diff --git a/baxter_description/meshes/base/PEDESTAL.DAE b/baxter_description/meshes/base/PEDESTAL.DAE
index ae98b70..7bc6bb0 100644
--- a/baxter_description/meshes/base/PEDESTAL.DAE
+++ b/baxter_description/meshes/base/PEDESTAL.DAE
@@ -8,7 +8,6 @@
     <created>2013-08-19T14:33:04</created>
     <modified>2013-08-19T14:33:04</modified>
     <unit name="meter" meter="1"/>
-    <up_axis>Z_UP</up_axis>
   </asset>
   <library_images/>
   <library_effects>
diff --git a/baxter_description/meshes/base/pedestal_link_collision.DAE b/baxter_description/meshes/base/pedestal_link_collision.DAE
index ab08906..8726b9a 100644
--- a/baxter_description/meshes/base/pedestal_link_collision.DAE
+++ b/baxter_description/meshes/base/pedestal_link_collision.DAE
@@ -8,7 +8,6 @@
     <created>2013-08-05T13:45:40</created>
     <modified>2013-08-05T13:45:40</modified>
     <unit name="meter" meter="1"/>
-    <up_axis>Z_UP</up_axis>
   </asset>
   <library_images/>
   <library_geometries>
diff --git a/baxter_description/meshes/head/H0.DAE b/baxter_description/meshes/head/H0.DAE
index 3cc1cd4..dba5139 100644
--- a/baxter_description/meshes/head/H0.DAE
+++ b/baxter_description/meshes/head/H0.DAE
@@ -8,7 +8,6 @@
     <created>2013-03-11T13:53:45</created>
     <modified>2013-03-11T13:53:45</modified>
     <unit name="meter" meter="1"/>
-    <up_axis>Z_UP</up_axis>
   </asset>
   <library_cameras>
     <camera id="Camera-camera" name="Camera">
diff --git a/baxter_description/meshes/head/H1.DAE b/baxter_description/meshes/head/H1.DAE
index 299203f..019f6a7 100644
--- a/baxter_description/meshes/head/H1.DAE
+++ b/baxter_description/meshes/head/H1.DAE
@@ -8,7 +8,6 @@
     <created>2013-03-11T14:54:03</created>
     <modified>2013-03-11T14:54:03</modified>
     <unit name="meter" meter="1"/>
-    <up_axis>Z_UP</up_axis>
   </asset>
   <library_cameras>
     <camera id="Camera-camera" name="Camera">
diff --git a/baxter_description/meshes/lower_elbow/E1.DAE b/baxter_description/meshes/lower_elbow/E1.DAE
index eeb4259..c07db4f 100644
--- a/baxter_description/meshes/lower_elbow/E1.DAE
+++ b/baxter_description/meshes/lower_elbow/E1.DAE
@@ -8,7 +8,6 @@
     <created>2013-07-25T09:24:48</created>
     <modified>2013-07-25T09:24:48</modified>
     <unit name="meter" meter="1"/>
-    <up_axis>Z_UP</up_axis>
   </asset>
   <library_cameras>
     <camera id="Camera-camera" name="Camera.001">
diff --git a/baxter_description/meshes/lower_forearm/W1.DAE b/baxter_description/meshes/lower_forearm/W1.DAE
index 82329f6..c4fa623 100644
--- a/baxter_description/meshes/lower_forearm/W1.DAE
+++ b/baxter_description/meshes/lower_forearm/W1.DAE
@@ -8,7 +8,6 @@
     <created>2013-07-25T09:28:43</created>
     <modified>2013-07-25T09:28:43</modified>
     <unit name="meter" meter="1"/>
-    <up_axis>Z_UP</up_axis>
   </asset>
   <library_cameras>
     <camera id="Camera-camera" name="Camera.001">
diff --git a/baxter_description/meshes/lower_shoulder/S1.DAE b/baxter_description/meshes/lower_shoulder/S1.DAE
index 6bedc0e..1948f8a 100644
--- a/baxter_description/meshes/lower_shoulder/S1.DAE
+++ b/baxter_description/meshes/lower_shoulder/S1.DAE
@@ -8,7 +8,6 @@
     <created>2013-03-11T15:32:13</created>
     <modified>2013-03-11T15:32:13</modified>
     <unit name="meter" meter="1"/>
-    <up_axis>Z_UP</up_axis>
   </asset>
   <library_cameras>
     <camera id="Camera-camera" name="Camera">
diff --git a/baxter_description/meshes/torso/base_link.DAE b/baxter_description/meshes/torso/base_link.DAE
