diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml
new file mode 100644
index 0000000..fc9ddfa
--- /dev/null
+++ b/.github/workflows/build.yml
@@ -0,0 +1,22 @@
+name: Build
+on:
+  push:
+    branches:
+      - main
+  pull_request:
+    branches:
+      - main
+jobs:
+  build:
+    runs-on: ubuntu-24.04
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+      - uses: ros-tooling/setup-ros@v0.7
+        with:
+          required-ros-distributions: jazzy
+      - uses: ros-tooling/action-ros-ci@v0.3
+        with:
+          target-ros2-distro: jazzy
+          vcs-repo-file-url: "${{ github.workspace }}/.github/workflows/ci_dep.repos"
+          package-name: kortex_description robotiq_description eddie_description
diff --git a/.github/workflows/ci_dep.repos b/.github/workflows/ci_dep.repos
new file mode 100644
index 0000000..06dee82
--- /dev/null
+++ b/.github/workflows/ci_dep.repos
@@ -0,0 +1,9 @@
+repositories:
+  ros2_kortex:
+    type: git
+    url: https://github.com/secorolab/ros2_kortex.git
+    version: main
+  ros2_robotiq_gripper:
+    type: git
+    url: https://github.com/PickNikRobotics/ros2_robotiq_gripper.git
+    version: main
\ No newline at end of file
diff --git a/.github/workflows/format_and_lint.yml b/.github/workflows/format_and_lint.yml
new file mode 100644
index 0000000..dce8a30
--- /dev/null
+++ b/.github/workflows/format_and_lint.yml
@@ -0,0 +1,31 @@
+name: Formatting and Linting
+on:
+  pull_request:
+    branches:
+      - main
+  push:
+    branches:
+      - main
+jobs:
+  setup-build-lint:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v4
+      - name: Install python dependencies
+        run: |
+          python -m pip install --upgrade pip
+          pip install pre-commit
+      - uses: actions/cache@v4
+        with:
+          path: ~/.cache/pre-commit
+          key: pre-commit-${{ runner.os }}-${{ hashFiles('**/.pre-commit-config.yaml') }}
+          restore-keys: |
+            pre-commit-${{ runner.os }}-
+      - name: Run pre-commit checks
+        working-directory: ${{ github.workspace }}
+        run: |
+          pre-commit autoupdate --repo https://github.com/pre-commit/pre-commit-hooks
+
+          # Run pre-commit checks
+          pre-commit run --show-diff-on-failure --color=always --all-files
diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000..b25701b
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1 @@
+.ruff_cache
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
new file mode 100644
index 0000000..a3ca0fc
--- /dev/null
+++ b/.pre-commit-config.yaml
@@ -0,0 +1,17 @@
+repos:
+  - repo: https://github.com/pre-commit/pre-commit-hooks
+    rev: v5.0.0
+    hooks:
+      - id: trailing-whitespace
+      - id: check-xml
+  - repo: https://github.com/astral-sh/ruff-pre-commit
+    rev: v0.7.4
+    hooks:
+      - id: ruff
+        args: [--line-length=100, --fix]
+      - id: ruff-format
+  - repo: https://github.com/google/yamlfmt
+    rev: v0.10.0
+    hooks:
+      - id: yamlfmt
+        args: ['-formatter', 'max_line_length=100']
diff --git a/CMakeLists.txt b/CMakeLists.txt
new file mode 100644
index 0000000..d0185cc
--- /dev/null
+++ b/CMakeLists.txt
@@ -0,0 +1,13 @@
+cmake_minimum_required(VERSION 3.12)
+project(eddie_description)
+
+# Find dependencies
+find_package(ament_cmake REQUIRED)
+
+# Install the xacro and dae files
+install(DIRECTORY urdf meshes launch config
+  DESTINATION share/${PROJECT_NAME}
+)
+
+# Add ament package macros
+ament_package()
\ No newline at end of file
diff --git a/README.md b/README.md
index b62879f..cf8060d 100644
--- a/README.md
+++ b/README.md
@@ -1,23 +1,24 @@
 # Eddie Description
 
-Robot description for the eddie robot in form of URDF files, controllers and meshes.
+Robot description for the Eddie robot in form of URDF files, controllers and meshes.
 Gripper not added.
 
 ## Environment
-Tested on:
-  Ubuntu: 22.04
-  ROS2: Humble
+
+  Ubuntu: 24.04
+
+  ROS2: Jazzy
 
 ## Setup
 
 - Clone this repository into your workspace
-  
+
   ```bash
   # Create workspace
   mkdir -p ~/eddie_ws/src && cd ~/eddie_ws/src
 
   # Clone repository
-  git clone https://github.com/secorolab/eddie_description.git -b gz-devel
+  git clone https://github.com/secorolab/eddie_description
   ```
 
 - Build workspace
@@ -28,6 +29,14 @@ Tested on:
   colcon build
   ```
 
+- Clone ependendent packages
+
+    ```bash
+  cd ~/eddie_ws/src
+
+  vcs import < eddie_description/dep.repos
+  ```
+
 ## Usage
 
 - View robot in rviz
@@ -39,15 +48,20 @@ Tested on:
   source install/setup.bash
 
   # View robot in rviz
-  ros2 launch eddie_description view_eddie.launch.py joint_state_gui:=false
+  ros2 launch eddie_description display_eddie.launch.py joint_state_gui:=false
   ```
 
 - View robot in rviz with joint state gui
 
   ```bash
-  ros2 launch eddie_description view_eddie.launch.py joint_state_gui:=true
+  ros2 launch eddie_description display_eddie.launch.py joint_state_gui:=true
   ```
 
+## ROS Independent
+
+- The URDF and the mesh files for the whole Eddie robot including arms and Robotiq-2F-85 gripper are
+  available in the [eddie_urdf](eddie_urdf) folder.
