diff --git a/.gitmodules b/.gitmodules
index 68fe038f..515d0c0d 100644
--- a/.gitmodules
+++ b/.gitmodules
@@ -1,6 +1,6 @@
-[submodule "gitlab-wiki"]
-	path = gitlab-wiki
-	url = https://github.com/o2ac/o2ac-ur/wiki
+[submodule "github-wiki"]
+	path = github-wiki
+	url = https://github.com/o2ac/o2ac-ur.wiki.git
 [submodule "underlay_ws/src/moveit"]
 	path = underlay_ws/src/moveit
 	url = http://gitlab+deploy-token-440693:vMpkB_8thDeUCDa4oKNr@gitlab.com/o2ac/moveit.git
@@ -30,4 +30,4 @@
 	url = http://gitlab+deploy-token-440688:eYTsSmM4yjjtN5eXCx2C@gitlab.com/o2ac/third-party/ur_python_utilities.git
 [submodule "underlay_ws/src/third_party/ur_drivers"]
 	path = underlay_ws/src/third_party/ur_drivers
-	url = https://github.com/felixvd/Universal_Robots_ROS_Driver.git
+	url = https://github.com/felixvd/Universal_Robots_ROS_Driver.git
\ No newline at end of file
diff --git a/catkin_ws/src/o2ac_gazebo/launch/controller_utils.launch b/catkin_ws/src/o2ac_gazebo/launch/controller_utils.launch
index 32c8f0d6..8710914a 100644
--- a/catkin_ws/src/o2ac_gazebo/launch/controller_utils.launch
+++ b/catkin_ws/src/o2ac_gazebo/launch/controller_utils.launch
@@ -12,7 +12,7 @@
         args="pub /calibrated std_msgs/Bool true" />
   
   <!-- joint_state_controller -->
-  <rosparam file="$(find ur_gazebo)/controller/joint_state_controller.yaml" command="load"/>
+  <rosparam file="$(find o2ac_gazebo)/controller/joint_state_controller.yaml" command="load"/>
   <node name="joint_state_controller_spawner" pkg="controller_manager" type="controller_manager" args="spawn joint_state_controller" respawn="false" output="screen"/>
   
 </launch>
diff --git a/catkin_ws/src/o2ac_gazebo/launch/o2ac_gazebo.launch b/catkin_ws/src/o2ac_gazebo/launch/o2ac_gazebo.launch
index e77dc660..63bf8c94 100644
--- a/catkin_ws/src/o2ac_gazebo/launch/o2ac_gazebo.launch
+++ b/catkin_ws/src/o2ac_gazebo/launch/o2ac_gazebo.launch
@@ -22,7 +22,9 @@
 
   <!-- send robot urdf to param server -->
   <!-- In this case the "robot" is the ensemble of the 2 arms -->
-  <include file="$(find o2ac_scene_description)/launch/base_scene_upload.launch" />
+  <include file="$(find o2ac_scene_description)/launch/base_scene_upload.launch">
+    <arg name="gazebo" value="true"/>
+  </include>
 
