diff --git a/nanosaur_description/launch/description.launch.py b/nanosaur_description/launch/description.launch.py
index dd36fd4..c1ae867 100644
--- a/nanosaur_description/launch/description.launch.py
+++ b/nanosaur_description/launch/description.launch.py
@@ -1,4 +1,4 @@
-# Copyright (C) 2021, Raffaello Bonghi <raffaello@rnext.it>
+# Copyright (C) 2024, Raffaello Bonghi <raffaello@rnext.it>
 # All rights reserved
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions are met:
diff --git a/nanosaur_description/launch/display.launch.py b/nanosaur_description/launch/display.launch.py
index 6aabb77..8babc6e 100644
--- a/nanosaur_description/launch/display.launch.py
+++ b/nanosaur_description/launch/display.launch.py
@@ -1,4 +1,4 @@
-# Copyright (C) 2021, Raffaello Bonghi <raffaello@rnext.it>
+# Copyright (C) 2024, Raffaello Bonghi <raffaello@rnext.it>
 # All rights reserved
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions are met:
diff --git a/nanosaur_description/meshes/025in/slider.stl b/nanosaur_description/meshes/025in/slider.stl
deleted file mode 100644
index 52ebb58..0000000
Binary files a/nanosaur_description/meshes/025in/slider.stl and /dev/null differ
diff --git a/nanosaur_description/meshes/025in/sprocket.stl b/nanosaur_description/meshes/025in/sprocket.stl
deleted file mode 100644
index db6c1bd..0000000
Binary files a/nanosaur_description/meshes/025in/sprocket.stl and /dev/null differ
diff --git a/nanosaur_description/meshes/025in/wheel.stl b/nanosaur_description/meshes/025in/wheel.stl
deleted file mode 100644
index bbf29a2..0000000
Binary files a/nanosaur_description/meshes/025in/wheel.stl and /dev/null differ
diff --git a/nanosaur_description/meshes/base_front.stl b/nanosaur_description/meshes/base_front.stl
deleted file mode 100644
index 5ef4e90..0000000
Binary files a/nanosaur_description/meshes/base_front.stl and /dev/null differ
diff --git a/nanosaur_description/meshes/base_rear.stl b/nanosaur_description/meshes/base_rear.stl
deleted file mode 100644
index 7ef7f63..0000000
Binary files a/nanosaur_description/meshes/base_rear.stl and /dev/null differ
diff --git a/nanosaur_description/meshes/cover-fe.stl b/nanosaur_description/meshes/cover-fe.stl
deleted file mode 100644
index 0283a86..0000000
Binary files a/nanosaur_description/meshes/cover-fe.stl and /dev/null differ
diff --git a/nanosaur_description/meshes/cover-rs.stl b/nanosaur_description/meshes/cover-rs.stl
deleted file mode 100644
index 2285f71..0000000
Binary files a/nanosaur_description/meshes/cover-rs.stl and /dev/null differ
diff --git a/nanosaur_description/meshes/cover-zedmini.stl b/nanosaur_description/meshes/cover-zedmini.stl
deleted file mode 100644
index a0b9e56..0000000
Binary files a/nanosaur_description/meshes/cover-zedmini.stl and /dev/null differ
diff --git a/nanosaur_description/meshes/cover.stl b/nanosaur_description/meshes/cover.stl
deleted file mode 100644
index 105272b..0000000
Binary files a/nanosaur_description/meshes/cover.stl and /dev/null differ
diff --git a/nanosaur_description/meshes/datasheet/nanosaur-datasheet.pdf b/nanosaur_description/meshes/datasheet/nanosaur-datasheet.pdf
deleted file mode 100644
index ebf6ada..0000000
Binary files a/nanosaur_description/meshes/datasheet/nanosaur-datasheet.pdf and /dev/null differ
diff --git a/nanosaur_description/meshes/datasheet/nanosaur-powerbank.pdf b/nanosaur_description/meshes/datasheet/nanosaur-powerbank.pdf
deleted file mode 100644
index e95404c..0000000
Binary files a/nanosaur_description/meshes/datasheet/nanosaur-powerbank.pdf and /dev/null differ
diff --git a/nanosaur_description/meshes/flap_bottom.stl b/nanosaur_description/meshes/flap_bottom.stl
deleted file mode 100644
index e23484f..0000000
Binary files a/nanosaur_description/meshes/flap_bottom.stl and /dev/null differ
diff --git a/nanosaur_description/meshes/flap_top.stl b/nanosaur_description/meshes/flap_top.stl
deleted file mode 100644
index b84b2ef..0000000
Binary files a/nanosaur_description/meshes/flap_top.stl and /dev/null differ
diff --git a/nanosaur_description/meshes/nanosaur_base.stl b/nanosaur_description/meshes/nanosaur_base.stl
new file mode 100644
index 0000000..7f14b4b
Binary files /dev/null and b/nanosaur_description/meshes/nanosaur_base.stl differ
diff --git a/nanosaur_description/meshes/nanosaur_cover_batteries.stl b/nanosaur_description/meshes/nanosaur_cover_batteries.stl
new file mode 100644
index 0000000..b27871e
Binary files /dev/null and b/nanosaur_description/meshes/nanosaur_cover_batteries.stl differ
diff --git a/nanosaur_description/meshes/nanosaur_cover_electronics.stl b/nanosaur_description/meshes/nanosaur_cover_electronics.stl
new file mode 100644
index 0000000..e61b117
Binary files /dev/null and b/nanosaur_description/meshes/nanosaur_cover_electronics.stl differ
diff --git a/nanosaur_description/meshes/nanosaur_flap.stl b/nanosaur_description/meshes/nanosaur_flap.stl
new file mode 100644
index 0000000..7d2ee77
Binary files /dev/null and b/nanosaur_description/meshes/nanosaur_flap.stl differ
diff --git a/nanosaur_description/meshes/nanosaur_head_realsense_d435.stl b/nanosaur_description/meshes/nanosaur_head_realsense_d435.stl
new file mode 100644
index 0000000..b5e7b85
Binary files /dev/null and b/nanosaur_description/meshes/nanosaur_head_realsense_d435.stl differ
diff --git a/nanosaur_description/meshes/parts/LD06.stl b/nanosaur_description/meshes/parts/LD06.stl
new file mode 100644
index 0000000..5bd9461
Binary files /dev/null and b/nanosaur_description/meshes/parts/LD06.stl differ
diff --git a/nanosaur_description/meshes/parts/NVIDIA_Jetson_Orin_Nano_DevKit.stl b/nanosaur_description/meshes/parts/NVIDIA_Jetson_Orin_Nano_DevKit.stl
new file mode 100644
index 0000000..c822fd0
Binary files /dev/null and b/nanosaur_description/meshes/parts/NVIDIA_Jetson_Orin_Nano_DevKit.stl differ
diff --git a/nanosaur_description/meshes/parts/NVIDIA_jetson_nano_4gb.stl b/nanosaur_description/meshes/parts/NVIDIA_jetson_nano_4gb.stl
deleted file mode 100644
index 83cc675..0000000
Binary files a/nanosaur_description/meshes/parts/NVIDIA_jetson_nano_4gb.stl and /dev/null differ
diff --git a/nanosaur_description/meshes/parts/Pololu-Micro-Metal-Gearmotor.stl b/nanosaur_description/meshes/parts/Pololu-Micro-Metal-Gearmotor.stl
deleted file mode 100644
index b340743..0000000
Binary files a/nanosaur_description/meshes/parts/Pololu-Micro-Metal-Gearmotor.stl and /dev/null differ
diff --git a/nanosaur_description/meshes/parts/mecanum_cover.stl b/nanosaur_description/meshes/parts/mecanum_cover.stl
new file mode 100644
index 0000000..44503c0
Binary files /dev/null and b/nanosaur_description/meshes/parts/mecanum_cover.stl differ
diff --git a/nanosaur_description/meshes/parts/mecanum_wheels.stl b/nanosaur_description/meshes/parts/mecanum_wheels.stl
new file mode 100644
index 0000000..4d649d2
Binary files /dev/null and b/nanosaur_description/meshes/parts/mecanum_wheels.stl differ
diff --git a/nanosaur_description/meshes/parts/motor2040.stl b/nanosaur_description/meshes/parts/motor2040.stl
new file mode 100644
index 0000000..b9720cc
Binary files /dev/null and b/nanosaur_description/meshes/parts/motor2040.stl differ
diff --git a/nanosaur_description/meshes/parts/motor_block.stl b/nanosaur_description/meshes/parts/motor_block.stl
new file mode 100644
index 0000000..3910b4d
Binary files /dev/null and b/nanosaur_description/meshes/parts/motor_block.stl differ
diff --git a/nanosaur_description/meshes/parts/motor_board.stl b/nanosaur_description/meshes/parts/motor_board.stl
deleted file mode 100644
index 0caad00..0000000
Binary files a/nanosaur_description/meshes/parts/motor_board.stl and /dev/null differ
diff --git a/nanosaur_description/meshes/parts/nanosaur-exp-board.stl b/nanosaur_description/meshes/parts/nanosaur-exp-board.stl
deleted file mode 100644
index 24432b9..0000000
Binary files a/nanosaur_description/meshes/parts/nanosaur-exp-board.stl and /dev/null differ
diff --git a/nanosaur_description/meshes/parts/nanosaur_PCB_electronics.stl b/nanosaur_description/meshes/parts/nanosaur_PCB_electronics.stl
new file mode 100644
index 0000000..bb67639
Binary files /dev/null and b/nanosaur_description/meshes/parts/nanosaur_PCB_electronics.stl differ
diff --git a/nanosaur_description/meshes/parts/nanosaur_PCB_oleds.stl b/nanosaur_description/meshes/parts/nanosaur_PCB_oleds.stl
new file mode 100644
index 0000000..158d08e
Binary files /dev/null and b/nanosaur_description/meshes/parts/nanosaur_PCB_oleds.stl differ
diff --git a/nanosaur_description/meshes/parts/power_bank.stl b/nanosaur_description/meshes/parts/power_bank.stl
deleted file mode 100644
index d0d6dd6..0000000
Binary files a/nanosaur_description/meshes/parts/power_bank.stl and /dev/null differ
diff --git a/nanosaur_description/meshes/parts/rasp_camera.stl b/nanosaur_description/meshes/parts/rasp_camera.stl
deleted file mode 100644
index f1468b8..0000000
Binary files a/nanosaur_description/meshes/parts/rasp_camera.stl and /dev/null differ
diff --git a/nanosaur_description/meshes/parts/zedm.stl b/nanosaur_description/meshes/parts/zedm.stl
deleted file mode 100644
index 7048bc7..0000000
Binary files a/nanosaur_description/meshes/parts/zedm.stl and /dev/null differ
diff --git a/nanosaur_description/meshes/pb_holder.stl b/nanosaur_description/meshes/pb_holder.stl
deleted file mode 100644
index 2e6a2c7..0000000
Binary files a/nanosaur_description/meshes/pb_holder.stl and /dev/null differ
diff --git a/nanosaur_description/meshes/slider.stl b/nanosaur_description/meshes/slider.stl
deleted file mode 100644
index 16ba252..0000000
Binary files a/nanosaur_description/meshes/slider.stl and /dev/null differ
diff --git a/nanosaur_description/meshes/sprocket.stl b/nanosaur_description/meshes/sprocket.stl
deleted file mode 100644
index eb40750..0000000
Binary files a/nanosaur_description/meshes/sprocket.stl and /dev/null differ
diff --git a/nanosaur_description/meshes/track.stl b/nanosaur_description/meshes/track.stl
deleted file mode 100644
index cf057a8..0000000
Binary files a/nanosaur_description/meshes/track.stl and /dev/null differ
diff --git a/nanosaur_description/meshes/track_print.stl b/nanosaur_description/meshes/track_print.stl
deleted file mode 100644
index 82803b3..0000000
Binary files a/nanosaur_description/meshes/track_print.stl and /dev/null differ
diff --git a/nanosaur_description/meshes/wheel.stl b/nanosaur_description/meshes/wheel.stl
deleted file mode 100644
index 990948d..0000000
Binary files a/nanosaur_description/meshes/wheel.stl and /dev/null differ
diff --git a/nanosaur_description/urdf/flap.urdf.xacro b/nanosaur_description/urdf/flap.urdf.xacro
index c5d7c87..c03a2ac 100644
--- a/nanosaur_description/urdf/flap.urdf.xacro
+++ b/nanosaur_description/urdf/flap.urdf.xacro
@@ -4,104 +4,26 @@
 
