000
--- a/sr_description/hand/xacro/legacy/th_ff_rf_ellipsoid_hand.urdf.xacro
+++ /dev/null
@@ -1,13 +0,0 @@
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-  <xacro:macro name="shadowhand" params="muscletrans muscle bt_2p bt_sp eli reflect prefix">
-    ${xacro.warning("The file th_ff_rf_ellipsoid_hand.urdf.xacro is deprecated", print_location=False)}
-    ${xacro.warning("Use hand.urdf.xacro instead with tip_sensors='th=eli ff=eli rf=eli'")}
-    <!-- translate old parameters to new ones, eventually initializing tip_sensors -->
-    <xacro:include filename="$(find sr_description)/hand/xacro/process_sensor_parameters.xacro" />
-    <!-- forward to generic macro -->
-    <xacro:include filename="$(find sr_description)/hand/xacro/hand.urdf.xacro" />
-    <!-- Enforce ellipsoid sensor on First and Ring Finger as well as Thumb -->
-    <xacro:sr_hand fingers="all" reflect="${reflect}" prefix="${prefix}"
-    tip_sensors="${' '.join([k+'='+v for k, v in tip_sensors.items()] + ['ff=eli','rf=eli','th=eli'])}"/>
-  </xacro:macro>
-</robot>
diff --git a/sr_description/hand/xacro/legacy/three_biotac_fingers_hand.urdf.xacro b/sr_description/hand/xacro/legacy/three_biotac_fingers_hand.urdf.xacro
deleted file mode 100644
index 81ff4a5d..00000000
--- a/sr_description/hand/xacro/legacy/three_biotac_fingers_hand.urdf.xacro
+++ /dev/null
@@ -1,10 +0,0 @@
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-  <xacro:macro name="shadowhand" params="muscletrans muscle bio bt_sp eli reflect prefix">
-    ${xacro.warning("The file three_biotac_fingers_hand.urdf.xacro is deprecated", print_location=False)}
-    ${xacro.warning("Use hand.urdf.xacro instead with tip_sensors='th=bt_2p ff=bt_2p mf=bt_2p'")}
-    <!-- forward to generic macro -->
-    <xacro:include filename="$(find sr_description)/hand/xacro/hand.urdf.xacro" />
-    <!-- BioTacs on First and Middle Finger as well as Thumb -->
-    <xacro:sr_hand reflect="${reflect}" prefix="${prefix}" tip_sensors="th=bt_2p ff=bt_2p mf=bt_2p" />
-  </xacro:macro>
-</robot>
diff --git a/sr_description/hand/xacro/legacy/three_fingers_hand.urdf.xacro b/sr_description/hand/xacro/legacy/three_fingers_hand.urdf.xacro
deleted file mode 100644
index 7bb295f2..00000000
--- a/sr_description/hand/xacro/legacy/three_fingers_hand.urdf.xacro
+++ /dev/null
@@ -1,9 +0,0 @@
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-  <xacro:macro name="shadowhand" params="muscletrans muscle bio bt_sp eli reflect prefix">
-    ${xacro.warning("The file three_fingers_hand.urdf.xacro is deprecated", print_location=False)}
-    ${xacro.warning("Use hand.urdf.xacro instead with fingers='th ff mf'")}
-    <!-- forward to generic macro -->
-    <xacro:include filename="$(find sr_description)/hand/xacro/hand.urdf.xacro" />
-    <xacro:sr_hand fingers="th ff mf" reflect="${reflect}" prefix="${prefix}" />
-  </xacro:macro>
-</robot>
diff --git a/sr_description/hand/xacro/legacy/three_fingers_hand_RF.urdf.xacro b/sr_description/hand/xacro/legacy/three_fingers_hand_RF.urdf.xacro
deleted file mode 100644
index e0d82f6d..00000000
--- a/sr_description/hand/xacro/legacy/three_fingers_hand_RF.urdf.xacro
+++ /dev/null
@@ -1,9 +0,0 @@
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-  <xacro:macro name="shadowhand" params="muscletrans muscle bio bt_sp eli reflect prefix">
-    ${xacro.warning("The file three_fingers_hand_RF.urdf.xacro is deprecated", print_location=False)}
-    ${xacro.warning("Use hand.urdf.xacro instead with fingers='th ff rf'")}
-    <!-- forward to generic macro -->
-    <xacro:include filename="$(find sr_description)/hand/xacro/hand.urdf.xacro" />
-    <xacro:sr_hand fingers="th ff rf" reflect="${reflect}" prefix="${prefix}" />
-  </xacro:macro>
-</robot>
diff --git a/sr_description/hand/xacro/process_hand_type_parameter.xacro b/sr_description/hand/xacro/process_hand_type_parameter.xacro
deleted file mode 100644
index 94b66d41..00000000
--- a/sr_description/hand/xacro/process_hand_type_parameter.xacro
+++ /dev/null
@@ -1,29 +0,0 @@
-<!-- Map deprecated hand_type values onto new ones -->
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-	<!-- Translate deprecated parameters 'muscle' and 'muscletrans' -->
-	<!--xacro:if value="${muscle}">
-		<xacro:if value="${muscletrans}">
-			<xacro:property name="hand_type" value="muscletrans" />
-			${xacro.warning('Parameter "muscletrans" is deprecated. Please use hand_type="muscletrans" instead!')}
-		</xacro:if>
-		<xacro:unless value="${muscletrans}">
-			<xacro:property name="hand_type" value="muscle" />
-			${xacro.warning('Parameter "muscle" is deprecated. Please use hand_type="muscle" instead!')}
-		</xacro:unless>
-	</xacro:if-->
-	<!-- Unset deprecated parameters, now that we have translated them to hand_type -->
-	<!--xacro:property name="muscletrans" remove="true" />
-	<xacro:property name="muscle" remove="true" /-->
-	<!-- Normalize hand_type to be lower case -->
-	<xacro:property name="hand_type" value="${hand_type.lower()}" lazy_eval="false" />
-	<!-- Unify hand_type names, mapping hand_e -> motor, hand_e_plus -> motor+ -->
-	<xacro:if value="${hand_type.lower() == 'hand_e'}">
-		<xacro:property name="hand_type" value="E" />
-	</xacro:if>
-	<xacro:if value="${hand_type.lower() == 'hand_g'}">
-		<xacro:property name="hand_type" value="G" />
-	</xacro:if>
-	<xacro:if value="${hand_type.lower() == 'hand_c'}">
-		<xacro:property name="hand_type" value="C" />
-	</xacro:if>
-</robot>
diff --git a/sr_description/hand/xacro/process_hand_type_version_side_parameters.xacro b/sr_description/hand/xacro/process_hand_type_version_side_parameters.xacro
new file mode 100644
index 00000000..d56c5d10
--- /dev/null
+++ b/sr_description/hand/xacro/process_hand_type_version_side_parameters.xacro
@@ -0,0 +1,31 @@
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+	<xacro:include filename="$(find sr_description)/hand/xacro/validate_macros.xacro" />
+	<xacro:property name="allowed_hand_types" value="${python.set('hand_e hand_g hand_c'.split())}" />
+	<xacro:property name="allowed_hand_versions" value="${python.set('E3M5 E2M3 C6M2 G1M5'.split())}"/>
+  <xacro:property name="allowed_sides" value="${python.set('right left'.split())}"/>
+
+	<!-- Validate hand type -->
+	<xacro:validate_tokens tokens="${python.set([hand_type])}" valid="${allowed_hand_types}" name="hand type specifier" />
+
+	<!-- Validate hand version -->
+	<xacro:validate_tokens tokens="${python.set([hand_version])}" valid="${allowed_hand_versions}" name="hand version specifier" />
+
+	<!-- Validate side -->
+	<xacro:validate_tokens tokens="${python.set([side])}" valid="${allowed_sides}" name="hand side specifier" />
+
+	<xacro:unless value="${hand_type.lower()[-1] == hand_version.lower()[0]}">
+    ${xacro.error("Parameter 'hand_type' ("+hand_type+") doesn't comply with 'hand_version' ("+hand_version+")")}
+  </xacro:unless>
+
+	<!-- Normalize hand_type to be lower case -->
+	<xacro:property name="hand_type" value="${hand_type.lower()}" lazy_eval="false" />
+	<xacro:if value="${hand_type.lower() == 'hand_e'}">
+		<xacro:property name="hand_type" value="E" />
+	</xacro:if>
+	<xacro:if value="${hand_type.lower() == 'hand_g'}">
+		<xacro:property name="hand_type" value="G" />
+	</xacro:if>
+	<xacro:if value="${hand_type.lower() == 'hand_c'}">
+		<xacro:property name="hand_type" value="C" />
+	</xacro:if>
+</robot>
diff --git a/sr_description/hand/xacro/process_sensor_parameters.xacro b/sr_description/hand/xacro/process_sensor_parameters.xacro
index 7842938b..8ab05891 100644
--- a/sr_description/hand/xacro/process_sensor_parameters.xacro
+++ b/sr_description/hand/xacro/process_sensor_parameters.xacro
@@ -6,7 +6,6 @@
 	<xacro:property name="mid_sensors" default="${default_tactile_sensor}" />
 	<xacro:property name="prox_sensors" default="${default_tactile_sensor}" />
 	<xacro:property name="palm_sensor" default="${default_tactile_sensor}" />
-	<!---->
 	<!-- Translate deprecated sensor parameters -->
 	<xacro:macro name="translate_from_deprecated" params="name value tip:=${None} mid:=none prox:=none palm:=none">
 		<xacro:if value="${value}">
@@ -31,7 +30,6 @@
 	<!-- Ellipsoid sensor -->
 	<xacro:property name="eli" default="${None}" />
 	<xacro:translate_from_deprecated name="eli" value="${eli}" />
-	<!---->
 	<!-- Transform sensor parameter into proper type -->
 	<xacro:macro name="transform_to_type" params="name value default_tactile_sensor:=^|none
 				valid_finger_tokens:=^|${'th ff mf rf lf'.split()}
diff --git a/sr_description/hand/xacro/thumb/thbase.gazebo.xacro b/sr_description/hand/xacro/thumb/thbase.gazebo.xacro
index 94c7dba9..0a92722c 100644
--- a/sr_description/hand/xacro/thumb/thbase.gazebo.xacro
+++ b/sr_description/hand/xacro/thumb/thbase.gazebo.xacro
@@ -2,20 +2,7 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
   <xacro:macro name="thbase_gazebo" params="prefix:=^">
     <gazebo reference="${prefix}thbase">
-      <sensor type="contact" name="${prefix}thbase_contact">
-        <always_on>1</always_on>
-        <update_rate>1000.0</update_rate>
-        <contact>
-          <collision>${prefix}thbase_collision</collision>
-          <topic>${prefix}thbase_collision</topic>
-        </contact>
-        <plugin name="${prefix}thbase_gazebo_ros_bumper_controller" filename="libgazebo_ros_bumper.so">
-          <alwaysOn>true</alwaysOn>
-          <frameName>${prefix}thbase</frameName>
-          <updateRate>100.0</updateRate>
-          <bumperTopicName>contacts/${prefix}th/base</bumperTopicName>
-        </plugin>
-      </sensor>
+      <!-- base is inside the proximal and not exposed, so bumper is not needed -->
       <selfCollide>false</selfCollide>
     </gazebo>
   </xacro:macro>
diff --git a/sr_description/hand/xacro/thumb/thbase.urdf.xacro b/sr_description/hand/xacro/thumb/thbase.urdf.xacro
index e24888ec..00fa0d60 100644
--- a/sr_description/hand/xacro/thumb/thbase.urdf.xacro
+++ b/sr_description/hand/xacro/thumb/thbase.urdf.xacro
@@ -1,10 +1,10 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro"
-xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#slider"
-xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
-xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom">
+       xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+       xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#slider"
+       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+       xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
+       xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom">
 
   <xacro:include filename="$(find sr_description)/hand/xacro/thumb/thbase.gazebo.xacro" />
   <xacro:include filename="$(find sr_description)/hand/xacro/thumb/thbase.transmission.xacro" />
@@ -14,8 +14,7 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom">
       <inertial>
         <mass value="0.010" />
         <origin xyz="0 0 0" rpy="0 0 0" />
-        <inertia ixx="0.00000016" ixy="0.0" ixz="0.0"
-        iyy="0.00000016" iyz="0.0" izz="0.00000016" />
+        <inertia ixx="0.00000016" ixy="0.0" ixz="0.0" iyy="0.00000016" iyz="0.0" izz="0.00000016" />
       </inertial>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
@@ -36,11 +35,9 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom">
     <joint name="${prefix}THJ5" type="revolute">
       <parent link="${parent}" />
       <child link="${prefix}thbase" />
-      <origin xyz="${reflect*0.034} -0.00858 0.029"
-      rpy="0 ${pi/4} ${pi/2-reflect*pi/2}" />
+      <origin xyz="${reflect*0.034} -0.00858 0.029" rpy="0 ${pi/4} ${pi/2-reflect*pi/2}" />
       <axis xyz="0 0 ${reflect*-1}" />
-      <limit lower="${-60/180*pi}" upper="${60/180*pi}"
-      effort="5.0" velocity="4.0" />
+      <limit lower="${-60/180*pi}" upper="${60/180*pi}" effort="5.0" velocity="4.0" />
       <dynamics damping="0.2" />
     </joint>
     <gazebo reference="${prefix}THJ5">
diff --git a/sr_description/hand/xacro/thumb/thdistal.urdf.xacro b/sr_description/hand/xacro/thumb/thdistal.urdf.xacro
index f3ef1fe0..3b28fc4e 100644
--- a/sr_description/hand/xacro/thumb/thdistal.urdf.xacro
+++ b/sr_description/hand/xacro/thumb/thdistal.urdf.xacro
@@ -1,10 +1,10 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro"
-xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#slider"
-xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
-xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom">
+       xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+       xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#slider"
+       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+       xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
+       xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom">
 
