diff --git a/src/adam/model/mj_factories/mj_joint.py b/src/adam/model/mj_factories/mj_joint.py
index 0e34e88..f517457 100644
--- a/src/adam/model/mj_factories/mj_joint.py
+++ b/src/adam/model/mj_factories/mj_joint.py
@@ -35,82 +35,3 @@ def __init__(
         self.origin = Pose(xyz=joint_ori_xyz, rpy=joint_rpy)
         self.limit = joint["limit"]
         self.idx = idx
-
-    def homogeneous(self, q: npt.ArrayLike) -> npt.ArrayLike:
-        """
-        Args:
-            q (npt.ArrayLike): joint value
-
-        Returns:
-            npt.ArrayLike: the homogenous transform of a joint, given q
-        """
-
-        if self.type == "fixed":
-            xyz = self.origin.xyz
-            rpy = self.origin.rpy
-            return self.math.H_from_Pos_RPY(xyz, rpy)
-        elif self.type in ["revolute", "continuous"]:
-            return self.math.H_revolute_joint(
-                self.origin.xyz,
-                self.origin.rpy,
-                self.axis,
-                q,
-            )
-        elif self.type in ["prismatic"]:
-            return self.math.H_prismatic_joint(
-                self.origin.xyz,
-                self.origin.rpy,
-                self.axis,
-                q,
-            )
-
-    def spatial_transform(self, q: npt.ArrayLike) -> npt.ArrayLike:
-        """
-        Args:
-            q (npt.ArrayLike): joint motion
-
-        Returns:
-            npt.ArrayLike: spatial transform of the joint given q
-        """
-        if self.type == "fixed":
-            return self.math.X_fixed_joint(self.origin.xyz, self.origin.rpy)
-        elif self.type in ["revolute", "continuous"]:
-            return self.math.X_revolute_joint(
-                self.origin.xyz, self.origin.rpy, self.axis, q
-            )
-        elif self.type in ["prismatic"]:
-            return self.math.X_prismatic_joint(
-                self.origin.xyz,
-                self.origin.rpy,
-                self.axis,
-                q,
-            )
-
-    def motion_subspace(self) -> npt.ArrayLike:
-        """
-        Args:
-            joint (Joint): Joint
-
-        Returns:
-            npt.ArrayLike: motion subspace of the joint
-        """
-        if self.type == "fixed":
-            return self.math.vertcat(0, 0, 0, 0, 0, 0)
-        elif self.type in ["revolute", "continuous"]:
-            return self.math.vertcat(
-                0,
-                0,
-                0,
-                self.axis[0],
-                self.axis[1],
-                self.axis[2],
-            )
-        elif self.type in ["prismatic"]:
-            return self.math.vertcat(
-                self.axis[0],
-                self.axis[1],
-                self.axis[2],
-                0,
-                0,
-                0,
-            )
diff --git a/src/adam/model/mj_factories/mj_link.py b/src/adam/model/mj_factories/mj_link.py
index dd38139..b6f6c7b 100644
--- a/src/adam/model/mj_factories/mj_link.py
+++ b/src/adam/model/mj_factories/mj_link.py
@@ -63,25 +63,3 @@ def transform_inertia_tensor(
         """Transform the diagonal inertia tensor to the original frame."""
         I_diag = np.diag(diaginertia)
         return rotation_matrix @ I_diag @ rotation_matrix.T
-
-    def spatial_inertia(self) -> npt.ArrayLike:
-        """
-        Returns:
-            npt.ArrayLike: the 6x6 inertia matrix expressed at
-                           the origin of the link (with rotation)
-        """
-        I = self.inertial.inertia
-        mass = self.inertial.mass
-        o = self.inertial.origin.xyz
-        rpy = self.inertial.origin.rpy
-        return self.math.spatial_inertia(I, mass, o, rpy)
-
-    def homogeneous(self) -> npt.ArrayLike:
-        """
-        Returns:
-            npt.ArrayLike: the homogeneous transform of the link
-        """
-        return self.math.H_from_Pos_RPY(
-            self.inertial.origin.xyz,
-            self.inertial.origin.rpy,
-        )
diff --git a/src/adam/model/std_factories/std_joint.py b/src/adam/model/std_factories/std_joint.py