     <xacro:macro name="flap">
 
-        <gazebo reference="flap_bottom">
-            <material>Gazebo/Green</material>
-            <!-- Ignition color reference -->
-            <visual>
-                <material>
-                    <ambient>0.0 0.5 0.0 1.0</ambient>
-                    <diffuse>0.0 0.5 0.0 1.0</diffuse>
-                    <specular>0.0 0.5 0.0 1.0</specular>
-                </material>
-            </visual>
-        </gazebo>
-        <gazebo reference="flap_top">
-            <material>Gazebo/Green</material>
-            <!-- Ignition color reference -->
-            <visual>
-                <material>
-                    <ambient>0.0 0.5 0.0 1.0</ambient>
-                    <diffuse>0.0 0.5 0.0 1.0</diffuse>
-                    <specular>0.0 0.5 0.0 1.0</specular>
-                </material>
-            </visual>
-        </gazebo>
-        <gazebo reference="board_expansion">
-            <material>Gazebo/DarkGrey</material>
-            <!-- Ignition color reference -->
-            <visual>
-                <material>
-                    <ambient>0.5 0.5 0.5 1.0</ambient>
-                    <diffuse>0.5 0.5 0.5 1.0</diffuse>
-                    <specular>0.5 0.5 0.5 1.0</specular>
-                </material>
-            </visual>
-        </gazebo>
-
-        <joint name="flap_bottom_joint" type="fixed">
-            <origin xyz="-0.05 0 0" rpy="0 0 0" />
-            <parent link="base_rear"/>
-            <child link="flap_bottom"/>
-        </joint>
-
-        <link name="flap_bottom">
-            <inertial>
-                <mass value="0.01"/>
-                <origin rpy=" 0 0 0" xyz="0 0 0"/>
-                <inertia ixx="1.6666666666666668e-07" ixy="0" ixz="0" iyy="1.6666666666666668e-07" iyz="0" izz="1.6666666666666668e-07"/>
-            </inertial>
-            <visual>
-                <!--<origin xyz="-0.0161 0 0.009" rpy="0 0 0" />-->
-                <origin xyz="0.0068 0 0.0175" rpy="0 0 0" />
-                <geometry>
-                    <mesh filename="${path_meshes}/flap_bottom.stl" scale="0.001 0.001 0.001"/>
-                </geometry>
-                <material name="Green" />
-            </visual>
-        </link>
-
-        <joint name="flap_top_joint" type="fixed">
-            <parent link="flap_bottom"/>
-            <child link="flap_top"/>
+        <joint name="nanosaur_flap_joint" type="fixed">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <parent link="nanosaur_base"/>
+            <child link="nanosaur_flap"/>
         </joint>
 
-        <link name="flap_top">
+        <link name="nanosaur_flap">
             <inertial>
-                <mass value="0.01"/>
-                <origin rpy=" 0 0 0" xyz="0 0 0"/>
-                <inertia ixx="1.6666666666666668e-07" ixy="0" ixz="0" iyy="1.6666666666666668e-07" iyz="0" izz="1.6666666666666668e-07"/>
+                <mass value="0.018"/>
+                <origin rpy="0 0 0" xyz="-0.063 0 0.065"/>
+                <inertia ixx="7565.043" ixy="-0.00384" ixz="300.2704"
+                        iyy="2254.45646" iyz="0.00019"
+                        izz="9538.576"/>
             </inertial>
             <visual>
-                <!--<origin xyz="-0.0161 0 0.009" rpy="0 0 0" />-->
-                <origin xyz="0.0068 0 0.0175" rpy="0 0 0" />
-                <geometry>
-                    <mesh filename="${path_meshes}/flap_top.stl" scale="0.001 0.001 0.001"/>
-                </geometry>
+                <geometry><mesh filename="${path_meshes}/nanosaur_flap.stl" scale="0.001 0.001 0.001"/></geometry>
                 <material name="Green" />
             </visual>
         </link>
 
-        <joint name="board_expansion_joint" type="fixed">
-            <parent link="flap_bottom"/>
-            <child link="board_expansion"/>
-        </joint>
-
-        <link name="board_expansion">
-            <inertial>
-                <mass value="0.01"/>
-                <origin rpy=" 0 0 0" xyz="0 0 0"/>
-                <inertia ixx="1.6666666666666668e-07" ixy="0" ixz="0" iyy="1.6666666666666668e-07" iyz="0" izz="1.6666666666666668e-07"/>
-            </inertial>
-            <visual>
-                <!--<origin xyz="-0.0017 0 0.019" rpy="0 0 0" />-->
-                <origin xyz="-0.002 0.0005 0.017" rpy="0 0 0" />
-                <geometry>
-                    <mesh filename="${path_meshes}/parts/nanosaur-exp-board.stl"/>
-                </geometry>
-                <material name="GunMetalGrey" />
-            </visual>
-        </link>
-
     </xacro:macro>
 
