diff --git a/asp/main.py b/asp/main.py
index 48240cd..dba64a5 100644
--- a/asp/main.py
+++ b/asp/main.py
@@ -2,14 +2,12 @@ import argparse
 import shutil
 from helper.fs import FS
 from src.usecases.urdf_sub_assembly_usecase import UrdfSubAssemblyUseCase
-# from src.usecases.sdf_generate_world_usecase import SdfGenerateWorldUseCase
 from src.model.sdf_geometry import GeometryModel
 from src.usecases.sdf_sub_assembly_usecase import SdfSubAssemblyUseCase
 
 import os
 
 
-
 if __name__ == "__main__":
     parser = argparse.ArgumentParser()
     parser.add_argument('--generationFolder', help='FreeCad generation folder')
diff --git a/asp/src/usecases/urdf_sub_assembly_usecase.py b/asp/src/usecases/urdf_sub_assembly_usecase.py
index 907662e..f035e5f 100644
--- a/asp/src/usecases/urdf_sub_assembly_usecase.py
+++ b/asp/src/usecases/urdf_sub_assembly_usecase.py
@@ -8,8 +8,7 @@ import json
 import re
 
 
-def toUrdf(el: GeometryModel):
-    return el.toUrdf()
+ 
 
 
 URDF_FILE_FORMAT = '.urdf'
@@ -17,26 +16,9 @@ URDF_GENERATOR_FILE = 'urdf-generation' + '.json'
 
 class UrdfSubAssemblyUseCase(Assembly):
     def call(self, geometryModels: list[GeometryModel], assembly: list[str], outPath: str, generationFolder: str, world: bool):
-        dirPath = outPath + Enum.folderPath
+        dirPath = generationFolder + Enum.folderPath
         asm = {}
-        generateSubAssemblyModels = self.generateSubAssembly(assembly)
-        inc = 0
-        for key, value in generateSubAssemblyModels.items():
-            keyAsm = int(re.findall(r'\d', key)[0])
-            inc += 1
-            if value['assembly'].__len__() != 0:
-                model: Optional[GeometryModel] = listGetFirstValue(
-                    geometryModels, None, lambda x:  x.name == value['assembly'][0])
-
-                if model != None:
-                   
-                    urdfs = list(map(toUrdf, filterModels(
-                        geometryModels,  value['assembly'])))
-                    urdfs.append(listGetFirstValue(
-                        geometryModels, None, lambda x:  x.name == value['part']) .toUrdf())
-                    asm[keyAsm] = urdfs
-
-        self.copy(generationFolder=generationFolder,
-                  format='/sdf', outPath=outPath)
-        FS.writeFile(data=json.dumps(asm),
+        for el in geometryModels:
+            asm[el.name] = el.toUrdf()        
+        FS.writeFile(data=json.dumps(asm,indent=4),
                      fileName=URDF_GENERATOR_FILE, filePath=dirPath)