index cf7703a..e08e902 100644
--- a/baxter_description/meshes/torso/base_link.DAE
+++ b/baxter_description/meshes/torso/base_link.DAE
@@ -8,7 +8,6 @@
     <created>2013-08-19T14:13:22</created>
     <modified>2013-08-19T14:13:22</modified>
     <unit name="meter" meter="1"/>
-    <up_axis>Z_UP</up_axis>
   </asset>
   <library_cameras>
     <camera id="Camera-camera" name="Camera.001">
diff --git a/baxter_description/meshes/torso/base_link_collision.DAE b/baxter_description/meshes/torso/base_link_collision.DAE
index 1f82258..fe091ec 100644
--- a/baxter_description/meshes/torso/base_link_collision.DAE
+++ b/baxter_description/meshes/torso/base_link_collision.DAE
@@ -8,7 +8,6 @@
     <created>2013-07-31T15:14:17</created>
     <modified>2013-07-31T15:14:17</modified>
     <unit name="meter" meter="1"/>
-    <up_axis>Z_UP</up_axis>
   </asset>
   <library_images/>
   <library_geometries>
diff --git a/baxter_description/meshes/upper_elbow/E0.DAE b/baxter_description/meshes/upper_elbow/E0.DAE
index 7f6c0cd..2bf7c94 100644
--- a/baxter_description/meshes/upper_elbow/E0.DAE
+++ b/baxter_description/meshes/upper_elbow/E0.DAE
@@ -8,7 +8,6 @@
     <created>2013-07-25T09:23:59</created>
     <modified>2013-07-25T09:23:59</modified>
     <unit name="meter" meter="1"/>
-    <up_axis>Z_UP</up_axis>
   </asset>
   <library_cameras>
     <camera id="Camera-camera" name="Camera.001">
diff --git a/baxter_description/meshes/upper_forearm/W0.DAE b/baxter_description/meshes/upper_forearm/W0.DAE
index 65d317a..fc9b5b1 100644
--- a/baxter_description/meshes/upper_forearm/W0.DAE
+++ b/baxter_description/meshes/upper_forearm/W0.DAE
@@ -8,7 +8,6 @@
     <created>2013-07-25T09:28:05</created>
     <modified>2013-07-25T09:28:05</modified>
     <unit name="meter" meter="1"/>
-    <up_axis>Z_UP</up_axis>
   </asset>
   <library_cameras>
     <camera id="Camera-camera" name="Camera.001">
diff --git a/baxter_description/meshes/upper_shoulder/S0.DAE b/baxter_description/meshes/upper_shoulder/S0.DAE
index 40978a5..451e5dd 100644
--- a/baxter_description/meshes/upper_shoulder/S0.DAE
+++ b/baxter_description/meshes/upper_shoulder/S0.DAE
@@ -8,7 +8,6 @@
     <created>2013-07-25T09:26:54</created>
     <modified>2013-07-25T09:26:54</modified>
     <unit name="meter" meter="1"/>
-    <up_axis>Z_UP</up_axis>
   </asset>
   <library_cameras>
     <camera id="Camera-camera" name="Camera.001">
diff --git a/baxter_description/meshes/wrist/W2.DAE b/baxter_description/meshes/wrist/W2.DAE
index 4d12ad3..e6dd986 100644
--- a/baxter_description/meshes/wrist/W2.DAE
+++ b/baxter_description/meshes/wrist/W2.DAE
@@ -8,7 +8,6 @@
     <created>2013-07-25T09:29:28</created>
     <modified>2013-07-25T09:29:28</modified>
     <unit name="meter" meter="1"/>
-    <up_axis>Z_UP</up_axis>
   </asset>
   <library_cameras>
     <camera id="Camera-camera" name="Camera.001">
diff --git a/rethink_ee_description/meshes/electric_gripper/electric_gripper_base.DAE b/rethink_ee_description/meshes/electric_gripper/electric_gripper_base.DAE
index ed810b0..bbfea0b 100644
--- a/rethink_ee_description/meshes/electric_gripper/electric_gripper_base.DAE
+++ b/rethink_ee_description/meshes/electric_gripper/electric_gripper_base.DAE
@@ -8,7 +8,6 @@
     <created>2013-07-10T15:38:51</created>
     <modified>2013-07-10T15:38:51</modified>
     <unit name="meter" meter="1"/>
-    <up_axis>Z_UP</up_axis>
   </asset>
   <library_images/>
   <library_effects>