 </robot>
\ No newline at end of file
diff --git a/nanosaur_description/urdf/head/head_fisheye.urdf.xacro b/nanosaur_description/urdf/head/head_fisheye.urdf.xacro
deleted file mode 100644
index 056b600..0000000
--- a/nanosaur_description/urdf/head/head_fisheye.urdf.xacro
+++ /dev/null
@@ -1,139 +0,0 @@
-<?xml version="1.0"?>
-<robot name="nanosaur_head_fisheye"
-    xmlns:xacro="http://ros.org/wiki/xacro">
-
-    <xacro:property name="cam_angle" value="5"/>
-    <xacro:property name="display_angle" value="70.6"/>
-
-    <xacro:macro name="nanosaur_head_fisheye">
-
-        <gazebo reference="cover">
-            <material>Gazebo/Green</material>
-            <!-- Ignition color reference -->
-            <visual>
-                <material>
-                    <ambient>0.0 0.5 0.0 1.0</ambient>
-                    <diffuse>0.0 0.5 0.0 1.0</diffuse>
-                    <specular>0.0 0.5 0.0 1.0</specular>
-                </material>
-            </visual>
-        </gazebo>
-        <gazebo reference="display_left">
-            <material>Gazebo/Black</material>
-        </gazebo>
-        <gazebo reference="display_right">
-            <material>Gazebo/Black</material>
-        </gazebo>
-        <gazebo reference="camera_board">
-            <material>Gazebo/Grey</material>
-            <!-- Ignition color reference -->
-            <visual>
-                <material>
-                    <ambient>0.2 0.2 0.2 1.0</ambient>
-                    <diffuse>0.2 0.2 0.2 1.0</diffuse>
-                    <specular>0.2 0.2 0.2 1.0</specular>
-                </material>
-            </visual>
-        </gazebo>
-
-        <joint name="cover_joint" type="fixed">
-            <origin xyz="0.06 0 -0.026" rpy="0 0 0" />
-            <parent link="base_front"/>
-            <child link="cover"/>
-        </joint>
-
-        <link name="cover">
-            <inertial>
-                <mass value="0.01"/>
-                <origin rpy=" 0 0 0" xyz="0 0 0"/>
-                <inertia ixx="1.6666666666666668e-07" ixy="0" ixz="0" iyy="1.6666666666666668e-07" iyz="0" izz="1.6666666666666668e-07"/>
-            </inertial>
-            <visual>
-                <geometry>
-                    <mesh filename="${path_meshes}/cover-fe.stl" scale="0.001 0.001 0.001"/>
-                </geometry>
-                <material name="Green" />
-            </visual>
-            <!-- Collision cylinder -->
-            <collision>
-                <origin xyz="0.003 0 0.03" rpy="${M_PI/2} ${M_PI/2} 0" />
-                <geometry>
-                    <cylinder length="0.07" radius="0.028"/>
-                </geometry>
-                <material name="Green" />
-            </collision>
-        </link>
-
-        <joint name="display_left_joint" type="fixed">
-            <origin xyz="-0.024 0.0242 0.060" rpy="0 ${M_PI/2 - display_angle * M_PI/180} 0" />
-            <parent link="cover"/>
-            <child link="display_left"/>
-        </joint>
-
-        <link name="display_left">
-            <inertial>
-                <mass value="0.01"/>
-                <origin rpy=" 0 0 0" xyz="0 0 0"/>
-                <inertia ixx="1.6666666666666668e-07" ixy="0" ixz="0" iyy="1.6666666666666668e-07" iyz="0" izz="1.6666666666666668e-07"/>
-            </inertial>
-            <visual>
-                <origin xyz="0 0 0" rpy="0 0 ${M_PI/2}" />
-                <geometry>
-                    <mesh filename="${path_meshes}/parts/OLED_Module.stl"/>
-                </geometry>
-                <material name="Black" />
-            </visual>
-        </link>
-
-        <joint name="display_right_joint" type="fixed">
-            <origin xyz="-0.024 -0.0242 0.060" rpy="0 ${M_PI/2 - display_angle * M_PI/180} 0" />
-            <parent link="cover"/>
-            <child link="display_right"/>
-        </joint>
-
-        <link name="display_right">
-            <inertial>
-                <mass value="0.01"/>
-                <origin rpy=" 0 0 0" xyz="0 0 0"/>
-                <inertia ixx="1.6666666666666668e-07" ixy="0" ixz="0" iyy="1.6666666666666668e-07" iyz="0" izz="1.6666666666666668e-07"/>
-            </inertial>
-            <visual>
-                <origin xyz="0 0 0" rpy="0 0 ${M_PI/2}" />
-                <geometry>
-                    <mesh filename="${path_meshes}/parts/OLED_Module.stl"/>
-                </geometry>
-                <material name="Black" />
-            </visual>
-        </link>
-
-        <joint name="camera_joint" type="fixed">
-            <origin xyz="0.0142 0 0.0310" rpy="0 ${M_PI/2 - cam_angle * M_PI/180} 0" />
-            <parent link="cover"/>
-            <child link="camera_board"/>
-        </joint>
-
-        <link name="camera_board">
-            <inertial>
-                <mass value="0.01"/>
-                <origin rpy=" 0 0 0" xyz="0 0 0"/>
-                <inertia ixx="1.6666666666666668e-07" ixy="0" ixz="0" iyy="1.6666666666666668e-07" iyz="0" izz="1.6666666666666668e-07"/>
-            </inertial>
-            <visual>
-                <origin xyz="-0.0039 0 -0.001" rpy="${M_PI/2} 0 -${M_PI/2}" />
-                <geometry>
-                    <mesh filename="${path_meshes}/parts/fisheye_camera.dae"/>
-                </geometry>
-            </visual>
-        </link>
-
-        <joint name="camera_optical_joint" type="fixed">
-            <origin xyz="0 0 0.005" rpy="0 0 -${M_PI/2}"/>
-            <parent link="camera_board"/>
-            <child link="camera_optical_frame"/>
-        </joint>
-
-        <link name="camera_optical_frame"/>
-
-    </xacro:macro>
-
-</robot>
\ No newline at end of file
diff --git a/nanosaur_description/urdf/head/head_pi.urdf.xacro b/nanosaur_description/urdf/head/head_pi.urdf.xacro
deleted file mode 100644
index f43e439..0000000
--- a/nanosaur_description/urdf/head/head_pi.urdf.xacro
+++ /dev/null
@@ -1,140 +0,0 @@
-<?xml version="1.0"?>
-<robot name="nanosaur_head_pi"
-    xmlns:xacro="http://ros.org/wiki/xacro">
-
-    <xacro:property name="cam_angle" value="5"/>
-    <xacro:property name="display_angle" value="70.6"/>
-
-    <xacro:macro name="nanosaur_head_pi">
-
-        <gazebo reference="cover">
-            <material>Gazebo/Green</material>
-            <!-- Ignition color reference -->
-            <visual>
-                <material>
-                    <ambient>0.0 0.5 0.0 1.0</ambient>
-                    <diffuse>0.0 0.5 0.0 1.0</diffuse>
-                    <specular>0.0 0.5 0.0 1.0</specular>
-                </material>
-            </visual>
-        </gazebo>
-        <gazebo reference="display_left">
-            <material>Gazebo/Black</material>
-        </gazebo>
-        <gazebo reference="display_right">
-            <material>Gazebo/Black</material>
-        </gazebo>
-        <gazebo reference="camera_board">
-            <material>Gazebo/Grey</material>
-            <!-- Ignition color reference -->
-            <visual>
-                <material>
-                    <ambient>0.2 0.2 0.2 1.0</ambient>
-                    <diffuse>0.2 0.2 0.2 1.0</diffuse>
-                    <specular>0.2 0.2 0.2 1.0</specular>
-                </material>
-            </visual>
-        </gazebo>
-
-        <joint name="cover_joint" type="fixed">
-            <origin xyz="0.06 0 -0.026" rpy="0 0 0" />
-            <parent link="base_front"/>
-            <child link="cover"/>
-        </joint>
-
-        <link name="cover">
-            <inertial>
-                <mass value="0.01"/>
-                <origin rpy=" 0 0 0" xyz="0 0 0"/>
-                <inertia ixx="1.6666666666666668e-07" ixy="0" ixz="0" iyy="1.6666666666666668e-07" iyz="0" izz="1.6666666666666668e-07"/>
-            </inertial>
-            <visual>
-                <geometry>
-                    <mesh filename="${path_meshes}/cover.stl" scale="0.001 0.001 0.001"/>
-                </geometry>
-                <material name="Green" />
-            </visual>
-            <!-- Collision cylinder -->
-            <collision>
-                <origin xyz="-0.007 0 0.03" rpy="${M_PI/2} ${M_PI/2} 0" />
-                <geometry>
-                    <cylinder length="0.07" radius="0.028"/>
-                </geometry>
-                <material name="Green" />
-            </collision>
-        </link>
-
-        <joint name="display_left_joint" type="fixed">
-            <origin xyz="-0.024 0.0242 0.060" rpy="0 ${M_PI/2 - display_angle * M_PI/180} 0" />
-            <parent link="cover"/>
-            <child link="display_left"/>
-        </joint>
-
-        <link name="display_left">
-            <inertial>
-                <mass value="0.01"/>
-                <origin rpy=" 0 0 0" xyz="0 0 0"/>
-                <inertia ixx="1.6666666666666668e-07" ixy="0" ixz="0" iyy="1.6666666666666668e-07" iyz="0" izz="1.6666666666666668e-07"/>
-            </inertial>
-            <visual>
-                <origin xyz="0 0 0" rpy="0 0 ${M_PI/2}" />
-                <geometry>
-                    <mesh filename="${path_meshes}/parts/OLED_Module.stl"/>
-                </geometry>
-                <material name="Black" />
-            </visual>
-        </link>
-
-        <joint name="display_right_joint" type="fixed">
-            <origin xyz="-0.024 -0.0242 0.060" rpy="0 ${M_PI/2 - display_angle * M_PI/180} 0" />
-            <parent link="cover"/>
-            <child link="display_right"/>
-        </joint>
-
-        <link name="display_right">
-            <inertial>
-                <mass value="0.01"/>
-                <origin rpy=" 0 0 0" xyz="0 0 0"/>
-                <inertia ixx="1.6666666666666668e-07" ixy="0" ixz="0" iyy="1.6666666666666668e-07" iyz="0" izz="1.6666666666666668e-07"/>
-            </inertial>
-            <visual>
-                <origin xyz="0 0 0" rpy="0 0 ${M_PI/2}" />
-                <geometry>
-                    <mesh filename="${path_meshes}/parts/OLED_Module.stl"/>
-                </geometry>
-                <material name="Black" />
-            </visual>
-        </link>
-
-        <joint name="camera_joint" type="fixed">
-            <origin xyz="0.013 0 0.0280" rpy="0 ${M_PI/2 - cam_angle * M_PI/180} 0" />
-            <parent link="cover"/>
-            <child link="camera_board"/>
-        </joint>
-
-        <link name="camera_board">
-            <inertial>