+
 ## Eddie
 
-![Eddie](media/eddie_default_rviz.png)
+TODO: Image of Eddie with arms in rviz to be added
diff --git a/config/initial_positions_arm_left.yaml b/config/initial_positions_arm_left.yaml
new file mode 100644
index 0000000..fea0fcc
--- /dev/null
+++ b/config/initial_positions_arm_left.yaml
@@ -0,0 +1,8 @@
+# NOTE: Used for both 6 and 7 dof bots. The joint_7 value will be unused for 6 dof bots
+joint_1: -0.70
+joint_2: -2.05
+joint_3: 2.14
+joint_4: -2.44
+joint_5: -1.57
+joint_6: 0.00
+joint_7: 0.0
diff --git a/eddie_description/config/initial_positions_arm_right.yaml b/config/initial_positions_arm_right.yaml
similarity index 90%
rename from eddie_description/config/initial_positions_arm_right.yaml
rename to config/initial_positions_arm_right.yaml
index 9af1524..2abe2d8 100644
--- a/eddie_description/config/initial_positions_arm_right.yaml
+++ b/config/initial_positions_arm_right.yaml
@@ -5,4 +5,4 @@ joint_3: 0.90
 joint_4: 2.44
 joint_5: 1.57
 joint_6: 0.00
-joint_7: 0.0
\ No newline at end of file
+joint_7: 0.0
diff --git a/config/rviz/eddie.rviz b/config/rviz/eddie.rviz
new file mode 100644
index 0000000..3fb8ae4
--- /dev/null
+++ b/config/rviz/eddie.rviz
@@ -0,0 +1,555 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 138
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /TF1/Tree1/eddie_base_footprint1
+        - /TF1/Tree1/eddie_base_footprint1/eddie_base_link1
+        - /TF1/Tree1/eddie_base_footprint1/eddie_base_link1/eddie_front_left_drive_attachment_link1/eddie_front_left_drive_struct_link1
+        - /TF1/Tree1/eddie_base_footprint1/eddie_base_link1/eddie_front_right_drive_attachment_link1/eddie_front_right_drive_struct_link1
+        - /TF1/Tree1/eddie_base_footprint1/eddie_base_link1/eddie_left_arm_attachment_link1/eddie_left_arm_base_link1
+        - /TF1/Tree1/eddie_base_footprint1/eddie_base_link1/eddie_left_arm_attachment_link1/eddie_left_arm_base_link1/eddie_left_arm_shoulder_link1
+        - /TF1/Tree1/eddie_base_footprint1/eddie_base_link1/eddie_rear_left_drive_attachment_link1/eddie_rear_left_drive_struct_link1
+        - /TF1/Tree1/eddie_base_footprint1/eddie_base_link1/eddie_rear_right_drive_attachment_link1/eddie_rear_right_drive_struct_link1
+        - /TF1/Tree1/eddie_base_footprint1/eddie_base_link1/eddie_right_arm_attachment_link1/eddie_right_arm_base_link1
+        - /TF1/Tree1/eddie_base_footprint1/eddie_base_link1/eddie_right_arm_attachment_link1/eddie_right_arm_base_link1/eddie_right_arm_shoulder_link1
+        - /TF1/Tree1/eddie_base_footprint1/eddie_base_link1/eddie_right_arm_attachment_link1/eddie_right_arm_base_link1/eddie_right_arm_shoulder_link1/eddie_right_arm_half_arm_1_link1
+        - /TF1/Tree1/eddie_base_footprint1/eddie_base_link1/eddie_right_arm_attachment_link1/eddie_right_arm_base_link1/eddie_right_arm_shoulder_link1/eddie_right_arm_half_arm_1_link1/eddie_right_arm_half_arm_2_link1
+      Splitter Ratio: 0.7321428656578064
+    Tree Height: 1920
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /robot_description
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        eddie_base_footprint:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        eddie_base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        eddie_front_left_drive_attachment_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        eddie_front_left_drive_l_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        eddie_front_left_drive_r_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        eddie_front_left_drive_struct_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        eddie_front_right_drive_attachment_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        eddie_front_right_drive_l_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        eddie_front_right_drive_r_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        eddie_front_right_drive_struct_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        eddie_left_arm_attachment_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        eddie_left_arm_base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        eddie_left_arm_bracelet_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        eddie_left_arm_camera_color_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        eddie_left_arm_camera_depth_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        eddie_left_arm_camera_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        eddie_left_arm_end_effector_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        eddie_left_arm_forearm_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        eddie_left_arm_half_arm_1_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        eddie_left_arm_half_arm_2_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        eddie_left_arm_shoulder_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        eddie_left_arm_spherical_wrist_1_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        eddie_left_arm_spherical_wrist_2_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        eddie_left_arm_tool_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        eddie_rear_left_drive_attachment_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        eddie_rear_left_drive_l_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        eddie_rear_left_drive_r_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        eddie_rear_left_drive_struct_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        eddie_rear_right_drive_attachment_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        eddie_rear_right_drive_l_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        eddie_rear_right_drive_r_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        eddie_rear_right_drive_struct_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        eddie_right_arm_attachment_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        eddie_right_arm_base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        eddie_right_arm_bracelet_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        eddie_right_arm_camera_color_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        eddie_right_arm_camera_depth_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        eddie_right_arm_camera_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        eddie_right_arm_end_effector_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        eddie_right_arm_forearm_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        eddie_right_arm_half_arm_1_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        eddie_right_arm_half_arm_2_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        eddie_right_arm_shoulder_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        eddie_right_arm_spherical_wrist_1_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        eddie_right_arm_spherical_wrist_2_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        eddie_right_arm_tool_frame:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+      Mass Properties:
+        Inertia: false
+        Mass: false
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Filter (blacklist): ""
+      Filter (whitelist): ""
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
+        eddie_base_footprint:
+          Value: true
+        eddie_base_link:
+          Value: false
+        eddie_front_left_drive_attachment_link:
+          Value: false
+        eddie_front_left_drive_l_wheel_link:
+          Value: false
+        eddie_front_left_drive_r_wheel_link:
+          Value: false
+        eddie_front_left_drive_struct_link:
+          Value: false
+        eddie_front_right_drive_attachment_link:
+          Value: false
+        eddie_front_right_drive_l_wheel_link:
+          Value: false
+        eddie_front_right_drive_r_wheel_link:
+          Value: false
+        eddie_front_right_drive_struct_link:
+          Value: false
+        eddie_left_arm_attachment_link:
+          Value: false
+        eddie_left_arm_base_link:
+          Value: false
+        eddie_left_arm_bracelet_link:
+          Value: false
+        eddie_left_arm_camera_color_frame:
+          Value: false
+        eddie_left_arm_camera_depth_frame:
+          Value: false
+        eddie_left_arm_camera_link:
+          Value: false
+        eddie_left_arm_end_effector_link:
+          Value: false
+        eddie_left_arm_forearm_link:
+          Value: false
+        eddie_left_arm_half_arm_1_link:
+          Value: false
+        eddie_left_arm_half_arm_2_link:
+          Value: false
+        eddie_left_arm_shoulder_link:
+          Value: false
+        eddie_left_arm_spherical_wrist_1_link:
+          Value: false
+        eddie_left_arm_spherical_wrist_2_link:
+          Value: false
+        eddie_left_arm_tool_frame:
+          Value: false
+        eddie_rear_left_drive_attachment_link:
+          Value: false
+        eddie_rear_left_drive_l_wheel_link:
+          Value: false
+        eddie_rear_left_drive_r_wheel_link:
+          Value: false
+        eddie_rear_left_drive_struct_link:
+          Value: false
+        eddie_rear_right_drive_attachment_link:
+          Value: false
+        eddie_rear_right_drive_l_wheel_link:
+          Value: false
+        eddie_rear_right_drive_r_wheel_link:
+          Value: false
+        eddie_rear_right_drive_struct_link:
+          Value: false
+        eddie_right_arm_attachment_link:
+          Value: false
+        eddie_right_arm_base_link:
+          Value: false
+        eddie_right_arm_bracelet_link:
+          Value: false
+        eddie_right_arm_camera_color_frame:
+          Value: false
+        eddie_right_arm_camera_depth_frame:
+          Value: false
+        eddie_right_arm_camera_link:
+          Value: false
+        eddie_right_arm_end_effector_link:
+          Value: false
+        eddie_right_arm_forearm_link:
+          Value: false
+        eddie_right_arm_half_arm_1_link:
+          Value: false
+        eddie_right_arm_half_arm_2_link:
+          Value: false
+        eddie_right_arm_shoulder_link:
+          Value: false
+        eddie_right_arm_spherical_wrist_1_link:
+          Value: false
+        eddie_right_arm_spherical_wrist_2_link:
+          Value: false
+        eddie_right_arm_tool_frame:
+          Value: false
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: false
+      Tree:
+        eddie_base_footprint:
+          eddie_base_link:
+            eddie_front_left_drive_attachment_link:
+              eddie_front_left_drive_struct_link:
+                eddie_front_left_drive_l_wheel_link:
+                  {}
+                eddie_front_left_drive_r_wheel_link:
+                  {}
+            eddie_front_right_drive_attachment_link:
+              eddie_front_right_drive_struct_link:
+                eddie_front_right_drive_l_wheel_link:
+                  {}
+                eddie_front_right_drive_r_wheel_link:
+                  {}
+            eddie_left_arm_attachment_link:
+              eddie_left_arm_base_link:
+                eddie_left_arm_shoulder_link:
+                  eddie_left_arm_half_arm_1_link:
+                    eddie_left_arm_half_arm_2_link:
+                      eddie_left_arm_forearm_link:
+                        eddie_left_arm_spherical_wrist_1_link:
+                          eddie_left_arm_spherical_wrist_2_link:
+                            eddie_left_arm_bracelet_link:
+                              eddie_left_arm_end_effector_link:
+                                eddie_left_arm_camera_color_frame:
+                                  {}
+                                eddie_left_arm_camera_depth_frame:
+                                  {}
+                                eddie_left_arm_camera_link:
+                                  {}
+                                eddie_left_arm_tool_frame:
+                                  {}
+            eddie_rear_left_drive_attachment_link:
+              eddie_rear_left_drive_struct_link:
+                eddie_rear_left_drive_l_wheel_link:
+                  {}
+                eddie_rear_left_drive_r_wheel_link:
+                  {}
+            eddie_rear_right_drive_attachment_link:
+              eddie_rear_right_drive_struct_link:
+                eddie_rear_right_drive_l_wheel_link:
+                  {}
+                eddie_rear_right_drive_r_wheel_link:
+                  {}
+            eddie_right_arm_attachment_link:
+              eddie_right_arm_base_link:
+                eddie_right_arm_shoulder_link:
+                  eddie_right_arm_half_arm_1_link:
+                    eddie_right_arm_half_arm_2_link:
+                      eddie_right_arm_forearm_link:
+                        eddie_right_arm_spherical_wrist_1_link:
+                          eddie_right_arm_spherical_wrist_2_link:
+                            eddie_right_arm_bracelet_link:
+                              eddie_right_arm_end_effector_link:
+                                eddie_right_arm_camera_color_frame:
+                                  {}
+                                eddie_right_arm_camera_depth_frame:
+                                  {}
+                                eddie_right_arm_camera_link:
+                                  {}
+                                eddie_right_arm_tool_frame:
+                                  {}
+      Update Interval: 0
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: eddie_base_footprint
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 3.1426641941070557
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -0.15963135659694672
+        Y: -0.03454422205686569
+        Z: 0.334622323513031
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.014797183685004711
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.42542606592178345
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 2438
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000004be0000087cfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b200fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c00610079007301000000700000087c0000018600fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000015d0000087cfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a0056006900650077007301000000700000087c0000013800fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000010000000005efc0100000002fb0000000800540069006d00650100000000000010000000047a00fffffffb0000000800540069006d00650100000000000004500000000000000000000009cd0000087c00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 4096
+  X: 0
+  Y: 48
diff --git a/config/zero_positions.yaml b/config/zero_positions.yaml
new file mode 100644
index 0000000..b1fea26
--- /dev/null
+++ b/config/zero_positions.yaml
@@ -0,0 +1,20 @@
+# NOTE: Used for both 6 and 7 dof bots. The joint_7 value will be unused for 6 dof bots
+joint_state_publisher:
+  ros__parameters:
+    zeros:
+      # left arm
+      eddie_left_arm_joint_1: -0.70
+      eddie_left_arm_joint_2: -2.05
+      eddie_left_arm_joint_3: 2.14
+      eddie_left_arm_joint_4: -2.44
+      eddie_left_arm_joint_5: -1.57
+      eddie_left_arm_joint_6: 0.00
+      eddie_left_arm_joint_7: 0.00
+      # right arm
+      eddie_right_arm_joint_1: 0.70
+      eddie_right_arm_joint_2: -2.05
+      eddie_right_arm_joint_3: 0.90
+      eddie_right_arm_joint_4: 2.44
+      eddie_right_arm_joint_5: 1.57
+      eddie_right_arm_joint_6: 0.00
+      eddie_right_arm_joint_7: 0.00
diff --git a/dep.repos b/dep.repos
new file mode 100644
index 0000000..a9e8ddf
--- /dev/null
+++ b/dep.repos
@@ -0,0 +1,13 @@
+repositories:
+  ros2_kortex:
+    type: git
+    url: https://github.com/secorolab/ros2_kortex.git
+    version: main
+  ros2_robotiq_gripper:
+    type: git
+    url: https://github.com/PickNikRobotics/ros2_robotiq_gripper.git
+    version: main
+  serial:
+    type: git
+    url: https://github.com/tylerjw/serial.git
+    version: ros2
\ No newline at end of file
diff --git a/eddie_base_description/CMakeLists.txt b/eddie_base_description/CMakeLists.txt
deleted file mode 100644
index 9d0f6d3..0000000
--- a/eddie_base_description/CMakeLists.txt
+++ /dev/null
@@ -1,10 +0,0 @@
-cmake_minimum_required(VERSION 3.12)
-project(eddie_base_description)
-
-find_package(ament_cmake REQUIRED)
-
-install(DIRECTORY meshes urdf
-        DESTINATION share/${PROJECT_NAME}
-)
-
-ament_package()
diff --git a/eddie_base_description/package.xml b/eddie_base_description/package.xml
deleted file mode 100644
index 62bbd27..0000000
--- a/eddie_base_description/package.xml
+++ /dev/null
@@ -1,20 +0,0 @@
-<?xml version="1.0"?>
-<package format="2">
-  <name>eddie_base_description</name>
-  <version>0.1.0</version>
-  <description>Description of the base of Eddie in form of URDF files and meshes</description>
-
-  <maintainer email="robotics@inf.h-brs.de">MAS robotics</maintainer>
-
-  <license>GPLv3</license>
-
-  <author email="aleksandar.mitrevski@h-brs.de">Alex Mitrevski</author>
-  <author email="dharmingeo@gmail.com">Dharmin B.</author>
-  <author email="sushant.chavan@smail.inf.h-brs.de">Sushant Chavan</author>
-
-  <buildtool_depend>ament_cmake</buildtool_depend>
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>
diff --git a/eddie_base_description/urdf/common.xacro b/eddie_base_description/urdf/common.xacro
deleted file mode 100644
index e133fe7..0000000
--- a/eddie_base_description/urdf/common.xacro
+++ /dev/null
@@ -1,46 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-
-    <xacro:macro name="cylinder_inertia" params="mass length radius
-        center_of_mass_x:=0 center_of_mass_y:=0 center_of_mass_z:=0 
-        center_of_mass_roll:=0 center_of_mass_pitch:=0 center_of_mass_yaw:=0">
-        <inertial>
-            <origin xyz="${center_of_mass_x} ${center_of_mass_y} ${center_of_mass_z}"
-                    rpy="${center_of_mass_roll} ${center_of_mass_pitch} ${center_of_mass_yaw}"/>
-            <mass value="${mass}" />
-            <inertia ixx="${(mass/12)*(3*radius*radius + length*length)}"
-                     iyy="${(mass/12)*(3*radius*radius + length*length)}"
-                     iyz="0.0" ixy="0.0" ixz="0.0"
-                     izz="${(mass/2)*(radius*radius)}" />
-        </inertial>
-    </xacro:macro>
-
-    <xacro:macro name="cuboid_inertia" params="mass length breadth height
-        center_of_mass_x:=0 center_of_mass_y:=0 center_of_mass_z:=0 
-        center_of_mass_roll:=0 center_of_mass_pitch:=0 center_of_mass_yaw:=0">
-        <inertial>
-            <origin xyz="${center_of_mass_x} ${center_of_mass_y} ${center_of_mass_z}"
-                    rpy="${center_of_mass_roll} ${center_of_mass_pitch} ${center_of_mass_yaw}"/>
-            <mass value="${mass}" />
-            <inertia ixx="${(mass/12)*(breadth*breadth + height*height)}"
-                     iyy="${(mass/12)*(height*height + length*length)}"
-                     iyz="0.0" ixy="0.0" ixz="0.0"
-                     izz="${(mass/12)*(breadth*breadth + length*length)}" />
-        </inertial>
-    </xacro:macro>
-
-    <xacro:macro name="sphere_inertia" params="mass radius
-        center_of_mass_x:=0 center_of_mass_y:=0 center_of_mass_z:=0 
-        center_of_mass_roll:=0 center_of_mass_pitch:=0 center_of_mass_yaw:=0">
-        <inertial>
-            <origin xyz="${center_of_mass_x} ${center_of_mass_y} ${center_of_mass_z}"
-                    rpy="${center_of_mass_roll} ${center_of_mass_pitch} ${center_of_mass_yaw}"/>
-            <mass value="${mass}" />
-            <inertia ixx="${(mass*0.4)*(radius*radius)}"