   <!-- push robot_description to factory and spawn robot in gazebo -->
   <!-- Initial pose modified on 9 July 2018 -->
diff --git a/catkin_ws/src/o2ac_scene_description/config/a_bot_joint_limits.yaml b/catkin_ws/src/o2ac_scene_description/config/a_bot_joint_limits.yaml
new file mode 100644
index 00000000..3b52c97b
--- /dev/null
+++ b/catkin_ws/src/o2ac_scene_description/config/a_bot_joint_limits.yaml
@@ -0,0 +1,80 @@
+# Joints limits
+#
+# Sources:
+#
+#  - UR5 User Manual, Universal Robots, UR5/CB3, Version 3.13
+#    https://s3-eu-west-1.amazonaws.com/ur-support-site/69371/99202_UR5_User_Manual_en_Global.pdf
+#  - Support > Articles > UR articles > Max. joint torques
+#    https://www.universal-robots.com/articles/ur-articles/max-joint-torques
+#    retrieved: 2020-06-16, last modified: 2020-06-09
+joint_limits:
+  shoulder_pan:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 150.0
+    max_position: !degrees  180.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -180.0
+  shoulder_lift:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 150.0
+    max_position: !degrees  180.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -180.0
+  elbow_joint:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 150.0
+    # we artificially limit this joint to half its actual joint position limit
+    # to avoid (MoveIt/OMPL) planning problems, as due to the physical
+    # construction of the robot, it's impossible to rotate the 'elbow_joint'
+    # over more than approx +- 1 pi (the shoulder lift joint gets in the way).
+    #
+    # This leads to planning problems as the search space will be divided into
+    # two sections, with no connections from one to the other.
+    #
+    # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
+    # more information.
+    max_position: !degrees  180.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees    0.0
+  wrist_1:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 28.0
+    max_position: !degrees  180.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -270.0
+  wrist_2:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 28.0
+    max_position: !degrees  270.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -270.0
+  wrist_3:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 28.0
+    max_position: !degrees  360.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -360.0
diff --git a/catkin_ws/src/o2ac_scene_description/config/b_bot_joint_limits.yaml b/catkin_ws/src/o2ac_scene_description/config/b_bot_joint_limits.yaml
new file mode 100644
index 00000000..3b52c97b
--- /dev/null
+++ b/catkin_ws/src/o2ac_scene_description/config/b_bot_joint_limits.yaml
@@ -0,0 +1,80 @@
+# Joints limits
+#
+# Sources:
+#
+#  - UR5 User Manual, Universal Robots, UR5/CB3, Version 3.13
+#    https://s3-eu-west-1.amazonaws.com/ur-support-site/69371/99202_UR5_User_Manual_en_Global.pdf
+#  - Support > Articles > UR articles > Max. joint torques
+#    https://www.universal-robots.com/articles/ur-articles/max-joint-torques
+#    retrieved: 2020-06-16, last modified: 2020-06-09
+joint_limits:
+  shoulder_pan:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 150.0
+    max_position: !degrees  180.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -180.0
+  shoulder_lift:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 150.0
+    max_position: !degrees  180.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -180.0
+  elbow_joint:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 150.0
+    # we artificially limit this joint to half its actual joint position limit
+    # to avoid (MoveIt/OMPL) planning problems, as due to the physical
+    # construction of the robot, it's impossible to rotate the 'elbow_joint'
+    # over more than approx +- 1 pi (the shoulder lift joint gets in the way).
+    #
+    # This leads to planning problems as the search space will be divided into
+    # two sections, with no connections from one to the other.
+    #
+    # Refer to https://github.com/ros-industrial/universal_robot/issues/265 for
+    # more information.
+    max_position: !degrees  180.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees    0.0
+  wrist_1:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 28.0
+    max_position: !degrees  180.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -270.0
+  wrist_2:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 28.0
+    max_position: !degrees  270.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -270.0
+  wrist_3:
+    # acceleration limits are not publicly available
+    has_acceleration_limits: false
+    has_effort_limits: true
+    has_position_limits: true
+    has_velocity_limits: true
+    max_effort: 28.0
+    max_position: !degrees  360.0
+    max_velocity: !degrees  180.0
+    min_position: !degrees -360.0
diff --git a/catkin_ws/src/o2ac_scene_description/launch/base_scene_upload.launch b/catkin_ws/src/o2ac_scene_description/launch/base_scene_upload.launch
index 2eb275b8..90169f3a 100644
--- a/catkin_ws/src/o2ac_scene_description/launch/base_scene_upload.launch
+++ b/catkin_ws/src/o2ac_scene_description/launch/base_scene_upload.launch
@@ -1,8 +1,13 @@
 <?xml version="1.0"?>
 <launch>
   <arg name="taskboard" default="false"/>
+  <arg name="gazebo" default="false"/>
   <!-- This file is used by MoveIt. -->
-  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find o2ac_scene_description)/urdf/base_scene.urdf.xacro' taskboard:=$(arg taskboard)" />
+  <param name="robot_description" command="$(find xacro)/xacro --inorder 
+                                          '$(find o2ac_scene_description)/urdf/base_scene.urdf.xacro'
+                                          taskboard:=$(arg taskboard)
+                                          gazebo:=$(arg gazebo)
+                                          " />
 
   <!-- These args are declared so the UR upload script does not complain. -->
   <arg name="limited" default=""/>
diff --git a/catkin_ws/src/o2ac_scene_description/urdf/base_scene.urdf.xacro b/catkin_ws/src/o2ac_scene_description/urdf/base_scene.urdf.xacro
index ff53e6d8..2852747c 100644
--- a/catkin_ws/src/o2ac_scene_description/urdf/base_scene.urdf.xacro
+++ b/catkin_ws/src/o2ac_scene_description/urdf/base_scene.urdf.xacro
@@ -3,6 +3,8 @@
        name="o2ac_base_scene" >
   <!-- This is the main file defining our robot arrangement and physical environment. -->
   <xacro:arg name="taskboard" default="false"/>
+  <xacro:arg name="gazebo" default="false"/>
+
   <!-- Calibration parameters -->
   <xacro:property name="a_bot_x" value="-0.005"/>     <!-- Positive moves back -->
   <xacro:property name="a_bot_y" value="-0.527"/>     <!-- Positive moves left -->
@@ -19,11 +21,19 @@
   <xacro:property name="bots_z" value="0.75"/>
 