   <xacro:include filename="$(find sr_description)/hand/xacro/thumb/thdistal.gazebo.xacro" />
   <xacro:include filename="$(find sr_description)/hand/xacro/thumb/thdistal.transmission.xacro" />
@@ -24,8 +24,7 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom">
         <child link="${prefix}thdistal_J1_dummy" />
         <origin xyz="0 0 0.02" rpy="0 0 ${-pi/2}" />
         <axis xyz="1 0 0" />
-        <limit lower="${20*pi/180}" upper="${20.1*pi/180}"
-        effort="0.0" velocity="2.0" />
+        <limit lower="${20*pi/180}" upper="${20.1*pi/180}" effort="0.0" velocity="2.0" />
         <dynamics damping="0.5" />
       </joint>
       <gazebo reference="${prefix}THJ1">
@@ -37,8 +36,7 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom">
           <origin xyz="-0.009 0.0 0.035" rpy="0 0 ${-pi/2}" />
           <!-- approximated only FIXME -->
           <mass value="0.008" />
-          <inertia ixx="0.0000011" ixy="0.0" ixz="0.0"
-          iyy="0.0000011" iyz="0.0" izz="0.0000005" />
+          <inertia ixx="0.0000011" ixy="0.0" ixz="0.0" iyy="0.0000011" iyz="0.0" izz="0.0000005" />
         </inertial>
         <visual>
           <origin xyz="0 0 0" rpy="0 0 0" />
@@ -63,13 +61,11 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom">
             <collision>${prefix}thdistal_geom</collision>
             <topic>${prefix}thdistal_collision</topic>
           </contact>
-          <plugin name="${prefix}thdistal_gazebo_ros_bumper_controller"
-          filename="libgazebo_ros_bumper.so">
+          <plugin name="${prefix}thdistal_gazebo_ros_bumper_controller" filename="libgazebo_ros_bumper.so">
             <alwaysOn>true</alwaysOn>
             <frameName>${prefix}thdistal</frameName>
             <updateRate>100.0</updateRate>
-            <bumperTopicName>
-            contacts/${prefix}th/distal</bumperTopicName>
+            <bumperTopicName>contacts/${prefix}th/distal</bumperTopicName>
           </plugin>
         </sensor>
         <selfCollide>true</selfCollide>
@@ -85,8 +81,7 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom">
         <inertial>
           <mass value="0.001" />
           <origin xyz="0 0 0" rpy="0 0 0" />
-          <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0"
-          izz="0" />
+          <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
         </inertial>
       </link>
       <gazebo reference="${prefix}thtip">
@@ -105,8 +100,7 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom">
         <inertial>
           <mass value="0.016" />
           <origin xyz="0 0 0.01375" rpy="0 0 0" />
-          <inertia ixx="0.0000021" ixy="0.0" ixz="0.0"
-          iyy="0.0000022" iyz="0.0" izz="0.000001" />
+          <inertia ixx="0.0000021" ixy="0.0" ixz="0.0" iyy="0.0000022" iyz="0.0" izz="0.000001" />
         </inertial>
         <visual>
           <origin xyz="0 0 0" rpy="0 0 0" />
@@ -151,8 +145,7 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom">
         <child link="${prefix}thdistal" />
         <origin xyz="0 0 0.032" rpy="0 0 ${-pi/2}" />
         <axis xyz="1 0 0" />
-        <limit lower="-${15.0*pi/180}" upper="${90.0*pi/180}" effort="1.0"
-        velocity="4.0" />
+        <limit lower="-${15.0*pi/180}" upper="${90.0*pi/180}" effort="1.0" velocity="4.0" />
         <dynamics damping="0.2" />
       </joint>
       <gazebo reference="${prefix}THJ1">
@@ -162,8 +155,7 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom">
       <link name="${prefix}thtip">
         <inertial>
           <mass value="0.001" />
-          <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0"
-          iyz="0.0" izz="0.0" />
+          <inertia ixx="0.0" ixy="0.0" ixz="0.0" iyy="0.0" iyz="0.0" izz="0.0" />
         </inertial>
       </link>
       <joint name="${prefix}thtip" type="fixed">
diff --git a/sr_description/hand/xacro/thumb/thhub.gazebo.xacro b/sr_description/hand/xacro/thumb/thhub.gazebo.xacro
index 71218134..aefd59e0 100644
--- a/sr_description/hand/xacro/thumb/thhub.gazebo.xacro
+++ b/sr_description/hand/xacro/thumb/thhub.gazebo.xacro
@@ -2,21 +2,8 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
   <xacro:macro name="thhub_gazebo" params="prefix:=^">
     <gazebo reference="${prefix}thhub">
-      <sensor type="contact" name="${prefix}thhub_contact">
-        <always_on>1</always_on>
-        <update_rate>1000.0</update_rate>
-        <contact>
-          <collision>${prefix}thhub_collision</collision>
-          <topic>${prefix}thhub_collision</topic>
-        </contact>
-        <plugin name="${prefix}thhub_gazebo_ros_bumper_controller" filename="libgazebo_ros_bumper.so">
-          <alwaysOn>true</alwaysOn>
-          <frameName>${prefix}thhub</frameName>
-          <updateRate>100.0</updateRate>
-          <bumperTopicName>contacts/${prefix}th/hub</bumperTopicName>
-        </plugin>
-      </sensor>
-      <selfCollide>true</selfCollide>
+      <!-- hub is inside the proximal and not exposed, so bumper is not needed -->
+      <selfCollide>false</selfCollide>
     </gazebo>
   </xacro:macro>
 </robot>
diff --git a/sr_description/hand/xacro/thumb/thhub.urdf.xacro b/sr_description/hand/xacro/thumb/thhub.urdf.xacro
index ef953c8d..70cdc568 100644
--- a/sr_description/hand/xacro/thumb/thhub.urdf.xacro
+++ b/sr_description/hand/xacro/thumb/thhub.urdf.xacro
@@ -1,10 +1,10 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro"
-xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#slider"
-xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
-xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom">
+       xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+       xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#slider"
+       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+       xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
+       xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom">
 
   <xacro:include filename="$(find sr_description)/hand/xacro/thumb/thhub.gazebo.xacro" />
   <xacro:include filename="$(find sr_description)/hand/xacro/thumb/thhub.transmission.xacro" />
@@ -14,8 +14,7 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom">
       <inertial>
         <mass value="0.005" />
         <origin xyz="0 0 0" rpy="0 0 0" />
-        <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001"
-        iyz="0.0" izz="0.0000003" />
+        <inertia ixx="0.000001" ixy="0.0" ixz="0.0" iyy="0.000001" iyz="0.0" izz="0.0000003" />
       </inertial>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
@@ -47,8 +46,7 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom">
         <child link="${prefix}thhub" />
         <origin xyz="0 0 0.038" rpy="0 0 0" />
         <axis xyz="1 0 0" />
-        <limit lower="${-12/180*pi}" upper="${12/180*pi}"
-        effort="2.0" velocity="4.0" />
+        <limit lower="${-12/180*pi}" upper="${12/180*pi}" effort="2.0" velocity="4.0" />
         <dynamics damping="0.2" />
       </joint>
       <gazebo reference="${prefix}THJ3">
diff --git a/sr_description/hand/xacro/thumb/thmiddle.urdf.xacro b/sr_description/hand/xacro/thumb/thmiddle.urdf.xacro
index 6ceef38d..5e7c08f7 100644
--- a/sr_description/hand/xacro/thumb/thmiddle.urdf.xacro
+++ b/sr_description/hand/xacro/thumb/thmiddle.urdf.xacro
@@ -1,10 +1,10 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro"
-xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#slider"
-xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
-xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom">
+       xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+       xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#slider"
+       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+       xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
+       xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom">
 
   <xacro:include filename="$(find sr_description)/hand/xacro/thumb/thmiddle.gazebo.xacro" />
   <xacro:include filename="$(find sr_description)/hand/xacro/thumb/thmiddle.transmission.xacro" />
@@ -15,8 +15,7 @@ xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom">
       <inertial>
         <mass value="0.020" />
         <origin xyz="0 0 0.016" rpy="0 0 0" />
-        <inertia ixx="0.0000051" ixy="0.0" ixz="0.0"
-        iyy="0.0000051" iyz="0.0" izz="0.00000121" />
+        <inertia ixx="0.0000051" ixy="0.0" ixz="0.0" iyy="0.0000051" iyz="0.0" izz="0.00000121" />
       </inertial>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0" />
diff --git a/sr_description/hand/xacro/thumb/thproximal.urdf.xacro b/sr_description/hand/xacro/thumb/thproximal.urdf.xacro
index cddd01f3..80a4e4bc 100644
--- a/sr_description/hand/xacro/thumb/thproximal.urdf.xacro
+++ b/sr_description/hand/xacro/thumb/thproximal.urdf.xacro
@@ -1,10 +1,10 @@
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro"
-xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#slider"
-xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
-xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom">
+       xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+       xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#slider"
+       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+       xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
+       xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom">
 
   <xacro:include filename="$(find sr_description)/hand/xacro/thumb/thproximal.gazebo.xacro" />
   <xacro:include filename="$(find sr_description)/hand/xacro/thumb/thproximal.transmission.xacro" />
diff --git a/sr_description/hand/xacro/validate_macros.xacro b/sr_description/hand/xacro/validate_macros.xacro
index 0d6a4e26..e84ef0f3 100644
--- a/sr_description/hand/xacro/validate_macros.xacro
+++ b/sr_description/hand/xacro/validate_macros.xacro
@@ -2,6 +2,6 @@
 	<xacro:macro name="validate_tokens" params="tokens valid name">
 		<!-- Check that list of tokens is valid -->
 		<xacro:property name="_unknown_tokens_" value="${python.set(tokens) - python.set(valid)}" />
-		<xacro:if value="${_unknown_tokens_}">${xacro.error('Unknown '+name+': '+', '.join(_unknown_tokens_))}</xacro:if>
+		<xacro:if value="${_unknown_tokens_}">${xacro.error('Unknown '+name+': '+', '.join(_unknown_tokens_)+'. The set of available specifiers is: '+', '.join(valid))}</xacro:if>
 	</xacro:macro>
 </validate>
diff --git a/sr_description/loaders/load_support_model.launch b/sr_description/loaders/load_support_model.launch
deleted file mode 100644
index 09a659a5..00000000
--- a/sr_description/loaders/load_support_model.launch
+++ /dev/null
@@ -1,3 +0,0 @@
-<launch>
-  <param name="support_description" command="xacro '$(find sr_description)/other/xacro/desk/desk_robot.urdf.xacro'" />
-</launch>
diff --git a/sr_description/other/xacro/gazebo.urdf.xacro b/sr_description/other/xacro/gazebo.urdf.xacro
index bfae5971..265a90d1 100644
--- a/sr_description/other/xacro/gazebo.urdf.xacro
+++ b/sr_description/other/xacro/gazebo.urdf.xacro
@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
+       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
 
   <gazebo>
     <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
diff --git a/sr_description/package.xml b/sr_description/package.xml
index dd084c0b..a9a47b12 100644
--- a/sr_description/package.xml
+++ b/sr_description/package.xml
@@ -10,13 +10,9 @@
   <url type="repository">https://github.com/shadow-robot/sr_common</url>
   <url type="bugtracker">https://github.com/shadow-robot/sr_common/issues</url>
 
-  <author>Ugo Cupcic</author>
-
   <!-- Dependencies which this package needs to build itself. -->
   <buildtool_depend>catkin</buildtool_depend>
 