-                     iyy="${(mass*0.4)*(radius*radius)}"
-                     iyz="0.0" ixy="0.0" ixz="0.0"
-                     izz="${(mass*0.4)*(radius*radius)}" />
-        </inertial>
-    </xacro:macro>
-
-</robot>
diff --git a/eddie_base_description/urdf/eddie_base_gz.urdf.xacro b/eddie_base_description/urdf/eddie_base_gz.urdf.xacro
deleted file mode 100644
index b926627..0000000
--- a/eddie_base_description/urdf/eddie_base_gz.urdf.xacro
+++ /dev/null
@@ -1,97 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-
-    <!-- simplified box collision geometry for base -->
-    <xacro:property name="robot_name" value="eddie"/>
-
-    <xacro:property name="base_size_x" value="0.635"/>
-    <xacro:property name="base_size_y" value="0.582"/>
-    <xacro:property name="base_size_z_bottom" value="0.12"/>
-    <xacro:property name="wheel_slit_height" value="0.1"/>
-    <xacro:property name="laser_slit_height" value="0.05"/>
-    <xacro:property name="base_size_z_top" value="0.1"/>
-    <xacro:property name="base_size_z" value="${base_size_z_bottom + laser_slit_height + base_size_z_top}"/>
-    <xacro:property name="base_mass" value="40.0"/>
-
-    <xacro:include filename="$(find eddie_base_description)/urdf/kelo_wheel_gz.urdf.xacro" />
-
-    <xacro:macro name="eddie_base" params="name parent *origin use_gpu_2d_laser:=true">
-
-        <!-- BASE -->
-        <link name="${name}_link">
-            <visual>
-                <origin xyz="0 0 ${wheel_slit_height + base_size_z_bottom/2}" rpy="0 0 0"/>
-                <geometry>
-                    <box size="${base_size_x} ${base_size_y} ${base_size_z_bottom}" />
-                </geometry>
-                <material name="DarkGrey"/>
-            </visual>
-            <visual>
-                <origin xyz="0 0 ${wheel_slit_height + base_size_z_bottom + laser_slit_height/2}" rpy="0 0 0"/>
-                <geometry>
-                    <box size="${base_size_x*0.7} ${base_size_y*0.7} ${laser_slit_height}" />
-                </geometry>
-                <material name="LightGrey"/>
-            </visual>
-            <visual>
-                <origin xyz="0 0 ${wheel_slit_height + base_size_z_bottom + laser_slit_height + base_size_z_top/2}" rpy="0 0 0"/>
-                <geometry>
-                    <box size="${base_size_x} ${base_size_y} ${base_size_z_top}" />
-                </geometry>
-                <material name="DarkGrey"/>
-            </visual>
-
-            <!-- base bottom collisions -->
-            <collision>
-                <origin xyz="0 0 ${wheel_slit_height + base_size_z_bottom/2}" rpy="0 0 0.0"/>
-                <geometry>
-                    <box size="${base_size_x} ${base_size_y} ${base_size_z_bottom}" />
-                </geometry>
-            </collision>
-
-            <!-- base top collisions -->
-            <collision>
-                <origin xyz="0 0 ${wheel_slit_height + base_size_z_bottom + laser_slit_height + base_size_z_top/2}" rpy="0 0 0.0"/>
-                <geometry>
-                    <box size="${base_size_x} ${base_size_y} ${base_size_z_top}" />
-                </geometry>
-            </collision>
-
-            <!-- <xacro:cuboid_inertia mass="${base_mass}" length="${base_size_x}" -->
-                                 <!-- breadth="${base_size_y}" height="${base_size_z}"-->     
-        </link>
-
-        <joint name="${name}_joint" type="fixed">
-            <xacro:insert_block name="origin" />
-            <parent link="${parent}"/>
-            <child link="${name}_link" />
-        </joint>
-
-        <!-- WHEELS -->
-        <xacro:kelo_drive name="kelo_drive_front_left" parent="${name}_link" >
-            <origin xyz="${base_size_x*0.5 - wheel_radius}
-                         ${base_size_y*0.5 - wheel_radius}
-                         ${wheel_radius}"
-                    rpy="0 0 0"/>
-        </xacro:kelo_drive>
-        <xacro:kelo_drive name="kelo_drive_front_right" parent="${name}_link" >
-            <origin xyz="${base_size_x*0.5 - wheel_radius}
-                         ${-(base_size_y*0.5 - wheel_radius)}
-                         ${wheel_radius}"
-                    rpy="0 0 0"/>
-        </xacro:kelo_drive>
-        <xacro:kelo_drive name="kelo_drive_rear_right" parent="${name}_link" >
-            <origin xyz="${-(base_size_x*0.5 - wheel_radius)}
-                         ${base_size_y*0.5 - wheel_radius}
-                         ${wheel_radius}"
-                    rpy="0 0 0"/>
-        </xacro:kelo_drive>
-        <xacro:kelo_drive name="kelo_drive_rear_left" parent="${name}_link" >
-            <origin xyz="${-(base_size_x*0.5 - wheel_radius)}
-                         ${-(base_size_y*0.5 - wheel_radius)}
-                         ${wheel_radius}"
-                    rpy="0 0 0"/>
-        </xacro:kelo_drive>
-
-    </xacro:macro>
-</robot>
\ No newline at end of file
diff --git a/eddie_base_description/urdf/kelo_wheel_gz.urdf.xacro b/eddie_base_description/urdf/kelo_wheel_gz.urdf.xacro
deleted file mode 100644
index 9c37858..0000000
--- a/eddie_base_description/urdf/kelo_wheel_gz.urdf.xacro
+++ /dev/null
@@ -1,159 +0,0 @@
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-
-  <!-- Property definitions -->
-  <xacro:property name="wheel_radius" value="0.05"/>
-  <xacro:property name="wheel_length" value="0.05"/>
-  <xacro:property name="wheel_separation" value="0.05"/>
-  <xacro:property name="wheel_mass" value="1.0"/>
-  <xacro:property name="wheel_inertia" value="0.001"/>
-  <xacro:property name="joint_friction" value="0.2"/>
-  <xacro:property name="joint_damping" value="0.2"/>
-
-  <xacro:property name="pivot_height" value="0.1"/>
-  <xacro:property name="pivot_radius" value="0.02"/>
-  <xacro:property name="pivot_offset" value="0.01"/>
-
-  <!-- Pivot macro -->
-  <xacro:macro name="pivot" params="name">
-    <link name="${name}">
-      <visual>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-        <geometry>
-          <cylinder length="${pivot_height}" radius="${pivot_radius}"/>
-        </geometry>
-        <material name="grey">
-          <color rgba="0.25 0.25 0.25 1"/>
-        </material>
-      </visual>
-      <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-        <geometry>
-          <cylinder length="${pivot_height}" radius="${pivot_radius}"/>
-        </geometry>
-      </collision>
-      <inertial>
-        <mass value="${wheel_mass}"/>
-        <origin xyz="0 0 0" rpy="0 0 0"/>
-        <inertia ixx="${wheel_inertia}" ixy="0" ixz="0" iyy="${wheel_inertia}" iyz="0" izz="${wheel_inertia}"/>