   <!-- common stuff -->
-  <xacro:include filename="$(find ur_description)/urdf/common.gazebo.xacro" />
+  <!-- <xacro:include filename="$(find ur_description)/urdf/common.gazebo.xacro" />
+  <xacro:include filename="$(find ur_e_description)/urdf/ur5e.urdf.xacro" /> -->
+  
+  <xacro:if value="$(arg gazebo)">
+    <xacro:include filename="$(find o2ac_scene_description)/urdf/ur_gazebo.xacro"/> 
+  </xacro:if>
+  <xacro:unless value="$(arg gazebo)">
+    <xacro:include filename="$(find ur_description)/urdf/inc/ur_macro.xacro"/>
+  </xacro:unless>
+  
   <!-- <xacro:include filename="$(find o2ac_gazebo)/urdf/o2ac_base_scene.gazebo" /> -->
 
   <!-- robots -->
-  <xacro:include filename="$(find ur_e_description)/urdf/ur5e.urdf.xacro" />
 
   <!-- Scene items (trays, columns, tools, jigs, feeders...) -->
   <xacro:include filename="$(find o2ac_scene_description)/urdf/o2ac_environment.xacro" />
@@ -62,31 +72,56 @@
     <origin xyz="0.0 0.0 ${bots_z-robot_mount_plate+workplate_h}" rpy="0.0 0.0 0.0" />
   </joint>
 
-  <xacro:ur5e_robot prefix="a_bot_" joint_limited="true"
-    shoulder_pan_lower_limit="${-pi}" shoulder_pan_upper_limit="${pi}"
-    shoulder_lift_lower_limit="${-pi}" shoulder_lift_upper_limit="${pi}"
-    elbow_joint_lower_limit="0.0" elbow_joint_upper_limit="${pi}"
-    wrist_1_lower_limit="${-pi*1.5}" wrist_1_upper_limit="${pi}"
-    wrist_2_lower_limit="${-pi*1.5}" wrist_2_upper_limit="${pi*1.5}"
-    wrist_3_lower_limit="${-2*pi}" wrist_3_upper_limit="${2*pi}"
-    transmission_hw_interface="hardware_interface/PositionJointInterface"
-    safety_limits="false" safety_pos_margin="0.15"
+  <xacro:ur_robot
+    prefix="a_bot_"
+    joint_limits_parameters_file='$(find o2ac_scene_description)/config/a_bot_joint_limits.yaml'
+    kinematics_parameters_file='$(find o2ac_scene_description)/config/a_bot_calibration.yaml'
+    physical_parameters_file='$(find ur_description)/config/ur5e/physical_parameters.yaml'
+    visual_parameters_file='$(find ur_description)/config/ur5e/visual_parameters.yaml'
+    transmission_hw_interface='hardware_interface/PositionJointInterface'
+    safety_limits="false"
+    safety_pos_margin="0.15"
     safety_k_position="20"
-    kinematics_file="${load_yaml('$(find o2ac_scene_description)/config/a_bot_calibration.yaml')}"
   />
+  <link name="a_bot_ee_link">
+    <collision>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="-0.01 0 0"/>
+    </collision>
+  </link>
+  <joint name="a_bot_ee_fixed_joint" type="fixed">
+    <parent link="a_bot_wrist_3_link"/>
+    <child link="a_bot_ee_link"/>
+    <origin rpy="0.0 -1.57079632679 1.57079632679" xyz="0.0 0.0 0.0"/>
+  </joint>
 
-  <xacro:ur5e_robot prefix="b_bot_" joint_limited="true"
-    shoulder_pan_lower_limit="${-pi}" shoulder_pan_upper_limit="${pi}"
-    shoulder_lift_lower_limit="${-pi}" shoulder_lift_upper_limit="${pi}"
-    elbow_joint_lower_limit="0.0" elbow_joint_upper_limit="${pi}"
-    wrist_1_lower_limit="${-pi*1.5}" wrist_1_upper_limit="${pi}"
-    wrist_2_lower_limit="${-pi*1.5}" wrist_2_upper_limit="${pi*1.5}"
-    wrist_3_lower_limit="${-2*pi}" wrist_3_upper_limit="${2*pi}"
-    transmission_hw_interface="hardware_interface/PositionJointInterface"
-    safety_limits="false" safety_pos_margin="0.15"
+  <xacro:ur_robot
+    prefix="b_bot_"
+    joint_limits_parameters_file='$(find o2ac_scene_description)/config/b_bot_joint_limits.yaml'
+    kinematics_parameters_file='$(find o2ac_scene_description)/config/b_bot_calibration.yaml'
+    physical_parameters_file='$(find ur_description)/config/ur5e/physical_parameters.yaml'
+    visual_parameters_file='$(find ur_description)/config/ur5e/visual_parameters.yaml'
+    transmission_hw_interface='hardware_interface/PositionJointInterface'
+    safety_limits="false"
+    safety_pos_margin="0.15"
     safety_k_position="20"
-    kinematics_file="${load_yaml('$(find o2ac_scene_description)/config/b_bot_calibration.yaml')}"
   />
+  
+  <link name="b_bot_ee_link">
+    <collision>
+      <geometry>
+        <box size="0.01 0.01 0.01"/>
+      </geometry>
+      <origin rpy="0 0 0" xyz="-0.01 0 0"/>
+    </collision>
+  </link>
+  <joint name="b_bot_ee_fixed_joint" type="fixed">
+    <parent link="b_bot_wrist_3_link"/>
+    <child link="b_bot_ee_link"/>
+    <origin rpy="0.0 -1.57079632679 1.57079632679" xyz="0.0 0.0 0.0"/>
+  </joint>
 
