diff --git a/lab_table/model-1_4.sdf b/lab_table/model-1_4.sdf
index 2591b8101124bf31c5ee5e78a5422a27f48062c6..cc7f2d5a0ece5623c9cd9762da7d421b6799c788 100644
--- a/lab_table/model-1_4.sdf
+++ b/lab_table/model-1_4.sdf
@@ -20,7 +20,7 @@
         <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
-            <uri>model://gazebo_models/lab_table/meshes/lab_table.dae</uri>
+            <uri>model://iri_pm_models/lab_table/meshes/lab_table.dae</uri>
           </mesh>
         </geometry>
         <surface>
@@ -44,7 +44,7 @@
         <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
-            <uri>model://gazebo_models/lab_table/meshes/lab_table.dae</uri>
+            <uri>model://iri_pm_models/lab_table/meshes/lab_table.dae</uri>
           </mesh>
         </geometry>
       </visual>
diff --git a/lab_table/model.sdf b/lab_table/model.sdf
index 2b9ff0bf5320a292135ae0c357c19861ab597a4e..e14a06c04648b7e7dd0ba1973c6fd625e60fe365 100644
--- a/lab_table/model.sdf
+++ b/lab_table/model.sdf
@@ -20,7 +20,7 @@
         <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
-            <uri>model://gazebo_models/lab_table/meshes/lab_table.dae</uri>
+            <uri>model://iri_pm_models/lab_table/meshes/lab_table.dae</uri>
           </mesh>
         </geometry>
         <surface>
@@ -44,7 +44,7 @@
         <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
-            <uri>model://gazebo_models/lab_table/meshes/lab_table.dae</uri>
+            <uri>model://iri_pm_models/lab_table/meshes/lab_table.dae</uri>
           </mesh>
         </geometry>
       </visual>
diff --git a/tobacco_leaf/model-1_4.sdf b/tobacco_leaf/model-1_4.sdf
index 0db0215004377b0743ea09ab4b9fb33235be9cc5..2f6ebbaab4e8e2d002b5aae25044f85cce5fd122 100644
--- a/tobacco_leaf/model-1_4.sdf
+++ b/tobacco_leaf/model-1_4.sdf
@@ -20,7 +20,7 @@
         <pose>0.0 0.0 0.10 0.0 0.0 0.0</pose>
         <geometry>
           <mesh>
-            <uri>model://gazebo_models/tobacco_leaf/meshes/tobacco_leaf.dae</uri>
+            <uri>model://iri_pm_models/tobacco_leaf/meshes/tobacco_leaf.dae</uri>
           </mesh>
         </geometry>
         <surface>
@@ -44,7 +44,7 @@
         <pose>0.0 0.0 0.10 0.0 0.0 0.0</pose>
         <geometry>
           <mesh>
-            <uri>model://gazebo_models/tobacco_leaf/meshes/tobacco_leaf.dae</uri>
+            <uri>model://iri_pm_models/tobacco_leaf/meshes/tobacco_leaf.dae</uri>
           </mesh>
         </geometry>
       </visual>
diff --git a/tobacco_leaf/model.sdf b/tobacco_leaf/model.sdf
index 4e384eb6b8382b66381d099d057a8f22e90cbf06..54f2ab959c2de4a09b1ea482dcdbd28e51ee85bb 100644
--- a/tobacco_leaf/model.sdf
+++ b/tobacco_leaf/model.sdf
@@ -20,7 +20,7 @@
         <pose>0.0 0.0 0.05 0.0 0.0 0.0</pose>
         <geometry>
           <mesh>
-            <uri>model://gazebo_models/tobacco_leaf/meshes/tobacco_leaf.dae</uri>
+            <uri>model://iri_pm_models/tobacco_leaf/meshes/tobacco_leaf.dae</uri>
           </mesh>
         </geometry>
         <surface>
@@ -44,7 +44,7 @@
         <pose>0.0 0.0 0.05 0.0 0.0 0.0</pose>
         <geometry>
           <mesh>
-            <uri>model://gazebo_models/tobacco_leaf/meshes/tobacco_leaf.dae</uri>
+            <uri>model://iri_pm_models/tobacco_leaf/meshes/tobacco_leaf.dae</uri>
           </mesh>
         </geometry>
       </visual>