-      </inertial>
-    </link>
-  </xacro:macro>
-
-  <!-- Wheel macro -->
-  <xacro:macro name="wheel" params="name">
-    <link name="${name}">
-      <visual>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-        <geometry>
-          <cylinder length="${wheel_length}" radius="${wheel_radius}"/>
-        </geometry>
-        <material name="black">
-          <color rgba="0 0 0 1"/>
-        </material>
-      </visual>
-      <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-        <geometry>
-          <cylinder length="${wheel_length}" radius="${wheel_radius}"/>
-        </geometry>
-      </collision>
-      <inertial>
-        <mass value="${wheel_mass}"/>
-        <origin xyz="0 0 0" rpy="0 0 0"/>
-        <inertia ixx="${wheel_inertia}" ixy="0" ixz="0" iyy="${wheel_inertia}" iyz="0" izz="${wheel_inertia}"/>
-      </inertial>
-    </link>
-  </xacro:macro>
-
-  <!-- Kelo drive macro -->
-  <xacro:macro name="kelo_drive" params="name parent *origin">
-    
-    <xacro:pivot name="${name}_pivot"/>
-    <xacro:wheel name="${name}_hub_left"/>
-    <xacro:wheel name="${name}_hub_right"/>
-
-    <!-- Joint between pivot and chassis -->
-    <joint name="${name}_pivot_joint" type="continuous">
-      <parent link="${parent}"/>
-      <child link="${name}_pivot"/>
-      <xacro:insert_block name="origin" />
-      <axis xyz="0 0 1"/>
-      <dynamics damping="${joint_damping}" friction="${joint_friction}"/>
-    </joint>
-
-    <!-- Joint between left wheel hub and pivot -->
-    <joint name="${name}_hub_left_joint" type="continuous">
-      <parent link="${name}_pivot"/>
-      <child link="${name}_hub_left"/>
-      <origin xyz="-${pivot_offset} ${wheel_separation} -${base_size_z_bottom*0.5 - wheel_radius}" rpy="-1.5708 0 0"/>
-      <axis xyz="0 0 1"/>
-      <!-- <limit effort="1000.0" lower="-15" upper="15" velocity="30"/> -->
-      <dynamics damping="${joint_damping}" friction="${joint_friction}"/>
-    </joint>
-
-    <!-- Joint between right wheel hub and pivot -->
-    <joint name="${name}_hub_right_joint" type="continuous">
-      <parent link="${name}_pivot"/>
-      <child link="${name}_hub_right"/>
-      <origin xyz="-${pivot_offset} -${wheel_separation} -${base_size_z_bottom*0.5 - wheel_radius}" rpy="-1.5708 0 0"/>
-      <axis xyz="0 0 1"/>
-      <!-- <limit effort="1000.0" lower="-15" upper="15" velocity="30"/> -->
-      <dynamics damping="${joint_damping}" friction="${joint_friction}"/>
-    </joint>
-
-    <!-- ros2 control tags -->
-    <ros2_control name="${name}" type="system">
-      <hardware>
-        <plugin>gz_ros2_control/GazeboSimSystem</plugin>
-      </hardware>
-      <joint name="${name}_hub_left_joint">
-        <command_interface name="position">
-          <param name="min">-1e+100</param>
-          <param name="max">1e+100</param>
-        </command_interface>
-        <command_interface name="velocity">
-          <param name="min">-1e+100</param>
-          <param name="max">1e+100</param>
-        </command_interface>
-        <command_interface name="effort">
-          <param name="min">-1e+100</param>
-          <param name="max">1e+100</param>
-        </command_interface>
-        <state_interface name="position">
-           <param name="initial_value">0.0</param>
-        </state_interface>
-        <state_interface name="velocity"/>
-        <state_interface name="effort"/>
-      </joint>
-      <transmission name="${name}_hub_left_joint_transmission">
-        <plugin>transmission_interface/SimpleTansmission</plugin>
-        <param name="joint_to_actuator">1</param>
-      </transmission>
-      <joint name="${name}_hub_right_joint">
-        <command_interface name="position">
-          <param name="min">-1e+100</param>
-          <param name="max">1e+100</param>
-        </command_interface>
-        <command_interface name="velocity">
-          <param name="min">-1e+100</param>
-          <param name="max">1e+100</param>
-        </command_interface>
-        <command_interface name="effort">
-          <param name="min">-1e+100</param>
-          <param name="max">1e+100</param>
-        </command_interface>
-        <state_interface name="position">
-           <param name="initial_value">0.0</param>
-        </state_interface>
-        <state_interface name="velocity"/>
-        <state_interface name="effort"/>
-      </joint>
-      <transmission name="${name}_hub_right_joint_transmission">
-        <plugin>transmission_interface/SimpleTansmission</plugin>
-        <param name="joint_to_actuator">1</param>
-      </transmission>
-    </ros2_control>
-
-  </xacro:macro>
-
-</robot>
\ No newline at end of file
diff --git a/eddie_base_description/urdf/materials.urdf.xacro b/eddie_base_description/urdf/materials.urdf.xacro
deleted file mode 100644
index a455feb..0000000
--- a/eddie_base_description/urdf/materials.urdf.xacro
+++ /dev/null
@@ -1,30 +0,0 @@
-<?xml version="1.0"?>
-<robot>
-  <material name="Orange">
-    <color rgba="1.0 0.4 0.0 1.0" />
-  </material>
-  <material name="Grey">
-    <color rgba="0.7 0.7 0.7 1.0" />
-  </material>
-  <material name="DarkGrey">
-    <color rgba="0.3 0.3 0.3 1.0" />
-  </material>
-  <material name="White">
-    <color rgba="1.0 1.0 1.0 1.0" />
-  </material>
-  <material name="Black">
-    <color rgba="0.0 0.0 0.0 1.0" />
-  </material>
-  <material name="Red">
-    <color rgba="1.0 0.0 0.0 1.0" />
-  </material>
-  <material name="Green">
-    <color rgba="0.0 1.0 0.0 1.0" />
-  </material>
-  <material name="Blue">
-    <color rgba="0.0 0.0 0.8 1.0" />
-  </material>
-  <material name="LightGrey">
-    <color rgba="0.82 0.82 0.82 1.0" />
-  </material>
-</robot>
\ No newline at end of file
diff --git a/eddie_base_description/urdf/sensors/hokuyo.urdf.xacro b/eddie_base_description/urdf/sensors/hokuyo.urdf.xacro
deleted file mode 100644
index 0b384ed..0000000
--- a/eddie_base_description/urdf/sensors/hokuyo.urdf.xacro
+++ /dev/null
@@ -1,83 +0,0 @@
-<?xml version="1.0"?>
-<!--
-Copyright (c) 2013, Goncalo Cabrita, ISR University of Coimbra
-Copyright (c) 2014, 2015 Clearpath Robotics
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-    * Redistributions of source code must retain the above copyright
-      notice, this list of conditions and the following disclaimer.
-    * Redistributions in binary form must reproduce the above copyright
-      notice, this list of conditions and the following disclaimer in the
-      documentation and/or other materials provided with the distribution.