-                <mass value="0.01"/>
-                <origin rpy=" 0 0 0" xyz="0 0 0"/>
-                <inertia ixx="1.6666666666666668e-07" ixy="0" ixz="0" iyy="1.6666666666666668e-07" iyz="0" izz="1.6666666666666668e-07"/>
-            </inertial>
-            <visual>
-                <origin xyz="-0.0025 0 0" rpy="0 0 ${M_PI}" />
-                <geometry>
-                    <mesh filename="${path_meshes}/parts/rasp_camera.stl"/>
-                </geometry>
-                <material name="aluminum" />
-            </visual>
-        </link>
-
-        <joint name="camera_optical_joint" type="fixed">
-            <origin xyz="0 0 0.005" rpy="0 0 -${M_PI/2}"/>
-            <parent link="camera_board"/>
-            <child link="camera_optical_frame"/>
-        </joint>
-
-        <link name="camera_optical_frame"/>
-
-    </xacro:macro>
-
-</robot>
\ No newline at end of file
diff --git a/nanosaur_description/urdf/head/head_realsense.urdf.xacro b/nanosaur_description/urdf/head/head_realsense.urdf.xacro
deleted file mode 100644
index 858b466..0000000
--- a/nanosaur_description/urdf/head/head_realsense.urdf.xacro
+++ /dev/null
@@ -1,107 +0,0 @@
-<?xml version="1.0"?>
-<robot name="nanosaur_head_realsense"
-    xmlns:xacro="http://ros.org/wiki/xacro">
-
-    <xacro:include filename="$(find nanosaur_description)/urdf/head/d435.urdf.xacro" />
-    <xacro:include filename="$(find nanosaur_description)/urdf/head/d435i_imu_modules.urdf.xacro"/>
-
-    <xacro:property name="cam_angle" value="5"/>
-    <xacro:property name="display_angle" value="67"/>
-
-    <xacro:macro name="nanosaur_head_realsense" params="name:=camera use_nominal_extrinsics:=false">
-
-        <gazebo reference="cover">
-            <material>Gazebo/Green</material>
-            <!-- Ignition color reference -->
-            <visual>
-                <material>
-                    <ambient>0.0 0.5 0.0 1.0</ambient>
-                    <diffuse>0.0 0.5 0.0 1.0</diffuse>
-                    <specular>0.0 0.5 0.0 1.0</specular>
-                </material>
-            </visual>
-        </gazebo>
-        <gazebo reference="display_left">
-            <material>Gazebo/Black</material>
-        </gazebo>
-        <gazebo reference="display_right">
-            <material>Gazebo/Black</material>
-        </gazebo>
-
-        <joint name="cover_joint" type="fixed">
-            <origin xyz="0.06 0 -0.026" rpy="0 0 0" />
-            <parent link="base_front"/>
-            <child link="cover"/>
-        </joint>
-
-        <link name="cover">
-            <inertial>
-                <mass value="0.01"/>
-                <origin rpy=" 0 0 0" xyz="0 0 0"/>
-                <inertia ixx="1.6666666666666668e-07" ixy="0" ixz="0" iyy="1.6666666666666668e-07" iyz="0" izz="1.6666666666666668e-07"/>
-            </inertial>
-            <visual>
-                <geometry>
-                    <mesh filename="${path_meshes}/cover-rs.stl" scale="0.001 0.001 0.001"/>
-                </geometry>
-                <material name="Green" />
-            </visual>
-            <!-- Collision cylinder -->
-            <collision>
-                <origin xyz="0.003 0 0.03" rpy="${M_PI/2} ${M_PI/2} 0" />
-                <geometry>
-                    <cylinder length="0.07" radius="0.028"/>
-                </geometry>
-                <material name="Green" />
-            </collision>
-        </link>
-
-        <joint name="display_left_joint" type="fixed">
-            <origin xyz="-0.011 0.0242 0.0585" rpy="0 ${M_PI/2 - display_angle * M_PI/180} 0" />
-            <parent link="cover"/>
-            <child link="display_left"/>
-        </joint>
-
-        <link name="display_left">
-            <inertial>
-                <mass value="0.01"/>
-                <origin rpy=" 0 0 0" xyz="0 0 0"/>
-                <inertia ixx="1.6666666666666668e-07" ixy="0" ixz="0" iyy="1.6666666666666668e-07" iyz="0" izz="1.6666666666666668e-07"/>
-            </inertial>
-            <visual>
-                <origin xyz="0 0 0" rpy="0 0 ${M_PI/2}" />
-                <geometry>
-                    <mesh filename="${path_meshes}/parts/OLED_Module.stl"/>
-                </geometry>
-                <material name="Black" />
-            </visual>
-        </link>
-
-        <joint name="display_right_joint" type="fixed">
-            <origin xyz="-0.011 -0.0242 0.0585" rpy="0 ${M_PI/2 - display_angle * M_PI/180} 0" />
-            <parent link="cover"/>
-            <child link="display_right"/>
-        </joint>
-
-        <link name="display_right">
-            <inertial>
-                <mass value="0.01"/>
-                <origin rpy=" 0 0 0" xyz="0 0 0"/>
-                <inertia ixx="1.6666666666666668e-07" ixy="0" ixz="0" iyy="1.6666666666666668e-07" iyz="0" izz="1.6666666666666668e-07"/>
-            </inertial>
-            <visual>
-                <origin xyz="0 0 0" rpy="0 0 ${M_PI/2}" />
-                <geometry>
-                    <mesh filename="${path_meshes}/parts/OLED_Module.stl"/>
-                </geometry>
-                <material name="Black" />
-            </visual>
-        </link>
-
-        <xacro:sensor_d435 parent="cover" name="${name}" use_nominal_extrinsics="${use_nominal_extrinsics}">
-            <origin xyz="-0.0268 0 0.0592" rpy="0 ${- cam_angle * M_PI/180} 0" />
-        </xacro:sensor_d435>
-        <xacro:d435i_imu_modules name="${name}" use_nominal_extrinsics="${use_nominal_extrinsics}"/>
-
-    </xacro:macro>
-</robot>
\ No newline at end of file
diff --git a/nanosaur_description/urdf/head/head_zedmini.urdf.xacro b/nanosaur_description/urdf/head/head_zedmini.urdf.xacro
deleted file mode 100644
index 3f3c718..0000000
--- a/nanosaur_description/urdf/head/head_zedmini.urdf.xacro
+++ /dev/null
@@ -1,105 +0,0 @@
-<?xml version="1.0"?>
-<robot name="nanosaur_head_zedmini"
-    xmlns:xacro="http://ros.org/wiki/xacro">
-
-    <xacro:include filename="$(find nanosaur_description)/urdf/head/zedmini.urdf.xacro" />
-
-    <xacro:property name="cam_angle" value="5"/>
-    <xacro:property name="display_angle" value="67"/>
-
-    <xacro:macro name="nanosaur_head_zedmini" params="name:=zed">
-
-        <gazebo reference="cover">
-            <material>Gazebo/Green</material>
-            <!-- Ignition color reference -->
-            <visual>
-                <material>
-                    <ambient>0.0 0.5 0.0 1.0</ambient>
-                    <diffuse>0.0 0.5 0.0 1.0</diffuse>
-                    <specular>0.0 0.5 0.0 1.0</specular>
-                </material>
-            </visual>
-        </gazebo>
-        <gazebo reference="display_left">
-            <material>Gazebo/Black</material>
-        </gazebo>
-        <gazebo reference="display_right">
-            <material>Gazebo/Black</material>
-        </gazebo>
-
-        <joint name="cover_joint" type="fixed">
-            <origin xyz="0.06 0 -0.026" rpy="0 0 0" />
-            <parent link="base_front"/>
-            <child link="cover"/>
-        </joint>
-
-        <link name="cover">
-            <inertial>
-                <mass value="0.01"/>
-                <origin rpy=" 0 0 0" xyz="0 0 0"/>
-                <inertia ixx="1.6666666666666668e-07" ixy="0" ixz="0" iyy="1.6666666666666668e-07" iyz="0" izz="1.6666666666666668e-07"/>
-            </inertial>
-            <visual>
-                <geometry>
-                    <mesh filename="${path_meshes}/cover-zedmini.stl" scale="0.001 0.001 0.001"/>
-                </geometry>
-                <material name="Green" />
-            </visual>
-            <!-- Collision cylinder -->
-            <collision>
-                <origin xyz="0.003 0 0.03" rpy="${M_PI/2} ${M_PI/2} 0" />
-                <geometry>
-                    <cylinder length="0.07" radius="0.028"/>
-                </geometry>
-                <material name="Green" />
-            </collision>
-        </link>
-
-        <joint name="display_left_joint" type="fixed">
-            <origin xyz="-0.011 0.0242 0.0585" rpy="0 ${M_PI/2 - display_angle * M_PI/180} 0" />
-            <parent link="cover"/>
-            <child link="display_left"/>
-        </joint>
-
-        <link name="display_left">
-            <inertial>
-                <mass value="0.01"/>
-                <origin rpy=" 0 0 0" xyz="0 0 0"/>
-                <inertia ixx="1.6666666666666668e-07" ixy="0" ixz="0" iyy="1.6666666666666668e-07" iyz="0" izz="1.6666666666666668e-07"/>
-            </inertial>
-            <visual>
-                <origin xyz="0 0 0" rpy="0 0 ${M_PI/2}" />
-                <geometry>
-                    <mesh filename="${path_meshes}/parts/OLED_Module.stl"/>
-                </geometry>
-                <material name="Black" />
-            </visual>
-        </link>
-
-        <joint name="display_right_joint" type="fixed">
-            <origin xyz="-0.011 -0.0242 0.0585" rpy="0 ${M_PI/2 - display_angle * M_PI/180} 0" />
-            <parent link="cover"/>
-            <child link="display_right"/>
-        </joint>
-
-        <link name="display_right">
-            <inertial>
-                <mass value="0.01"/>
-                <origin rpy=" 0 0 0" xyz="0 0 0"/>
-                <inertia ixx="1.6666666666666668e-07" ixy="0" ixz="0" iyy="1.6666666666666668e-07" iyz="0" izz="1.6666666666666668e-07"/>
-            </inertial>
-            <visual>
-                <origin xyz="0 0 0" rpy="0 0 ${M_PI/2}" />
-                <geometry>
-                    <mesh filename="${path_meshes}/parts/OLED_Module.stl"/>
-                </geometry>
-                <material name="Black" />
-            </visual>
-        </link>
-
-        <xacro:zed_camera parent="cover" name="${name}">
-            <origin xyz="-0.0246 0 0.0584" rpy="0 ${- cam_angle * M_PI/180} 0" />
-        </xacro:zed_camera>
-
-    </xacro:macro>
-</robot>
\ No newline at end of file
diff --git a/nanosaur_description/urdf/nanosaur.urdf.xml b/nanosaur_description/urdf/nanosaur.urdf.xml
index a2ba637..c49758d 100644
--- a/nanosaur_description/urdf/nanosaur.urdf.xml
+++ b/nanosaur_description/urdf/nanosaur.urdf.xml
@@ -11,6 +11,15 @@
     <xacro:arg name="cover_type" default="fisheye" /> <!--options: pi, fisheye, realsense, zedmini -->
     <xacro:arg name="use_nominal_extrinsics" default="false" /> <!-- ONLY FOR REALSENSE -->
 
