diff --git a/README.md b/README.md
index 425f2a799ab8ef436e144486c6ca2218ad2a3771..23db3901f4fd5f79e15f47b97c5dbd1ca5fc2a76 100644
--- a/README.md
+++ b/README.md
@@ -19,34 +19,38 @@ Repository to simulate the Aquanaute boat in maritime conditions such as wind an
 
 ## Usage
 ### modify wind and waves
-    in the ocean.world.xacro you have
-    ```xml
-    <!--Waves-->
-    <xacro:include filename="$(find wave_gazebo)/world_models/ocean_waves/model.xacro"/>
-    <xacro:ocean_waves gain="0.0" period="5" direction_x="-1.0" direction_y="0.0" angle="0.0"/>
+  in the ocean.world.xacro you have
+  ```xml
+  <!--Waves-->
+  <xacro:include filename="$(find wave_gazebo)/world_models/ocean_waves/model.xacro"/>
+  <xacro:ocean_waves gain="0.0" period="5" direction_x="-1.0" direction_y="0.0" angle="0.0"/>
+
+  <!--Wind for the WAM-V. Note, wind parameters are set in the plug.-->
+  <xacro:include filename="$(find vrx_gazebo)/worlds/xacros/usv_wind_plugin.xacro"/>
+  <xacro:usv_wind_gazebo direction="90" mean_vel="0" var_gain="5" var_time="1">
+    <wind_objs>
+      <wind_obj>
+        <name>wamv</name>
+        <link_name>base_link</link_name>
+        <coeff_vector>0.5 0.5 0.33</coeff_vector>
+      </wind_obj>
+    </wind_objs>
+  </xacro:usv_wind_gazebo>
+  ```
+  it is configured to have no waves and no wind, also the wind and the waves move in the same direction, to activate wind and waves change the "mean_vel" and "gain" parameters respectively (recomended values are smaller than 1.0).
 
-    <!--Wind for the WAM-V. Note, wind parameters are set in the plug.-->
-    <xacro:include filename="$(find vrx_gazebo)/worlds/xacros/usv_wind_plugin.xacro"/>
-    <xacro:usv_wind_gazebo direction="90" mean_vel="0" var_gain="5" var_time="1">
-      <wind_objs>
-        <wind_obj>
-          <name>wamv</name>
-          <link_name>base_link</link_name>
-          <coeff_vector>0.5 0.5 0.33</coeff_vector>
-        </wind_obj>
-      </wind_objs>
-    </xacro:usv_wind_gazebo>
-    ```
-    it is configured to have no waves and no wind, also the wind and the waves move in the same direction, to activate wind and waves change the "mean_vel" and "gain" parameters respectively (recomended values are smaller than 1.0)
 ### run
 in the workspace run the command at the beginning (and every time you change a parameter)
-```bash
-catkin_make
-```
+
+  ```bash
+  catkin_make
+  ```
+
 then launch the file you created
-```bash
-roslaunch vrx_gazebo name.launch
-```
+
+  ```bash
+  roslaunch vrx_gazebo name.launch
+  ```
 ## Author
 Ricardo RICO URIBE intern at U2IS in the summer of 2020
 
@@ -55,80 +59,62 @@ Ricardo RICO URIBE intern at U2IS in the summer of 2020
 ```xml
 <?xml version="1.0"?>
 <launch>
-  <env name="ROSCONSOLE_CONFIG_FILE" value="$(find vrx_gazebo)/config/custom_rosconsole.conf"/>
-  <!-- Gazebo world to load -->
-  <arg name="world" default="$(find vrx_gazebo)/worlds/ocean.world" />
-  <!-- If true, run gazebo GUI -->
-  <arg name="gui" default="true" />
-  <!-- If true, run gazebo in verbose mode -->
-  <arg name="verbose" default="true"/>
-  <!-- If true, start in paused state -->
-  <arg name="paused"  default="false"/>
-  <!-- Set various other gazebo arguments-->
-  <arg name="extra_gazebo_args" default=""/>
-  <!-- Start in a default namespace -->
-  <arg name="namespace" default="wamv"/>
-
-  <!-- Initial USV location and attitude-->
-  <arg name="x" default="0" />