-  <!-- Dependencies needed to compile this package. -->
-
   <!-- Dependencies needed after this package is compiled. -->
   <run_depend>xacro</run_depend>
   <run_depend>position_controllers</run_depend>
diff --git a/sr_description/robots/legacy/bimanual_shadowhand_extra_lite.urdf.xacro b/sr_description/robots/legacy/bimanual_shadowhand_extra_lite.urdf.xacro
deleted file mode 100644
index 9340f047..00000000
--- a/sr_description/robots/legacy/bimanual_shadowhand_extra_lite.urdf.xacro
+++ /dev/null
@@ -1,21 +0,0 @@
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro"
-name="bimanual_shadowhand_motor">
-  <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/hand/xacro/hand_lite.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro" />
-  <link name="world" />
-  <xacro:arg name="arm_x_separation" default="-0.4"/>
-
-  <joint name="world_joint" type="fixed">
-    <parent link="world" />
-    <child link="rh_forearm" />
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand hand_type="motor" fingers="th ff rf" reflect="1.0" prefix="rh_" />
-  <joint name="right_hand_to_left_hand" type="fixed">
-    <parent link="rh_forearm" />
-    <child link="lh_forearm" />
-    <origin xyz="$(arg arm_x_separation) 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand hand_type="motor" fingers="th ff rf" reflect="-1.0" prefix="lh_" />
-</robot>
diff --git a/sr_description/robots/legacy/bimanual_shadowhand_lite.urdf.xacro b/sr_description/robots/legacy/bimanual_shadowhand_lite.urdf.xacro
deleted file mode 100644
index 20b73487..00000000
--- a/sr_description/robots/legacy/bimanual_shadowhand_lite.urdf.xacro
+++ /dev/null
@@ -1,21 +0,0 @@
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro"
-name="bimanual_shadowhand_motor">
-  <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/hand/xacro/hand_lite.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro" />
-  <link name="world" />
-  <xacro:arg name="arm_x_separation" default="-0.4"/>
-
-  <joint name="world_joint" type="fixed">
-    <parent link="world" />
-    <child link="rh_forearm" />
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand hand_type="motor" reflect="1.0" prefix="rh_" />
-  <joint name="right_hand_to_left_hand" type="fixed">
-    <parent link="rh_forearm" />
-    <child link="lh_forearm" />
-    <origin xyz="$(arg arm_x_separation) 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand hand_type="motor" reflect="-1.0" prefix="lh_" />
-</robot>
diff --git a/sr_description/robots/legacy/bimanual_shadowhand_lite_btsp.urdf.xacro b/sr_description/robots/legacy/bimanual_shadowhand_lite_btsp.urdf.xacro
deleted file mode 100644
index aaa58a61..00000000
--- a/sr_description/robots/legacy/bimanual_shadowhand_lite_btsp.urdf.xacro
+++ /dev/null
@@ -1,21 +0,0 @@
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro"
-name="bimanual_shadowhand_motor">
-  <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/hand/xacro/hand_lite.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro" />
-  <link name="world" />
-  <xacro:arg name="arm_x_separation" default="-0.4"/>
-
-  <joint name="world_joint" type="fixed">
-    <parent link="world" />
-    <child link="rh_forearm" />
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand hand_type="motor" tip_sensors="bt_sp" reflect="1.0" prefix="rh_" />
-  <joint name="right_hand_to_left_hand" type="fixed">
-    <parent link="rh_forearm" />
-    <child link="lh_forearm" />
-    <origin xyz="$(arg arm_x_separation) 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand hand_type="motor" tip_sensors="bt_sp" reflect="-1.0" prefix="lh_" />
-</robot>
diff --git a/sr_description/robots/legacy/bimanual_shadowhand_lite_right_btsp.urdf.xacro b/sr_description/robots/legacy/bimanual_shadowhand_lite_right_btsp.urdf.xacro
deleted file mode 100644
index f1b97424..00000000
--- a/sr_description/robots/legacy/bimanual_shadowhand_lite_right_btsp.urdf.xacro
+++ /dev/null
@@ -1,21 +0,0 @@
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro"
-name="bimanual_shadowhand_motor">
-  <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/hand/xacro/hand_lite.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro" />
-  <link name="world" />
-  <xacro:arg name="arm_x_separation" default="-0.4"/>
-
-  <joint name="world_joint" type="fixed">
-    <parent link="world" />
-    <child link="rh_forearm" />
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand hand_type="motor" tip_sensors="bt_sp" reflect="1.0" prefix="rh_" />
-  <joint name="right_hand_to_left_hand" type="fixed">
-    <parent link="rh_forearm" />
-    <child link="lh_forearm" />
-    <origin xyz="$(arg arm_x_separation) 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand hand_type="motor" reflect="-1.0" prefix="lh_" />
-</robot>
diff --git a/sr_description/robots/legacy/bimanual_shadowhand_motor.urdf.xacro b/sr_description/robots/legacy/bimanual_shadowhand_motor.urdf.xacro
deleted file mode 100644
index 4b5d6eb2..00000000
--- a/sr_description/robots/legacy/bimanual_shadowhand_motor.urdf.xacro
+++ /dev/null
@@ -1,20 +0,0 @@
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro"
-name="bimanual_shadowhand_motor">
-  <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/hand/xacro/hand.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro" />
-  <link name="world" />
-  <joint name="world_joint" type="fixed">
-    <parent link="world" />
-    <child link="rh_forearm" />
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand hand_type="motor" reflect="1.0" prefix="rh_" />
-  <joint name="right_hand_to_left_hand" type="fixed">
-    <parent link="rh_forearm" />
-    <child link="lh_forearm" />
-    <origin xyz="0.4 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand hand_type="motor" reflect="-1.0" prefix="lh_" />
-
-</robot>
diff --git a/sr_description/robots/legacy/bimanual_shadowhand_motor_plus.urdf.xacro b/sr_description/robots/legacy/bimanual_shadowhand_motor_plus.urdf.xacro
deleted file mode 100644
index 20cd6569..00000000
--- a/sr_description/robots/legacy/bimanual_shadowhand_motor_plus.urdf.xacro
+++ /dev/null
@@ -1,21 +0,0 @@
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro"
-name="bimanual_shadowhand_motor">
-  <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/hand/xacro/hand.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro" />
-  <link name="world" />
-  <xacro:arg name="arm_x_separation" default="-0.4"/>
-
-  <joint name="world_joint" type="fixed">
-    <parent link="world" />
-    <child link="rh_forearm" />
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand hand_type="motor+" reflect="1.0" prefix="rh_" />
-  <joint name="right_hand_to_left_hand" type="fixed">
-    <parent link="rh_forearm" />
-    <child link="lh_forearm" />
-    <origin xyz="$(arg arm_x_separation) 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand hand_type="motor+" reflect="-1.0" prefix="lh_" />
-</robot>
diff --git a/sr_description/robots/legacy/bimanual_shadowhand_motor_plus_right_biotac.urdf.xacro b/sr_description/robots/legacy/bimanual_shadowhand_motor_plus_right_biotac.urdf.xacro
deleted file mode 100644
index a90b54d5..00000000
--- a/sr_description/robots/legacy/bimanual_shadowhand_motor_plus_right_biotac.urdf.xacro
+++ /dev/null
@@ -1,20 +0,0 @@
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro"
-name="bimanual_shadowhand_motor">
-  <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/hand/xacro/hand.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro" />
-  <link name="world" />
-  <joint name="world_joint" type="fixed">
-    <parent link="world" />
-    <child link="rh_forearm" />
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand hand_type="motor+" tip_sensors="bt_sp" reflect="1.0" prefix="rh_" />
-  <joint name="right_hand_to_left_hand" type="fixed">
-    <parent link="rh_forearm" />
-    <child link="lh_forearm" />
-    <origin xyz="0.4 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand hand_type="motor+" reflect="-1.0" prefix="lh_" />
-
-</robot>
diff --git a/sr_description/robots/legacy/shadowhand_extra_lite.urdf.xacro b/sr_description/robots/legacy/shadowhand_extra_lite.urdf.xacro
deleted file mode 100644
index de39ff3f..00000000
--- a/sr_description/robots/legacy/shadowhand_extra_lite.urdf.xacro
+++ /dev/null
@@ -1,17 +0,0 @@
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-xmlns:xacro="http://www.ros.org/wiki/xacro"
-name="shadowhand_motor">
-  <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/hand/xacro/hand_lite.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro" />
-  <!-- hand with cylindrical base drifts in gazebo, attach it to the world -->
-  <link name="world" />
-  <joint name="rh_world_joint" type="fixed">
-    <parent link="world" />
-    <child link="rh_forearm" />
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand hand_type="motor" fingers="th ff rf" reflect="1.0" prefix="rh_" />
-</robot>
diff --git a/sr_description/robots/legacy/shadowhand_left_extra_lite.urdf.xacro b/sr_description/robots/legacy/shadowhand_left_extra_lite.urdf.xacro
deleted file mode 100644
index 7965cf6b..00000000
--- a/sr_description/robots/legacy/shadowhand_left_extra_lite.urdf.xacro
+++ /dev/null
@@ -1,17 +0,0 @@
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-xmlns:xacro="http://www.ros.org/wiki/xacro"
-name="shadowhand_motor">
-  <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/hand/xacro/hand_lite.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro" />
-  <!-- hand with cylindrical base drifts in gazebo, attach it to the world -->
-  <link name="world" />
-  <joint name="lh_world_joint" type="fixed">
-    <parent link="world" />
-    <child link="lh_forearm" />
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand hand_type="motor" fingers="th ff rf" reflect="-1.0" prefix="lh_" />
-</robot>
diff --git a/sr_description/robots/legacy/shadowhand_left_lite.urdf.xacro b/sr_description/robots/legacy/shadowhand_left_lite.urdf.xacro
deleted file mode 100644
index 389f7439..00000000
--- a/sr_description/robots/legacy/shadowhand_left_lite.urdf.xacro
+++ /dev/null
@@ -1,17 +0,0 @@
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-xmlns:xacro="http://www.ros.org/wiki/xacro"
-name="shadowhand_motor">
-  <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/hand/xacro/hand_lite.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro" />
-  <!-- hand with cylindrical base drifts in gazebo, attach it to the world -->
-  <link name="world" />
-  <joint name="lh_world_joint" type="fixed">
-    <parent link="world" />
-    <child link="lh_forearm" />
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand hand_type="motor" reflect="-1.0" prefix="lh_" />
-</robot>
diff --git a/sr_description/robots/legacy/shadowhand_left_lite_btsp.urdf.xacro b/sr_description/robots/legacy/shadowhand_left_lite_btsp.urdf.xacro
deleted file mode 100644
index 19c0367b..00000000
--- a/sr_description/robots/legacy/shadowhand_left_lite_btsp.urdf.xacro
+++ /dev/null
@@ -1,17 +0,0 @@
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-xmlns:xacro="http://www.ros.org/wiki/xacro"
-name="shadowhand_motor">
-  <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/hand/xacro/hand_lite.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro" />
-  <!-- hand with cylindrical base drifts in gazebo, attach it to the world -->
-  <link name="world" />
-  <joint name="lh_world_joint" type="fixed">
-    <parent link="world" />
-    <child link="lh_forearm" />
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand hand_type="motor" tip_sensors="bt_sp" reflect="-1.0" prefix="lh_" />
-</robot>
diff --git a/sr_description/robots/legacy/shadowhand_left_motor.urdf.xacro b/sr_description/robots/legacy/shadowhand_left_motor.urdf.xacro
deleted file mode 100644
index 70facd6f..00000000
--- a/sr_description/robots/legacy/shadowhand_left_motor.urdf.xacro
+++ /dev/null
@@ -1,17 +0,0 @@
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-xmlns:xacro="http://www.ros.org/wiki/xacro"
-name="shadowhand_motor">
-  <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/hand/xacro/hand.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro" />
-  <!-- hand with cylindrical base drifts in gazebo, attach it to the world -->
-  <link name="world" />
-  <joint name="lh_world_joint" type="fixed">
-    <parent link="world" />
-    <child link="lh_forearm" />
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand hand_type="motor" reflect="-1.0" prefix="lh_" />
-</robot>
diff --git a/sr_description/robots/legacy/shadowhand_left_motor_biotac.urdf.xacro b/sr_description/robots/legacy/shadowhand_left_motor_biotac.urdf.xacro
deleted file mode 100644
index 81616151..00000000
--- a/sr_description/robots/legacy/shadowhand_left_motor_biotac.urdf.xacro
+++ /dev/null
@@ -1,17 +0,0 @@
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-xmlns:xacro="http://www.ros.org/wiki/xacro"
-name="shadowhand_motor">
-  <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/hand/xacro/hand.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro" />
-  <!-- hand with cylindrical base drifts in gazebo, attach it to the world -->
-  <link name="world" />
-  <joint name="lh_world_joint" type="fixed">
-    <parent link="world" />
-    <child link="lh_forearm" />
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand hand_type="motor" tip_sensors="bt_2p" reflect="-1.0" prefix="lh_" />
-</robot>
diff --git a/sr_description/robots/legacy/shadowhand_left_motor_plus.urdf.xacro b/sr_description/robots/legacy/shadowhand_left_motor_plus.urdf.xacro
deleted file mode 100644
index ef0a2d72..00000000
--- a/sr_description/robots/legacy/shadowhand_left_motor_plus.urdf.xacro
+++ /dev/null
@@ -1,17 +0,0 @@
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-       xmlns:xacro="http://www.ros.org/wiki/xacro"
-       name="shadowhand_motor">
-    <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro"/>
-    <xacro:include filename="$(find sr_description)/hand/xacro/hand.urdf.xacro"/>
-    <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro"/>
-    <!-- hand with cylindrical base drifts in gazebo, attach it to the world -->
-    <link name="world" />
-    <joint name="lh_world_joint" type="fixed">
-      <parent link="world" />
-      <child link="lh_forearm" />
-      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-    </joint>
-  <xacro:sr_hand hand_type="motor+" reflect="-1.0" prefix="lh_" />
-</robot>
diff --git a/sr_description/robots/legacy/shadowhand_left_motor_plus_btsp.urdf.xacro b/sr_description/robots/legacy/shadowhand_left_motor_plus_btsp.urdf.xacro
deleted file mode 100644
index 9c078e1e..00000000
--- a/sr_description/robots/legacy/shadowhand_left_motor_plus_btsp.urdf.xacro
+++ /dev/null
@@ -1,17 +0,0 @@
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-       xmlns:xacro="http://www.ros.org/wiki/xacro"
-       name="shadowhand_motor">
-    <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro"/>
-    <xacro:include filename="$(find sr_description)/hand/xacro/hand.urdf.xacro"/>
-    <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro"/>
-    <!-- hand with cylindrical base drifts in gazebo, attach it to the world -->
-    <link name="world" />
-    <joint name="lh_world_joint" type="fixed">
-      <parent link="world" />
-      <child link="lh_forearm" />
-      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-    </joint>
-  <xacro:sr_hand hand_type="motor+" tip_sensors="bt_sp" reflect="-1.0" prefix="lh_" />
-</robot>
diff --git a/sr_description/robots/legacy/shadowhand_left_muscle.urdf.xacro b/sr_description/robots/legacy/shadowhand_left_muscle.urdf.xacro
deleted file mode 100644
index 51db6177..00000000
--- a/sr_description/robots/legacy/shadowhand_left_muscle.urdf.xacro
+++ /dev/null
@@ -1,48 +0,0 @@
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-xmlns:xacro="http://www.ros.org/wiki/xacro"
-name="shadowhand_muscle">
-  <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/hand/xacro/hand.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro" />
-  <!-- hand with cylindrical base drifts in gazebo, attach it to the world -->
-  <link name="world" />
-  <joint name="lh_world_joint" type="fixed">
-    <parent link="world" />
-    <child link="lh_forearm_disk" />
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand hand_type="muscle" reflect="-1.0" prefix="lh_" />
-  <link name="lh_forearm_disk">
-    <inertial>
-      <origin xyz="0 0 0" />
-      <mass value="3.0" />
-      <inertia ixx="0.00735" ixy="0.0" ixz="0.0" iyy="0.00735"
-      iyz="0.0" izz="0.0343" />
-    </inertial>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry name="lh_forearm_disk_geom">
-        <mesh filename="package://sr_description/meshes/hand/forearm_muscle_disk.dae"
-        scale="1.0 1.0 1.0" />
-      </geometry>
-      <material name="Grey" />
-    </visual>
-    <collision>
-      <origin xyz="0 0 0.175" rpy="0 0 0" />
-      <geometry name="lh_forearm_disk_collision">
-        <cylinder radius="0.07" length="0.004" />
-      </geometry>
-    </collision>
-  </link>
-  <gazebo reference="lh_forearm_disk">
-    <material>Gazebo/Grey</material>
-    <selfCollide>false</selfCollide>
-  </gazebo>
-  <joint name="lh_forearm_disk_to_lh_forearm" type="fixed">
-    <parent link="lh_forearm_disk" />
-    <child link="lh_forearm" />
-    <origin xyz="0 0 0.004" rpy="0 0 0" />
-  </joint>
-</robot>
diff --git a/sr_description/robots/legacy/shadowhand_lite.urdf.xacro b/sr_description/robots/legacy/shadowhand_lite.urdf.xacro
deleted file mode 100644
index f8efc03d..00000000
--- a/sr_description/robots/legacy/shadowhand_lite.urdf.xacro
+++ /dev/null