+     <!-- nanosaur definition -->
+     <link name="base_link" />
+
+     <joint name="nanosaur_base_joint" type="fixed">
+          <origin xyz="0 0 0.0" rpy="0 0 0" />
+          <parent link="base_link"/>
+          <child link="nanosaur_base"/>
+     </joint>
+
     <!-- nanosaur robot -->
     <xacro:nanosaur cover_type="$(arg cover_type)"
                     use_nominal_extrinsics="$(arg use_nominal_extrinsics)"
diff --git a/nanosaur_description/urdf/omniwheel.urdf.xacro b/nanosaur_description/urdf/omniwheel.urdf.xacro
new file mode 100644
index 0000000..c2f366f
--- /dev/null
+++ b/nanosaur_description/urdf/omniwheel.urdf.xacro
@@ -0,0 +1,91 @@
+<?xml version="1.0"?>
+<robot name="omniwheel"
+    xmlns:xacro="http://ros.org/wiki/xacro">
+
+
+    <xacro:macro name="omniwheel" params="parent type position xyz">
+
+        <!-- Define orientation -->
+        <xacro:if value="${type == 'left'}">
+            <xacro:property name="orientation" value="-1"/>
+        </xacro:if>
+        <xacro:if value="${type == 'right'}">
+            <xacro:property name="orientation" value="1"/>
+        </xacro:if>
+        <!-- Define orientation -->
+        <xacro:if value="${position == 'front'}">
+            <xacro:property name="motor_orientation" value="1"/>
+        </xacro:if>
+        <xacro:if value="${position == 'rear'}">
+            <xacro:property name="motor_orientation" value="0"/>
+        </xacro:if>
+        <!--radius definition-->
+        <xacro:property name="wheel_diameter" value="0.037"/>
+        <xacro:property name="wheel_length" value="0.0226"/>
+
+        <joint name="motor_${type}_${position}_joint" type="fixed">
+            <origin xyz="${xyz}" rpy="${orientation * M_PI/2} 0 0" />
+            <parent link="${parent}"/>
+            <child link="motor_${type}_${position}"/>
+        </joint>
+
+        <link name="motor_${type}_${position}">
+            <visual>
+                <origin xyz="0 0 -0.024" rpy="0 0 ${motor_orientation * M_PI}" />
+                <geometry>
+                    <mesh filename="${path_meshes}/parts/motor_block.stl"/>
+                </geometry>
+                <material name="Gold" />
+            </visual>
+        </link>
+
+        <joint name="omniwheel_${type}_${position}_joint" type="continuous">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <parent link="motor_${type}_${position}"/>
+            <child link="omniwheel_${type}_${position}"/>
+            <axis xyz="0 0 ${-1 * orientation}" />
+        </joint>
+
+        <link name="omniwheel_${type}_${position}">
+            <inertial>
+                <mass value="0.01"/>
+                <origin rpy=" 0 0 0" xyz="0 0 0"/>
+                <inertia ixx="1.6666666666666668e-07" ixy="0" ixz="0" iyy="1.6666666666666668e-07" iyz="0" izz="1.6666666666666668e-07"/>
+            </inertial>
+            <visual>
+                <origin xyz="0 0 0" rpy="0 0 0" />
+                <geometry>
+                    <mesh filename="${path_meshes}/parts/mecanum_cover.stl"/>
+                </geometry>
+                <material name="Black" />
+            </visual>
+            <!-- Collision cylinder -->
+            <collision>
+                <origin xyz="0 0 0" rpy="0 0 0" />
+                <geometry>
+                    <cylinder length="${wheel_length}" radius="${wheel_diameter / 2}"/>
+                </geometry>
+                <material name="Black" />
+            </collision>
+        </link>
+
+        <joint name="omniwheel_${type}_${position}_wheels_joint" type="fixed">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <parent link="omniwheel_${type}_${position}"/>
+            <child link="omniwheel_${type}_${position}_wheels"/>
+            <axis xyz="0 0 ${-1 * orientation}" />
+        </joint>
+
+        <link name="omniwheel_${type}_${position}_wheels">
+            <visual>
+                <origin xyz="0 0 0" rpy="0 0 0" />
+                <geometry>
+                    <mesh filename="${path_meshes}/parts/mecanum_wheels.stl"/>
+                </geometry>
+                <material name="Green" />
+            </visual>
+        </link>
+
+    </xacro:macro>
+
+</robot>
\ No newline at end of file
diff --git a/nanosaur_description/urdf/robot.urdf.xacro b/nanosaur_description/urdf/robot.urdf.xacro
index ace32a5..7d3ad12 100644
--- a/nanosaur_description/urdf/robot.urdf.xacro
+++ b/nanosaur_description/urdf/robot.urdf.xacro
@@ -5,12 +5,8 @@
     <xacro:include filename="$(find nanosaur_description)/urdf/materials.urdf" />
     <xacro:include filename="$(find nanosaur_description)/urdf/materials.gazebo.xacro" />
     <!-- nanosaur parts -->
-    <xacro:include filename="$(find nanosaur_description)/urdf/track.urdf.xacro" />
     <xacro:include filename="$(find nanosaur_description)/urdf/flap.urdf.xacro" />
-    <xacro:include filename="$(find nanosaur_description)/urdf/head/head_pi.urdf.xacro" />
-    <xacro:include filename="$(find nanosaur_description)/urdf/head/head_realsense.urdf.xacro" />
-    <xacro:include filename="$(find nanosaur_description)/urdf/head/head_fisheye.urdf.xacro" />
-    <xacro:include filename="$(find nanosaur_description)/urdf/head/head_zedmini.urdf.xacro" />
+    <xacro:include filename="$(find nanosaur_description)/urdf/omniwheel.urdf.xacro" />
     <!-- Global properties -->
     <xacro:property name="M_PI" value="3.14159"/>
     <!--https://github.com/ros-simulation/gazebo_ros_pkgs/pull/1284 -->
@@ -18,149 +14,154 @@
     <!--<xacro:property name="path_meshes" value="file://$(find nanosaur_description)/meshes"/>-->
     <!--<xacro:property name="path_meshes" value="package://nanosaur_description/meshes"/>-->
     <!-- nanosaur properties -->
-    <xacro:property name="motor_board_angle" value="35"/>
-    <!-- Real radius 0.0105 but augmented for track thickness -->
-    <xacro:property name="sprocket_radius" value="0.0150"/>
 