-    * Neither the name of Clearpath Robotics nor the
-      names of its contributors may be used to endorse or promote products
-      derived from this software without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
-ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS BE LIABLE FOR ANY
-DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
-(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
-ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
--->
-
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-
-    <xacro:include filename="$(find eddie_base_description)/urdf/sensors/common.xacro" />
-
-    <xacro:macro name="hokuyo" params="*origin name:=base_laser_front topic:=base_scan parent:=base_link sample_size:=1080 update_rate:=40
-    min_angle:=-2.35619 max_angle:=2.35619 min_range:=0.06 max_range:=10.0 robot_namespace:=/ use_gpu:=true visualize:=false" >
-
-        <joint name="${name}_joint" type="fixed">
-            <axis xyz="0 1 0" />
-            <xacro:insert_block name="origin"/>
-            <parent link="${parent}"/>
-            <child link="${name}_link"/>
-        </joint>
-
-        <link name="${name}_link">
-            <inertial>
-                <mass value="0.16" />
-                <origin xyz="0 0 0" rpy="0 0 0" />
-                <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1" />
-            </inertial>
-
-            <visual>
-                <origin xyz="0 0 0" rpy="0 0 0" />
-                <geometry>
-                    <mesh filename="package://eddie_base_description/meshes/sensors/hokuyo.dae" />
-                </geometry>
-            </visual>
-
-            <collision>
-                <origin xyz="0 0 0" rpy="0 0 0" />
-                <geometry>
-                    <mesh filename="package://eddie_base_description/meshes/sensors/hokuyo_convex.dae" />
-                </geometry>
-            </collision>
-        </link>
-
-
-        <xacro:if value="${use_gpu}">
-            <xacro:gazebo_laser_plugin name="${name}" topic="${topic}" sample_size="${sample_size}"
-                                       update_rate="${update_rate}" min_angle="${min_angle}"
-                                       max_angle="${max_angle}" min_range="${min_range}" max_range="${max_range}"
-                                       robot_namespace="${robot_namespace}" visualize="${visualize}"
-                                       sensor_type="gpu_ray" plugin_filename="libgazebo_ros_gpu_laser"/>
-        </xacro:if>
-        <xacro:unless value="${use_gpu}">
-            <xacro:gazebo_laser_plugin name="${name}" topic="${topic}" sample_size="${sample_size}"
-                                       update_rate="${update_rate}" min_angle="${min_angle}"
-                                       max_angle="${max_angle}" min_range="${min_range}" max_range="${max_range}"
-                                       robot_namespace="${robot_namespace}" visualize="${visualize}"
-                                       sensor_type="ray" plugin_filename="libgazebo_ros_laser"/>
-        </xacro:unless>
-
-    </xacro:macro>
-</robot>
diff --git a/eddie_description/CMakeLists.txt b/eddie_description/CMakeLists.txt
deleted file mode 100644
index 38b14c3..0000000
--- a/eddie_description/CMakeLists.txt
+++ /dev/null
@@ -1,18 +0,0 @@
-cmake_minimum_required(VERSION 3.12)
-project(eddie_description)
-
-find_package(ament_cmake REQUIRED)
-
-install(DIRECTORY config
-        DESTINATION share/${PROJECT_NAME}
-)
-
-install(DIRECTORY robots
-        DESTINATION share/${PROJECT_NAME}
-)
-
-install(DIRECTORY launch
-        DESTINATION share/${PROJECT_NAME}
-)
-
-ament_package()
\ No newline at end of file
diff --git a/eddie_description/config/eddie.rviz b/eddie_description/config/eddie.rviz
deleted file mode 100644
index c19b22a..0000000
--- a/eddie_description/config/eddie.rviz
+++ /dev/null
@@ -1,639 +0,0 @@
-Panels:
-  - Class: rviz_common/Displays
-    Help Height: 138
-    Name: Displays
-    Property Tree Widget:
-      Expanded:
-        - /Global Options1
-        - /Status1
-        - /RobotModel1/Links1
-        - /RobotModel1/Links1/eddie_torso_link1
-      Splitter Ratio: 0.6324999928474426
-    Tree Height: 1580
-  - Class: rviz_common/Selection
-    Name: Selection
-  - Class: rviz_common/Tool Properties
-    Expanded:
-      - /2D Goal Pose1
-      - /Publish Point1
-    Name: Tool Properties
-    Splitter Ratio: 0.5886790156364441
-  - Class: rviz_common/Views
-    Expanded:
-      - /Current View1
-    Name: Views
-    Splitter Ratio: 0.5
-  - Class: rviz_common/Time
-    Experimental: false
-    Name: Time
-    SyncMode: 0
-    SyncSource: ""
-Visualization Manager:
-  Class: ""
-  Displays:
-    - Alpha: 0.5
-      Cell Size: 1
-      Class: rviz_default_plugins/Grid
-      Color: 160; 160; 164
-      Enabled: true
-      Line Style:
-        Line Width: 0.029999999329447746
-        Value: Lines
-      Name: Grid
-      Normal Cell Count: 0
-      Offset:
-        X: 0
-        Y: 0
-        Z: 0
-      Plane: XY
-      Plane Cell Count: 10
-      Reference Frame: <Fixed Frame>
-      Value: true
-    - Alpha: 1
-      Class: rviz_default_plugins/RobotModel
-      Collision Enabled: false
-      Description File: ""
-      Description Source: Topic
-      Description Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /robot_description
-      Enabled: true
-      Links:
-        All Links Enabled: true
-        Expand Joint Details: false
-        Expand Link Details: false
-        Expand Tree: false
-        Link Tree Style: Links in Alphabetic Order
-        base_laser_back_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        base_laser_front_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        base_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        eddie_base_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        eddie_torso_link:
-          Alpha: 0.8999999761581421
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        eddie_torso_shoulder_left_arm_attach_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        eddie_torso_shoulder_left_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        eddie_torso_shoulder_right_arm_attach_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        eddie_torso_shoulder_right_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        kinova_left_base_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        kinova_left_bracelet_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        kinova_left_camera_color_frame:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        kinova_left_camera_depth_frame:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        kinova_left_camera_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        kinova_left_end_effector_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        kinova_left_forearm_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        kinova_left_grasp_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        kinova_left_half_arm_1_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        kinova_left_half_arm_2_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        kinova_left_robotiq_85_base_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        kinova_left_robotiq_85_left_finger_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        kinova_left_robotiq_85_left_finger_tip_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        kinova_left_robotiq_85_left_inner_knuckle_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        kinova_left_robotiq_85_left_knuckle_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        kinova_left_robotiq_85_right_finger_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        kinova_left_robotiq_85_right_finger_tip_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        kinova_left_robotiq_85_right_inner_knuckle_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        kinova_left_robotiq_85_right_knuckle_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        kinova_left_shoulder_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        kinova_left_spherical_wrist_1_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        kinova_left_spherical_wrist_2_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        kinova_right_base_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        