diff --git a/unitTesting/CMakeLists.txt b/unitTesting/CMakeLists.txt
index 108cd54e300642cb58df64b90feebcdf06028a81..3247e7fb1617a7abdfff27135d3c36511b4c264c 100644
--- a/unitTesting/CMakeLists.txt
+++ b/unitTesting/CMakeLists.txt
@@ -29,9 +29,6 @@ test_constructor
# Install procedure for the urdf files
#----------------------------------------------------
-FILE(COPY ${CMAKE_CURRENT_SOURCE_DIR}/two_link.urdf
- DESTINATION urdf)
-
SET(test_dyn_plugins_dependencies dynamic)
# Make Boost.Test generates the main function in test cases.
diff --git a/unitTesting/two_link.urdf b/unitTesting/two_link.urdf
deleted file mode 100644
index 570717dac88d37291e2703b0d607848a3d1699fa..0000000000000000000000000000000000000000
--- a/unitTesting/two_link.urdf
+++ /dev/null
@@ -1,45 +0,0 @@
-<?xml version="1.0"?>
-<!--
- simple_humanoid URDF model
-
- FIXME: fill missing data: sole, gripper and sensors
- -->
-<robot xmlns:xacro="http://ros.org/wiki/xacro" name="test_two_link">
-
- <link name="base_link"/>
- <joint name="JOINT1" type="revolute">
- <axis xyz="0 0 1"/>
- <parent link="base_link"/>
- <child link="CHILD1"/>
- <origin xyz="1 0 0"/>
- <limit effort="12" lower="0" upper="3.14" velocity="10"/>
- </joint>
- <link name="CHILD1">
- <inertial>
- <origin xyz="0.5 0 0" rpy="0 0 0"/>
- <mass value="10"/>
- <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
- </inertial>
- </link>
- <joint name="JOINT2" type="revolute">
- <axis xyz="0 0 1"/>
- <parent link="CHILD1"/>
- <child link="CHILD2"/>
- <origin xyz="1 0 0"/>
- <limit effort="12" lower="0" upper="3.14" velocity="10"/>
- </joint>
- <link name="CHILD2">
- <inertial>
- <origin xyz="0.5 0 0" rpy="0 0 0"/>
- <mass value="20"/>
- <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1" />
- </inertial>
- </link>
- <joint name="FRAMEJOINT1" type="fixed">
- <parent link="CHILD2"/>
- <child link="CHILD3"/>
- <origin rpy="0 0 0" xyz="0 0 -0.16"/>
- </joint>
- <link name="CHILD3"/>
-
-</robot>