     <xacro:macro name="nanosaur" params="cover_type use_nominal_extrinsics diff_drive_emulation mimic_enable:=true path_meshes:=package://nanosaur_description/meshes">
 
-        <!-- nanosaur definition -->
-        <link name="base_link" />
-
-        <joint name="base_front_joint" type="fixed">
-            <origin xyz="0 0 0.03" rpy="0 0 0" />
-            <parent link="base_link"/>
-            <child link="base_front"/>
-        </joint>
-
-        <link name="base_front">
+        <link name="nanosaur_base">
             <inertial>
-                <mass value="0.01"/>
-                <origin rpy=" 0 0 0" xyz="0.053376 0 -0.007808"/>
-                <inertia ixx="1.6666666666666668e-07" ixy="0" ixz="0" iyy="1.6666666666666668e-07" iyz="0" izz="1.6666666666666668e-07"/>
+                <mass value="0.412"/>
+                <origin rpy=" 0 0 0" xyz="0.0 0 0.0"/>
+                <inertia ixx="922734.27556" ixy="0458.391" ixz="225029.72"
+                        iyy="1.701e-06" iyz="-3998.88622"
+                        izz="1995920.29749"/>
             </inertial>
             <visual>
-                <geometry><mesh filename="${path_meshes}/base_front.stl" scale="0.001 0.001 0.001"/></geometry>
+                <geometry><mesh filename="${path_meshes}/nanosaur_base.stl" scale="0.001 0.001 0.001"/></geometry>
                 <material name="Green" />
             </visual>
         </link>
 
-        <joint name="base_rear_joint" type="fixed">
-            <origin xyz="0 0 0.03" rpy="0 0 0" />
-            <parent link="base_link"/>
-            <child link="base_rear"/>
+        <joint name="nanosaur_cover_batteries_joint" type="fixed">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <parent link="nanosaur_base"/>
+            <child link="nanosaur_cover_batteries"/>
         </joint>
 
-        <link name="base_rear">
-            <inertial>
-                <mass value="0.01"/>
-                <origin rpy=" 0 0 0" xyz="0 0 0"/>
-                <inertia ixx="1.6666666666666668e-07" ixy="0" ixz="0" iyy="1.6666666666666668e-07" iyz="0" izz="1.6666666666666668e-07"/>
-            </inertial>
+        <link name="nanosaur_cover_batteries">
             <visual>
-                <geometry><mesh filename="${path_meshes}/base_rear.stl" scale="0.001 0.001 0.001"/></geometry>
+                <geometry><mesh filename="${path_meshes}/nanosaur_cover_batteries.stl" scale="0.001 0.001 0.001"/></geometry>
                 <material name="Green" />
             </visual>
-            <collision>
-                <origin xyz="0 0 -0.01" rpy="0 0 0" />
-                <geometry><box size="0.12 0.07 0.03" /></geometry>
+        </link>
+
+        <joint name="nanosaur_cover_electronics_joint" type="fixed">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <parent link="nanosaur_base"/>
+            <child link="nanosaur_cover_electronics"/>
+        </joint>
+
+        <link name="nanosaur_cover_electronics">
+            <visual>
+                <geometry><mesh filename="${path_meshes}/nanosaur_cover_electronics.stl" scale="0.001 0.001 0.001"/></geometry>
                 <material name="Green" />
-            </collision>
+            </visual>
         </link>
 
-        <joint name="motor_board_joint" type="fixed">
-            <origin xyz="0.055 0 0.005" rpy="0 ${M_PI/2 - motor_board_angle * M_PI/180} 0" />
-            <parent link="base_front"/>
-            <child link="motor_board"/>
+        <xacro:omniwheel parent="nanosaur_base" type="left" position="front" xyz="0.05 0.041 -0.035"/>
+        <xacro:omniwheel parent="nanosaur_base" type="left" position="rear" xyz="-0.05 0.041 -0.035"/>
+        <xacro:omniwheel parent="nanosaur_base" type="right" position="front" xyz="0.05 -0.041 -0.035"/>
+        <xacro:omniwheel parent="nanosaur_base" type="right" position="rear" xyz="-0.05 -0.041 -0.035"/>
+
+        <xacro:flap />
+
+        <joint name="NVIDIA_jetson_joint" type="fixed">
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <parent link="nanosaur_base"/>
+            <child link="NVIDIA_jetson"/>
         </joint>
 
-        <link name="motor_board">
-            <inertial>
-                <mass value="0.01"/>
-                <origin rpy=" 0 0 0" xyz="0 0 0"/>
-                <inertia ixx="1.6666666666666668e-07" ixy="0" ixz="0" iyy="1.6666666666666668e-07" iyz="0" izz="1.6666666666666668e-07"/>
-            </inertial>
+        <link name="NVIDIA_jetson">
             <visual>
-                <geometry><mesh filename="${path_meshes}/parts/motor_board.stl"/></geometry>
-                <material name="GunMetalGrey" />
+                <origin xyz="0.056 0.0078 0.0085" rpy="0 0 ${M_PI}" />
+                <geometry><mesh filename="${path_meshes}/parts/NVIDIA_Jetson_Orin_Nano_DevKit.stl"/></geometry>
+                <material name="DarkGrey" />
             </visual>
         </link>
 
-        <joint name="power_bank_joint" type="fixed">
-            <origin xyz="0.0 0 0.0" rpy="0 0 0" />
-            <parent link="base_rear"/>
-            <child link="power_bank"/>
+        <joint name="motor2040_joint" type="fixed">
+            <origin xyz="0 0 -0.035" rpy="0 ${M_PI} 0" />
+            <parent link="nanosaur_base"/>
+            <child link="motor2040"/>
         </joint>
 