-  <arg name="y" default="0" />
-  <arg name="z" default="0.1" />
-  <arg name="P" default="0" />
-  <arg name="R" default="0" />
-  <arg name="Y" default="0" />
-
-  <!-- If true, show non-competition ROS topics (/gazebo/model_states, /vrx/debug/wind/direction, etc.)-->
-  <arg name="non_competition_mode" default="true"/>
-  <arg name="enable_ros_network" value="$(arg non_competition_mode)"/>
-  <env name="VRX_DEBUG" value="$(arg non_competition_mode)"/>
-  <env unless="$(arg non_competition_mode)" name="GAZEBO_MODEL_PATH" value="$(find vrx_gazebo)/models:$(find wamv_gazebo)/models:$(find wamv_description)/models:$(optenv GAZEBO_MODEL_PATH)"/>
-
-  <!-- Allow user specified thruster configurations
+      <env name="ROSCONSOLE_CONFIG_FILE" value="$(find vrx_gazebo)/config/custom_rosconsole.conf"/>
+      <!-- Gazebo world to load -->
+      <arg name="world" default="$(find vrx_gazebo)/worlds/ocean.world" />
+      <!-- If true, run gazebo GUI -->
+      <arg name="gui" default="true" />
+      <!-- If true, run gazebo in verbose mode -->
+      <arg name="verbose" default="true"/>
+      <!-- If true, start in paused state -->
+      <arg name="paused" default="false"/>
+      <!-- Set various other gazebo arguments-->
+      <arg name="extra_gazebo_args" default=""/>
+      <!-- Start in a default namespace -->
+      <arg name="namespace" default="aquanaute"/>
+
+      <!-- Initial USV location and attitude-->
+      <arg name="x" default="0" />
+      <arg name="y" default="0" />
+      <arg name="z" default="0.1" />
+      <arg name="P" default="0" />
+      <arg name="R" default="0" />
+      <arg name="Y" default="0" />
+
+      <env name="VRX_DEBUG" value="true"/>
+     
+      <!-- Allow user specified thruster configurations
        H = stern trusters on each hull
        T = H with a lateral thruster
        X = "holonomic" configuration -->
-  <arg name="thrust_config" default="H" />
-
-  <!-- Do you want to enable sensors? -->
-  <arg name="camera_enabled"       default="false" />
-  <arg name="gps_enabled"          default="false" />
-  <arg name="imu_enabled"          default="false" />
-  <arg name="lidar_enabled"        default="false" />
-  <arg name="ground_truth_enabled" default="false" />
-
-  <!-- Start Gazebo with the world file -->
-  <include file="$(find gazebo_ros)/launch/empty_world.launch">
-    <arg name="world_name"   value="$(arg world)"/>
-    <arg name="verbose"      value="$(arg verbose)"/>
-    <arg name="paused"       value="$(arg paused)"/>
-    <arg name="use_sim_time" value="true"/>
-    <arg name="gui"          value="$(arg gui)" />
-    <arg name="enable_ros_network" value="$(arg enable_ros_network)"/>
-    <arg name="extra_gazebo_args" value="$(arg extra_gazebo_args)"/>
-  </include>
-
-  <!-- Load robot model -->
-  <arg name="urdf" default="$(find wamv_gazebo)/urdf/wamv_gazebo.urdf.xacro"/>
-  <param name="$(arg namespace)/robot_description"
-         command="$(find xacro)/xacro &#x002D;&#x002D;inorder '$(arg urdf)'
-         thruster_config:=$(arg thrust_config)
-         camera_enabled:=$(arg camera_enabled)
-         gps_enabled:=$(arg gps_enabled)
-         imu_enabled:=$(arg imu_enabled)
-         lidar_enabled:=$(arg lidar_enabled)
-         ground_truth_enabled:=$(arg ground_truth_enabled)
-         namespace:=$(arg namespace) "/>
-
-  <!-- Spawn model in Gazebo, script depending on non_competition_mode -->