diff --git a/rethink_ee_description/meshes/electric_gripper/electric_gripper_w_fingers.DAE b/rethink_ee_description/meshes/electric_gripper/electric_gripper_w_fingers.DAE
index 679787c..93c0a58 100644
--- a/rethink_ee_description/meshes/electric_gripper/electric_gripper_w_fingers.DAE
+++ b/rethink_ee_description/meshes/electric_gripper/electric_gripper_w_fingers.DAE
@@ -8,7 +8,6 @@
     <created>2014-03-10T13:21:12</created>
     <modified>2014-03-10T13:21:12</modified>
     <unit name="meter" meter="1"/>
-    <up_axis>Z_UP</up_axis>
   </asset>
   <library_cameras>
     <camera id="Camera-camera" name="Camera">
diff --git a/rethink_ee_description/meshes/electric_gripper/fingers/basic_hard_tip.DAE b/rethink_ee_description/meshes/electric_gripper/fingers/basic_hard_tip.DAE
index 98e7c51..3b3e0c5 100644
--- a/rethink_ee_description/meshes/electric_gripper/fingers/basic_hard_tip.DAE
+++ b/rethink_ee_description/meshes/electric_gripper/fingers/basic_hard_tip.DAE
@@ -8,7 +8,6 @@
     <created>2015-10-14T16:48:18</created>
     <modified>2015-10-14T16:48:18</modified>
     <unit name="meter" meter="1"/>
-    <up_axis>Z_UP</up_axis>
   </asset>
   <library_images/>
   <library_effects>
diff --git a/rethink_ee_description/meshes/electric_gripper/fingers/basic_soft_tip.DAE b/rethink_ee_description/meshes/electric_gripper/fingers/basic_soft_tip.DAE
index 6241f6f..bcfb74a 100644
--- a/rethink_ee_description/meshes/electric_gripper/fingers/basic_soft_tip.DAE
+++ b/rethink_ee_description/meshes/electric_gripper/fingers/basic_soft_tip.DAE
@@ -8,7 +8,6 @@
     <created>2015-10-14T16:49:08</created>
     <modified>2015-10-14T16:49:08</modified>
     <unit name="meter" meter="1"/>
-    <up_axis>Z_UP</up_axis>
   </asset>
   <library_images/>
   <library_effects>
diff --git a/rethink_ee_description/meshes/electric_gripper/fingers/extended_narrow.DAE b/rethink_ee_description/meshes/electric_gripper/fingers/extended_narrow.DAE
index acfe218..a61d7db 100644
--- a/rethink_ee_description/meshes/electric_gripper/fingers/extended_narrow.DAE
+++ b/rethink_ee_description/meshes/electric_gripper/fingers/extended_narrow.DAE
@@ -8,7 +8,6 @@
     <created>2015-10-13T10:29:22</created>
     <modified>2015-10-13T10:29:22</modified>
     <unit name="meter" meter="1"/>
-    <up_axis>Z_UP</up_axis>
   </asset>
   <library_images/>
   <library_effects>
diff --git a/rethink_ee_description/meshes/electric_gripper/fingers/extended_wide.DAE b/rethink_ee_description/meshes/electric_gripper/fingers/extended_wide.DAE
index f3897a8..74b06dd 100644
--- a/rethink_ee_description/meshes/electric_gripper/fingers/extended_wide.DAE
+++ b/rethink_ee_description/meshes/electric_gripper/fingers/extended_wide.DAE
@@ -8,7 +8,6 @@
     <created>2015-10-13T11:04:39</created>
     <modified>2015-10-13T11:04:39</modified>
     <unit name="meter" meter="1"/>
-    <up_axis>Z_UP</up_axis>
   </asset>
   <library_images/>
   <library_effects>
diff --git a/rethink_ee_description/meshes/electric_gripper/fingers/half_round_tip.DAE b/rethink_ee_description/meshes/electric_gripper/fingers/half_round_tip.DAE
index 55c4640..ad799b2 100644
--- a/rethink_ee_description/meshes/electric_gripper/fingers/half_round_tip.DAE
+++ b/rethink_ee_description/meshes/electric_gripper/fingers/half_round_tip.DAE
@@ -8,7 +8,6 @@
     <created>2015-10-14T16:50:23</created>
     <modified>2015-10-14T16:50:23</modified>
     <unit name="meter" meter="1"/>
-    <up_axis>Z_UP</up_axis>
   </asset>
   <library_images/>
   <library_effects>