-        <link name="power_bank">
-            <inertial>
-                <mass value="0.01"/>
-                <origin rpy=" 0 0 0" xyz="0 0 0"/>
-                <inertia ixx="1.6666666666666668e-07" ixy="0" ixz="0" iyy="1.6666666666666668e-07" iyz="0" izz="1.6666666666666668e-07"/>
-            </inertial>
+        <link name="motor2040">
+            <visual>
+                <origin xyz="0 0 0" rpy="0 0 0" />
+                <geometry><mesh filename="${path_meshes}/parts/motor2040.stl"/></geometry>
+                <material name="DarkGrey" />
+            </visual>
+        </link>
+
+        <joint name="nanosaur_PCB_electronics_joint" type="fixed">
+            <origin xyz="-0.046 -0.015 0.0225" rpy="0 0 0" />
+            <parent link="nanosaur_base"/>
+            <child link="nanosaur_PCB_electronics"/>
+        </joint>
+
+        <link name="nanosaur_PCB_electronics">
+            <visual>
+                <origin xyz="0 0 0" rpy="0 0 0" />
+                <geometry><mesh filename="${path_meshes}/parts/nanosaur_PCB_electronics.stl"/></geometry>
+                <material name="DarkGrey" />
+            </visual>
+        </link>
+
+        <joint name="nanosaur_PCB_oleds_joint" type="fixed">
+            <origin xyz="0.053 0 0.037" rpy="0 ${M_PI / 5.5} 0" />
+            <parent link="nanosaur_base"/>
+            <child link="nanosaur_PCB_oleds"/>
+        </joint>
+
+        <link name="nanosaur_PCB_oleds">
             <visual>
-                <origin xyz="0.0 0 -0.0115" rpy="0 0 ${M_PI}" />
-                <geometry><mesh filename="${path_meshes}/parts/power_bank.stl"/></geometry>
+                <origin xyz="0 0 0" rpy="0 0 ${M_PI / 2}" />
+                <geometry><mesh filename="${path_meshes}/parts/nanosaur_PCB_oleds.stl"/></geometry>
                 <material name="DarkGrey" />
             </visual>
         </link>
 
-        <joint name="pb_holder_joint" type="fixed">
-            <origin xyz="-0.0545 0 -0.0061" rpy="0 0 0" />
-            <parent link="base_rear"/>
-            <child link="pb_holder"/>
+        <joint name="display_left_joint" type="fixed">
+            <origin xyz="-0.0122 0.021 0.003" rpy="0 0 0" />
+            <parent link="nanosaur_PCB_oleds"/>
+            <child link="display_left"/>
         </joint>
 
-        <link name="pb_holder">
+        <link name="display_left">
             <inertial>
                 <mass value="0.01"/>
-                <origin rpy=" 0 0 0" xyz="0 0 0"/>
+                <origin rpy="0 0 0" xyz="0 0 0"/>
                 <inertia ixx="1.6666666666666668e-07" ixy="0" ixz="0" iyy="1.6666666666666668e-07" iyz="0" izz="1.6666666666666668e-07"/>
             </inertial>
             <visual>
-                <origin xyz="0.0 0 0" rpy="0 0 0" />
-                <geometry><mesh filename="${path_meshes}/pb_holder.stl" scale="0.001 0.001 0.001"/></geometry>
-                <material name="Green" />
+                <origin xyz="0 0 0" rpy="0 0 ${M_PI/2}" />
+                <geometry>
+                    <mesh filename="${path_meshes}/parts/OLED_Module.stl"/>
+                </geometry>
+                <material name="Black" />
             </visual>
         </link>
 
-        <joint name="NVIDIA_jetson_joint" type="fixed">
-            <origin xyz="0 0 0" rpy="0 0 0" />
-            <parent link="base_rear"/>
-            <child link="NVIDIA_jetson"/>
+        <joint name="display_right_joint" type="fixed">
+            <origin xyz="-0.0122 -0.021 0.003" rpy="0 0 0" />
+            <parent link="nanosaur_PCB_oleds"/>
+            <child link="display_right"/>
         </joint>
 
-        <link name="NVIDIA_jetson">
+        <link name="display_right">
             <inertial>
                 <mass value="0.01"/>
                 <origin rpy=" 0 0 0" xyz="0 0 0"/>
                 <inertia ixx="1.6666666666666668e-07" ixy="0" ixz="0" iyy="1.6666666666666668e-07" iyz="0" izz="1.6666666666666668e-07"/>
             </inertial>
             <visual>
-                <origin xyz="0.039 0.022 0.005" rpy="0 0 ${M_PI}" />
-                <geometry><mesh filename="${path_meshes}/parts/NVIDIA_jetson_nano_4gb.stl"/></geometry>
-                <material name="DarkGrey" />
+                <origin xyz="0 0 0" rpy="0 0 ${M_PI/2}" />
+                <geometry>
+                    <mesh filename="${path_meshes}/parts/OLED_Module.stl"/>
+                </geometry>
+                <material name="Black" />
             </visual>
         </link>
 
-        <xacro:track type="left" parent="base_link" radius="${sprocket_radius}" diff_drive_emulation="${diff_drive_emulation}" mimic_enable="${mimic_enable}"/>
-        <xacro:track type="right" parent="base_link" radius="${sprocket_radius}" diff_drive_emulation="${diff_drive_emulation}" mimic_enable="${mimic_enable}"/>
-        <xacro:flap />
-
-        <!-- Nanosaur heads -->
-        <xacro:if value="${cover_type == 'pi'}">
-            <xacro:nanosaur_head_pi />
-        </xacro:if>
-        <xacro:if value="${cover_type == 'fisheye'}">
-            <xacro:nanosaur_head_fisheye />
-        </xacro:if>
-        <xacro:if value="${cover_type == 'realsense'}">
-            <xacro:nanosaur_head_realsense name="camera" use_nominal_extrinsics="${use_nominal_extrinsics}" />
-        </xacro:if>
-        <xacro:if value="${cover_type == 'zed'}">
-            <xacro:nanosaur_head_zedmini name="zedm" />
-        </xacro:if>
-
     </xacro:macro>
 
