diff --git a/iisz.urdf b/iisz.urdf
deleted file mode 100644
index cd9918d..0000000
--- a/iisz.urdf
+++ /dev/null
@@ -1,400 +0,0 @@
-<?xml version="1.0" ?>
-<!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from src/iisy_config/urdf/iisy.urdf | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
-<!-- =================================================================================== -->
-<robot name="iisy">
-  <link name="world"/>
-  <link name="base_link"/>
-  <link name="table">
-    <collision>
-      <geometry>
-        <mesh filename="file:///home/ros/workspace/install/iisy_config/share/iisy_config/stl/table.stl"/>
-      </geometry>
-    </collision>
-    <visual>
-      <geometry>
-        <mesh filename="file:///home/ros/workspace/install/iisy_config/share/iisy_config/stl/table.stl"/>
-      </geometry>
-    </visual>
-  </link>
-  <link name="base_bottom">
-    <collision>
-      <geometry>
-        <mesh filename="file:///home/ros/workspace/install/iisy_config/share/iisy_config/stl/base_bottom_coll.stl"/>
-      </geometry>
-    </collision>
-    <visual>
-      <geometry>
-        <mesh filename="file:///home/ros/workspace/install/iisy_config/share/iisy_config/stl/base_bottom_low.stl"/>
-      </geometry>
-    </visual>
-    <inertial>
-      <origin rpy="0 0 0" xyz="-0.043517 0.000000 0.054914"/>
-      <mass value="6"/>
-      <inertia ixx="1.277905" ixy="0.0" ixz="0.138279" iyy="3.070705" iyz="0.0" izz="3.284356"/>
-    </inertial>
-  </link>
-  <link name="base_top">
-    <collision>
-      <origin xyz="0 -0.005 0.08"/>
-      <geometry>
-        <box size="0.14 0.15 0.16"/>
-      </geometry>
-    </collision>
-    <visual>
-      <geometry>
-        <mesh filename="file:///home/ros/workspace/install/iisy_config/share/iisy_config/stl/base_top_low.stl"/>
-      </geometry>
-    </visual>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 -0.005 0.08"/>
-      <mass value="2"/>
-      <inertia ixx="0.32666666666667" ixy="0.0" ixz="0.0" iyy="0.32666666666667" iyz="0.0" izz="0.25"/>
-    </inertial>
-  </link>
-  <link name="link1_full">
-    <collision>
-      <geometry>
-        <mesh filename="file:///home/ros/workspace/install/iisy_config/share/iisy_config/stl/link_1_full_coll.stl"/>
-      </geometry>
-    </collision>
-    <visual>
-      <geometry>
-        <mesh filename="file:///home/ros/workspace/install/iisy_config/share/iisy_config/stl/link_1_full_low.stl"/>
-      </geometry>
-    </visual>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 -0.050000 0.150000"/>
-      <mass value="4"/>
-      <inertia ixx="8.266347" ixy="0.0" ixz="0.0" iyy="8.647519" iyz="0.0" izz="8.647519"/>
-    </inertial>
-  </link>
-  <link name="link2_bottom">
-    <collision>
-      <origin xyz="0 0.07 0.025"/>
-      <geometry>
-        <box size="0.14 0.14 0.19"/>
-      </geometry>
-    </collision>
-    <visual>
-      <geometry>
-        <mesh filename="file:///home/ros/workspace/install/iisy_config/share/iisy_config/stl/link_2_bottom_low.stl"/>
-      </geometry>
-    </visual>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0.07 0.025"/>
-      <mass value="2"/>
-      <inertia ixx="0.5" ixy="0.0" ixz="0.0" iyy="0.5" iyz="0.0" izz="0.25"/>
-    </inertial>
-  </link>
-  <link name="link2_top">
-    <collision>
-      <geometry>
-        <mesh filename="file:///home/ros/workspace/install/iisy_config/share/iisy_config/stl/link_2_top_coll.stl"/>
-      </geometry>
-    </collision>
-    <visual>
-      <geometry>
-        <mesh filename="file:///home/ros/workspace/install/iisy_config/share/iisy_config/stl/link_2_top_low.stl"/>
-      </geometry>
-    </visual>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 0.037363 0.086674"/>
-      <mass value="2"/>
-      <inertia ixx="1.431738" ixy="0.0" ixz="0.0" iyy="1.131426" iyz="-0.342192" izz="0.807202"/>
-    </inertial>
-  </link>
-  <link name="link3_bottom">
-    <collision>
-      <geometry>
-        <mesh filename="file:///home/ros/workspace/install/iisy_config/share/iisy_config/stl/link_3_bottom_coll.stl"/>
-      </geometry>
-    </collision>
-    <visual>
-      <geometry>
