diff --git a/cfg/active_grasp.yaml b/cfg/active_grasp.yaml
index e02cfc5..94742e2 100644
--- a/cfg/active_grasp.yaml
+++ b/cfg/active_grasp.yaml
@@ -34,5 +34,4 @@ policy:
 nbv_grasp:
   max_views: 80
   min_gain: 10
-  downsample: 20  # 10/20 for sim/hw respectively
-
+  downsample: 10  # 10/20 for sim/hw respectively
diff --git a/launch/env.launch b/launch/env.launch
index 62bbd9b..1413d43 100644
--- a/launch/env.launch
+++ b/launch/env.launch
@@ -12,7 +12,7 @@
 
   <!-- Simulated environment -->
   <group if="$(arg sim)">
-    <param name="robot_description" command="$(find xacro)/xacro $(find active_grasp)/assets/urdfs/franka/panda_arm_hand.urdf.xacro" />
+    <param name="robot_description" command="$(find xacro)/xacro $(find active_grasp)/assets/franka/panda_arm_hand.urdf.xacro" />
     <node pkg="active_grasp" type="bt_sim_node.py" name="bt_sim" output="screen" />
     <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" />
   </group>
diff --git a/src/active_grasp/simulation.py b/src/active_grasp/simulation.py
index 634fa82..48d67cb 100644
--- a/src/active_grasp/simulation.py
+++ b/src/active_grasp/simulation.py
@@ -16,7 +16,7 @@ from vgn.detection import VGN, select_local_maxima
 
 rospack = rospkg.RosPack()
 pkg_root = Path(rospack.get_path("active_grasp"))
-urdfs_dir = pkg_root / "assets/urdfs"
+urdfs_dir = pkg_root / "assets"
 
 
 class Simulation: