diff --git a/description/oak-d-lite.xacro b/description/oak-d-lite.xacro
index 11a7668..e1b3340 100644
--- a/description/oak-d-lite.xacro
+++ b/description/oak-d-lite.xacro
@@ -16,21 +16,11 @@
     <link name="$(arg parent_frame)"/>
     <xacro:depthai_camera camera_name = "$(arg camera_name)" parent = "$(arg parent_frame)" camera_model = "$(arg camera_model)" base_frame = "$(arg base_frame)" cam_pos_x = "$(arg cam_pos_x)" cam_pos_y = "$(arg cam_pos_y)" cam_pos_z = "$(arg cam_pos_z)" cam_roll = "$(arg cam_roll)" cam_pitch = "$(arg cam_pitch)" cam_yaw = "$(arg cam_yaw)"/>
 
-    <xacro:arg name="camera_name"   default="oak" />
-    <xacro:arg name="camera_model"  default="OAK-D-LITE" />
-    <xacro:arg name="base_frame"    default="oak-d_frame" />
-    <xacro:arg name="parent_frame"  default="oak-d-base-frame" />
-    <xacro:arg name="cam_pos_x"     default="0.0" />
-    <xacro:arg name="cam_pos_y"     default="0.0" />
-    <xacro:arg name="cam_pos_z"     default="0.0" />
-    <xacro:arg name="cam_roll"      default="0.0" />
-    <xacro:arg name="cam_pitch"     default="0.0" />
-    <xacro:arg name="cam_yaw"       default="0.0" />
     <xacro:arg name="has_imu"       default="false" />
 
     <xacro:include filename="$(find depthai_descriptions)/urdf/include/base_macro.urdf.xacro"/>
 
-    <link name="$(arg parent_frame)"/>
+    <!-- <link name="$(arg parent_frame)"/> -->
     <xacro:base camera_name = "$(arg camera_name)" parent = "$(arg parent_frame)" camera_model = "$(arg camera_model)" base_frame = "$(arg base_frame)" cam_pos_x = "$(arg cam_pos_x)" cam_pos_y = "$(arg cam_pos_y)" cam_pos_z = "$(arg cam_pos_z)" cam_roll = "$(arg cam_roll)" cam_pitch = "$(arg cam_pitch)" cam_yaw = "$(arg cam_yaw)" has_imu="$(arg has_imu)"/>
 
     <joint name="oak-d-base-joint" type="fixed">
@@ -40,7 +30,7 @@
     </joint>
 
 
-    <link name="oak-d-base-frame">
-    </link>
+    <!-- <link name="oak-d-base-frame">
+    </link> -->
 
 </robot>
\ No newline at end of file