-        <mesh filename="file:///home/ros/workspace/install/iisy_config/share/iisy_config/stl/link_3_bottom_low.stl"/>
-      </geometry>
-    </visual>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 -0.055000 0.021413"/>
-      <mass value="2"/>
-      <inertia ixx="0.362124" ixy="0.0" ixz="0.0" iyy="0.343531" iyz="0.0" izz="0.283368"/>
-    </inertial>
-  </link>
-  <link name="link3_top">
-    <collision>
-      <geometry>
-        <mesh filename="file:///home/ros/workspace/install/iisy_config/share/iisy_config/stl/link_3_top_coll.stl"/>
-      </geometry>
-    </collision>
-    <visual>
-      <geometry>
-        <mesh filename="file:///home/ros/workspace/install/iisy_config/share/iisy_config/stl/link_3_top_low.stl"/>
-      </geometry>
-    </visual>
-    <inertial>
-      <origin rpy="0 0 0" xyz="0 -0.015462 0.040000"/>
-      <mass value="0.8"/>
-      <inertia ixx="0.228470" ixy="0.0" ixz="0.0" iyy="0.137641" iyz="0.0" izz="0.252003"/>
-    </inertial>
-  </link>
-  <joint name="world_base_link_fixed" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <parent link="world"/>
-    <child link="base_link"/>
-  </joint>
-  <joint name="base_base_link_fixed" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <parent link="base_link"/>
-    <child link="table"/>
-  </joint>
-  <joint name="table_link_fixed" type="fixed">
-    <origin rpy="0 0 0" xyz="0 0 1"/>
-    <parent link="table"/>
-    <child link="base_bottom"/>
-  </joint>
-  <joint name="base_rot" type="continuous">
-    <origin rpy="0 0 0" xyz="0 0 0.1205"/>
-    <parent link="base_bottom"/>
-    <child link="base_top"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="30" velocity="1.7453292519943"/>
-    <dynamics damping="10.0" friction="0.1"/>
-  </joint>
-  <joint name="base_link1_joint" type="revolute">
-    <origin rpy="0 0 0" xyz="0 -0.080499 0.092997"/>
-    <parent link="base_top"/>
-    <child link="link1_full"/>
-    <axis xyz="0 1 0"/>
-    <limit effort="30" lower="-2.2689280275926" upper="2.4434609527921" velocity="1.7453292519943"/>
-    <dynamics damping="10.0" friction="0.1"/>
-  </joint>
-  <joint name="link1_link2_joint" type="revolute">
-    <origin rpy="0 0 0" xyz="0 0 0.3"/>
-    <parent link="link1_full"/>
-    <child link="link2_bottom"/>
-    <axis xyz="0 1 0"/>
-    <limit effort="30" lower="-2.6179938779915" upper="2.6179938779915" velocity="1.7453292519943"/>
-    <dynamics damping="10.0" friction="0.1"/>
-  </joint>
-  <joint name="link2_rot" type="continuous">
-    <origin rpy="0 0 0" xyz="0 0.080501 0.120502"/>
-    <parent link="link2_bottom"/>
-    <child link="link2_top"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="30" velocity="1.7453292519943"/>
-    <dynamics damping="10.0" friction="0.1"/>
-  </joint>
-  <joint name="link2_link3_joint" type="continuous">
-    <origin rpy="0 0 0" xyz="0 0.0565 0.178003"/>
-    <parent link="link2_top"/>
-    <child link="link3_bottom"/>
-    <axis xyz="0 1 0"/>
-    <limit effort="30" velocity="1.7453292519943"/>
-    <dynamics damping="10.0" friction="0.1"/>
-  </joint>
-  <joint name="link3_rot" type="continuous">
-    <origin rpy="0 0 0" xyz="0 -0.055001 0.085501"/>
-    <parent link="link3_bottom"/>
-    <child link="link3_top"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="30" velocity="1.7453292519943"/>
-    <dynamics damping="10.0" friction="0.1"/>
-  </joint>
-  <transmission name="trans_base_rot">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="base_rot">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="base_rot_motor">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <transmission name="trans_base_link1_joint">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="base_link1_joint">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="base_link1_joint_motor">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <transmission name="trans_link1_link2_joint">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="link1_link2_joint">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="link1_link2_joint_motor">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <transmission name="trans_link2_rot">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="link2_rot">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="link2_rot_motor">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <transmission name="trans_link2_link3_joint">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="link2_link3_joint">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="link2_link3_joint_motor">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <transmission name="trans_link3_rot">