 </robot>
\ No newline at end of file
diff --git a/nanosaur_description/urdf/track.urdf.xacro b/nanosaur_description/urdf/track.urdf.xacro
deleted file mode 100644
index 9df43a0..0000000
--- a/nanosaur_description/urdf/track.urdf.xacro
+++ /dev/null
@@ -1,273 +0,0 @@
-<?xml version="1.0"?>
-<robot name="nanosaur_track"
-    xmlns:xacro="http://ros.org/wiki/xacro">
-
-
-    <xacro:macro name="track" params="type parent radius diff_drive_emulation mimic_enable">
-
-        <!-- Define orientation -->
-        <xacro:if value="${type == 'left'}">
-            <xacro:property name="orientation" value="-1"/>
-        </xacro:if>
-        <xacro:if value="${type == 'right'}">
-            <xacro:property name="orientation" value="1"/>
-        </xacro:if>
-
-        <xacro:if value="${mimic_enable}">
-            <xacro:property name="mimic_type" value="continuous"/>
-        </xacro:if>
-        <xacro:unless value="${mimic_enable}">
-            <xacro:property name="mimic_type" value="fixed"/>
-        </xacro:unless>
-
-        <xacro:property name="radius_wheel" value="${radius}"/>
-
-        <joint name="sprocket_${type}_joint" type="continuous">
-            <xacro:if value="${diff_drive_emulation}">
-                <origin xyz="0.0 ${orientation * -0.043} 0.015" rpy="${orientation * M_PI/2} 0 0" />
-            </xacro:if>
-            <xacro:unless value="${diff_drive_emulation}">
-                <origin xyz="0.053 ${orientation * -0.043} 0.015" rpy="${orientation * M_PI/2} 0 0" />
-            </xacro:unless>
-            <parent link="${parent}"/>
-            <child link="sprocket_${type}"/>
-            <axis xyz="0 0 ${-1 * orientation}" />
-        </joint>
-
-        <link name="sprocket_${type}">
-            <inertial>
-                <mass value="0.01"/>
-                <origin rpy=" 0 0 0" xyz="0 0 0"/>
-                <inertia ixx="1.6666666666666668e-07" ixy="0" ixz="0" iyy="1.6666666666666668e-07" iyz="0" izz="1.6666666666666668e-07"/>
-            </inertial>
-            <visual>
-                <origin xyz="0 0 0" rpy="0 0 0" />
-                <geometry>
-                    <mesh filename="${path_meshes}/sprocket.stl" scale="0.001 0.001 0.001"/>
-                </geometry>
-                <material name="Black" />
-            </visual>
-            <!-- Collision cylinder -->
-            <collision>
-                <origin xyz="0 0 0" rpy="0 0 0" />
-                <geometry>
-                    <cylinder length="0.015" radius="${radius}"/>
-                </geometry>
-                <material name="Black" />
-            </collision>
-        </link>
-
-        <gazebo reference="sprocket_${type}">
-            <kp>10000000</kp>
-            <kd>10000000</kd>
-            <mu1>10000000</mu1>
-            <mu2>10000000</mu2>
-            <material>Gazebo/Blue</material>
-            <!-- Ignition color reference -->
-            <visual>
-                <material>
-                    <ambient>0.0 0.0 0.5 1.0</ambient>
-                    <diffuse>0.0 0.0 0.5 1.0</diffuse>
-                    <specular>0.0 0.0 0.5 1.0</specular>
-                </material>
-            </visual>
-        </gazebo>
-
-        <joint name="motor_${type}_joint" type="fixed">
-            <origin xyz="0.053 ${orientation * -0.043} 0.015" rpy="${orientation * M_PI/2} 0 0" />
-            <parent link="${parent}"/>
-            <child link="motor_${type}"/>
-        </joint>
-
-        <link name="motor_${type}">
-            <visual>
-                <origin xyz="0 0 -0.031" rpy="0 0 -${M_PI/2}" />
-                <geometry>
-                    <mesh filename="${path_meshes}/parts/Pololu-Micro-Metal-Gearmotor.stl"/>
-                </geometry>
-                <material name="Gold" />
-            </visual>
-        </link>
-
-        <gazebo reference="motor_${type}">
-            <material>Gazebo/Gold</material>
-            <!-- Ignition color reference -->
-            <visual>
-                <material>
-                    <ambient>0.9 0.7 0.0 1.0</ambient>
-                    <diffuse>0.9 0.7 0.0 1.0</diffuse>
-                    <specular>0.9 0.7 0.0 1.0</specular>
-                </material>
-            </visual>
-        </gazebo>
-
-        <joint name="wheel_${type}_joint" type="${mimic_type}">
-            <origin xyz="-0.099 0 0" rpy="0 0 0" />
-            <parent link="motor_${type}"/>
-            <child link="wheel_${type}"/>
-            <axis xyz="0 0 ${-1 * orientation}" />
-            <!-- Passive sprocket rotate automatically according to the status of the active one -->
-            <xacro:if value="${mimic_enable}">
-                <mimic joint="sprocket_${type}_joint" multiplier="1" offset="0"/>
-            </xacro:if>
-        </joint>
-
-        <link name="wheel_${type}">
-            <inertial>
-                <mass value="0.01"/>
-                <origin rpy=" 0 0 0" xyz="0 0 0"/>
-                <inertia ixx="1.6666666666666668e-07" ixy="0" ixz="0" iyy="1.6666666666666668e-07" iyz="0" izz="1.6666666666666668e-07"/>
-            </inertial>
-            <visual>
-                <origin xyz="0 0 0" rpy="0 0 0" />
-                <geometry>
-                    <mesh filename="${path_meshes}/wheel.stl" scale="0.001 0.001 0.001"/>
-                </geometry>
-                <material name="Black" />
-            </visual>
-            <!-- Collision cylinder -->
-            <collision>
-                <origin xyz="0 0 0" rpy="0 0 0" />
-                <geometry>
-                    <cylinder length="0.015" radius="${radius_wheel}"/>
-                </geometry>
-                <material name="Black" />
-            </collision>
-        </link>
-
-        <gazebo reference="wheel_${type}">
-            <kp>10000000</kp>
-            <kd>10000000</kd>
-            <mu1>0</mu1>
-            <mu2>0</mu2>
-            <material>Gazebo/Red</material>
-            <!-- Ignition color reference -->
-            <visual>
-                <material>
-                    <ambient>0.5 0.0 0.0 1.0</ambient>
-                    <diffuse>0.5 0.0 0.0 1.0</diffuse>
-                    <specular>0.5 0.0 0.0 1.0</specular>
-                </material>
-            </visual>
-        </gazebo>
-
-        <xacro:if value="${diff_drive_emulation}">
-            <joint name="front_wheel_${type}_joint" type="${mimic_type}">
-                <origin xyz="0 0 0" rpy="0 0 0" />
-                <parent link="motor_${type}"/>
-                <child link="front_wheel_${type}"/>
-                <axis xyz="0 0 ${-1 * orientation}" />
-                <!-- Passive sprocket rotate automatically according to the status of the active one -->
-                <xacro:if value="${mimic_enable}">
-                    <mimic joint="sprocket_${type}_joint" multiplier="1" offset="0"/>
-                </xacro:if>
-            </joint>
-
-            <link name="front_wheel_${type}">
-                <inertial>
-                    <mass value="0.01"/>
-                    <origin rpy=" 0 0 0" xyz="0 0 0"/>
-                    <inertia ixx="1.6666666666666668e-07" ixy="0" ixz="0" iyy="1.6666666666666668e-07" iyz="0" izz="1.6666666666666668e-07"/>
-                </inertial>
-                <visual>
-                    <origin xyz="0 0 0" rpy="0 0 0" />
-                    <geometry>
-                        <mesh filename="${path_meshes}/wheel.stl" scale="0.001 0.001 0.001"/>
-                    </geometry>
-                    <material name="Black" />
-                </visual>
-                <!-- Collision cylinder -->
-                <collision>
-                    <origin xyz="0 0 0" rpy="0 0 0" />
-                    <geometry>
-                        <cylinder length="0.015" radius="${radius_wheel}"/>
-                    </geometry>
-                    <material name="Black" />
-                </collision>
-            </link>
-
-            <gazebo reference="front_wheel_${type}">
-                <kp>10000000</kp>
-                <kd>10000000</kd>
-                <mu1>0</mu1>
-                <mu2>0</mu2>
-                <material>Gazebo/Green</material>
-                <!-- Ignition color reference -->
-                <visual>
-                    <material>
-                        <ambient>0.0 0.5 0.0 1.0</ambient>
-                        <diffuse>0.0 0.5 0.0 1.0</diffuse>
-                        <specular>0.0 0.5 0.0 1.0</specular>
-                    </material>
-                </visual>
-            </gazebo>
-        </xacro:if>
-
-        <joint name="track_${type}_joint" type="fixed">
-            <origin xyz="-0.049 0 0" rpy="0 0 0" />
-            <parent link="motor_${type}"/>
-            <child link="track_${type}"/>
-        </joint>
-
-        <link name="track_${type}">
-            <inertial>
-                <mass value="0.01"/>
-                <origin rpy=" 0 0 0" xyz="0 0 0"/>
-                <inertia ixx="1.6666666666666668e-07" ixy="0" ixz="0" iyy="1.6666666666666668e-07" iyz="0" izz="1.6666666666666668e-07"/>
-            </inertial>
-            <visual>
-                <origin xyz="0 0 0" rpy="${M_PI/2} 0 0" />
-                <geometry>
-                    <mesh filename="${path_meshes}/track.stl" scale="0.001 0.001 0.001"/>
-                </geometry>
-                <material name="Black" />
-            </visual>
-        </link>
-
-        <gazebo reference="track_${type}">
-            <material>Gazebo/Black</material>
-            <!-- Ignition color reference -->
-            <visual>
-                <material>
-                    <ambient>0.01 0.01 0.01 1.0</ambient>
-                    <diffuse>0.01 0.01 0.01 1.0</diffuse>
-                    <specular>0.01 0.01 0.01 1.0</specular>
-                </material>
-            </visual>
-        </gazebo>
-
-        <joint name="slider_${type}_joint" type="fixed">
-            <parent link="track_${type}"/>
-            <child link="slider_${type}"/>
-        </joint>
-
-        <link name="slider_${type}">
-            <inertial>
-                <mass value="0.01"/>
-                <origin rpy=" 0 0 0" xyz="0 0 0"/>
-                <inertia ixx="1.6666666666666668e-07" ixy="0" ixz="0" iyy="1.6666666666666668e-07" iyz="0" izz="1.6666666666666668e-07"/>
-            </inertial>
-            <visual>
-                <origin xyz="0 0 0.008" rpy="0 0 0" />
-                <geometry>
-                    <mesh filename="${path_meshes}/slider.stl" scale="0.001 0.001 0.001"/>
-                </geometry>
-                <material name="Green" />
-            </visual>
-        </link>
-
-        <gazebo reference="slider_${type}">
-            <material>Gazebo/Green</material>
-            <!-- Ignition color reference -->
-            <visual>
-                <material>
-                    <ambient>0.0 0.5 0.0 1.0</ambient>
-                    <diffuse>0.0 0.5 0.0 1.0</diffuse>
-                    <specular>0.0 0.5 0.0 1.0</specular>
-                </material>
-            </visual>
-        </gazebo>
-
-    </xacro:macro>
-
-</robot>
\ No newline at end of file