diff --git a/rethink_ee_description/meshes/electric_gripper/fingers/limiter.DAE b/rethink_ee_description/meshes/electric_gripper/fingers/limiter.DAE
index 17ce27f..3df06b7 100644
--- a/rethink_ee_description/meshes/electric_gripper/fingers/limiter.DAE
+++ b/rethink_ee_description/meshes/electric_gripper/fingers/limiter.DAE
@@ -8,7 +8,6 @@
     <created>2013-07-08T14:19:50</created>
     <modified>2013-07-08T14:19:50</modified>
     <unit name="meter" meter="1"/>
-    <up_axis>Z_UP</up_axis>
   </asset>
   <library_images/>
   <library_effects>
diff --git a/rethink_ee_description/meshes/electric_gripper/fingers/paddle_tip.DAE b/rethink_ee_description/meshes/electric_gripper/fingers/paddle_tip.DAE
index 906bc45..de9fedb 100644
--- a/rethink_ee_description/meshes/electric_gripper/fingers/paddle_tip.DAE
+++ b/rethink_ee_description/meshes/electric_gripper/fingers/paddle_tip.DAE
@@ -8,7 +8,6 @@
     <created>2015-10-14T16:50:59</created>
     <modified>2015-10-14T16:50:59</modified>
     <unit name="meter" meter="1"/>
-    <up_axis>Z_UP</up_axis>
   </asset>
   <library_images/>
   <library_effects>
diff --git a/rethink_ee_description/meshes/electric_gripper/fingers/standard_narrow.DAE b/rethink_ee_description/meshes/electric_gripper/fingers/standard_narrow.DAE
index 473e1e2..53b58ee 100644
--- a/rethink_ee_description/meshes/electric_gripper/fingers/standard_narrow.DAE
+++ b/rethink_ee_description/meshes/electric_gripper/fingers/standard_narrow.DAE
@@ -8,7 +8,6 @@
     <created>2015-10-14T16:45:46</created>
     <modified>2015-10-14T16:45:46</modified>
     <unit name="meter" meter="1"/>
-    <up_axis>Z_UP</up_axis>
   </asset>
   <library_images/>
   <library_effects>
diff --git a/rethink_ee_description/meshes/electric_gripper/fingers/standard_wide.DAE b/rethink_ee_description/meshes/electric_gripper/fingers/standard_wide.DAE
index 4cbd91d..5a637c8 100644
--- a/rethink_ee_description/meshes/electric_gripper/fingers/standard_wide.DAE
+++ b/rethink_ee_description/meshes/electric_gripper/fingers/standard_wide.DAE
@@ -8,7 +8,6 @@
     <created>2015-10-13T11:09:20</created>
     <modified>2015-10-13T11:09:20</modified>
     <unit name="meter" meter="1"/>
-    <up_axis>Z_UP</up_axis>
   </asset>
   <library_images/>
   <library_effects>
diff --git a/rethink_ee_description/meshes/pneumatic_gripper/pneumatic_gripper_base.DAE b/rethink_ee_description/meshes/pneumatic_gripper/pneumatic_gripper_base.DAE
index 34cba57..7947f60 100644
--- a/rethink_ee_description/meshes/pneumatic_gripper/pneumatic_gripper_base.DAE
+++ b/rethink_ee_description/meshes/pneumatic_gripper/pneumatic_gripper_base.DAE
@@ -8,7 +8,6 @@
     <created>2014-03-10T13:56:16</created>
     <modified>2014-03-10T13:56:16</modified>
     <unit name="meter" meter="1"/>
-    <up_axis>Z_UP</up_axis>
   </asset>
   <library_cameras>
     <camera id="Camera-camera" name="Camera">
diff --git a/rethink_ee_description/meshes/pneumatic_gripper/pneumatic_gripper_w_cup.DAE b/rethink_ee_description/meshes/pneumatic_gripper/pneumatic_gripper_w_cup.DAE
index 6417362..b3dd720 100644
--- a/rethink_ee_description/meshes/pneumatic_gripper/pneumatic_gripper_w_cup.DAE
+++ b/rethink_ee_description/meshes/pneumatic_gripper/pneumatic_gripper_w_cup.DAE
@@ -8,7 +8,6 @@
     <created>2014-03-10T13:38:28</created>
     <modified>2014-03-10T13:38:28</modified>
     <unit name="meter" meter="1"/>
-    <up_axis>Z_UP</up_axis>
   </asset>
   <library_cameras>
     <camera id="Camera-camera" name="Camera">