diff --git a/config/mobile_servicing_system_control.yaml b/config/mobile_servicing_system_control.yaml
index 4bd725e..4aaad6a 100644
--- a/config/mobile_servicing_system_control.yaml
+++ b/config/mobile_servicing_system_control.yaml
@@ -196,9 +196,3 @@
     constraints:
       stopped_velocity_tolerance: 0.1
       goal_time: 0.0
-
-/gz_ros_control:
-  ros__parameters:
-    # P-gain across all joints in gazebo's position interface
-    # https://control.ros.org/humble/doc/gz_ros2_control/doc/index.html#notes-on-the-command-interface
-    position_proportional_gain: 0.05
diff --git a/urdf/canadarm2.urdf.xacro b/urdf/canadarm2.urdf.xacro
index d09cced..a6eb1bf 100644
--- a/urdf/canadarm2.urdf.xacro
+++ b/urdf/canadarm2.urdf.xacro
@@ -80,7 +80,7 @@
       </geometry>
     </collision>
    </link>
-   
+
   <!-- ******* Link 3 *******  -->
   <link name="canadarm2_link_3">
     <inertial>
@@ -150,7 +150,7 @@
       </geometry>
     </collision>
    </link>
-   
+
   <!-- ******* Link 6 *******  -->
   <link name="canadarm2_link_6">
     <inertial>
@@ -195,17 +195,17 @@
         <mesh filename="package://iss_description/meshes/canadarm2/link_7.dae" scale="1 1 1"/>
       </geometry>
     </collision>
-   </link>   
+   </link>
 
   <joint name="joint_pdgf" type="fixed">
       <origin rpy="0 0 0" xyz="-1.4347 -0.19847 1.5901"/>
       <parent link="${parent}"/>
       <child link="pdgf"/>
   </joint>
-  
+
 
   <joint name="joint_canadarm2_base" type="fixed">
-      <origin rpy="-0.35691983 0.0 -0.572468" xyz="0 0 0"/> 
+      <origin rpy="-0.35691983 0.0 -0.572468" xyz="0 0 0"/>
       <parent link="pdgf"/>
       <child link="canadarm2_base"/>
   </joint>
@@ -216,7 +216,7 @@
       <parent link="canadarm2_base"/>
       <child link="canadarm2_link_1"/>
       <axis xyz="0 1 0"/>
-      <limit effort="1000.0" lower="-3.1416" upper="3.1416" velocity="0.5"/>
+      <limit effort="10000.0" lower="-3.1416" upper="3.1416" velocity="1.0"/>
   </joint>
 
   <!-- joint 2 -->
@@ -225,7 +225,7 @@
       <parent link="canadarm2_link_1"/>
       <child link="canadarm2_link_2"/>
       <axis xyz="0 0 1"/>
-      <limit effort="1000.0" lower="-3.1416" upper="3.1416" velocity="0.5"/>
+      <limit effort="10000.0" lower="-3.1416" upper="3.1416" velocity="1.0"/>
   </joint>
 