-  <node name="spawn_model" pkg="gazebo_ros" type="spawn_model" if="$(arg non_competition_mode)"
-        args="-x $(arg x) -y $(arg y) -z $(arg z)
+      <arg name="thrust_config" default="H" />
+
+      <!-- Do you want to enable sensors? -->
+      <arg name="camera_enabled" default="false" />
+      <arg name="gps_enabled" default="false" />
+      <arg name="imu_enabled" default="false" />
+      <arg name="lidar_enabled" default="false" />
+      <arg name="ground_truth_enabled" default="false" />
+
+      <!-- Start Gazebo with the world file -->
+      <include file="$(find gazebo_ros)/launch/empty_world.launch">
+            <arg name="world_name" value="$(arg world)"/>
+            <arg name="verbose" value="$(arg verbose)"/>
+            <arg name="paused" value="$(arg paused)"/>
+            <arg name="use_sim_time" value="true"/>
+            <arg name="gui" value="$(arg gui)" />
+            <arg name="enable_ros_network" value="true"/>
+            <arg name="extra_gazebo_args" value="$(arg extra_gazebo_args)"/>
+      </include>
+
+      <!-- Load robot model -->
+      <arg name="urdf" default="$(find aquanaute_gazebo)/urdf/aquanaute_gazebo.urdf.xacro"/>
+      <param name="$(arg namespace)/robot_description" command="$(find xacro)/xacro '$(arg urdf)'"/>
+
+      <!-- Spawn model in Gazebo, script depending on non_competition_mode -->
+      <node name="spawn_model" pkg="gazebo_ros" type="spawn_model" args="-x $(arg x) -y $(arg y) -z $(arg z)
               -R $(arg R) -P $(arg P) -Y $(arg Y)
-              -urdf -param $(arg namespace)/robot_description -model wamv"/>
-
-  <node name="spawn_wamv" pkg="vrx_gazebo" type="spawn_wamv.bash" unless="$(arg non_competition_mode)"
-        args="-x $(arg x) -y $(arg y) -z $(arg z)
-              -R $(arg R) -P $(arg P) -Y $(arg Y)
-              --urdf $(arg urdf) --model wamv"/>
+              -urdf -param $(arg namespace)/robot_description -model aquanaute"/>
 </launch>
 ```
 ### ocean.world.xacro
@@ -191,10 +177,10 @@ Ricardo RICO URIBE intern at U2IS in the summer of 2020
 
     <!--Wind for the WAM-V. Note, wind parameters are set in the plug.-->
     <xacro:include filename="$(find vrx_gazebo)/worlds/xacros/usv_wind_plugin.xacro"/>
-    <xacro:usv_wind_gazebo direction="90" mean_vel="0" var_gain="5" var_time="1">
+    <xacro:usv_wind_gazebo direction="90" mean_vel="0.0" var_gain="5" var_time="1">
       <wind_objs>
         <wind_obj>
-          <name>wamv</name>
+          <name>aquanaute</name>
           <link_name>base_link</link_name>
           <coeff_vector>0.5 0.5 0.33</coeff_vector>
         </wind_obj>
@@ -203,6 +189,7 @@ Ricardo RICO URIBE intern at U2IS in the summer of 2020
   </world>
 </sdf>
 
+
 ```
 
 ## License
diff --git a/aquanaute_description/urdf/aquanaute_description.urdf.xacro b/aquanaute_description/urdf/aquanaute_description.urdf.xacro
index ce3bde079e2055521d70ffc245a8edaf2d612bbb..1280b1272cd6ab177cc09839b318c0df146186f6 100644
--- a/aquanaute_description/urdf/aquanaute_description.urdf.xacro
+++ b/aquanaute_description/urdf/aquanaute_description.urdf.xacro
@@ -159,7 +159,7 @@
     <joint name="platform_base_joint" type="fixed">
     	<parent link="base_link"/>
     	<child link="platform_link"/>
-    	<origin xyz="0 0 0" rpy="0 0 0"/>
+    	<origin xyz="0 0 0.35" rpy="0 0 0"/>
 	</joint>
 
     <joint name="right_hull_platform_joint" type="fixed">