@@ -1,17 +0,0 @@
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-xmlns:xacro="http://www.ros.org/wiki/xacro"
-name="shadowhand_motor">
-  <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/hand/xacro/hand_lite.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro" />
-  <!-- hand with cylindrical base drifts in gazebo, attach it to the world -->
-  <link name="world" />
-  <joint name="rh_world_joint" type="fixed">
-    <parent link="world" />
-    <child link="rh_forearm" />
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand hand_type="motor" reflect="1.0" prefix="rh_" />
-</robot>
diff --git a/sr_description/robots/legacy/shadowhand_lite_btsp.urdf.xacro b/sr_description/robots/legacy/shadowhand_lite_btsp.urdf.xacro
deleted file mode 100644
index 0dd3930c..00000000
--- a/sr_description/robots/legacy/shadowhand_lite_btsp.urdf.xacro
+++ /dev/null
@@ -1,17 +0,0 @@
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-xmlns:xacro="http://www.ros.org/wiki/xacro"
-name="shadowhand_motor">
-  <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/hand/xacro/hand_lite.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro" />
-  <!-- hand with cylindrical base drifts in gazebo, attach it to the world -->
-  <link name="world" />
-  <joint name="rh_world_joint" type="fixed">
-    <parent link="world" />
-    <child link="rh_forearm" />
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand hand_type="motor" tip_sensors="bt_sp" reflect="1.0" prefix="rh_" />
-</robot>
diff --git a/sr_description/robots/legacy/shadowhand_motor.urdf.xacro b/sr_description/robots/legacy/shadowhand_motor.urdf.xacro
deleted file mode 100644
index b9fc3c2e..00000000
--- a/sr_description/robots/legacy/shadowhand_motor.urdf.xacro
+++ /dev/null
@@ -1,16 +0,0 @@
-<robot xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-       xmlns:xacro="http://www.ros.org/wiki/xacro"
-       name="shadowhand_motor">
-    <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro"/>
-    <xacro:include filename="$(find sr_description)/hand/xacro/hand.urdf.xacro"/>
-    <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro"/>
-    <!-- hand with cylindrical base drifts in gazebo, attach it to the world -->
-    <link name="world" />
-    <joint name="rh_world_joint" type="fixed">
-      <parent link="world" />
-      <child link="rh_forearm" />
-      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-    </joint>
-  <xacro:sr_hand hand_type="E" reflect="1.0" prefix="rh_" />
-</robot>
diff --git a/sr_description/robots/legacy/shadowhand_motor_biotac.urdf.xacro b/sr_description/robots/legacy/shadowhand_motor_biotac.urdf.xacro
deleted file mode 100644
index d67c1bb8..00000000
--- a/sr_description/robots/legacy/shadowhand_motor_biotac.urdf.xacro
+++ /dev/null
@@ -1,17 +0,0 @@
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-xmlns:xacro="http://www.ros.org/wiki/xacro"
-name="shadowhand_motor">
-  <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/hand/xacro/hand.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro" />
-  <!-- hand with cylindrical base drifts in gazebo, attach it to the world -->
-  <link name="world" />
-  <joint name="rh_world_joint" type="fixed">
-    <parent link="world" />
-    <child link="rh_forearm" />
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand hand_type="motor" tip_sensors="bt_2p" reflect="1.0" prefix="rh_" />
-</robot>
diff --git a/sr_description/robots/legacy/shadowhand_motor_btsp.urdf.xacro b/sr_description/robots/legacy/shadowhand_motor_btsp.urdf.xacro
deleted file mode 100644
index 652e1627..00000000
--- a/sr_description/robots/legacy/shadowhand_motor_btsp.urdf.xacro
+++ /dev/null
@@ -1,17 +0,0 @@
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-xmlns:xacro="http://www.ros.org/wiki/xacro"
-name="shadowhand_motor">
-  <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/hand/xacro/hand.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro" />
-  <!-- hand with cylindrical base drifts in gazebo, attach it to the world -->
-  <link name="world" />
-  <joint name="rh_world_joint" type="fixed">
-    <parent link="world" />
-    <child link="rh_forearm" />
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand hand_type="motor" tip_sensors="bt_sp" reflect="1.0" prefix="rh_" />
-</robot>
diff --git a/sr_description/robots/legacy/shadowhand_motor_ellipsoid.urdf.xacro b/sr_description/robots/legacy/shadowhand_motor_ellipsoid.urdf.xacro
deleted file mode 100644
index 2851bbe1..00000000
--- a/sr_description/robots/legacy/shadowhand_motor_ellipsoid.urdf.xacro
+++ /dev/null
@@ -1,17 +0,0 @@
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-xmlns:xacro="http://www.ros.org/wiki/xacro"
-name="shadowhand_motor">
-  <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/hand/xacro/hand.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro" />
-  <!-- hand with cylindrical base drifts in gazebo, attach it to the world -->
-  <link name="world" />
-  <joint name="rh_world_joint" type="fixed">
-    <parent link="world" />
-    <child link="rh_forearm" />
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand hand_type="motor" tip_sensors="eli" reflect="1.0" prefix="rh_" />
-</robot>
diff --git a/sr_description/robots/legacy/shadowhand_motor_ff_biotac.urdf.xacro b/sr_description/robots/legacy/shadowhand_motor_ff_biotac.urdf.xacro
deleted file mode 100644
index 5655a822..00000000
--- a/sr_description/robots/legacy/shadowhand_motor_ff_biotac.urdf.xacro
+++ /dev/null
@@ -1,17 +0,0 @@
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-       xmlns:xacro="http://www.ros.org/wiki/xacro"
-       name="shadowhand_motor">
-    <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro" />
-    <xacro:include filename="$(find sr_description)/hand/xacro/hand.urdf.xacro" />
-    <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro" />
-    <!-- hand with cylindrical base drifts in gazebo, attach it to the world -->
-    <link name="world" />
-    <joint name="rh_world_joint" type="fixed">
-      <parent link="world" />
-      <child link="rh_forearm" />
-      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-    </joint>
-  <xacro:sr_hand hand_type="motor" tip_sensors="ff=bt_2p" reflect="1.0" prefix="rh_" />
-</robot>
diff --git a/sr_description/robots/legacy/shadowhand_motor_no_lf.urdf.xacro b/sr_description/robots/legacy/shadowhand_motor_no_lf.urdf.xacro
deleted file mode 100644
index 95025c73..00000000
--- a/sr_description/robots/legacy/shadowhand_motor_no_lf.urdf.xacro
+++ /dev/null
@@ -1,17 +0,0 @@
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-       xmlns:xacro="http://www.ros.org/wiki/xacro"
-       name="shadowhand_motor">
-    <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro"/>
-    <xacro:include filename="$(find sr_description)/hand/xacro/hand.urdf.xacro"/>
-    <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro"/>
-    <!-- hand with cylindrical base drifts in gazebo, attach it to the world -->
-    <link name="world" />
-    <joint name="rh_world_joint" type="fixed">
-      <parent link="world" />
-      <child link="rh_forearm" />
-      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-    </joint>
-  <xacro:sr_hand hand_type="motor" fingers="th ff mf rf" reflect="1.0" prefix="rh_" />
-</robot>
diff --git a/sr_description/robots/legacy/shadowhand_motor_no_mf_rf_lf.urdf.xacro b/sr_description/robots/legacy/shadowhand_motor_no_mf_rf_lf.urdf.xacro
deleted file mode 100644
index 86fc9e41..00000000
--- a/sr_description/robots/legacy/shadowhand_motor_no_mf_rf_lf.urdf.xacro
+++ /dev/null
@@ -1,17 +0,0 @@
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-       xmlns:xacro="http://www.ros.org/wiki/xacro"
-       name="shadowhand_motor">
-    <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro"/>
-    <xacro:include filename="$(find sr_description)/hand/xacro/hand.urdf.xacro"/>
-    <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro"/>
-    <!-- hand with cylindrical base drifts in gazebo, attach it to the world -->
-    <link name="world" />
-    <joint name="rh_world_joint" type="fixed">
-      <parent link="world" />
-      <child link="rh_forearm" />
-      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-    </joint>
-  <xacro:sr_hand hand_type="motor" fingers="th ff" reflect="1.0" prefix="rh_" />
-</robot>
diff --git a/sr_description/robots/legacy/shadowhand_motor_plus.urdf.xacro b/sr_description/robots/legacy/shadowhand_motor_plus.urdf.xacro
deleted file mode 100644
index c251f07f..00000000
--- a/sr_description/robots/legacy/shadowhand_motor_plus.urdf.xacro
+++ /dev/null
@@ -1,17 +0,0 @@
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-       xmlns:xacro="http://www.ros.org/wiki/xacro"
-       name="shadowhand_motor">
-    <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro"/>
-    <xacro:include filename="$(find sr_description)/hand/xacro/hand.urdf.xacro"/>
-    <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro"/>
-    <!-- hand with cylindrical base drifts in gazebo, attach it to the world -->
-    <link name="world" />
-    <joint name="rh_world_joint" type="fixed">
-      <parent link="world" />
-      <child link="rh_forearm" />
-      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-    </joint>
-  <xacro:sr_hand hand_type="motor+" reflect="1.0" prefix="rh_" />
-</robot>
diff --git a/sr_description/robots/legacy/shadowhand_motor_plus_biotac.urdf.xacro b/sr_description/robots/legacy/shadowhand_motor_plus_biotac.urdf.xacro
deleted file mode 100644
index c471452b..00000000
--- a/sr_description/robots/legacy/shadowhand_motor_plus_biotac.urdf.xacro
+++ /dev/null
@@ -1,17 +0,0 @@
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-       xmlns:xacro="http://www.ros.org/wiki/xacro"
-       name="shadowhand_motor">
-    <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro"/>
-    <xacro:include filename="$(find sr_description)/hand/xacro/hand.urdf.xacro"/>
-    <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro"/>
-    <!-- hand with cylindrical base drifts in gazebo, attach it to the world -->
-    <link name="world" />
-    <joint name="rh_world_joint" type="fixed">
-      <parent link="world" />
-      <child link="rh_forearm" />
-      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-    </joint>
-  <xacro:sr_hand hand_type="motor+" tip_sensors="bio" reflect="1.0" prefix="rh_" />
-</robot>
diff --git a/sr_description/robots/legacy/shadowhand_motor_plus_btsp.urdf.xacro b/sr_description/robots/legacy/shadowhand_motor_plus_btsp.urdf.xacro
deleted file mode 100644
index 3139266f..00000000
--- a/sr_description/robots/legacy/shadowhand_motor_plus_btsp.urdf.xacro
+++ /dev/null
@@ -1,17 +0,0 @@
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-       xmlns:xacro="http://www.ros.org/wiki/xacro"
-       name="shadowhand_motor">
-    <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro"/>
-    <xacro:include filename="$(find sr_description)/hand/xacro/hand.urdf.xacro"/>
-    <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro"/>
-    <!-- hand with cylindrical base drifts in gazebo, attach it to the world -->
-    <link name="world" />
-    <joint name="rh_world_joint" type="fixed">
-      <parent link="world" />
-      <child link="rh_forearm" />
-      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-    </joint>
-  <xacro:sr_hand hand_type="motor+" tip_sensors="bt_sp" reflect="1.0" prefix="rh_" />
-</robot>
diff --git a/sr_description/robots/legacy/shadowhand_motor_th_ff_rf_ellipsoid.urdf.xacro b/sr_description/robots/legacy/shadowhand_motor_th_ff_rf_ellipsoid.urdf.xacro
deleted file mode 100644
index 67c59a5b..00000000
--- a/sr_description/robots/legacy/shadowhand_motor_th_ff_rf_ellipsoid.urdf.xacro
+++ /dev/null
@@ -1,17 +0,0 @@
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-xmlns:xacro="http://www.ros.org/wiki/xacro"
-name="shadowhand_motor">
-  <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/hand/xacro/hand.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro" />
-  <!-- hand with cylindrical base drifts in gazebo, attach it to the world -->
-  <link name="world" />
-  <joint name="rh_world_joint" type="fixed">
-    <parent link="world" />
-    <child link="rh_forearm" />
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand hand_type="motor" tip_sensors="th=eli ff=eli rf=eli" reflect="1.0" prefix="rh_" />
-</robot>
diff --git a/sr_description/robots/legacy/shadowhand_muscle.urdf.xacro b/sr_description/robots/legacy/shadowhand_muscle.urdf.xacro
deleted file mode 100644
index a638a2d0..00000000
--- a/sr_description/robots/legacy/shadowhand_muscle.urdf.xacro
+++ /dev/null
@@ -1,48 +0,0 @@
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-xmlns:xacro="http://www.ros.org/wiki/xacro"
-name="shadowhand_muscle">
-  <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/hand/xacro/hand.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro" />
-  <!-- hand with cylindrical base drifts in gazebo, attach it to the world -->
-  <link name="world" />
-  <joint name="rh_world_joint" type="fixed">
-    <parent link="world" />
-    <child link="rh_forearm_disk" />
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand hand_type="muscle" reflect="1.0" prefix="rh_" />
-  <link name="rh_forearm_disk">
-    <inertial>
-      <origin xyz="0 0 0" />
-      <mass value="3.0" />
-      <inertia ixx="0.00735" ixy="0.0" ixz="0.0" iyy="0.00735"
-      iyz="0.0" izz="0.0343" />
-    </inertial>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry name="rh_forearm_disk_geom">
-        <mesh filename="package://sr_description/meshes/hand/forearm_muscle_disk.dae"
-        scale="1.0 1.0 1.0" />
-      </geometry>
-      <material name="Grey" />
-    </visual>
-    <collision>
-      <origin xyz="0 0 0.175" rpy="0 0 0" />
-      <geometry name="rh_forearm_disk_collision">
-        <cylinder radius="0.07" length="0.004" />
-      </geometry>
-    </collision>
-  </link>
-  <gazebo reference="rh_forearm_disk">
-    <material>Gazebo/Grey</material>
-    <selfCollide>false</selfCollide>
-  </gazebo>
-  <joint name="rh_forearm_disk_to_rh_forearm" type="fixed">
-    <parent link="rh_forearm_disk" />
-    <child link="rh_forearm" />
-    <origin xyz="0 0 0.004" rpy="0 0 0" />
-  </joint>
-</robot>
diff --git a/sr_description/robots/legacy/shadowhand_muscle_biotac.urdf.xacro b/sr_description/robots/legacy/shadowhand_muscle_biotac.urdf.xacro
deleted file mode 100644
index ecefbf94..00000000
--- a/sr_description/robots/legacy/shadowhand_muscle_biotac.urdf.xacro
+++ /dev/null
@@ -1,52 +0,0 @@
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-xmlns:xacro="http://www.ros.org/wiki/xacro"
-name="shadowhand_motor">
-  <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/hand/xacro/hand.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro" />
-  <!-- C6 hand with BioTAC sensor
-  (C) 2012 fnh, hendrich@informatik.uni-hamburg.de
--->
-  <!-- hand with cylindrical base drifts in gazebo, attach it to the world -->
-  <link name="world" />
-  <joint name="rh_world_joint" type="fixed">
-    <parent link="world" />
-    <child link="rh_forearm_disk" />
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-
-  <xacro:sr_hand hand_type="muscle" tip_sensors="bt_2p" reflect="1.0" prefix="rh_" />
-  <link name="rh_forearm_disk">
-    <inertial>
-      <origin xyz="0 0 0" />
-      <mass value="3.0" />
-      <inertia ixx="0.00735" ixy="0.0" ixz="0.0" iyy="0.00735"
-      iyz="0.0" izz="0.0343" />
-    </inertial>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry name="rh_forearm_disk_geom">
-        <mesh filename="package://sr_description/meshes/hand/forearm_muscle_disk.dae"
-        scale="1.0 1.0 1.0" />
-      </geometry>
-      <material name="Grey" />
-    </visual>
-    <collision>
-      <origin xyz="0 0 0.175" rpy="0 0 0" />
-      <geometry name="rh_forearm_disk_collision">
-        <cylinder radius="0.07" length="0.004" />
-      </geometry>
-    </collision>
-  </link>
-  <gazebo reference="rh_forearm_disk">
-    <material>Gazebo/Grey</material>
-    <selfCollide>false</selfCollide>
-  </gazebo>
-  <joint name="rh_forearm_disk_to_rh_forearm" type="fixed">
-    <parent link="rh_forearm_disk" />
-    <child link="rh_forearm" />
-    <origin xyz="0 0 0.004" rpy="0 0 0" />
-  </joint>
-</robot>
diff --git a/sr_description/robots/legacy/sr_one_finger_motor.urdf.xacro b/sr_description/robots/legacy/sr_one_finger_motor.urdf.xacro
deleted file mode 100644
index a77a0e93..00000000
--- a/sr_description/robots/legacy/sr_one_finger_motor.urdf.xacro
+++ /dev/null
@@ -1,17 +0,0 @@
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-xmlns:xacro="http://www.ros.org/wiki/xacro"
-name="shadowhand_motor">
-  <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/hand/xacro/one_finger_unit.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro" />
-  <!-- hand with cylindrical base drifts in gazebo, attach it to the world -->
-  <link name="world" />
-  <joint name="rh_world_joint" type="fixed">
-    <parent link="world" />
-    <child link="rh_forearm" />
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand reflect="1.0" prefix="rh_" />
-</robot>
diff --git a/sr_description/robots/sr_hand.urdf.xacro b/sr_description/robots/sr_hand.urdf.xacro
index 649d2028..fdd92bcd 100644
--- a/sr_description/robots/sr_hand.urdf.xacro
+++ b/sr_description/robots/sr_hand.urdf.xacro
@@ -36,4 +36,4 @@
                  fingers="$(arg fingers)" tip_sensors="$(arg tip_sensors)" mid_sensors="$(arg mid_sensors)"
                  prox_sensors="$(arg prox_sensors)" palm_sensor="$(arg palm_sensor)"/>
 
