diff --git a/O12/linkerhand_o12_left.urdf b/O12/linkerhand_o12_left.urdf
deleted file mode 100644
index bca7a82..0000000
--- a/O12/linkerhand_o12_left.urdf
+++ /dev/null
@@ -1,1231 +0,0 @@
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-<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
-     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
-     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
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-      joint="ring_pip"
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-</robot>
\ No newline at end of file
diff --git a/O12/linkerhand_o12_right.urdf b/O12/linkerhand_o12_right.urdf
deleted file mode 100644
index a668f76..0000000
--- a/O12/linkerhand_o12_right.urdf
+++ /dev/null
@@ -1,1234 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
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-     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
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-        xyz="0.00110260964201986 1.01987498332679E-06 0.0136767611241538"
-        rpy="0 0 0" />
-      <mass
-        value="0.0058" />
-      <inertia
-        ixx="5.25548613845973E-07"
-        ixy="8.0386277463163E-11"
-        ixz="3.24083698851051E-08"
-        iyy="4.3233056388612E-07"
-        iyz="-3.07046702134225E-11"
-        izz="2.7925831602385E-07" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://linkerhand_o12_t3_right/meshes/pinky_middle.STL" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.298039215686275 0.298039215686275 0.298039215686275 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://linkerhand_o12_t3_right/meshes/pinky_middle.STL" />
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="pinky_pip"
-    type="revolute">
-    <origin
-      xyz="-0.0039371 0 0.03983"
-      rpy="0 0 0" />
-    <parent
-      link="pinky_proximal" />
-    <child
-      link="pinky_middle" />
-    <axis
-      xyz="0 1 0" />
-    <limit
-      lower="0"
-      upper="1.57"
-      effort="1"
-      velocity="1" />
-    <dynamics
-      damping="0.075"
-      friction="0.005" />
-    <mimic
-      joint="pinky_mcp_pitch"
-      multiplier="1.114"
-      offset="0" />
-  </joint>
-  <link
-    name="pinky_distal">
-    <inertial>
-      <origin
-        xyz="-0.0079723 -2.8447E-05 0.0064416"
-        rpy="0 0 0" />
-      <mass
-        value="0.0111" />
-      <inertia
-        ixx="7.639392378E-07"
-        ixy="-6.789461225E-10"
-        ixz="-1.8440224249E-07"
-        iyy="7.718345132E-07"
-        iyz="2.3925537176E-09"
-        izz="3.3829828232E-07" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://linkerhand_o12_t3_right/meshes/pinky_distal.STL" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.29804 0.29804 0.29804 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://linkerhand_o12_t3_right/meshes/pinky_distal.STL" />
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="pinky_dip"
-    type="revolute">
-    <origin
-      xyz="0.006162 0 0.026407"
-      rpy="0 0 0" />
-    <parent
-      link="pinky_middle" />
-    <child
-      link="pinky_distal" />
-    <axis
-      xyz="0 1 0" />
-    <limit
-      lower="0"
-      upper="1.31"
-      effort="1"
-      velocity="1" />
-    <dynamics
-      damping="0.075"
-      friction="0.005" />
-    <mimic
-      joint="pinky_pip"
-      multiplier="0.852"
-      offset="0" />
-  </joint>
-  <link
-    name="ring_proximal">
-    <inertial>
-      <origin
-        xyz="-0.00172922550301519 -9.82074263994326E-06 0.0163977931268597"
-        rpy="0 0 0" />
-      <mass
-        value="0.0202" />
-      <inertia
-        ixx="3.31628965409077E-06"
-        ixy="-6.83690131552215E-10"
-        ixz="-1.23919348652889E-07"
-        iyy="3.66437848909659E-06"
-        iyz="2.16502861224382E-09"