   <link name="o2ac_ground" />
 
diff --git a/catkin_ws/src/o2ac_scene_description/urdf/ur_gazebo.xacro b/catkin_ws/src/o2ac_scene_description/urdf/ur_gazebo.xacro
new file mode 100644
index 00000000..835f0df1
--- /dev/null
+++ b/catkin_ws/src/o2ac_scene_description/urdf/ur_gazebo.xacro
@@ -0,0 +1,33 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="ur_robot_gazebo">
+
+  <!-- Convenient wrapper for ur-gazebo macro -->
+  
+  <xacro:macro name="ur_robot" params="
+    prefix
+    joint_limits_parameters_file
+    kinematics_parameters_file
+    physical_parameters_file
+    visual_parameters_file
+    transmission_hw_interface:=hardware_interface/PositionJointInterface
+    safety_limits:=false safety_pos_margin:=0.15 safety_k_position:=20">
+
+        <xacro:include filename="$(find o2ac_scene_description)/urdf/ur_gazebo_macro.xacro"/>
+
+        <!-- Instantiate the Gazebo robot and pass it all the required arguments. -->
+        <xacro:ur_robot_gazebo
+        prefix="${prefix}"
+        joint_limits_parameters_file="${joint_limits_parameters_file}"
+        kinematics_parameters_file="${kinematics_parameters_file}"
+        physical_parameters_file="${physical_parameters_file}"
+        visual_parameters_file="${visual_parameters_file}"
+        transmission_hw_interface="${transmission_hw_interface}"
+        safety_limits="${safety_limits}"
+        safety_pos_margin="${safety_pos_margin}"
+        safety_k_position="${safety_k_position}"
+        />
+
+    </xacro:macro>
+
+
+</robot>
diff --git a/catkin_ws/src/o2ac_scene_description/urdf/ur_gazebo_macro.xacro b/catkin_ws/src/o2ac_scene_description/urdf/ur_gazebo_macro.xacro
new file mode 100644
index 00000000..dda3040e
--- /dev/null
+++ b/catkin_ws/src/o2ac_scene_description/urdf/ur_gazebo_macro.xacro
@@ -0,0 +1,65 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro">
+  <!--
+    Same as ur_gazebo/urdf/ur_macro.xacro but without the plugin for multi-robot instances
+  -->
+
+
+  <!-- Definition of the main macro -->
+  <xacro:macro name="ur_robot_gazebo" params="
+   prefix
+   joint_limits_parameters_file
+   kinematics_parameters_file
+   physical_parameters_file
+   visual_parameters_file
+   transmission_hw_interface:=hardware_interface/PositionJointInterface
+   safety_limits:=false safety_pos_margin:=0.15 safety_k_position:=20"
+  >
+    <!--
+      Import the xacro macro for the REAL robot (which we'll augment with Gazebo
+      specific elements in the wrapper macro below).
+
+      NOTE: this imports the '_macro.xacro' from ur_description, as that contains
+      the definitions for the real robot.
+    -->
+    <xacro:include filename="$(find ur_description)/urdf/inc/ur_macro.xacro"/>
+
+
+    <!-- Instantiate model for the REAL robot. -->
+    <xacro:ur_robot
+      prefix="${prefix}"
+      joint_limits_parameters_file="${joint_limits_parameters_file}"
+      kinematics_parameters_file="${kinematics_parameters_file}"