@@ -175,13 +175,13 @@
 	</joint>
 
     <joint name="motor_platform_joint" type="fixed">
-    	<parent link="base_link"/>
+    	<parent link="platform_link"/>
     	<child link="motor_link"/>
     	<origin xyz="-0.91 0.0 -0.09" rpy="0 0 0"/>
 	</joint>
 
     <joint name="sensor_frame_platform_joint" type="fixed">
-    	<parent link="base_link"/>
+    	<parent link="platform_link"/>
     	<child link="sensor_frame_link"/>
     	<origin xyz="-0.55 0.0 0.0" rpy="0 0 0"/>
 	</joint>
diff --git a/aquanaute_gazebo/urdf/aquanaute_gazebo.urdf.xacro b/aquanaute_gazebo/urdf/aquanaute_gazebo.urdf.xacro
index 09ccae746ef8e8b4f53ce4b121e5ddc0c1554cc8..8ccea53041bd23329e3df5e113fbdd861c18eee4 100644
--- a/aquanaute_gazebo/urdf/aquanaute_gazebo.urdf.xacro
+++ b/aquanaute_gazebo/urdf/aquanaute_gazebo.urdf.xacro
@@ -4,7 +4,7 @@
     <!-- Include macros for dynamics plugins -->
     <xacro:include filename="$(find aquanaute_gazebo)/urdf/macros.xacro" />
     <!-- Defines the base vehicle -->
-    <xacro:include filename="$(find aquanaute_description)/urdf/aquanaute_description.urdf.xacro" />
+    <xacro:include filename="$(find aquanaute_description)/urdf/aquanaute_description.urdf.xacro" name="aquanaute"/>
     <!-- Attach hydrodynamics plugin -->
     <xacro:usv_dynamics_gazebo name="aquanaute_dynamics_plugin"/>
 </robot>
diff --git a/aquanaute_gazebo/urdf/aquanaute_gazebo.xacro b/aquanaute_gazebo/urdf/aquanaute_gazebo.xacro
deleted file mode 100644
index 8f76311947c0b04f823872db4e4da746b27d5c82..0000000000000000000000000000000000000000
--- a/aquanaute_gazebo/urdf/aquanaute_gazebo.xacro
+++ /dev/null
@@ -1,11 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://ros.org/wiki/xacro">
-  <xacro:macro  name="aquanaute_gazebo">
-    <!-- Include macros for dynamics plugins -->
-    <xacro:include filename="$(find aquanaute_gazebo)/urdf/macros.xacro" />
-    <!-- Defines the base vehicle -->
-    <xacro:include filename="$(find aquanaute_description)/urdf/aquanaute_description.urdf.xacro" />
-    <!-- Attach hydrodynamics plugin -->
-    <xacro:usv_dynamics_gazebo name="aquanaute_dynamics_plugin"/>
-  </xacro:macro>
-</robot>
diff --git a/aquanaute_gazebo/urdf/dynamics/aquanaute_gazebo_dynamics_plugin.xacro b/aquanaute_gazebo/urdf/dynamics/aquanaute_gazebo_dynamics_plugin.xacro
index 717b7b01e80033a124754c25176662cd2b45d4c3..d965b9377c8fffadc01198581b19c6e04ff8742b 100644
--- a/aquanaute_gazebo/urdf/dynamics/aquanaute_gazebo_dynamics_plugin.xacro
+++ b/aquanaute_gazebo/urdf/dynamics/aquanaute_gazebo_dynamics_plugin.xacro
@@ -9,9 +9,9 @@
         <waterLevel>0</waterLevel>
         <waterDensity>997.8</waterDensity>
         <!-- Added mass -->
-        <xDotU>0.0</xDotU>
-        <yDotV>0.0</yDotV>
-        <nDotR>0.0</nDotR>
+        <xDotU>10.0</xDotU>
+        <yDotV>10.0</yDotV>
+        <nDotR>25.0</nDotR>
         <!-- Linear and quadratic drag -->
         <xU>51.3</xU>
         <xUU>72.4</xUU>
@@ -24,9 +24,9 @@
         <nRR>0.0</nRR>
         <!-- General dimensions -->
         <!--<boatArea>2.2</boatArea>-->
-        <hullRadius>0.19</hullRadius>
-        <boatWidth>2</boatWidth>
-        <boatLength>3</boatLength>
+        <hullRadius>0.18</hullRadius>
+        <boatWidth>1.8</boatWidth>
+        <boatLength>3.0</boatLength>
         <!-- Length discretization, AKA, "N" -->
         <length_n>10</length_n>
         <!-- Wave model -->