-</robot>
\ No newline at end of file
+</robot>
diff --git a/sr_description/robots/sr_hand_bimanual.urdf.xacro b/sr_description/robots/sr_hand_bimanual.urdf.xacro
index edae469e..ed5554fe 100644
--- a/sr_description/robots/sr_hand_bimanual.urdf.xacro
+++ b/sr_description/robots/sr_hand_bimanual.urdf.xacro
@@ -2,7 +2,7 @@
        xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
        xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
        xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-       name="bumanual_shadowhand_motor">
+       name="bimanual_shadowhand_motor">
 
   <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro"/>
   <xacro:include filename="$(find sr_description)/hand/xacro/hand.urdf.xacro"/>
diff --git a/sr_description/test/README.md b/sr_description/test/README.md
index ba68b545..9f088ed3 100644
--- a/sr_description/test/README.md
+++ b/sr_description/test/README.md
@@ -3,12 +3,10 @@
 In addition to the gtest test_sr_description_urdf which tests xacro expansion and resulting urdf validity, 
 visual tests have been added to check if the generated urdf produce the desired hand with the correct joints.
 
-The visual tests are two shell scripts that require user interaction:
+The visual tests are scripts that require user interaction:
 
 1. Start the test
   ./tests_hand.sh
-  or 
-  ./tests_arms.sh
 
 2. User is requested to press enter the first time to start
-3. To finish an inspection press CTRL-C in the terminal or close rviz
+3. To finish an inspection, press CTRL-C in the terminal or close rviz
diff --git a/sr_description/test/robots.old/bimanual_shadowhand_extra_lite.urdf.xacro b/sr_description/test/robots.old/bimanual_shadowhand_extra_lite.urdf.xacro
deleted file mode 100644
index 8289425f..00000000
--- a/sr_description/test/robots.old/bimanual_shadowhand_extra_lite.urdf.xacro
+++ /dev/null
@@ -1,21 +0,0 @@
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro"
-name="bimanual_shadowhand_motor">
-  <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/hand/xacro/hand_lite.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro" />
-  <link name="world" />
-  <xacro:arg name="arm_x_separation" default="-0.4"/>
-
-  <joint name="world_joint" type="fixed">
-    <parent link="world" />
-    <child link="rh_forearm" />
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand muscletrans="false" muscle="false" bio="false" bt_sp="false" eli="false" reflect="1.0" prefix="rh_" extra_lite="true" />
-  <joint name="right_hand_to_left_hand" type="fixed">
-    <parent link="rh_forearm" />
-    <child link="lh_forearm" />
-    <origin xyz="$(arg arm_x_separation) 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand muscletrans="false" muscle="false" bio="false" bt_sp="false" eli="false" reflect="-1.0" prefix="lh_" extra_lite="true" />
-</robot>
diff --git a/sr_description/test/robots.old/bimanual_shadowhand_lite.urdf.xacro b/sr_description/test/robots.old/bimanual_shadowhand_lite.urdf.xacro
deleted file mode 100644
index b8b5c958..00000000
--- a/sr_description/test/robots.old/bimanual_shadowhand_lite.urdf.xacro
+++ /dev/null
@@ -1,21 +0,0 @@
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro"
-name="bimanual_shadowhand_motor">
-  <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/hand/xacro/hand_lite.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro" />
-  <link name="world" />
-  <xacro:arg name="arm_x_separation" default="-0.4"/>
-
-  <joint name="world_joint" type="fixed">
-    <parent link="world" />
-    <child link="rh_forearm" />
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand muscletrans="false" muscle="false" bio="false" bt_sp="false" eli="false" reflect="1.0" prefix="rh_" extra_lite="false" />
-  <joint name="right_hand_to_left_hand" type="fixed">
-    <parent link="rh_forearm" />
-    <child link="lh_forearm" />
-    <origin xyz="$(arg arm_x_separation) 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand muscletrans="false" muscle="false" bio="false" bt_sp="false" eli="false" reflect="-1.0" prefix="lh_" extra_lite="false" />
-</robot>
diff --git a/sr_description/test/robots.old/bimanual_shadowhand_lite_btsp.urdf.xacro b/sr_description/test/robots.old/bimanual_shadowhand_lite_btsp.urdf.xacro
deleted file mode 100644
index 80827eba..00000000
--- a/sr_description/test/robots.old/bimanual_shadowhand_lite_btsp.urdf.xacro
+++ /dev/null
@@ -1,21 +0,0 @@
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro"
-name="bimanual_shadowhand_motor">
-  <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/hand/xacro/hand_lite.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro" />
-  <link name="world" />
-  <xacro:arg name="arm_x_separation" default="-0.4"/>
-
-  <joint name="world_joint" type="fixed">
-    <parent link="world" />
-    <child link="rh_forearm" />
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand muscletrans="false" muscle="false" bio="false" bt_sp="true" eli="false" reflect="1.0" prefix="rh_" extra_lite="false" />
-  <joint name="right_hand_to_left_hand" type="fixed">
-    <parent link="rh_forearm" />
-    <child link="lh_forearm" />
-    <origin xyz="$(arg arm_x_separation) 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand muscletrans="false" muscle="false" bio="false" bt_sp="true" eli="false" reflect="-1.0" prefix="lh_" extra_lite="false" />
-</robot>
diff --git a/sr_description/test/robots.old/bimanual_shadowhand_lite_right_btsp.urdf.xacro b/sr_description/test/robots.old/bimanual_shadowhand_lite_right_btsp.urdf.xacro
deleted file mode 100644
index 48c3bd28..00000000
--- a/sr_description/test/robots.old/bimanual_shadowhand_lite_right_btsp.urdf.xacro
+++ /dev/null
@@ -1,21 +0,0 @@
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro"
-name="bimanual_shadowhand_motor">
-  <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/hand/xacro/hand_lite.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro" />
-  <link name="world" />
-  <xacro:arg name="arm_x_separation" default="-0.4"/>
-
-  <joint name="world_joint" type="fixed">
-    <parent link="world" />
-    <child link="rh_forearm" />
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand muscletrans="false" muscle="false" bio="false" bt_sp="true" eli="false" reflect="1.0" prefix="rh_" extra_lite="false" />
-  <joint name="right_hand_to_left_hand" type="fixed">
-    <parent link="rh_forearm" />
-    <child link="lh_forearm" />
-    <origin xyz="$(arg arm_x_separation) 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand muscletrans="false" muscle="false" bio="false" bt_sp="false" eli="false" reflect="-1.0" prefix="lh_" extra_lite="false" />
-</robot>
diff --git a/sr_description/test/robots.old/bimanual_shadowhand_motor.urdf.xacro b/sr_description/test/robots.old/bimanual_shadowhand_motor.urdf.xacro
deleted file mode 100644
index 35a92d5a..00000000
--- a/sr_description/test/robots.old/bimanual_shadowhand_motor.urdf.xacro
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro"
-name="bimanual_shadowhand_motor">
-  <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/hand/xacro/hand.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro" />
-  <link name="world" />
-  <joint name="world_joint" type="fixed">
-    <parent link="world" />
-    <child link="rh_forearm" />
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand muscletrans="false" muscle="false" bio="false" bt_sp="false" eli="false" reflect="1.0" prefix="rh_" lf="true" />
-  <joint name="right_hand_to_left_hand" type="fixed">
-    <parent link="rh_forearm" />
-    <child link="lh_forearm" />
-    <origin xyz="0.4 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand muscletrans="false" muscle="false" bio="false" bt_sp="false" eli="false" reflect="-1.0" prefix="lh_" lf="true" />
-</robot>
diff --git a/sr_description/test/robots.old/bimanual_shadowhand_motor_plus.urdf.xacro b/sr_description/test/robots.old/bimanual_shadowhand_motor_plus.urdf.xacro
deleted file mode 100644
index a0930e0e..00000000
--- a/sr_description/test/robots.old/bimanual_shadowhand_motor_plus.urdf.xacro
+++ /dev/null
@@ -1,21 +0,0 @@
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro"
-name="bimanual_shadowhand_motor">
-  <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/hand/xacro/hand.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro" />
-  <link name="world" />
-  <xacro:arg name="arm_x_separation" default="-0.4"/>
-
-  <joint name="world_joint" type="fixed">
-    <parent link="world" />
-    <child link="rh_forearm" />
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand muscletrans="false" muscle="false" hand_type="hand_e_plus" bio="false" bt_sp="false" eli="false" reflect="1.0" prefix="rh_" lf="true" />
-  <joint name="right_hand_to_left_hand" type="fixed">
-    <parent link="rh_forearm" />
-    <child link="lh_forearm" />
-    <origin xyz="$(arg arm_x_separation) 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand muscletrans="false" muscle="false" hand_type="hand_e_plus" bio="false" bt_sp="false" eli="false" reflect="-1.0" prefix="lh_" lf="true" />
-</robot>
diff --git a/sr_description/test/robots.old/bimanual_shadowhand_motor_plus_right_biotac.urdf.xacro b/sr_description/test/robots.old/bimanual_shadowhand_motor_plus_right_biotac.urdf.xacro
deleted file mode 100644
index a311d6a2..00000000
--- a/sr_description/test/robots.old/bimanual_shadowhand_motor_plus_right_biotac.urdf.xacro
+++ /dev/null
@@ -1,19 +0,0 @@
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro"
-name="bimanual_shadowhand_motor">
-  <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/hand/xacro/hand.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro" />
-  <link name="world" />
-  <joint name="world_joint" type="fixed">
-    <parent link="world" />
-    <child link="rh_forearm" />
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand muscletrans="false" muscle="false" hand_type="hand_e_plus" bio="false" bt_sp="true" eli="false" reflect="1.0" prefix="rh_" lf="true" />
-  <joint name="right_hand_to_left_hand" type="fixed">
-    <parent link="rh_forearm" />
-    <child link="lh_forearm" />
-    <origin xyz="0.4 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand muscletrans="false" muscle="false" hand_type="hand_e_plus" bio="false" bt_sp="false" eli="false" reflect="-1.0" prefix="lh_" lf="true" />
-</robot>
diff --git a/sr_description/test/robots.old/shadowhand_edc_muscle.urdf.xacro b/sr_description/test/robots.old/shadowhand_edc_muscle.urdf.xacro
deleted file mode 100644
index 9054fe4c..00000000
--- a/sr_description/test/robots.old/shadowhand_edc_muscle.urdf.xacro
+++ /dev/null
@@ -1,48 +0,0 @@
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-xmlns:xacro="http://www.ros.org/wiki/xacro"
-name="shadowhand_muscle">
-  <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/hand/xacro/hand.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro" />
-  <!-- hand with cylindrical base drifts in gazebo, attach it to the world -->
-  <link name="world" />
-  <joint name="rh_world_joint" type="fixed">
-    <parent link="world" />
-    <child link="rh_forearm_disk" />
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand muscletrans="true" muscle="true" bio="false" bt_sp="false" eli="false" reflect="1.0" prefix="rh_" lf="true" />
-  <link name="rh_forearm_disk">
-    <inertial>
-      <origin xyz="0 0 0" />
-      <mass value="3.0" />
-      <inertia ixx="0.00735" ixy="0.0" ixz="0.0" iyy="0.00735"
-      iyz="0.0" izz="0.0343" />
-    </inertial>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry name="rh_forearm_disk_geom">
-        <mesh filename="package://sr_description/meshes/hand/forearm_muscle_disk.dae"
-        scale="1.0 1.0 1.0" />
-      </geometry>
-      <material name="Grey" />
-    </visual>
-    <collision>
-      <origin xyz="0 0 0.175" rpy="0 0 0" />
-      <geometry name="rh_forearm_disk_collision">
-        <cylinder radius="0.07" length="0.004" />
-      </geometry>
-    </collision>
-  </link>
-  <gazebo reference="rh_forearm_disk">
-    <material>Gazebo/Grey</material>
-    <selfCollide>false</selfCollide>
-  </gazebo>
-  <joint name="rh_forearm_disk_to_forearm" type="fixed">
-    <parent link="rh_forearm_disk" />
-    <child link="rh_forearm" />
-    <origin xyz="0 0 0.004" rpy="0 0 0" />
-  </joint>
-</robot>
diff --git a/sr_description/test/robots.old/shadowhand_edc_muscle_biotac.urdf.xacro b/sr_description/test/robots.old/shadowhand_edc_muscle_biotac.urdf.xacro
deleted file mode 100644
index 3e9aed11..00000000
--- a/sr_description/test/robots.old/shadowhand_edc_muscle_biotac.urdf.xacro
+++ /dev/null
@@ -1,51 +0,0 @@
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-xmlns:xacro="http://www.ros.org/wiki/xacro"
-name="shadowhand_motor">
-  <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/hand/xacro/hand.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro" />
-  <!-- hand with cylindrical base drifts in gazebo, attach it to the world -->
-  <link name="world" />
-  <joint name="rh_world_joint" type="fixed">
-    <parent link="world" />
-    <child link="rh_forearm_disk" />
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <!-- C6 hand with BioTAC sensor
-  (C) 2012 fnh, hendrich@informatik.uni-hamburg.de
--->
-  <xacro:sr_hand muscletrans="true" muscle="true" bio="true" bt_sp="false" eli="false" reflect="1.0" prefix="rh_" lf="true" />
-  <link name="rh_forearm_disk">
-    <inertial>
-      <origin xyz="0 0 0" />
-      <mass value="3.0" />
-      <inertia ixx="0.00735" ixy="0.0" ixz="0.0" iyy="0.00735"
-      iyz="0.0" izz="0.0343" />
-    </inertial>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry name="rh_forearm_disk_geom">
-        <mesh filename="package://sr_description/meshes/hand/forearm_muscle_disk.dae"
-        scale="1.0 1.0 1.0" />
-      </geometry>
-      <material name="Grey" />
-    </visual>
-    <collision>
-      <origin xyz="0 0 0.175" rpy="0 0 0" />
-      <geometry name="rh_forearm_disk_collision">
-        <cylinder radius="0.07" length="0.004" />
-      </geometry>
-    </collision>
-  </link>
-  <gazebo reference="rh_forearm_disk">
-    <material>Gazebo/Grey</material>
-    <selfCollide>false</selfCollide>
-  </gazebo>
-  <joint name="rh_forearm_disk_to_rh_forearm" type="fixed">
-    <parent link="rh_forearm_disk" />
-    <child link="rh_forearm" />
-    <origin xyz="0 0 0.004" rpy="0 0 0" />
-  </joint>
-</robot>
diff --git a/sr_description/test/robots.old/shadowhand_extra_lite.urdf.xacro b/sr_description/test/robots.old/shadowhand_extra_lite.urdf.xacro
deleted file mode 100644
index b67f92c4..00000000
--- a/sr_description/test/robots.old/shadowhand_extra_lite.urdf.xacro
+++ /dev/null
@@ -1,17 +0,0 @@
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-xmlns:xacro="http://www.ros.org/wiki/xacro"
-name="shadowhand_motor">
-  <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/hand/xacro/hand_lite.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro" />