   <!-- joint 3 -->
@@ -234,45 +234,45 @@
       <parent link="canadarm2_link_2"/>
       <child link="canadarm2_link_3"/>
       <axis xyz="0 1 0"/>
-      <limit effort="1000.0" lower="-3.1416" upper="3.1416" velocity="0.5"/>
+      <limit effort="10000.0" lower="-3.1416" upper="3.1416" velocity="1.0"/>
   </joint>
-  
+
   <!-- joint 4 -->
   <joint name="joint_canadarm2_4" type="revolute">
       <origin rpy="0 0 0" xyz="-7.3435 -0.57517 0.004392"/>
       <parent link="canadarm2_link_3"/>
       <child link="canadarm2_link_4"/>
       <axis xyz="0 1 0"/>
-      <limit effort="1000.0" lower="-3.1416" upper="3.1416" velocity="0.5"/>
-  </joint>  
-  
+      <limit effort="10000.0" lower="-3.1416" upper="3.1416" velocity="1.0"/>
+  </joint>
+
   <!-- joint 5 -->
   <joint name="joint_canadarm2_5" type="revolute">
       <origin rpy="0 0 0" xyz="0.004395 -0.57517 7.3435"/>
       <parent link="canadarm2_link_4"/>
       <child link="canadarm2_link_5"/>
       <axis xyz="0 1 0"/>
-      <limit effort="1000.0" lower="-3.1416" upper="3.1416" velocity="0.5"/>
-  </joint>   
-  
+      <limit effort="10000.0" lower="-3.1416" upper="3.1416" velocity="1.0"/>
+  </joint>
+
   <!-- joint 6 -->
   <joint name="joint_canadarm2_6" type="revolute">
       <origin rpy="0 0 0" xyz="-0.28758 -0.3134 0.002192"/>
       <parent link="canadarm2_link_5"/>
       <child link="canadarm2_link_6"/>
       <axis xyz="1 0 0"/>
-      <limit effort="1000.0" lower="-3.1416" upper="3.1416" velocity="0.5"/>
-  </joint> 
-  
+      <limit effort="10000.0" lower="-3.1416" upper="3.1416" velocity="1.0"/>
+  </joint>
+
   <!-- joint 7 -->
   <joint name="joint_canadarm2_7" type="revolute">
       <origin rpy="0 0 0" xyz="-0.31341 -0.002199 0.28759"/>
       <parent link="canadarm2_link_6"/>
       <child link="canadarm2_link_7"/>
       <axis xyz="0 0 1"/>
-      <limit effort="1000.0" lower="-3.1416" upper="3.1416" velocity="0.5"/>
-  </joint> 
-  
- </xacro:macro> 
-    
+      <limit effort="10000.0" lower="-3.1416" upper="3.1416" velocity="1.0"/>
+  </joint>
+
+ </xacro:macro>
+
 </robot>
diff --git a/urdf/mobile_base_system.urdf.xacro b/urdf/mobile_base_system.urdf.xacro
index b10a95d..8db18d3 100644
--- a/urdf/mobile_base_system.urdf.xacro
+++ b/urdf/mobile_base_system.urdf.xacro
@@ -4,7 +4,7 @@
   <!-- MOBILE BASE SYSTEM -->
   <xacro:macro name="mobile_base_system" params=" parent:='world' ">
 
- 
+
   <link name="root">
    <inertial>
      <origin xyz="0 0 0.0" rpy="0 0 0"/>
@@ -55,17 +55,17 @@
   <link name="link_09_destiny"/>
   <link name="link_14_s0_truss"/>
 
-      
-  <!-- ************************* -->    
-  <!-- Joints for common modules -->  
-  <!-- ************************* -->    
+
+  <!-- ************************* -->
+  <!-- Joints for common modules -->
+  <!-- ************************* -->
 
   <joint name="joint_world" type="fixed">
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <parent link="${parent}"/>
       <child link="root"/>
   </joint>
-  
+
   <!-- Joint for 02 Unity Node 1-->
   <joint name="joint_02_unity" type="fixed">
       <origin rpy="0 0 0" xyz="0 0 0"/>
@@ -91,15 +91,15 @@
 
   <!-- *********************************************** -->
   <!-- Joint for Mobile base system w.r.t. to S0 Truss -->
-  <!-- *********************************************** -->    
+  <!-- *********************************************** -->
   <joint name="joint_mbs" type="prismatic">
       <origin rpy="0 0 0" xyz="-2.8655 -5.17 -0.59547"/>
       <axis xyz="1 0 0"/>
       <parent link="link_14_s0_truss"/>
       <child link="mobile_base_system"/>
-      <limit effort="1000.0" lower="-15.0" upper="42.0" velocity="0.5"/>
+      <limit effort="10000.0" lower="-15.0" upper="42.0" velocity="2.0"/>
   </joint>
-  
-  </xacro:macro> 
- 
+
+  </xacro:macro>
+
 </robot>
diff --git a/urdf/solar_panels.urdf.xacro b/urdf/solar_panels.urdf.xacro
index b4f1035..7440f69 100644
--- a/urdf/solar_panels.urdf.xacro
+++ b/urdf/solar_panels.urdf.xacro
@@ -6,12 +6,12 @@
 
   <!-- *****************-->
   <!-- Left             -->
-  <!-- *****************-->  
+  <!-- *****************-->
   <link name="link_16_s1_truss"/>
   <link name="link_22_s3_truss"/>
   <link name="link_24_s5_truss"/>
   <link name="link_32_s6_truss"/>
-  
+
   <!-- Solar Panel -->
   <link name="link_32_s6_truss_01">
    <inertial>
@@ -32,10 +32,10 @@
      <geometry>
        <mesh filename="package://iss_description/meshes/s6_truss_32_01.dae" scale="1 1 1"/>
      </geometry>
-   </collision>  
+   </collision>
   </link>
 