diff --git a/wam_holder/model-1_4.sdf b/wam_holder/model-1_4.sdf
index 1f9444b7dfce6778dd09e91de1119fb14f375391..b51bd91d9dc45ada2438d766624901ab7b760a5f 100644
--- a/wam_holder/model-1_4.sdf
+++ b/wam_holder/model-1_4.sdf
@@ -20,7 +20,7 @@
         <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
-            <uri>model://gazebo_models/wam_holder/meshes/wam_holder.dae</uri>
+            <uri>model://iri_pm_models/wam_holder/meshes/wam_holder.dae</uri>
           </mesh>
         </geometry>
         <surface>
@@ -44,7 +44,7 @@
         <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
-            <uri>model://gazebo_models/wam_holder/meshes/wam_holder.dae</uri>
+            <uri>model://iri_pm_models/wam_holder/meshes/wam_holder.dae</uri>
           </mesh>
         </geometry>
       </visual>
diff --git a/wam_holder/model.sdf b/wam_holder/model.sdf
index ee5953db69fdf77c6af58b6087d604f93f41bf4c..1b04f038be492f02b4a94ed5418b456fcc2501bb 100644
--- a/wam_holder/model.sdf
+++ b/wam_holder/model.sdf
@@ -20,7 +20,7 @@
         <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
-            <uri>model://gazebo_models/wam_holder/meshes/wam_holder.dae</uri>
+            <uri>model://iri_pm_models/wam_holder/meshes/wam_holder.dae</uri>
           </mesh>
         </geometry>
         <surface>
@@ -44,7 +44,7 @@
         <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
-            <uri>model://gazebo_models/wam_holder/meshes/wam_holder.dae</uri>
+            <uri>model://iri_pm_models/wam_holder/meshes/wam_holder.dae</uri>
           </mesh>
         </geometry>
       </visual>
diff --git a/yellow_mattress/model-1_4.sdf b/yellow_mattress/model-1_4.sdf
index a2db193bf21434827ac4119cb9a94e14a46e9c0b..1c1f47aeff74e04137a6f2aaf43c966196cae29d 100644
--- a/yellow_mattress/model-1_4.sdf
+++ b/yellow_mattress/model-1_4.sdf
@@ -20,7 +20,7 @@
         <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
-            <uri>model://gazebo_models/yellow_mattress/meshes/yellow_mattress.dae</uri>
+            <uri>model://iri_pm_models/yellow_mattress/meshes/yellow_mattress.dae</uri>
           </mesh>
         </geometry>
         <surface>
@@ -44,7 +44,7 @@
         <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
-            <uri>model://gazebo_models/yellow_mattress/meshes/yellow_mattress.dae</uri>
+            <uri>model://iri_pm_models/yellow_mattress/meshes/yellow_mattress.dae</uri>
           </mesh>
         </geometry>
       </visual>
diff --git a/yellow_mattress/model.sdf b/yellow_mattress/model.sdf
index 9df31d45ce3c5156f8c83096f556742c0fbdf292..f284499ebc442cf0b8d414c8adecafca5bba26b0 100644
--- a/yellow_mattress/model.sdf
+++ b/yellow_mattress/model.sdf
@@ -20,7 +20,7 @@
         <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
-            <uri>model://gazebo_models/yellow_mattress/meshes/yellow_mattress.dae</uri>
+            <uri>model://iri_pm_models/yellow_mattress/meshes/yellow_mattress.dae</uri>
           </mesh>
         </geometry>
         <surface>
@@ -44,7 +44,7 @@
         <pose>0 0 0 0 0 0</pose>
         <geometry>
           <mesh>
-            <uri>model://gazebo_models/yellow_mattress/meshes/yellow_mattress.dae</uri>
+            <uri>model://iri_pm_models/yellow_mattress/meshes/yellow_mattress.dae</uri>
           </mesh>
         </geometry>
       </visual>