diff --git a/meshes/l_finger.dae b/meshes/l_finger.dae
index c254958..4496fe8 100644
--- a/meshes/l_finger.dae
+++ b/meshes/l_finger.dae
@@ -95,7 +95,7 @@
   </library_effects>
   <library_images>
     <image id="file3" name="file3">
-      <init_from>l_finger_color.tif</init_from>
+      <init_from>l_finger_color.png</init_from>
       <extra>
         <technique profile="OpenCOLLADAMaya">
           <dgnode_type>kFile</dgnode_type>
@@ -105,7 +105,7 @@
       </extra>
     </image>
     <image id="file2" name="file2">
-      <init_from>l_finger_normals.tif</init_from>
+      <init_from>l_finger_normals.png</init_from>
       <extra>
         <technique profile="OpenCOLLADAMaya">
           <dgnode_type>kFile</dgnode_type>
diff --git a/meshes/l_finger_color.png b/meshes/l_finger_color.png
new file mode 100644
index 0000000..202e66c
Binary files /dev/null and b/meshes/l_finger_color.png differ
diff --git a/meshes/l_finger_color.tif b/meshes/l_finger_color.tif
deleted file mode 100644
index e8f35ec..0000000
Binary files a/meshes/l_finger_color.tif and /dev/null differ
diff --git a/meshes/l_finger_tip.dae b/meshes/l_finger_tip.dae
index 66b94fc..a4b0acd 100644
--- a/meshes/l_finger_tip.dae
+++ b/meshes/l_finger_tip.dae
@@ -95,7 +95,7 @@
   </library_effects>
   <library_images>
     <image id="file3" name="file3">
-      <init_from>l_finger_tip_color.tif</init_from>
+      <init_from>l_finger_tip_color.png</init_from>
       <extra>
         <technique profile="OpenCOLLADAMaya">
           <dgnode_type>kFile</dgnode_type>
@@ -105,7 +105,7 @@
       </extra>
     </image>
     <image id="file2" name="file2">
-      <init_from>l_finger_tip_normals.tif</init_from>
+      <init_from>l_finger_tip_normals.png</init_from>
       <extra>
         <technique profile="OpenCOLLADAMaya">
           <dgnode_type>kFile</dgnode_type>
diff --git a/meshes/l_finger_tip_color.png b/meshes/l_finger_tip_color.png
new file mode 100644
index 0000000..a4cb89b
Binary files /dev/null and b/meshes/l_finger_tip_color.png differ
diff --git a/meshes/l_finger_tip_color.tif b/meshes/l_finger_tip_color.tif
deleted file mode 100644
index be5b245..0000000
Binary files a/meshes/l_finger_tip_color.tif and /dev/null differ
diff --git a/urdf/08-macroed.urdf.xacro b/urdf/08-macroed.urdf.xacro
index 9c028da..906eebc 100644
--- a/urdf/08-macroed.urdf.xacro
+++ b/urdf/08-macroed.urdf.xacro
@@ -7,7 +7,6 @@
   <xacro:property name="bodylen" value="0.6" />
   <xacro:property name="baselen" value="0.4" />
   <xacro:property name="wheeldiam" value="0.07" />
-  <xacro:property name="pi" value="3.1415" />
 
   <material name="blue">
     <color rgba="0 0 0.8 1"/>