+      physical_parameters_file="${physical_parameters_file}"
+      visual_parameters_file="${visual_parameters_file}"
+      transmission_hw_interface="${transmission_hw_interface}"
+      safety_limits="${safety_limits}"
+      safety_pos_margin="${safety_pos_margin}"
+      safety_k_position="${safety_k_position}"
+    />
+
+    <!-- Configure self collision properties per link -->
+    <gazebo reference="${prefix}shoulder_link">
+      <selfCollide>true</selfCollide>
+    </gazebo>
+    <gazebo reference="${prefix}upper_arm_link">
+      <selfCollide>true</selfCollide>
+    </gazebo>
+    <gazebo reference="${prefix}forearm_link">
+      <selfCollide>true</selfCollide>
+    </gazebo>
+    <gazebo reference="${prefix}wrist_1_link">
+      <selfCollide>true</selfCollide>
+    </gazebo>
+    <gazebo reference="${prefix}wrist_3_link">
+      <selfCollide>true</selfCollide>
+    </gazebo>
+    <gazebo reference="${prefix}wrist_2_link">
+      <selfCollide>true</selfCollide>
+    </gazebo>
+    <gazebo reference="${prefix}ee_link">
+      <selfCollide>true</selfCollide>
+    </gazebo>
+
+  </xacro:macro>
+</robot>
diff --git a/catkin_ws/src/o2ac_scene_description/urdf/ur_gripper_hande.xacro b/catkin_ws/src/o2ac_scene_description/urdf/ur_gripper_hande.xacro
new file mode 100644
index 00000000..e53afead
--- /dev/null
+++ b/catkin_ws/src/o2ac_scene_description/urdf/ur_gripper_hande.xacro
@@ -0,0 +1,37 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="ur_robot_gazebo">
+
+  <!-- 
+      Same as ur_gazebo/urdf/ur.xacro but without the world joint/link
+   -->
+
+  <xacro:macro name="ur_robot" params="
+    prefix
+    ft_prefix
+    parent
+    *origin
+    joint_limits_parameters_file
+    kinematics_parameters_file
+    physical_parameters_file
+    visual_parameters_file
+    transmission_hw_interface:=hardware_interface/PositionJointInterface
+    safety_limits:=false safety_pos_margin:=0.15 safety_k_position:=20">
+    
+  <xacro:include filename="$(find ur3e_dual_gazebo)/urdf/ur_macro.xacro"/>
+
+    <!-- Instantiate the Gazebo robot and pass it all the required arguments. -->
+    <xacro:ur_robot_gazebo
+      prefix="${prefix}"
+      joint_limits_parameters_file="${joint_limits_parameters_file}"
+      kinematics_parameters_file="${kinematics_parameters_file}"
+      physical_parameters_file="${physical_parameters_file}"
+      visual_parameters_file="${visual_parameters_file}"
+      transmission_hw_interface="${transmission_hw_interface}"
+      safety_limits="${safety_limits}"
+      safety_pos_margin="${safety_pos_margin}"
+      safety_k_position="${safety_k_position}"
+    />
+
+  </xacro:macro>
+
+</robot>
\ No newline at end of file
diff --git a/docker/o2ac-dev/Dockerfile b/docker/o2ac-dev/Dockerfile
index 8b17fe3c..8f7a05fc 100644
--- a/docker/o2ac-dev/Dockerfile
+++ b/docker/o2ac-dev/Dockerfile
@@ -37,7 +37,7 @@ RUN apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E
 
 # Install ROS-desktop-full packages (including ROS, rqt, rviz, and more).
 RUN apt-get update && apt-get install -y --no-install-recommends \
-    ros-melodic-desktop-full=1.4.1-0bionic.20210719.224425 \
+    ros-melodic-desktop-full=1.4.1-0bionic.20210921.232208 \
     python-rosdep=0.21.0-1 \
 	&& rm -rf /var/lib/apt/lists/*
 
@@ -50,7 +50,7 @@ RUN rosdep init
 # Install required packages/tools/dependencies for subsequent installations.
 RUN apt-get update && apt-get install -y --no-install-recommends \
     apt-transport-https=1.6.14 \
-	wget=1.19.4-1ubuntu2.2 \
+    wget=1.19.4-1ubuntu2.2 \
 	&& rm -rf /var/lib/apt/lists/*
 
 ################################################################################
@@ -60,7 +60,7 @@ RUN apt-get update && apt-cache policy git
 RUN apt-get update && apt-get install -y --no-install-recommends \
     build-essential=12.4ubuntu1 \
     cmake=3.10.2-1ubuntu2.18.04.2 \
-    git=1:2.17.1-1ubuntu0.8 \
+    git=1:2.17.1-1ubuntu0.9 \
     python-dev=2.7.15~rc1-1 \
     python-numpy=1:1.13.3-2ubuntu1 \
     python-pip=9.0.1-2.3~ubuntu1.18.04.5 \
@@ -85,7 +85,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
     python-catkin-tools=0.6.1-1 \
     python-tk=2.7.17-1~18.04 \
     unzip=6.0-21ubuntu1.1 \
-    vim=2:8.0.1453-1ubuntu1.4 \
+    vim=2:8.0.1453-1ubuntu1.6 \
     less=487-0.1 \
     usbutils=1:007-4build1 \
 	&& rm -rf /var/lib/apt/lists/*
@@ -103,8 +103,8 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
 # Install MoveIt dependencies because we build it from source.
 # Also install the binaries to pull in the dependencies.
 RUN apt-get update && apt-get install -y --no-install-recommends \ 
-    ros-melodic-moveit-resources=0.7.3-1bionic.20210719.224510 \
-    ros-melodic-moveit=1.0.8-1bionic.20210720.003319 \
+    ros-melodic-moveit-resources=0.7.3-1bionic.20210921.221050 \
+    ros-melodic-moveit=1.0.8-1bionic.20210922.000107 \
 	&& rm -rf /var/lib/apt/lists/*
 
 ################################################################################
@@ -112,7 +112,6 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
 # Install wstool to use .rosinstall file in the underlay workspace
 RUN apt-get update && apt-get install -y --no-install-recommends \
     python-wstool=0.1.17-1 \
-    python-catkin-tools=0.6.1-1 \
     clang-format-10=1:10.0.0-4ubuntu1~18.04.2 \
 	&& rm -rf /var/lib/apt/lists/*
 
@@ -120,16 +119,16 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
 
 # Install other dependencies of our workspace
 RUN apt-get update && apt-get install -y --no-install-recommends \
-    ros-melodic-effort-controllers=0.17.2-1bionic.20210719.221053 \
-    ros-melodic-industrial-robot-status-controller=0.1.2-1bionic.20210716.091354 \
-    ros-melodic-socketcan-interface=0.8.5-1bionic.20210427.132022 \
-    ros-melodic-industrial-robot-status-interface=0.1.2-1bionic.20210616.200040 \
+    ros-melodic-effort-controllers=0.17.2-1bionic.20210921.221828 \
+    ros-melodic-industrial-robot-status-controller=0.1.2-1bionic.20210921.221524 \
+    ros-melodic-socketcan-interface=0.8.5-1bionic.20210921.180404 \
+    ros-melodic-industrial-robot-status-interface=0.1.2-1bionic.20210921.203234 \
     ros-melodic-soem=1.4.1003-1bionic.20201015.050528 \
     ros-melodic-graph-msgs=0.1.0-1bionic.20210505.012422 \
-    ros-melodic-spacenav-node=1.14.0-1bionic.20210505.025354 \
-    ros-melodic-joy-teleop=0.3.1-1bionic.20210505.030303 \
+    ros-melodic-spacenav-node=1.14.0-1bionic.20210921.210836 \
+    ros-melodic-joy-teleop=0.3.1-1bionic.20210921.205844 \
     ros-melodic-code-coverage=0.4.3-1bionic.20200803.132715 \
-    ros-melodic-panda-moveit-config=0.7.4-1bionic.20210720.001801 \
+    ros-melodic-panda-moveit-config=0.7.4-1bionic.20210921.234706 \
     socat=1.7.3.2-2ubuntu2 \
     libqt5x11extras5-dev=5.9.5-0ubuntu1 \
 	&& rm -rf /var/lib/apt/lists/*	
@@ -138,7 +137,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
 
 # Install JSK tools for visualization in Rviz
 RUN apt-get update && apt-get install -y --no-install-recommends \
-    ros-melodic-jsk-visualization=2.1.7-2bionic.20210722.195645 \
+    ros-melodic-jsk-visualization=2.1.7-2bionic.20210922.000226 \
 	&& rm -rf /var/lib/apt/lists/*
 
 ################################################################################
@@ -157,18 +156,18 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
 # Install URe controller dependencies.
 
 RUN apt-get update && apt-get install -y --no-install-recommends \
-    ros-melodic-ros-control=0.18.4-1bionic.20210616.200840 \
-    ros-melodic-robot-controllers=0.6.0-0bionic.20210505.035206 \
-    ros-melodic-velocity-controllers=0.17.2-1bionic.20210616.201142 \
-    ros-melodic-joint-trajectory-controller=0.17.2-1bionic.20210719.221457 \
-    ros-melodic-force-torque-sensor-controller=0.17.2-1bionic.20210616.200644 \
+    ros-melodic-ros-control=0.18.4-1bionic.20210921.220930 \
+    ros-melodic-robot-controllers=0.6.0-0bionic.20210921.222303 \
+    ros-melodic-velocity-controllers=0.17.2-1bionic.20210921.221837 \
+    ros-melodic-joint-trajectory-controller=0.17.2-1bionic.20210921.220639 \
+    ros-melodic-force-torque-sensor-controller=0.17.2-1bionic.20210921.221513 \
 	&& rm -rf /var/lib/apt/lists/*
 
 ################################################################################
 
 # Add industrial_core submodule
 RUN apt-get update && apt-get install -y --no-install-recommends \
-    ros-melodic-industrial-core=0.7.3-1bionic.20210719.233718 \
+    ros-melodic-industrial-core=0.7.3-1bionic.20210921.231521 \
 	&& rm -rf /var/lib/apt/lists/*
 
 ################################################################################
@@ -177,8 +176,8 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
 # # ros-melodic-qt-build \
 
 RUN apt-get update && apt-get install -y --no-install-recommends \
-    ros-melodic-dynamixel-sdk=3.7.51-4bionic.20210505.020857 \
-    ros-melodic-dynamixel-workbench=2.2.0-0bionic.20210505.042621 \
+    ros-melodic-dynamixel-sdk=3.7.51-4bionic.20210921.181333 \
+    ros-melodic-dynamixel-workbench=2.2.0-0bionic.20210921.212132 \
     ros-melodic-dynamixel-workbench-msgs=2.0.1-0bionic.20210505.011002 \
 	&& rm -rf /var/lib/apt/lists/*
 
@@ -209,7 +208,7 @@ RUN curl https://packages.microsoft.com/keys/microsoft.asc | gpg --dearmor > mic
 
 # Update cache and install VS Code as a package.
 RUN apt-get update && apt-get install -y --no-install-recommends \
-    code=1.59.1-1629375198 \
+    code=1.61.1-1634175470 \
 	&& rm -rf /var/lib/apt/lists/*
 
 # Set VS Code as the default text editor.
@@ -219,12 +218,12 @@ RUN update-alternatives --set editor /usr/bin/code
 # Solve common error while deleting files from VS Code.
 # https://code.visualstudio.com/docs/setup/linux#_debian-and-moving-files-to-trash
 RUN apt-get update && apt-get install -y --no-install-recommends \
-	gvfs-bin=1.36.1-0ubuntu1.3.3 \
+    gvfs-bin=1.36.1-0ubuntu1.3.3 \
 	&& rm -rf /var/lib/apt/lists/*
 
 # Solve character rendering issues in GUI by adding missing Japanese fonts.
 RUN apt-get update && apt-get install -y --no-install-recommends \
-	fonts-takao=00303.01-2ubuntu1 \
+    fonts-takao=00303.01-2ubuntu1 \
 	&& rm -rf /var/lib/apt/lists/*
 
 # Install a dependency that the next command requires, but VS Code seems to miss sometimes
@@ -250,27 +249,11 @@ RUN /usr/bin/python -m pip install -U \
 
 # Install Exuberant Ctags as recommended by Python extension.
 RUN apt-get update && apt-get install -y --no-install-recommends \
-	exuberant-ctags=1:5.9~svn20110310-11 \
+    exuberant-ctags=1:5.9~svn20110310-11 \
 	&& rm -rf /var/lib/apt/lists/*
 
 ################################################################################
 
-# Install the SSH deploy key of the repository hosted on GitLab.com.
-
-# Copy the SSH deploy key from the sources on the host to the container.
-COPY ./.ssh/. /root/.ssh/
-RUN chmod 700 /root/.ssh/ \
-	&& chmod 600 /root/.ssh/o2ac-ur-id_rsa
-
-# Add GitLab.com as a known host using the SSH deploy key.
-RUN echo "Host gitlab.com" > /root/.ssh/config \
-	&& echo "  Hostname gitlab.com" >> /root/.ssh/config \
-	&& echo "  IdentityFile /root/.ssh/o2ac-ur-id_rsa" >> /root/.ssh/config \
-	&& echo "  StrictHostKeyChecking no" >> /root/.ssh/config \
-	&& echo "  User git" >> /root/.ssh/config
-
-################################################################################
-
 # Install camera packages.
 
 # librealsense2
@@ -311,7 +294,7 @@ RUN pip install gym
 
 # Install eigenpy 
 RUN apt-get update && apt-get install -y --no-install-recommends \
-    ros-melodic-eigenpy=2.6.4-1bionic.20210527.213718 \
+    ros-melodic-eigenpy=2.6.8-1bionic.20210907.141314 \
 	&& rm -rf /var/lib/apt/lists/*
 
 ################################################################################
@@ -343,14 +326,14 @@ RUN pip3 install rospkg==1.2.10
 
 # Install emacs
 RUN apt-get update && apt-get install -y --no-install-recommends \
-	emacs=47.0 \
+    emacs=47.0 \
 	&& rm -rf /var/lib/apt/lists/*
 
 ################################################################################
 
 # Install cgal
 RUN apt-get update && apt-get install -y --no-install-recommends \
-	libcgal-dev=4.11-2build1 \
+    libcgal-dev=4.11-2build1 \
 	&& rm -rf /var/lib/apt/lists/*
 
 ################################################################################
@@ -367,13 +350,13 @@ RUN pip2 install pyquaternion==0.9.9
 
 # Utilities
 RUN apt-get update && apt-get install -y --no-install-recommends \
-	htop=2.1.0-3 \
-    ros-melodic-rqt-multiplot=0.0.10-0bionic.20210716.100721 \
-    ros-melodic-trac-ik-python=1.5.1-1bionic.20210505.040855 \
-    ros-melodic-trac-ik-kinematics-plugin=1.5.1-1bionic.20210719.231506 \
-    ros-melodic-flexbe-behavior-engine=1.3.1-1bionic.20210505.053009 \
-    ros-melodic-gripper-action-controller=0.17.2-1bionic.20210719.221351 \
-    ros-melodic-jsk-rviz-plugins=2.1.7-2bionic.20210722.191423 \
+    htop=2.1.0-3 \
+    ros-melodic-rqt-multiplot=0.0.10-0bionic.20210921.205109 \
+    ros-melodic-trac-ik-python=1.5.1-1bionic.20210921.222641 \
+    ros-melodic-trac-ik-kinematics-plugin=1.5.1-1bionic.20210921.224102 \
+    ros-melodic-flexbe-behavior-engine=1.3.1-1bionic.20210921.221501 \
+    ros-melodic-gripper-action-controller=0.17.2-1bionic.20210921.220651 \
+    ros-melodic-jsk-rviz-plugins=2.1.7-2bionic.20210921.230839 \
     python-rosinstall=0.7.8-1 \
 	&& rm -rf /var/lib/apt/lists/*
 
@@ -381,7 +364,7 @@ RUN apt-get update && apt-get install -y --no-install-recommends \
 
 # Utilities to update the Dockerfile versions
 RUN apt-get update && apt-get install -y --no-install-recommends \
-    python3-apt=1.6.5ubuntu0.6 \
+    python3-apt=1.6.5ubuntu0.7 \
 	&& rm -rf /var/lib/apt/lists/* \
     && pip3 install dockerfile_parse
 
diff --git a/docker/o2ac-dev/update_dockerfile.py b/docker/o2ac-dev/update_dockerfile.py
index f83819fa..398abbe0 100755
--- a/docker/o2ac-dev/update_dockerfile.py
+++ b/docker/o2ac-dev/update_dockerfile.py
@@ -82,7 +82,10 @@ def update_libraries_without_vars(dockerfile_path):
     # find the libraries to update
     libs_to_update = []
     for lib_name, docker_ver in zip(lib_names, lib_versions):
-        pkg = cache[lib_name]
+        pkg = cache.get(lib_name, None)
+        if not pkg:
+            print(bcolors.WARNING + "[%s] WARNING: Package not found in cache, ignoring it." % str(lib_name) + bcolors.ENDC)
+            continue
         if hasattr(pkg.installed, 'version'):
             if docker_ver != pkg.installed.version:
                 print(bcolors.WARNING + "[%s] WARNING: Dockerfile version and installed version are different!" % str(lib_name) + bcolors.ENDC)
@@ -202,6 +205,6 @@ def update_libraries(dockerfile_path):
 
 
 if __name__ == '__main__':
-    dockerfile_path = "/root/o2ac-ur/docker/o2ac-dev/Dockerfile"
+    dockerfile_path = "./Dockerfile"
     update_libraries(dockerfile_path)
     print("Finished")
diff --git a/github-wiki b/github-wiki
new file mode 160000
index 00000000..7c1e51c3
--- /dev/null
+++ b/github-wiki
@@ -0,0 +1 @@
+Subproject commit 7c1e51c3aa70fd3f0edb27abd437d2cf3f88b7df
diff --git a/gitlab-wiki b/gitlab-wiki
deleted file mode 160000
index 4b22d688..00000000
--- a/gitlab-wiki
+++ /dev/null
@@ -1 +0,0 @@
-Subproject commit 4b22d688fee0c7434ea1efdffc5f933e1ba3dd54
diff --git a/underlay_ws/src/third_party/universal_robot b/underlay_ws/src/third_party/universal_robot
index 90c141b4..1ffdd691 160000
--- a/underlay_ws/src/third_party/universal_robot
+++ b/underlay_ws/src/third_party/universal_robot
@@ -1 +1 @@
-Subproject commit 90c141b4719dd0df87baef12c46c26c374608ba1
+Subproject commit 1ffdd69181389b14b7d6342f0c5bad3b45c5e32f