-    <type>transmission_interface/SimpleTransmission</type>
-    <joint name="link3_rot">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-    </joint>
-    <actuator name="link3_rot_motor">
-      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
-      <mechanicalReduction>1</mechanicalReduction>
-    </actuator>
-  </transmission>
-  <ros2_control name="IgnitionSystem" type="system">
-    <hardware>
-      <plugin>ign_ros2_control/IgnitionSystem</plugin>
-    </hardware>
-    <!-- define lbr specific state interfaces as sensor, see https://github.com/ros-controls/roadmap/blob/master/design_drafts/components_architecture_and_urdf_examples.md -->
-    <sensor name="iisy_state">
-      <!-- see KUKA::FRI::LBRState -->
-      <state_interface name="sample_time"/>
-      <state_interface name="time_stamp_sec"/>
-      <state_interface name="time_stamp_nano_sec"/>
-    </sensor>
-    <!-- define joints and command/state interfaces for each joint -->
-    <joint name="base_rot">
-      <command_interface name="position">
-        <!-- better to use radians as min max first -->
-        <param name="min">-1</param>
-        <param name="max"> 1</param>
-      </command_interface>
-      <command_interface name="effort">
-        <param name="min">-1</param>
-        <param name="max"> 1</param>
-      </command_interface>
-      <state_interface name="position"/>
-      <state_interface name="effort"/>
-      <state_interface name="external_torque"/>
-    </joint>
-    <joint name="base_link1_joint">
-      <command_interface name="position">
-        <param name="min">-1</param>
-        <param name="max"> 1</param>
-      </command_interface>
-      <command_interface name="effort">
-        <param name="min">-1</param>
-        <param name="max"> 1</param>
-      </command_interface>
-      <state_interface name="position"/>
-      <state_interface name="effort"/>
-      <state_interface name="external_torque"/>
-    </joint>
-    <joint name="link1_link2_joint">
-      <command_interface name="position">
-        <param name="min">-1</param>
-        <param name="max"> 1</param>
-      </command_interface>
-      <command_interface name="effort">
-        <param name="min">-1</param>
-        <param name="max"> 1</param>
-      </command_interface>
-      <state_interface name="position"/>
-      <state_interface name="effort"/>
-      <state_interface name="external_torque"/>
-    </joint>
-    <joint name="link2_rot">
-      <command_interface name="position">
-        <param name="min">-1</param>
-        <param name="max"> 1</param>
-      </command_interface>
-      <command_interface name="effort">
-        <param name="min">-1</param>
-        <param name="max"> 1</param>
-      </command_interface>
-      <state_interface name="position"/>
-      <state_interface name="effort"/>
-      <state_interface name="external_torque"/>
-    </joint>
-    <joint name="link2_link3_joint">
-      <command_interface name="position">
-        <param name="min">-1</param>
-        <param name="max"> 1</param>
-      </command_interface>
-      <command_interface name="effort">
-        <param name="min">-1</param>
-        <param name="max"> 1</param>
-      </command_interface>
-      <state_interface name="position"/>
-      <state_interface name="effort"/>
-      <state_interface name="external_torque"/>
-    </joint>
-    <joint name="link3_rot">
-      <command_interface name="position">
-        <param name="min">-1</param>
-        <param name="max"> 1</param>
-      </command_interface>
-      <command_interface name="effort">
-        <param name="min">-1</param>
