diff --git a/include/pauvsi_trajectory/Physics.h b/include/pauvsi_trajectory/Physics.h
index 4115cbb..bfe378f 100644
--- a/include/pauvsi_trajectory/Physics.h
+++ b/include/pauvsi_trajectory/Physics.h
@@ -18,6 +18,10 @@
 #define MOTOR_FORCE_MIN 1
 #define MOTOR_FORCE_MAX 15
 
+//absolute maximum motor force possible
+#define MOTOR_ABS_MAX 25
+#define MOTOR_ABS_MIN 0.1
+
 //mass of quad kg
 #define MASS 5
 
diff --git a/include/pauvsi_trajectory/Simulation.h b/include/pauvsi_trajectory/Simulation.h
index 23ed63a..01cfbe7 100644
--- a/include/pauvsi_trajectory/Simulation.h
+++ b/include/pauvsi_trajectory/Simulation.h
@@ -10,8 +10,8 @@
 
 #define MOTOR_FORCE SIGMA 0.2
 #define POSITION_SIGMA 0.03
-#define OMEGA_SIGMA 0.0005
-#define VEL_SIGMA 0.01
+#define OMEGA_SIGMA 0.001
+#define VEL_SIGMA 0.03
 #define QUAT_SIGMA 0.001
 
 #define PHYSICS_UPDATE_DT 0.01
@@ -23,10 +23,7 @@
 #define BASE_FRAME "base_link"
 #define WORLD_FRAME "world"
 
-#define START_POS -9, -9, 0.5
-
-#define MOTOR_ABS_MAX 25
-#define MOTOR_ABS_MIN 0.1
+#define START_POS -9, -9, 1
 
 
 
diff --git a/launch/simulation.launch b/launch/simulation.launch
index c52f6a2..bbf29e9 100644
--- a/launch/simulation.launch
+++ b/launch/simulation.launch
@@ -1,7 +1,7 @@
 
 <launch>
 	
-	<param name="m7_description" command="cat $(find pauvsi_trajectory)/urdf/m7_robot.urdf" />
+	<param name="m7_description" command="cat $(find m7_master)/urdf/m7_robot.urdf" />
 
 	<node pkg="robot_state_publisher" type="robot_state_publisher" name="m7_state_pub" >
       <remap from="robot_description" to="m7_description" />
diff --git a/urdf/m7_robot.urdf b/urdf/m7_robot.urdf
deleted file mode 100644
index 8b8e71d..0000000
--- a/urdf/m7_robot.urdf
+++ /dev/null
@@ -1,154 +0,0 @@
-<?xml version="1.0"?>
-<robot name="pauvsi_m7_robot">
-	<link name="base_link">
-		<visual>
-			<geometry>
-				<box size="0.2 0.2 0.1"/>
-			</geometry>
-			<material name="gray">
-				<color rgba="0.5 0.5 0.5 1" />
-			</material>
-		</visual>
-	</link>
-	
-	<!-- ARMS -->
-	
-	<link name="arm1_link">
-		<visual>
-			<geometry>
-				<cylinder length="0.334" radius="0.036"/>
-			</geometry>
-			<material name="white">
-				<color rgba="0.9 0.9 0.9 1" />
-			</material>
-			<origin rpy="0 1.57075 0.7853981" xyz="0 0 0"/>
-		</visual>
-	</link>
-	
-	<joint name="base_to_arm1" type="fixed">
-		<parent link="base_link"/>
-		<child link="arm1_link"/>
-		<origin xyz="0.18 0.18 0"/>
-	</joint>
-	
-	<link name="arm2_link">
-		<visual>
-			<geometry>
-				<cylinder length="0.334" radius="0.036"/>
-			</geometry>
-			<material name="red">
-				<color rgba="0.8 0 0 1" />
-			</material>
-			<origin rpy="0 1.57075 2.3561481" xyz="0 0 0"/>
-		</visual>
-	</link>
-	
-	<joint name="base_to_arm2" type="fixed">
-		<parent link="base_link"/>
-		<child link="arm2_link"/>
-		<origin xyz="0.18 -0.18 0"/>
-	</joint>
-	
-	<link name="arm3_link">
-		<visual>
-			<geometry>
-				<cylinder length="0.334" radius="0.036"/>
-			</geometry>
-			<material name="red">
-				<color rgba="0.8 0 0 1" />
-			</material>
-			<origin rpy="0 1.57075 -2.3561481" xyz="0 0 0"/>
-		</visual>
-	</link>
-	
-	<joint name="base_to_arm3" type="fixed">
-		<parent link="base_link"/>
-		<child link="arm3_link"/>
-		<origin xyz="-0.18 -0.18 0"/>
-	</joint>
-	
-	<link name="arm4_link">
-		<visual>
-			<geometry>
-				<cylinder length="0.334" radius="0.036"/>
-			</geometry>
-			<material name="white">
-				<color rgba="0.9 0.9 0.9 1" />
-			</material>
-			<origin rpy="0 1.57075 2.3561481" xyz="0 0 0"/>
-		</visual>
-	</link>
-	
-	<joint name="base_to_arm4" type="fixed">
-		<parent link="base_link"/>
-		<child link="arm4_link"/>
-		<origin xyz="-0.18 0.18 0"/>
-	</joint>
-	
-	<!-- MOTORS -->
-	
-	<link name="motor1_link">
-		<visual>
-			<geometry>
-				<cylinder length="0.01" radius="0.2286" />
-			</geometry>
-			<material name="transGray">
-				<color rgba="0.5 0.5 0.5 0.5" />
-			</material>
-		</visual>
-	</link>
-	<joint name="motor1_to_arm1" type="fixed" >
-		<parent link="arm1_link"/>
-		<child link="motor1_link"/>
-		<origin xyz="0.13 0.13 0.06"/>
-	</joint>
-	
-	<link name="motor2_link">
-		<visual>
-			<geometry>
-				<cylinder length="0.01" radius="0.2286" />
-			</geometry>
-			<material name="transGray">
-				<color rgba="0.5 0.5 0.5 0.5" />
-			</material>
-		</visual>
-	</link>
-	<joint name="motor2_to_arm2" type="fixed" >
-		<parent link="arm2_link"/>
-		<child link="motor2_link"/>
-		<origin xyz="0.13 -0.13 0.06"/>
-	</joint>
-	
-	<link name="motor3_link">
-		<visual>
-			<geometry>
-				<cylinder length="0.01" radius="0.2286" />
-			</geometry>
-			<material name="transGray">
-				<color rgba="0.5 0.5 0.5 0.5" />
-			</material>
-		</visual>
-	</link>
-	<joint name="motor3_to_arm3" type="fixed" >
-		<parent link="arm3_link"/>
-		<child link="motor3_link"/>
-		<origin xyz="-0.13 -0.13 0.06"/>
-	</joint>
-	
-	<link name="motor4_link">
-		<visual>
-			<geometry>
-				<cylinder length="0.01" radius="0.2286" />
-			</geometry>
-			<material name="transGray">
-				<color rgba="0.5 0.5 0.5 0.5" />
-			</material>
-		</visual>
-	</link>
-	<joint name="motor4_to_arm4" type="fixed" >
-		<parent link="arm4_link"/>
-		<child link="motor4_link"/>
-		<origin xyz="-0.13 0.13 0.06"/>
-	</joint>
-	
-</robot>
\ No newline at end of file