-        izz="7.17001380140977E-07" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://linkerhand_o12_t3_right/meshes/ring_proximal.STL" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="1 1 1 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://linkerhand_o12_t3_right/meshes/ring_proximal.STL" />
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="ring_mcp_pitch"
-    type="revolute">
-    <origin
-      xyz="0.0001598 -0.013518 0.11972"
-      rpy="0 0 0" />
-    <parent
-      link="base_link" />
-    <child
-      link="ring_proximal" />
-    <axis
-      xyz="0 1 0" />
-    <limit
-      lower="0"
-      upper="1.38"
-      effort="0.77"
-      velocity="1.86" />
-    <dynamics
-      damping="0.075"
-      friction="0.005" />
-  </joint>
-  <link
-    name="ring_middle">
-    <inertial>
-      <origin
-        xyz="0.0011025863165428 9.99259520961804E-07 0.0136767566654282"
-        rpy="0 0 0" />
-      <mass
-        value="0.0058" />
-      <inertia
-        ixx="5.25550078268173E-07"
-        ixy="7.97767209213879E-11"
-        ixz="3.24082898309213E-08"
-        iyy="4.32331438943549E-07"
-        iyz="-3.09439310137463E-11"
-        izz="2.79258361138016E-07" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://linkerhand_o12_t3_right/meshes/ring_middle.STL" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.298039215686275 0.298039215686275 0.298039215686275 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://linkerhand_o12_t3_right/meshes/ring_middle.STL" />
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="ring_pip"
-    type="revolute">
-    <origin
-      xyz="-0.0039371 0 0.03983"
-      rpy="0 0 0" />
-    <parent
-      link="ring_proximal" />
-    <child
-      link="ring_middle" />
-    <axis
-      xyz="0 1 0" />
-    <limit
-      lower="0"
-      upper="1.54"
-      effort="0"
-      velocity="0" />
-    <dynamics
-      damping="0.075"
-      friction="0.005" />
-    <mimic
-      joint="ring_mcp_pitch"
-      multiplier="1.125"
-      offset="0" />
-  </joint>
-  <link
-    name="ring_distal">
-    <inertial>
-      <origin
-        xyz="-0.0079723 -2.8447E-05 0.0064416"
-        rpy="0 0 0" />
-      <mass
-        value="0.0111" />
-      <inertia
-        ixx="7.639392378E-07"
-        ixy="-6.789461225E-10"
-        ixz="-1.8440224249E-07"
-        iyy="7.718345132E-07"
-        iyz="2.3924586938E-09"
-        izz="3.3829828232E-07" />
-    </inertial>
-    <visual>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://linkerhand_o12_t3_right/meshes/ring_distal.STL" />
-      </geometry>
-      <material
-        name="">
-        <color
-          rgba="0.29804 0.29804 0.29804 1" />
-      </material>
-    </visual>
-    <collision>
-      <origin
-        xyz="0 0 0"
-        rpy="0 0 0" />
-      <geometry>
-        <mesh
-          filename="package://linkerhand_o12_t3_right/meshes/ring_distal.STL" />
-      </geometry>
-    </collision>
-  </link>
-  <joint
-    name="ring_dip"
-    type="revolute">
-    <origin
-      xyz="0.006162 0 0.026407"
-      rpy="0 0 0" />
-    <parent
-      link="ring_middle" />
-    <child
-      link="ring_distal" />
-    <axis
-      xyz="0 1 0" />
-    <limit
-      lower="0"
-      upper="1.31"
-      effort="1"
-      velocity="1" />
-    <dynamics
-      damping="0.075"
-      friction="0.005" />
-    <mimic
-      joint="ring_pip"
-      multiplier="0.83"
-      offset="0" />
-  </joint>
-</robot>
\ No newline at end of file
diff --git a/O12/middle_metacarpals.STL b/O12/middle_metacarpals.STL
deleted file mode 100644
index 2a6cfd1..0000000
Binary files a/O12/middle_metacarpals.STL and /dev/null differ
diff --git a/O12/pinky_proximal.STL b/O12/pinky_proximal.STL
deleted file mode 100644
index babac60..0000000
Binary files a/O12/pinky_proximal.STL and /dev/null differ
diff --git a/O12/ring_middle.STL b/O12/ring_middle.STL
deleted file mode 100644
index bb1411e..0000000
Binary files a/O12/ring_middle.STL and /dev/null differ