-  <!-- Solar Panel -->  
+  <!-- Solar Panel -->
   <link name="link_32_s6_truss_02">
    <inertial>
      <origin xyz="0 0 0.0" rpy="0 0 0"/>
@@ -55,10 +55,10 @@
      <geometry>
        <mesh filename="package://iss_description/meshes/s6_truss_32_02.dae" scale="1 1 1"/>
      </geometry>
-   </collision>    
+   </collision>
   </link>
 
-  <!-- Solar Panel -->        
+  <!-- Solar Panel -->
   <link name="link_23_s4_truss_01">
    <inertial>
      <origin xyz="0 0 0.0" rpy="0 0 0"/>
@@ -78,9 +78,9 @@
      <geometry>
        <mesh filename="package://iss_description/meshes/s4_truss_23_01.dae" scale="1 1 1"/>
      </geometry>
-   </collision>    
+   </collision>
   </link>
-  
+
   <!-- Solar Panel -->
   <link name="link_23_s4_truss_02">
    <inertial>
@@ -101,10 +101,10 @@
      <geometry>
        <mesh filename="package://iss_description/meshes/s4_truss_23_02.dae" scale="1 1 1"/>
      </geometry>
-   </collision>   
+   </collision>
   </link>
-      
-  <!-- Main truss left -->      
+
+  <!-- Main truss left -->
   <link name="link_23_s4_truss">
    <inertial>
      <origin xyz="0 0 0.0" rpy="0 0 0"/>
@@ -126,15 +126,15 @@
      </geometry>
    </collision>
   </link>
-  
+
   <!-- Right -->
   <link name="link_17_p1_truss"/>
   <link name="link_19_p3_truss"/>
   <link name="link_21_p5_truss"/>
   <link name="link_08_p6_truss"/>
-  
-    
-  <!-- Main truss right -->      
+
+
+  <!-- Main truss right -->
   <link name="link_20_p4_truss">
    <inertial>
      <origin xyz="0 0 0.0" rpy="0 0 0"/>
@@ -156,7 +156,7 @@
      </geometry>
    </collision>
   </link>
-  
+
   <link name="link_08_p6_truss_01">
    <inertial>
      <origin xyz="0 0 0.0" rpy="0 0 0"/>
@@ -176,7 +176,7 @@
      <geometry>
        <mesh filename="package://iss_description/meshes/p6_truss_08_01.dae" scale="1 1 1"/>
      </geometry>
-   </collision>  
+   </collision>
   </link>
 
   <link name="link_08_p6_truss_02">
@@ -198,9 +198,9 @@
      <geometry>
        <mesh filename="package://iss_description/meshes/p6_truss_08_02.dae" scale="1 1 1"/>
      </geometry>
-   </collision>    
+   </collision>
   </link>
-  
+
   <link name="link_20_p4_truss_01">
    <inertial>
      <origin xyz="0 0 0.0" rpy="0 0 0"/>
@@ -220,9 +220,9 @@
      <geometry>
        <mesh filename="package://iss_description/meshes/p4_truss_20_01.dae" scale="1 1 1"/>
      </geometry>
-   </collision>    
-  </link>  
-    
+   </collision>
+  </link>
+
   <link name="link_20_p4_truss_02">
    <inertial>
      <origin xyz="0 0 0.0" rpy="0 0 0"/>
@@ -242,9 +242,9 @@
      <geometry>
        <mesh filename="package://iss_description/meshes/p4_truss_20_02.dae" scale="1 1 1"/>
      </geometry>
-   </collision>      
+   </collision>
   </link>
-      
+
 
   <!-- ************************* -->
   <!-- Joints for right modules   -->
@@ -280,7 +280,7 @@
       <axis xyz="1 0 0"/>
       <parent link="link_19_p3_truss"/>
       <child link="link_20_p4_truss"/>
-      <limit effort="1000.0" lower="-3.1416" upper="3.1416" velocity="0.5"/>
+      <limit effort="10000.0" lower="-3.1416" upper="3.1416" velocity="1.0"/>
   </joint>
 