-        <param name="max"> 1</param>
-      </command_interface>
-      <state_interface name="position"/>
-      <state_interface name="effort"/>
-      <state_interface name="external_torque"/>
-    </joint>
-  </ros2_control>
-  <gazebo>
-    <plugin filename="ignition-gazebo-joint-state-publisher-system" name="ignition::gazebo::systems::JointStatePublisher"/>
-  </gazebo>
-  <gazebo>
-    <plugin filename="libign_ros2_control-system.so" name="ign_ros2_control::IgnitionROS2ControlPlugin">
-      <parameters>/home/ros/workspace/install/iisy_config/share/iisy_config/config/iisy_controllers.yml</parameters>
-    </plugin>
-  </gazebo>
-  <gazebo reference="base_bottom">
-    <mu1>0.2</mu1>
-    <mu2>0.2</mu2>
-    <material>Gazebo/Orange</material>
-  </gazebo>
-  <gazebo reference="base_top">
-    <mu1>0.2</mu1>
-    <mu2>0.2</mu2>
-    <material>Gazebo/Orange</material>
-  </gazebo>
-  <gazebo reference="link1_full">
-    <mu1>0.2</mu1>
-    <mu2>0.2</mu2>
-    <material>Gazebo/Orange</material>
-  </gazebo>
-  <gazebo reference="link2_bottom">
-    <mu1>0.2</mu1>
-    <mu2>0.2</mu2>
-    <material>Gazebo/Orange</material>
-  </gazebo>
-  <gazebo reference="link2_top">
-    <mu1>0.2</mu1>
-    <mu2>0.2</mu2>
-    <material>Gazebo/Orange</material>
-  </gazebo>
-  <gazebo reference="link3_bottom">
-    <mu1>0.2</mu1>
-    <mu2>0.2</mu2>
-    <material>Gazebo/Orange</material>
-  </gazebo>
-  <gazebo reference="link3_top">
-    <mu1>0.2</mu1>
-    <mu2>0.2</mu2>
-    <material>Gazebo/Grey</material>
-  </gazebo>
-</robot>
diff --git a/src/ign_world/launch/gazebo_controller_launch.py b/src/ign_world/launch/gazebo_controller_launch.py
index 11cbb15..715ebf0 100644
--- a/src/ign_world/launch/gazebo_controller_launch.py
+++ b/src/ign_world/launch/gazebo_controller_launch.py
@@ -10,7 +10,7 @@ import xacro
 
 def generate_launch_description():
     moveit_config = MoveItConfigsBuilder("iisy", package_name="iisy_config").to_moveit_configs()
-
+    
     load_joint_state_broadcaster = ExecuteProcess(
         cmd=['ros2', 'control', 'load_controller', '--set-state', 'active', 'joint_state_broadcaster'],
         output='screen'
@@ -35,7 +35,7 @@ def generate_launch_description():
     return LaunchDescription([
         IncludeLaunchDescription(
             PythonLaunchDescriptionSource(os.path.join(get_package_share_directory('ros_gz_sim'), 'launch', 'gz_sim.launch.py')),
-            launch_arguments={'gz_args': '-v 4 -r /home/ros/workspace/src/ign_world/world/gaz_new_test.sdf'}.items(),
+            launch_arguments={'gz_args': '-v 4 -r '+get_package_share_directory('ign_world')+'/world/gaz_new_test.sdf'}.items(),
         ),
 
         Node(
diff --git a/src/ign_world/launch/moveit_launch.py b/src/ign_world/launch/moveit_launch.py
index 7e284bb..3c9ee52 100644
--- a/src/ign_world/launch/moveit_launch.py
+++ b/src/ign_world/launch/moveit_launch.py
@@ -217,7 +217,7 @@ def generate_launch_description():
 
         #IncludeLaunchDescription(
         #    PythonLaunchDescriptionSource(os.path.join(pkg_ros_gz_sim, 'launch', 'gz_sim.launch.py')),
-        #    launch_arguments={'gz_args': '-r /home/ros/workspace/src/ign_world/world/gaz_new_test.sdf'}.items(),
+        #    launch_arguments={'gz_args': '-r '+get_package_share_directory('ign_world')+'/world/gaz_new_test.sdf'}.items(),
         #),
 
         Node(
diff --git a/src/ign_world/launch/new_launch.py b/src/ign_world/launch/new_launch.py
index 1e545b8..c0b2964 100644
--- a/src/ign_world/launch/new_launch.py
+++ b/src/ign_world/launch/new_launch.py
@@ -15,7 +15,7 @@ def generate_launch_description():
 
         IncludeLaunchDescription(
             PythonLaunchDescriptionSource(os.path.join(get_package_share_directory('ros_gz_sim'), 'launch', 'gz_sim.launch.py')),
-            launch_arguments={'gz_args': '-v 4 -r /home/ros/workspace/src/ign_world/world/gaz_new_test.sdf'}.items(),
+            launch_arguments={'gz_args': '-v 4 -r '+get_package_share_directory('ign_world')+'/world/gaz_new_test.sdf'}.items(),
         ),
 
         Node(
diff --git a/src/iisy_config/config/iisy.urdf b/src/iisy_config/config/iisy.urdf