-  <!-- hand with cylindrical base drifts in gazebo, attach it to the world -->
-  <link name="world" />
-  <joint name="rh_world_joint" type="fixed">
-    <parent link="world" />
-    <child link="rh_forearm" />
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand muscletrans="false" muscle="false" bio="false" bt_sp="false" eli="false" reflect="1.0" prefix="rh_" extra_lite="true" />
-</robot>
diff --git a/sr_description/test/robots.old/shadowhand_left_edc_muscle.urdf.xacro b/sr_description/test/robots.old/shadowhand_left_edc_muscle.urdf.xacro
deleted file mode 100644
index 346f3666..00000000
--- a/sr_description/test/robots.old/shadowhand_left_edc_muscle.urdf.xacro
+++ /dev/null
@@ -1,48 +0,0 @@
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-xmlns:xacro="http://www.ros.org/wiki/xacro"
-name="shadowhand_muscle">
-  <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/hand/xacro/hand.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro" />
-  <!-- hand with cylindrical base drifts in gazebo, attach it to the world -->
-  <link name="world" />
-  <joint name="lh_world_joint" type="fixed">
-    <parent link="world" />
-    <child link="lh_forearm_disk" />
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand muscletrans="true" muscle="true" bio="false" bt_sp="false" eli="false" reflect="-1.0" prefix="lh_" lf="true" />
-  <link name="lh_forearm_disk">
-    <inertial>
-      <origin xyz="0 0 0" />
-      <mass value="3.0" />
-      <inertia ixx="0.00735" ixy="0.0" ixz="0.0" iyy="0.00735"
-      iyz="0.0" izz="0.0343" />
-    </inertial>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry name="lh_forearm_disk_geom">
-        <mesh filename="package://sr_description/meshes/hand/forearm_muscle_disk.dae"
-        scale="1.0 1.0 1.0" />
-      </geometry>
-      <material name="Grey" />
-    </visual>
-    <collision>
-      <origin xyz="0 0 0.175" rpy="0 0 0" />
-      <geometry name="lh_forearm_disk_collision">
-        <cylinder radius="0.07" length="0.004" />
-      </geometry>
-    </collision>
-  </link>
-  <gazebo reference="lh_forearm_disk">
-    <material>Gazebo/Grey</material>
-    <selfCollide>false</selfCollide>
-  </gazebo>
-  <joint name="lh_forearm_disk_to_lh_forearm" type="fixed">
-    <parent link="lh_forearm_disk" />
-    <child link="lh_forearm" />
-    <origin xyz="0 0 0.004" rpy="0 0 0" />
-  </joint>
-</robot>
diff --git a/sr_description/test/robots.old/shadowhand_left_extra_lite.urdf.xacro b/sr_description/test/robots.old/shadowhand_left_extra_lite.urdf.xacro
deleted file mode 100644
index c0edec85..00000000
--- a/sr_description/test/robots.old/shadowhand_left_extra_lite.urdf.xacro
+++ /dev/null
@@ -1,17 +0,0 @@
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-xmlns:xacro="http://www.ros.org/wiki/xacro"
-name="shadowhand_motor">
-  <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/hand/xacro/hand_lite.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro" />
-  <!-- hand with cylindrical base drifts in gazebo, attach it to the world -->
-  <link name="world" />
-  <joint name="lh_world_joint" type="fixed">
-    <parent link="world" />
-    <child link="lh_forearm" />
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand muscletrans="false" muscle="false" bio="false" bt_sp="false" eli="false" reflect="-1.0" prefix="lh_" extra_lite="true" />
-</robot>
diff --git a/sr_description/test/robots.old/shadowhand_left_lite.urdf.xacro b/sr_description/test/robots.old/shadowhand_left_lite.urdf.xacro
deleted file mode 100644
index a1cce85a..00000000
--- a/sr_description/test/robots.old/shadowhand_left_lite.urdf.xacro
+++ /dev/null
@@ -1,17 +0,0 @@
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-xmlns:xacro="http://www.ros.org/wiki/xacro"
-name="shadowhand_motor">
-  <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/hand/xacro/hand_lite.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro" />
-  <!-- hand with cylindrical base drifts in gazebo, attach it to the world -->
-  <link name="world" />
-  <joint name="lh_world_joint" type="fixed">
-    <parent link="world" />
-    <child link="lh_forearm" />
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand muscletrans="false" muscle="false" bio="false" bt_sp="false" eli="false" reflect="-1.0" prefix="lh_" extra_lite="false" />
-</robot>
diff --git a/sr_description/test/robots.old/shadowhand_left_lite_btsp.urdf.xacro b/sr_description/test/robots.old/shadowhand_left_lite_btsp.urdf.xacro
deleted file mode 100644
index 0b325dc2..00000000
--- a/sr_description/test/robots.old/shadowhand_left_lite_btsp.urdf.xacro
+++ /dev/null
@@ -1,17 +0,0 @@
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-xmlns:xacro="http://www.ros.org/wiki/xacro"
-name="shadowhand_motor">
-  <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/hand/xacro/hand_lite.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro" />
-  <!-- hand with cylindrical base drifts in gazebo, attach it to the world -->
-  <link name="world" />
-  <joint name="lh_world_joint" type="fixed">
-    <parent link="world" />
-    <child link="lh_forearm" />
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand muscletrans="false" muscle="false" bio="false" bt_sp="true" eli="false" reflect="-1.0" prefix="lh_" extra_lite="false" />
-</robot>
diff --git a/sr_description/test/robots.old/shadowhand_left_motor.urdf.xacro b/sr_description/test/robots.old/shadowhand_left_motor.urdf.xacro
deleted file mode 100644
index a3285fc4..00000000
--- a/sr_description/test/robots.old/shadowhand_left_motor.urdf.xacro
+++ /dev/null
@@ -1,17 +0,0 @@
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-xmlns:xacro="http://www.ros.org/wiki/xacro"
-name="shadowhand_motor">
-  <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/hand/xacro/hand.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro" />
-  <!-- hand with cylindrical base drifts in gazebo, attach it to the world -->
-  <link name="world" />
-  <joint name="lh_world_joint" type="fixed">
-    <parent link="world" />
-    <child link="lh_forearm" />
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand muscletrans="false" muscle="false" hand_type="hand_e" bio="false" bt_sp="false" eli="false" reflect="-1.0" prefix="lh_" lf="true" />
-</robot>
diff --git a/sr_description/test/robots.old/shadowhand_left_motor_biotac.urdf.xacro b/sr_description/test/robots.old/shadowhand_left_motor_biotac.urdf.xacro
deleted file mode 100644
index 812da080..00000000
--- a/sr_description/test/robots.old/shadowhand_left_motor_biotac.urdf.xacro
+++ /dev/null
@@ -1,17 +0,0 @@
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-xmlns:xacro="http://www.ros.org/wiki/xacro"
-name="shadowhand_motor">
-  <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/hand/xacro/hand.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro" />
-  <!-- hand with cylindrical base drifts in gazebo, attach it to the world -->
-  <link name="world" />
-  <joint name="lh_world_joint" type="fixed">
-    <parent link="world" />
-    <child link="lh_forearm" />
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand muscletrans="false" muscle="false" bio="true" bt_sp="false" eli="false" reflect="-1.0" prefix="lh_" lf="true" />
-</robot>
diff --git a/sr_description/test/robots.old/shadowhand_left_motor_plus.urdf.xacro b/sr_description/test/robots.old/shadowhand_left_motor_plus.urdf.xacro
deleted file mode 100644
index dc877bb9..00000000
--- a/sr_description/test/robots.old/shadowhand_left_motor_plus.urdf.xacro
+++ /dev/null
@@ -1,17 +0,0 @@
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-       xmlns:xacro="http://www.ros.org/wiki/xacro"
-       name="shadowhand_motor">
-    <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro"/>
-    <xacro:include filename="$(find sr_description)/hand/xacro/hand.urdf.xacro"/>
-    <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro"/>
-    <!-- hand with cylindrical base drifts in gazebo, attach it to the world -->
-    <link name="world" />
-    <joint name="lh_world_joint" type="fixed">
-      <parent link="world" />
-      <child link="lh_forearm" />
-      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-    </joint>
-  <xacro:sr_hand muscletrans="false" muscle="false" hand_type="hand_e_plus" bio="false" bt_sp="false" eli="false" reflect="-1.0" prefix="lh_" lf="true" />
-</robot>
diff --git a/sr_description/test/robots.old/shadowhand_left_motor_plus_btsp.urdf.xacro b/sr_description/test/robots.old/shadowhand_left_motor_plus_btsp.urdf.xacro
deleted file mode 100644
index 8ecb1078..00000000
--- a/sr_description/test/robots.old/shadowhand_left_motor_plus_btsp.urdf.xacro
+++ /dev/null
@@ -1,17 +0,0 @@
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-       xmlns:xacro="http://www.ros.org/wiki/xacro"
-       name="shadowhand_motor">
-    <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro"/>
-    <xacro:include filename="$(find sr_description)/hand/xacro/hand.urdf.xacro"/>
-    <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro"/>
-    <!-- hand with cylindrical base drifts in gazebo, attach it to the world -->
-    <link name="world" />
-    <joint name="lh_world_joint" type="fixed">
-      <parent link="world" />
-      <child link="lh_forearm" />
-      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-    </joint>
-  <xacro:sr_hand muscletrans="false" muscle="false" hand_type="hand_e_plus" bio="false" bt_sp="true" eli="false" reflect="-1.0" prefix="lh_" lf="true" />
-</robot>
diff --git a/sr_description/test/robots.old/shadowhand_left_muscle.urdf.xacro b/sr_description/test/robots.old/shadowhand_left_muscle.urdf.xacro
deleted file mode 100644
index 95c2e311..00000000
--- a/sr_description/test/robots.old/shadowhand_left_muscle.urdf.xacro
+++ /dev/null
@@ -1,48 +0,0 @@
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-xmlns:xacro="http://www.ros.org/wiki/xacro"
-name="shadowhand_muscle">
-  <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/hand/xacro/hand.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro" />
-  <!-- hand with cylindrical base drifts in gazebo, attach it to the world -->
-  <link name="world" />
-  <joint name="lh_world_joint" type="fixed">
-    <parent link="world" />
-    <child link="lh_forearm_disk" />
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand muscletrans="false" muscle="true" bio="false" bt_sp="false" eli="false" reflect="-1.0" prefix="lh_" lf="true" />
-  <link name="lh_forearm_disk">
-    <inertial>
-      <origin xyz="0 0 0" />
-      <mass value="3.0" />
-      <inertia ixx="0.00735" ixy="0.0" ixz="0.0" iyy="0.00735"
-      iyz="0.0" izz="0.0343" />
-    </inertial>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry name="lh_forearm_disk_geom">
-        <mesh filename="package://sr_description/meshes/hand/forearm_muscle_disk.dae"
-        scale="1.0 1.0 1.0" />
-      </geometry>
-      <material name="Grey" />
-    </visual>
-    <collision>
-      <origin xyz="0 0 0.175" rpy="0 0 0" />
-      <geometry name="lh_forearm_disk_collision">
-        <cylinder radius="0.07" length="0.004" />
-      </geometry>
-    </collision>
-  </link>
-  <gazebo reference="lh_forearm_disk">
-    <material>Gazebo/Grey</material>
-    <selfCollide>false</selfCollide>
-  </gazebo>
-  <joint name="lh_forearm_disk_to_lh_forearm" type="fixed">
-    <parent link="lh_forearm_disk" />
-    <child link="lh_forearm" />
-    <origin xyz="0 0 0.004" rpy="0 0 0" />
-  </joint>
-</robot>
diff --git a/sr_description/test/robots.old/shadowhand_lite.urdf.xacro b/sr_description/test/robots.old/shadowhand_lite.urdf.xacro
deleted file mode 100644
index 5d0dd77d..00000000
--- a/sr_description/test/robots.old/shadowhand_lite.urdf.xacro
+++ /dev/null
@@ -1,17 +0,0 @@
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-xmlns:xacro="http://www.ros.org/wiki/xacro"
-name="shadowhand_motor">
-  <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/hand/xacro/hand_lite.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro" />
-  <!-- hand with cylindrical base drifts in gazebo, attach it to the world -->
-  <link name="world" />
-  <joint name="rh_world_joint" type="fixed">
-    <parent link="world" />
-    <child link="rh_forearm" />
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand muscletrans="false" muscle="false" bio="false" bt_sp="false" eli="false" reflect="1.0" prefix="rh_" extra_lite="false" />
-</robot>
diff --git a/sr_description/test/robots.old/shadowhand_lite_btsp.urdf.xacro b/sr_description/test/robots.old/shadowhand_lite_btsp.urdf.xacro
deleted file mode 100644
index 8a8d8d75..00000000
--- a/sr_description/test/robots.old/shadowhand_lite_btsp.urdf.xacro
+++ /dev/null
@@ -1,17 +0,0 @@
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-xmlns:xacro="http://www.ros.org/wiki/xacro"
-name="shadowhand_motor">
-  <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/hand/xacro/hand_lite.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro" />
-  <!-- hand with cylindrical base drifts in gazebo, attach it to the world -->
-  <link name="world" />
-  <joint name="rh_world_joint" type="fixed">
-    <parent link="world" />
-    <child link="rh_forearm" />
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand muscletrans="false" muscle="false" bio="false" bt_sp="true" eli="false" reflect="1.0" prefix="rh_" extra_lite="false" />
-</robot>
diff --git a/sr_description/test/robots.old/shadowhand_motor.urdf.xacro b/sr_description/test/robots.old/shadowhand_motor.urdf.xacro
deleted file mode 100644
index aa148e84..00000000
--- a/sr_description/test/robots.old/shadowhand_motor.urdf.xacro
+++ /dev/null
@@ -1,17 +0,0 @@
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-       xmlns:xacro="http://www.ros.org/wiki/xacro"
-       name="shadowhand_motor">
-    <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro"/>
-    <xacro:include filename="$(find sr_description)/hand/xacro/hand.urdf.xacro"/>
-    <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro"/>
-    <!-- hand with cylindrical base drifts in gazebo, attach it to the world -->
-    <link name="world" />
-    <joint name="rh_world_joint" type="fixed">
-      <parent link="world" />
-      <child link="rh_forearm" />
-      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-    </joint>
-  <xacro:sr_hand muscletrans="false" muscle="false" hand_type="hand_e" bio="false" bt_sp="false" eli="false" reflect="1.0" prefix="rh_" lf="true" />
-</robot>
diff --git a/sr_description/test/robots.old/shadowhand_motor_biotac.urdf.xacro b/sr_description/test/robots.old/shadowhand_motor_biotac.urdf.xacro
deleted file mode 100644
index 0b1cef37..00000000
--- a/sr_description/test/robots.old/shadowhand_motor_biotac.urdf.xacro
+++ /dev/null
@@ -1,20 +0,0 @@
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-xmlns:xacro="http://www.ros.org/wiki/xacro"
-name="shadowhand_motor">
