diff --git a/moveit/summit_xl_j2n6s200_moveit_config/.setup_assistant b/moveit/summit_xl_j2n6s200_moveit_config/.setup_assistant
index e0a1922..beae96e 100644
--- a/moveit/summit_xl_j2n6s200_moveit_config/.setup_assistant
+++ b/moveit/summit_xl_j2n6s200_moveit_config/.setup_assistant
@@ -1,11 +1,11 @@
 moveit_setup_assistant_config:
   URDF:
     package: summit_xl_description
-    relative_path: robots/SXL00-210423AA.urdf.xacro
+    relative_path: robots/versions/summit_xl_gen_j2n6s200.urdf.xacro
     xacro_args: prefix:=robot_
   SRDF:
     relative_path: config/summit_xl.srdf
   CONFIG:
     author_name: José Gómez Gadea
     author_email: jgomez@robotnik.es
-    generated_timestamp: 1628108762
\ No newline at end of file
+    generated_timestamp: 1628108762
diff --git a/moveit/summit_xl_j2n6s200_moveit_config/launch/demo_gazebo.launch b/moveit/summit_xl_j2n6s200_moveit_config/launch/demo_gazebo.launch
index 8c1234a..5e1c801 100644
--- a/moveit/summit_xl_j2n6s200_moveit_config/launch/demo_gazebo.launch
+++ b/moveit/summit_xl_j2n6s200_moveit_config/launch/demo_gazebo.launch
@@ -25,7 +25,7 @@
   <arg name="gazebo_gui" default="true"/>
   <arg name="paused" default="false"/>
   <!-- By default, use the urdf location provided from the package -->
-  <arg name="urdf_path" default="$(find summit_xl_description)/robots/SXL00-210423AA.urdf.xacro"/>
+  <arg name="urdf_path" default="$(find summit_xl_description)/robots/versions/summit_xl_gen_j2n6s200.urdf.xacro"/>
 
   <!-- launch the gazebo simulator and spawn the robot -->
   <include file="$(find summit_xl_j2n6s200_moveit_config)/launch/gazebo.launch" >
diff --git a/moveit/summit_xl_j2n6s200_moveit_config/launch/gazebo.launch b/moveit/summit_xl_j2n6s200_moveit_config/launch/gazebo.launch
index 8236a2a..b9d26b5 100644
--- a/moveit/summit_xl_j2n6s200_moveit_config/launch/gazebo.launch
+++ b/moveit/summit_xl_j2n6s200_moveit_config/launch/gazebo.launch
@@ -2,7 +2,7 @@
 <launch>
   <arg name="paused" default="false"/>
   <arg name="gazebo_gui" default="true"/>
-  <arg name="urdf_path" default="$(find summit_xl_description)/robots/SXL00-210423AA.urdf.xacro"/>
+  <arg name="urdf_path" default="$(find summit_xl_description)/robots/versions/summit_xl_gen_j2n6s200.urdf.xacro"/>
 
   <!-- startup simulated world -->
   <include file="$(find gazebo_ros)/launch/empty_world.launch">
diff --git a/moveit/summit_xl_j2n6s200_moveit_config/launch/planning_context.launch b/moveit/summit_xl_j2n6s200_moveit_config/launch/planning_context.launch
index d578ec0..c5d2d8c 100644
--- a/moveit/summit_xl_j2n6s200_moveit_config/launch/planning_context.launch
+++ b/moveit/summit_xl_j2n6s200_moveit_config/launch/planning_context.launch
@@ -6,7 +6,7 @@
   <arg name="robot_description" default="robot_description"/>
 
   <!-- Load universal robot description format (URDF) -->
-  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="xacro prefix:=robot_ '$(find summit_xl_description)/robots/SXL00-210423AA.urdf.xacro'"/>
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="xacro prefix:=robot_ '$(find summit_xl_description)/robots/versions/summit_xl_gen_j2n6s200.urdf.xacro'"/>
 
   <!-- The semantic description that corresponds to the URDF -->
   <param name="$(arg robot_description)_semantic" textfile="$(find summit_xl_j2n6s200_moveit_config)/config/summit_xl.srdf" />