index 8508066..5f88870 100644
--- a/src/iisy_config/config/iisy.urdf
+++ b/src/iisy_config/config/iisy.urdf
@@ -9,24 +9,24 @@
   <link name="table">
     <collision>
       <geometry>
-        <mesh filename="file:///home/ros/workspace/install/iisy_config/share/iisy_config/stl/table.stl"/>
+        <mesh filename="$(find iisy_config)/stl/table.stl"/>
       </geometry>
     </collision>
     <visual>
       <geometry>
-        <mesh filename="file:///home/ros/workspace/install/iisy_config/share/iisy_config/stl/table.stl"/>
+        <mesh filename="$(find iisy_config)/stl/table.stl"/>
       </geometry>
     </visual>
   </link>
   <link name="base_bottom">
     <collision>
       <geometry>
-        <mesh filename="file:///home/ros/workspace/install/iisy_config/share/iisy_config/stl/base_bottom_coll.stl"/>
+        <mesh filename="$(find iisy_config)/stl/base_bottom_coll.stl"/>
       </geometry>
     </collision>
     <visual>
       <geometry>
-        <mesh filename="file:///home/ros/workspace/install/iisy_config/share/iisy_config/stl/base_bottom_low.stl"/>
+        <mesh filename="$(find iisy_config)/stl/base_bottom_low.stl"/>
       </geometry>
     </visual>
     <inertial>
@@ -44,7 +44,7 @@
     </collision>
     <visual>
       <geometry>
-        <mesh filename="file:///home/ros/workspace/install/iisy_config/share/iisy_config/stl/base_top_low.stl"/>
+        <mesh filename="$(find iisy_config)/stl/base_top_low.stl"/>
       </geometry>
     </visual>
     <inertial>
@@ -56,12 +56,12 @@
   <link name="link1_full">
     <collision>
       <geometry>
-        <mesh filename="file:///home/ros/workspace/install/iisy_config/share/iisy_config/stl/link_1_full_coll.stl"/>
+        <mesh filename="$(find iisy_config)/stl/link_1_full_coll.stl"/>
       </geometry>
     </collision>
     <visual>
       <geometry>
-        <mesh filename="file:///home/ros/workspace/install/iisy_config/share/iisy_config/stl/link_1_full_low.stl"/>
+        <mesh filename="$(find iisy_config)/stl/link_1_full_low.stl"/>
       </geometry>
     </visual>
     <inertial>
@@ -79,7 +79,7 @@
     </collision>
     <visual>
       <geometry>
-        <mesh filename="file:///home/ros/workspace/install/iisy_config/share/iisy_config/stl/link_2_bottom_low.stl"/>
+        <mesh filename="$(find iisy_config)/stl/link_2_bottom_low.stl"/>
       </geometry>
     </visual>
     <inertial>
@@ -91,12 +91,12 @@
   <link name="link2_top">
     <collision>
       <geometry>
-        <mesh filename="file:///home/ros/workspace/install/iisy_config/share/iisy_config/stl/link_2_top_coll.stl"/>
+        <mesh filename="$(find iisy_config)/stl/link_2_top_coll.stl"/>
       </geometry>
     </collision>
     <visual>
       <geometry>
-        <mesh filename="file:///home/ros/workspace/install/iisy_config/share/iisy_config/stl/link_2_top_low.stl"/>
+        <mesh filename="$(find iisy_config)/stl/link_2_top_low.stl"/>
       </geometry>
     </visual>
     <inertial>
@@ -108,12 +108,12 @@
   <link name="link3_bottom">
     <collision>
       <geometry>
-        <mesh filename="file:///home/ros/workspace/install/iisy_config/share/iisy_config/stl/link_3_bottom_coll.stl"/>
+        <mesh filename="$(find iisy_config)/stl/link_3_bottom_coll.stl"/>
       </geometry>
     </collision>
     <visual>
       <geometry>
-        <mesh filename="file:///home/ros/workspace/install/iisy_config/share/iisy_config/stl/link_3_bottom_low.stl"/>
+        <mesh filename="$(find iisy_config)/stl/link_3_bottom_low.stl"/>
       </geometry>
     </visual>
     <inertial>
@@ -125,12 +125,12 @@
   <link name="link3_top">
     <collision>
       <geometry>
-        <mesh filename="file:///home/ros/workspace/install/iisy_config/share/iisy_config/stl/link_3_top_coll.stl"/>
+        <mesh filename="$(find iisy_config)/stl/link_3_top_coll.stl"/>
       </geometry>
     </collision>
     <visual>
       <geometry>
-        <mesh filename="file:///home/ros/workspace/install/iisy_config/share/iisy_config/stl/link_3_top_low.stl"/>
+        <mesh filename="$(find iisy_config)/stl/link_3_top_low.stl"/>
       </geometry>
     </visual>
     <inertial>