   <!-- Joint to rotate individually panel 1-->
@@ -289,7 +289,7 @@
       <axis xyz="0 1 0"/>
       <parent link="link_08_p6_truss"/>
       <child link="link_08_p6_truss_01"/>
-      <limit effort="1000.0" lower="-3.1416" upper="3.1416" velocity="0.5"/>
+      <limit effort="10000.0" lower="-3.1416" upper="3.1416" velocity="1.0"/>
   </joint>
 
   <!-- Joint to rotate individually panel 2 -->
@@ -298,7 +298,7 @@
       <axis xyz="0 1 0"/>
       <parent link="link_08_p6_truss"/>
       <child link="link_08_p6_truss_02"/>
-      <limit effort="1000.0" lower="-3.1416" upper="3.1416" velocity="0.5"/>
+      <limit effort="10000.0" lower="-3.1416" upper="3.1416" velocity="1.0"/>
   </joint>
 
   <!-- Joint to rotate individually panel 3 -->
@@ -307,7 +307,7 @@
       <axis xyz="0 1 0"/>
       <parent link="link_21_p5_truss"/>
       <child link="link_20_p4_truss_01"/>
-      <limit effort="1000.0" lower="-3.1416" upper="3.1416" velocity="0.5"/>
+      <limit effort="10000.0" lower="-3.1416" upper="3.1416" velocity="1.0"/>
   </joint>
 
   <!-- Joint to rotate individually panel 4 -->
@@ -316,7 +316,7 @@
       <axis xyz="0 1 0"/>
       <parent link="link_21_p5_truss"/>
       <child link="link_20_p4_truss_02"/>
-      <limit effort="1000.0" lower="-3.1416" upper="3.1416" velocity="0.5"/>
+      <limit effort="10000.0" lower="-3.1416" upper="3.1416" velocity="1.0"/>
   </joint>
 
   <!-- ************************* -->
@@ -353,7 +353,7 @@
       <axis xyz="1 0 0"/>
       <parent link="link_22_s3_truss"/>
       <child link="link_23_s4_truss"/>
-      <limit effort="1000.0" lower="-3.1416" upper="3.1416" velocity="0.5"/>
+      <limit effort="10000.0" lower="-3.1416" upper="3.1416" velocity="1.0"/>
   </joint>
 
   <!-- Joint to rotate individually panel 1-->
@@ -362,7 +362,7 @@
       <axis xyz="0 1 0"/>
       <parent link="link_24_s5_truss"/>
       <child link="link_23_s4_truss_01"/>
-      <limit effort="1000.0" lower="-3.1416" upper="3.1416" velocity="0.5"/>
+      <limit effort="10000.0" lower="-3.1416" upper="3.1416" velocity="1.0"/>
   </joint>
 
   <!-- Joint to rotate individually panel 2 -->
@@ -371,7 +371,7 @@
       <axis xyz="0 1 0"/>
       <parent link="link_24_s5_truss"/>
       <child link="link_23_s4_truss_02"/>
-      <limit effort="1000.0" lower="-3.1416" upper="3.1416" velocity="0.5"/>
+      <limit effort="10000.0" lower="-3.1416" upper="3.1416" velocity="1.0"/>
   </joint>
 
   <!-- Joint to rotate individually panel 3 -->
@@ -380,7 +380,7 @@
       <axis xyz="0 1 0"/>
       <parent link="link_32_s6_truss"/>
       <child link="link_32_s6_truss_01"/>
-      <limit effort="1000.0" lower="-3.1416" upper="3.1416" velocity="0.5"/>
+      <limit effort="10000.0" lower="-3.1416" upper="3.1416" velocity="1.0"/>
   </joint>
 
   <!-- Joint to rotate individually panel 4 -->
@@ -389,11 +389,11 @@
       <axis xyz="0 1 0"/>
       <parent link="link_32_s6_truss"/>
       <child link="link_32_s6_truss_02"/>
-      <limit effort="1000.0" lower="-3.1416" upper="3.1416" velocity="0.5"/>
+      <limit effort="10000.0" lower="-3.1416" upper="3.1416" velocity="1.0"/>
   </joint>
 
 
-  
-  </xacro:macro> 
- 
+
+  </xacro:macro>
+
 </robot>