index a72787d..330f5f2 100644
--- a/src/adam/model/std_factories/std_joint.py
+++ b/src/adam/model/std_factories/std_joint.py
@@ -25,82 +25,3 @@ def __init__(
         self.origin = joint.origin
         self.limit = joint.limit
         self.idx = idx
-
-    def homogeneous(self, q: npt.ArrayLike) -> npt.ArrayLike:
-        """
-        Args:
-            q (npt.ArrayLike): joint value
-
-        Returns:
-            npt.ArrayLike: the homogenous transform of a joint, given q
-        """
-
-        if self.type == "fixed":
-            xyz = self.origin.xyz
-            rpy = self.origin.rpy
-            return self.math.H_from_Pos_RPY(xyz, rpy)
-        elif self.type in ["revolute", "continuous"]:
-            return self.math.H_revolute_joint(
-                self.origin.xyz,
-                self.origin.rpy,
-                self.axis,
-                q,
-            )
-        elif self.type in ["prismatic"]:
-            return self.math.H_prismatic_joint(
-                self.origin.xyz,
-                self.origin.rpy,
-                self.axis,
-                q,
-            )
-
-    def spatial_transform(self, q: npt.ArrayLike) -> npt.ArrayLike:
-        """
-        Args:
-            q (npt.ArrayLike): joint motion
-
-        Returns:
-            npt.ArrayLike: spatial transform of the joint given q
-        """
-        if self.type == "fixed":
-            return self.math.X_fixed_joint(self.origin.xyz, self.origin.rpy)
-        elif self.type in ["revolute", "continuous"]:
-            return self.math.X_revolute_joint(
-                self.origin.xyz, self.origin.rpy, self.axis, q
-            )
-        elif self.type in ["prismatic"]:
-            return self.math.X_prismatic_joint(
-                self.origin.xyz,
-                self.origin.rpy,
-                self.axis,
-                q,
-            )
-
-    def motion_subspace(self) -> npt.ArrayLike:
-        """
-        Args:
-            joint (Joint): Joint
-
-        Returns:
-            npt.ArrayLike: motion subspace of the joint
-        """
-        if self.type == "fixed":
-            return self.math.vertcat(0, 0, 0, 0, 0, 0)
-        elif self.type in ["revolute", "continuous"]:
-            return self.math.vertcat(
-                0,
-                0,
-                0,
-                self.axis[0],
-                self.axis[1],
-                self.axis[2],
-            )
-        elif self.type in ["prismatic"]:
-            return self.math.vertcat(
-                self.axis[0],
-                self.axis[1],
-                self.axis[2],
-                0,
-                0,
-                0,
-            )
diff --git a/src/adam/model/std_factories/std_link.py b/src/adam/model/std_factories/std_link.py
index 7754747..e4af585 100644
--- a/src/adam/model/std_factories/std_link.py
+++ b/src/adam/model/std_factories/std_link.py
@@ -2,7 +2,7 @@
 import urdf_parser_py.urdf
 
 from adam.core.spatial_math import SpatialMath
-from adam.model import Link, Inertial, Pose
+from adam.model import Inertial, Link, Pose
 
 
 class StdLink(Link):
@@ -24,25 +24,3 @@ def __init__(self, link: urdf_parser_py.urdf.Link, math: SpatialMath):
             link.inertial.origin = Pose(xyz=[0, 0, 0], rpy=[0, 0, 0])
 
         self.inertial = link.inertial
-
-    def spatial_inertia(self) -> npt.ArrayLike:
-        """
-        Returns:
-            npt.ArrayLike: the 6x6 inertia matrix expressed at
-                           the origin of the link (with rotation)
-        """
-        I = self.inertial.inertia
-        mass = self.inertial.mass
-        o = self.inertial.origin.xyz
-        rpy = self.inertial.origin.rpy
-        return self.math.spatial_inertia(I, mass, o, rpy)
-
-    def homogeneous(self) -> npt.ArrayLike:
-        """
-        Returns:
-            npt.ArrayLike: the homogeneous transform of the link
-        """
-        return self.math.H_from_Pos_RPY(
-            self.inertial.origin.xyz,
-            self.inertial.origin.rpy,
-        )