MB rotors are usually bolted to the back side of a flange on the front hub. The older models I'm familiar with require a 14mm Hex driver (1/2" drive) to remove the bolts.
The hub must come off, so the calipers do, too.
You may in fact not have warped rotors -- if the PO didn't get the flange and rotor clean when they were installed, they could be crooked with excessive runout. I'd replace them anyway, as they are for sure worn funny by now.
1972 220D ?? miles
1988 300E 200,012
1987 300D Turbo killed 9/25/07, 275,000 miles
1985 Volvo 740 GLE Turobodiesel 218,000
1972 280 SE 4.5 165, 000 - It runs!