-  <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/hand/xacro/hand.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro" />
-  <!-- hand with cylindrical base drifts in gazebo, attach it to the world -->
-  <link name="world" />
-  <joint name="rh_world_joint" type="fixed">
-    <parent link="world" />
-    <child link="rh_forearm" />
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <!-- C6 hand with BioTAC sensor
-  (C) 2012 fnh, hendrich@informatik.uni-hamburg.de
--->
-  <xacro:sr_hand muscletrans="false" muscle="false" bio="true" bt_sp="false" eli="false" reflect="1.0" prefix="rh_" lf="true" />
-</robot>
diff --git a/sr_description/test/robots.old/shadowhand_motor_btsp.urdf.xacro b/sr_description/test/robots.old/shadowhand_motor_btsp.urdf.xacro
deleted file mode 100644
index 4b01e3f5..00000000
--- a/sr_description/test/robots.old/shadowhand_motor_btsp.urdf.xacro
+++ /dev/null
@@ -1,17 +0,0 @@
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-xmlns:xacro="http://www.ros.org/wiki/xacro"
-name="shadowhand_motor">
-  <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/hand/xacro/hand.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro" />
-  <!-- hand with cylindrical base drifts in gazebo, attach it to the world -->
-  <link name="world" />
-  <joint name="rh_world_joint" type="fixed">
-    <parent link="world" />
-    <child link="rh_forearm" />
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand muscletrans="false" muscle="false" bio="false" bt_sp="true" eli="false" reflect="1.0" prefix="rh_" lf="true" />
-</robot>
diff --git a/sr_description/test/robots.old/shadowhand_motor_ellipsoid.urdf.xacro b/sr_description/test/robots.old/shadowhand_motor_ellipsoid.urdf.xacro
deleted file mode 100644
index b25b4db5..00000000
--- a/sr_description/test/robots.old/shadowhand_motor_ellipsoid.urdf.xacro
+++ /dev/null
@@ -1,17 +0,0 @@
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-xmlns:xacro="http://www.ros.org/wiki/xacro"
-name="shadowhand_motor">
-  <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/hand/xacro/hand.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro" />
-  <!-- hand with cylindrical base drifts in gazebo, attach it to the world -->
-  <link name="world" />
-  <joint name="rh_world_joint" type="fixed">
-    <parent link="world" />
-    <child link="rh_forearm" />
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand muscletrans="false" muscle="false" bio="false" bt_sp="false" eli="true" reflect="1.0" prefix="rh_" lf="true" />
-</robot>
diff --git a/sr_description/test/robots.old/shadowhand_motor_ff_biotac.urdf.xacro b/sr_description/test/robots.old/shadowhand_motor_ff_biotac.urdf.xacro
deleted file mode 100644
index 4dc6bae7..00000000
--- a/sr_description/test/robots.old/shadowhand_motor_ff_biotac.urdf.xacro
+++ /dev/null
@@ -1,18 +0,0 @@
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-xmlns:xacro="http://www.ros.org/wiki/xacro"
-name="shadowhand_motor">
-  <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/hand/xacro/ff_biotac_hand.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro" />
-  <!-- hand with cylindrical base drifts in gazebo, attach it to the world -->
-  <link name="world" />
-  <joint name="rh_world_joint" type="fixed">
-    <parent link="world" />
-    <child link="rh_forearm" />
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <!-- bio is used for all other fingers since ff is forced at bio -->
-  <xacro:sr_hand muscletrans="false" muscle="false" bio="false" bt_sp="false" eli="false" reflect="1.0" prefix="rh_" />
-</robot>
diff --git a/sr_description/test/robots.old/shadowhand_motor_no_lf.urdf.xacro b/sr_description/test/robots.old/shadowhand_motor_no_lf.urdf.xacro
deleted file mode 100644
index 45bf59cb..00000000
--- a/sr_description/test/robots.old/shadowhand_motor_no_lf.urdf.xacro
+++ /dev/null
@@ -1,17 +0,0 @@
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-       xmlns:xacro="http://www.ros.org/wiki/xacro"
-       name="shadowhand_motor">
-    <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro"/>
-    <xacro:include filename="$(find sr_description)/hand/xacro/hand.urdf.xacro"/>
-    <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro"/>
-    <!-- hand with cylindrical base drifts in gazebo, attach it to the world -->
-    <link name="world" />
-    <joint name="rh_world_joint" type="fixed">
-      <parent link="world" />
-      <child link="rh_forearm" />
-      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-    </joint>
-  <xacro:sr_hand muscletrans="false" muscle="false" bio="false" bt_sp="false" eli="false" reflect="1.0" prefix="rh_" lf="false" />
-</robot>
diff --git a/sr_description/test/robots.old/shadowhand_motor_no_mf_rf_lf.urdf.xacro b/sr_description/test/robots.old/shadowhand_motor_no_mf_rf_lf.urdf.xacro
deleted file mode 100644
index 7bd1e73e..00000000
--- a/sr_description/test/robots.old/shadowhand_motor_no_mf_rf_lf.urdf.xacro
+++ /dev/null
@@ -1,17 +0,0 @@
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-       xmlns:xacro="http://www.ros.org/wiki/xacro"
-       name="shadowhand_motor">
-    <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro"/>
-    <xacro:include filename="$(find sr_description)/hand/xacro/hand_E_no_mf_rf.urdf.xacro"/>
-    <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro"/>
-    <!-- hand with cylindrical base drifts in gazebo, attach it to the world -->
-    <link name="world" />
-    <joint name="rh_world_joint" type="fixed">
-      <parent link="world" />
-      <child link="rh_forearm" />
-      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-    </joint>
-  <xacro:sr_hand muscletrans="false" muscle="false" bio="false" bt_sp="false" eli="false" reflect="1.0" prefix="rh_" lf="false" />
-</robot>
diff --git a/sr_description/test/robots.old/shadowhand_motor_plus.urdf.xacro b/sr_description/test/robots.old/shadowhand_motor_plus.urdf.xacro
deleted file mode 100644
index 13f3e189..00000000
--- a/sr_description/test/robots.old/shadowhand_motor_plus.urdf.xacro
+++ /dev/null
@@ -1,17 +0,0 @@
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-       xmlns:xacro="http://www.ros.org/wiki/xacro"
-       name="shadowhand_motor">
-    <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro"/>
-    <xacro:include filename="$(find sr_description)/hand/xacro/hand.urdf.xacro"/>
-    <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro"/>
-    <!-- hand with cylindrical base drifts in gazebo, attach it to the world -->
-    <link name="world" />
-    <joint name="rh_world_joint" type="fixed">
-      <parent link="world" />
-      <child link="rh_forearm" />
-      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-    </joint>
-  <xacro:sr_hand muscletrans="false" muscle="false" hand_type="hand_e_plus" bio="false" bt_sp="false" eli="false" reflect="1.0" prefix="rh_" lf="true" />
-</robot>
diff --git a/sr_description/test/robots.old/shadowhand_motor_plus_biotac.urdf.xacro b/sr_description/test/robots.old/shadowhand_motor_plus_biotac.urdf.xacro
deleted file mode 100644
index d4f0369f..00000000
--- a/sr_description/test/robots.old/shadowhand_motor_plus_biotac.urdf.xacro
+++ /dev/null
@@ -1,17 +0,0 @@
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-       xmlns:xacro="http://www.ros.org/wiki/xacro"
-       name="shadowhand_motor">
-    <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro"/>
-    <xacro:include filename="$(find sr_description)/hand/xacro/hand.urdf.xacro"/>
-    <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro"/>
-    <!-- hand with cylindrical base drifts in gazebo, attach it to the world -->
-    <link name="world" />
-    <joint name="rh_world_joint" type="fixed">
-      <parent link="world" />
-      <child link="rh_forearm" />
-      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-    </joint>
-  <xacro:sr_hand muscletrans="false" muscle="false" hand_type="hand_e_plus" bio="true" bt_sp="false" eli="false" reflect="1.0" prefix="rh_" lf="true" />
-</robot>
diff --git a/sr_description/test/robots.old/shadowhand_motor_plus_btsp.urdf.xacro b/sr_description/test/robots.old/shadowhand_motor_plus_btsp.urdf.xacro
deleted file mode 100644
index b84537df..00000000
--- a/sr_description/test/robots.old/shadowhand_motor_plus_btsp.urdf.xacro
+++ /dev/null
@@ -1,17 +0,0 @@
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-       xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-       xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-       xmlns:xacro="http://www.ros.org/wiki/xacro"
-       name="shadowhand_motor">
-    <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro"/>
-    <xacro:include filename="$(find sr_description)/hand/xacro/hand.urdf.xacro"/>
-    <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro"/>
-    <!-- hand with cylindrical base drifts in gazebo, attach it to the world -->
-    <link name="world" />
-    <joint name="rh_world_joint" type="fixed">
-      <parent link="world" />
-      <child link="rh_forearm" />
-      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-    </joint>
-  <xacro:sr_hand muscletrans="false" muscle="false" hand_type="hand_e_plus" bio="false" bt_sp="true" eli="false" reflect="1.0" prefix="rh_" lf="true" />
-</robot>
diff --git a/sr_description/test/robots.old/shadowhand_motor_th_ff_rf_ellipsoid.urdf.xacro b/sr_description/test/robots.old/shadowhand_motor_th_ff_rf_ellipsoid.urdf.xacro
deleted file mode 100644
index 5f7f6fd0..00000000
--- a/sr_description/test/robots.old/shadowhand_motor_th_ff_rf_ellipsoid.urdf.xacro
+++ /dev/null
@@ -1,18 +0,0 @@
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-xmlns:xacro="http://www.ros.org/wiki/xacro"
-name="shadowhand_motor">
-  <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/hand/xacro/th_ff_rf_ellipsoid_hand.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro" />
-  <!-- hand with cylindrical base drifts in gazebo, attach it to the world -->
-  <link name="world" />
-  <joint name="rh_world_joint" type="fixed">
-    <parent link="world" />
-    <child link="rh_forearm" />
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <!-- eli is used for other fingers since th, ff and rf are forced to eli -->
-  <xacro:sr_hand muscletrans="false" muscle="false" bio="false" bt_sp="false" eli="false" reflect="1.0" prefix="rh_" />
-</robot>
diff --git a/sr_description/test/robots.old/shadowhand_muscle.urdf.xacro b/sr_description/test/robots.old/shadowhand_muscle.urdf.xacro
deleted file mode 100644
index d32e249b..00000000
--- a/sr_description/test/robots.old/shadowhand_muscle.urdf.xacro
+++ /dev/null
@@ -1,48 +0,0 @@
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-xmlns:xacro="http://www.ros.org/wiki/xacro"
-name="shadowhand_muscle">
-  <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/hand/xacro/hand.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro" />
-  <!-- hand with cylindrical base drifts in gazebo, attach it to the world -->
-  <link name="world" />
-  <joint name="rh_world_joint" type="fixed">
-    <parent link="world" />
-    <child link="rh_forearm_disk" />
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand muscletrans="false" muscle="true" bio="false" bt_sp="false" eli="false" reflect="1.0" prefix="rh_" lf="true" />
-  <link name="rh_forearm_disk">
-    <inertial>
-      <origin xyz="0 0 0" />
-      <mass value="3.0" />
-      <inertia ixx="0.00735" ixy="0.0" ixz="0.0" iyy="0.00735"
-      iyz="0.0" izz="0.0343" />
-    </inertial>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry name="rh_forearm_disk_geom">
-        <mesh filename="package://sr_description/meshes/hand/forearm_muscle_disk.dae"
-        scale="1.0 1.0 1.0" />
-      </geometry>
-      <material name="Grey" />
-    </visual>
-    <collision>
-      <origin xyz="0 0 0.175" rpy="0 0 0" />
-      <geometry name="rh_forearm_disk_collision">
-        <cylinder radius="0.07" length="0.004" />
-      </geometry>
-    </collision>
-  </link>
-  <gazebo reference="rh_forearm_disk">
-    <material>Gazebo/Grey</material>
-    <selfCollide>false</selfCollide>
-  </gazebo>
-  <joint name="rh_forearm_disk_to_rh_forearm" type="fixed">
-    <parent link="rh_forearm_disk" />
-    <child link="rh_forearm" />
-    <origin xyz="0 0 0.004" rpy="0 0 0" />
-  </joint>
-</robot>
diff --git a/sr_description/test/robots.old/shadowhand_muscle_biotac.urdf.xacro b/sr_description/test/robots.old/shadowhand_muscle_biotac.urdf.xacro
deleted file mode 100644
index bf631178..00000000
--- a/sr_description/test/robots.old/shadowhand_muscle_biotac.urdf.xacro
+++ /dev/null
@@ -1,51 +0,0 @@
-<robot xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
-xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
-xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
-xmlns:xacro="http://www.ros.org/wiki/xacro"
-name="shadowhand_motor">
-  <xacro:include filename="$(find sr_description)/other/xacro/materials.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/hand/xacro/hand.urdf.xacro" />
-  <xacro:include filename="$(find sr_description)/other/xacro/gazebo.urdf.xacro" />
-  <!-- C6 hand with BioTAC sensor
-  (C) 2012 fnh, hendrich@informatik.uni-hamburg.de
--->
-  <!-- hand with cylindrical base drifts in gazebo, attach it to the world -->
-  <link name="world" />
-  <joint name="rh_world_joint" type="fixed">
-    <parent link="world" />
-    <child link="rh_forearm_disk" />
-    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-  </joint>
-  <xacro:sr_hand muscletrans="false" muscle="true" bio="true" bt_sp="false" eli="false" reflect="1.0" prefix="rh_" lf="true" />
-  <link name="rh_forearm_disk">
-    <inertial>
-      <origin xyz="0 0 0" />
-      <mass value="3.0" />
-      <inertia ixx="0.00735" ixy="0.0" ixz="0.0" iyy="0.00735"
-      iyz="0.0" izz="0.0343" />
-    </inertial>
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0" />
-      <geometry name="rh_forearm_disk_geom">
-        <mesh filename="package://sr_description/meshes/hand/forearm_muscle_disk.dae"
-        scale="1.0 1.0 1.0" />
-      </geometry>
-      <material name="Grey" />
-    </visual>
-    <collision>
-      <origin xyz="0 0 0.175" rpy="0 0 0" />
-      <geometry name="rh_forearm_disk_collision">
-        <cylinder radius="0.07" length="0.004" />
-      </geometry>
-    </collision>
-  </link>
-  <gazebo reference="rh_forearm_disk">
-    <material>Gazebo/Grey</material>
-    <selfCollide>false</selfCollide>
-  </gazebo>
-  <joint name="rh_forearm_disk_to_rh_forearm" type="fixed">
-    <parent link="rh_forearm_disk" />
-    <child link="rh_forearm" />
-    <origin xyz="0 0 0.004" rpy="0 0 0" />
-  </joint>
-</robot>
diff --git a/sr_description/test/test_compatibility.py b/sr_description/test/test_compatibility.py
index f5efbe1a..23b807e4 100644
--- a/sr_description/test/test_compatibility.py
+++ b/sr_description/test/test_compatibility.py
@@ -37,7 +37,7 @@
 
 # Author: Robert Haschke <rhaschke@techfak.uni-bielefeld.de>
 
-from __future__ import print_function
+from __future__ import absolute_import, print_function
 
 import ast
 import re
@@ -54,6 +54,7 @@
 except ImportError:
     # subTest was introduced in 3.4 only. Provide a dummy fallback.
     from contextlib import contextmanager
+
     @contextmanager
     def subTest(msg):
         print(msg)
@@ -187,7 +188,7 @@ class TestEquality(unittest.TestCase):
     def generate_test_params(self):
         path = os.path.dirname(__file__)
         old_path = os.path.join(path, 'robots.old')
-        new_path = os.path.join(path, os.pardir, 'robots')
+        new_path = os.path.join(path, 'robots.new')
 
         for name in os.listdir(old_path):
             old_file = os.path.join(old_path, name)
diff --git a/sr_description/test/test_hands.sh b/sr_description/test/test_hands.sh
index f746f99a..9c3e553b 100755
--- a/sr_description/test/test_hands.sh
+++ b/sr_description/test/test_hands.sh
@@ -3,7 +3,24 @@
 
 source ./test_models.sh
 
-launch sr_hand hand_type:="hand_e" hand_version:="E3M5" side:="right" fingers:="th,ff,lf" tip_sensors:="pst"
-launch sr_hand hand_type:="hand_e" hand_version:="E3M5" side:="left" fingers:="th,ff,lf" tip_sensors:="pst"
-launch sr_hand hand_type:="hand_e" hand_version:="E3M5" side:="right" fingers:="th,ff,lf" tip_sensors:="th=bt_2p,ff=bt_sp,mf=pst,rf=pst,lf=pst"
+# Testing default hand - hand_type:="hand_e" hand_version:="E3M5" side:="right" fingers:="all" tip_sensors:="pst"
 launch sr_hand
+
+# Testing left side
+launch sr_hand side:="left"
+
+# Testing 'bt_sp' tip sensors
+launch sr_hand tip_sensors:="bt_sp"
+
+# Testing 'bt_2p' tip sensors
+launch sr_hand tip_sensors:="bt_2p"
+
+# Testing custom finger set
+launch sr_hand fingers:="th,ff,mf,rf"
+launch sr_hand fingers:="th,ff,mf"
+
+# Testing hand lite
+launch sr_hand hand_type:="hand_g" hand_version:="G1M5"
+
+# Testing muscle hand
+launch sr_hand hand_type:="hand_c" hand_version:="C6M2"
diff --git a/sr_description/test/test_models.launch b/sr_description/test/test_models.launch
index 6e7e10e9..45641c2c 100644
--- a/sr_description/test/test_models.launch
+++ b/sr_description/test/test_models.launch
@@ -5,7 +5,7 @@
   <!-- publish joint values and open rviz -->
   <group unless="$(optenv URDF_ONLY 0)">
     <!-- open joint_state_publisher_gui -->
-    <node name="joint_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
+    <node name="joint_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" required="true" />
 
     <!-- publish transforms of all robot links -->
     <node name="state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
diff --git a/sr_description/test/test_models.sh b/sr_description/test/test_models.sh
index ad9c7951..4792f276 100644
--- a/sr_description/test/test_models.sh
+++ b/sr_description/test/test_models.sh
@@ -7,15 +7,15 @@ function stop_rostopic {
 function start_rostopic {
 	# Publish text marker
 	rostopic pub /text_marker visualization_msgs/Marker \
-	"header:
-	frame_id: 'world'
-	type: 9
-	pose:
-	position: {x: 0.0, y: 0.0, z: -0.1}
-	orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}
-	scale: {x: 0.0, y: 0.0, z: 0.1}
-	color: {r: 0.0, g: 0.0, b: 0.0, a: 1.0}
-	text: '$1'" &
+"header:
+  frame_id: 'world'
+type: 9
+pose:
+  position: {x: 0.0, y: 0.0, z: -0.1}
+  orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}
+scale: {x: 0.0, y: 0.0, z: 0.1}
+color: {r: 0.0, g: 0.0, b: 0.0, a: 1.0}
+text: '$1 $2 $3 $4 $5 $6'" &
 
 	ROSTOPIC_PID=$!          # Get PID from background process
 	trap stop_rostopic EXIT  # Ensure rostopic is killed on exit
@@ -34,7 +34,7 @@ function launch {
 	done
 	echo "***********************************************"
 
-	start_rostopic $1
+	start_rostopic $1 $2 $3 $4 $5 $6
 	roslaunch sr_description test_models.launch robot:="$(rospack find sr_description)/test/robot_description" rviz_config:=$RVIZ_CONFIG
 	rm "robot_description"
 	stop_rostopic
diff --git a/sr_description/test/test_process_fingers_parameter.xacro b/sr_description/test/test_process_fingers_parameter.xacro
index d219f749..48968efe 100644
--- a/sr_description/test/test_process_fingers_parameter.xacro
+++ b/sr_description/test/test_process_fingers_parameter.xacro
@@ -3,7 +3,7 @@
 	<xacro:macro name="test" params="msg:='' fingers:=all lf:=${None} extra_lite:=${None}">
 		<xacro:property name="input" value="${fingers}" lazy_eval="false" />
 		<xacro:include filename="$(find sr_description)/hand/xacro/process_fingers_parameter.xacro" />
-	${input} ${msg} : ${fingers}
+		${input} ${msg} : ${fingers}
 	</xacro:macro>
 	<xacro:test />
 	<xacro:test fingers="FF RF lF"/>