kinova_right_bracelet_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        kinova_right_camera_color_frame:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        kinova_right_camera_depth_frame:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        kinova_right_camera_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        kinova_right_end_effector_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        kinova_right_forearm_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        kinova_right_grasp_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-        kinova_right_half_arm_1_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        kinova_right_half_arm_2_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        kinova_right_robotiq_85_base_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        kinova_right_robotiq_85_left_finger_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        kinova_right_robotiq_85_left_finger_tip_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        kinova_right_robotiq_85_left_inner_knuckle_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        kinova_right_robotiq_85_left_knuckle_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        kinova_right_robotiq_85_right_finger_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        kinova_right_robotiq_85_right_finger_tip_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        kinova_right_robotiq_85_right_inner_knuckle_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        kinova_right_robotiq_85_right_knuckle_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        kinova_right_shoulder_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        kinova_right_spherical_wrist_1_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        kinova_right_spherical_wrist_2_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        left_back_wheel_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        left_front_wheel_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        right_back_wheel_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-        right_front_wheel_link:
-          Alpha: 1
-          Show Axes: false
-          Show Trail: false
-          Value: true
-      Mass Properties:
-        Inertia: false
-        Mass: false
-      Name: RobotModel
-      TF Prefix: ""
-      Update Interval: 0
-      Value: true
-      Visual Enabled: true
-    - Class: rviz_default_plugins/TF
-      Enabled: true
-      Frame Timeout: 15
-      Frames:
-        All Enabled: false
-        base_laser_back_link:
-          Value: false
-        base_laser_front_link:
-          Value: false
-        base_link:
-          Value: true
-        eddie_base_link:
-          Value: false
-        eddie_torso_link:
-          Value: true
-        eddie_torso_shoulder_left_arm_attach_link:
-          Value: false
-        eddie_torso_shoulder_left_link:
-          Value: false
-        eddie_torso_shoulder_right_arm_attach_link:
-          Value: false
-        eddie_torso_shoulder_right_link:
-          Value: false
-        kinova_left_base_link:
-          Value: false
-        kinova_left_bracelet_link:
-          Value: false
-        kinova_left_camera_color_frame:
-          Value: false
-        kinova_left_camera_depth_frame:
-          Value: false
-        kinova_left_camera_link:
-          Value: false
-        kinova_left_end_effector_link:
-          Value: false
-        kinova_left_forearm_link:
-          Value: false
-        kinova_left_grasp_link:
-          Value: true
-        kinova_left_half_arm_1_link:
-          Value: false
-        kinova_left_half_arm_2_link:
-          Value: false
-        kinova_left_robotiq_85_base_link:
-          Value: false
-        kinova_left_robotiq_85_left_finger_link:
-          Value: false
-        kinova_left_robotiq_85_left_finger_tip_link:
-          Value: false
-        kinova_left_robotiq_85_left_inner_knuckle_link:
-          Value: false
-        kinova_left_robotiq_85_left_knuckle_link:
-          Value: false
-        kinova_left_robotiq_85_right_finger_link:
-          Value: false
-        kinova_left_robotiq_85_right_finger_tip_link:
-          Value: false
-        kinova_left_robotiq_85_right_inner_knuckle_link:
-          Value: false
-        kinova_left_robotiq_85_right_knuckle_link:
-          Value: false
-        kinova_left_shoulder_link:
-          Value: false
-        kinova_left_spherical_wrist_1_link:
-          Value: false
-        kinova_left_spherical_wrist_2_link:
-          Value: false
-        kinova_right_base_link:
-          Value: false
-        kinova_right_bracelet_link:
-          Value: false
-        kinova_right_camera_color_frame:
-          Value: false
-        kinova_right_camera_depth_frame:
-          Value: false
-        kinova_right_camera_link:
-          Value: false
-        kinova_right_end_effector_link:
-          Value: false
-        kinova_right_forearm_link:
-          Value: false
-        kinova_right_grasp_link:
-          Value: true
-        kinova_right_half_arm_1_link:
-          Value: false
-        kinova_right_half_arm_2_link:
-          Value: false
-        kinova_right_robotiq_85_base_link:
-          Value: false
-        kinova_right_robotiq_85_left_finger_link:
-          Value: false
-        kinova_right_robotiq_85_left_finger_tip_link:
-          Value: false
-        kinova_right_robotiq_85_left_inner_knuckle_link:
-          Value: false
-        kinova_right_robotiq_85_left_knuckle_link:
-          Value: false
-        kinova_right_robotiq_85_right_finger_link:
-          Value: false
-        kinova_right_robotiq_85_right_finger_tip_link:
-          Value: false
-        kinova_right_robotiq_85_right_inner_knuckle_link:
-          Value: false
-        kinova_right_robotiq_85_right_knuckle_link:
-          Value: false
-        kinova_right_shoulder_link:
-          Value: false
-        kinova_right_spherical_wrist_1_link:
-          Value: false
-        kinova_right_spherical_wrist_2_link:
-          Value: false
-        left_back_wheel_link:
-          Value: false
-        left_front_wheel_link:
-          Value: false
-        right_back_wheel_link:
-          Value: false
-        right_front_wheel_link:
-          Value: false
-      Marker Scale: 1
-      Name: TF
-      Show Arrows: true
-      Show Axes: true
-      Show Names: false
-      Tree:
-        base_link:
-          eddie_base_link:
-            base_laser_back_link:
-              {}
-            base_laser_front_link:
-              {}
-            left_back_wheel_link:
-              {}
-            left_front_wheel_link:
-              {}
-            right_back_wheel_link:
-              {}
-            right_front_wheel_link:
-              {}
-          eddie_torso_link:
-            eddie_torso_shoulder_left_link:
-              eddie_torso_shoulder_left_arm_attach_link:
-                kinova_left_base_link:
-                  kinova_left_shoulder_link:
-                    kinova_left_half_arm_1_link:
-                      kinova_left_half_arm_2_link:
-                        kinova_left_forearm_link:
-                          kinova_left_spherical_wrist_1_link:
-                            kinova_left_spherical_wrist_2_link:
-                              kinova_left_bracelet_link:
-                                kinova_left_end_effector_link:
-                                  kinova_left_camera_color_frame:
-                                    {}
-                                  kinova_left_camera_depth_frame:
-                                    {}
-                                  kinova_left_camera_link:
-                                    {}
-                                  kinova_left_robotiq_85_base_link:
-                                    kinova_left_grasp_link:
-                                      {}
-                                    kinova_left_robotiq_85_left_inner_knuckle_link:
-                                      {}
-                                    kinova_left_robotiq_85_left_knuckle_link:
-                                      kinova_left_robotiq_85_left_finger_link:
-                                        kinova_left_robotiq_85_left_finger_tip_link:
-                                          {}
-                                    kinova_left_robotiq_85_right_inner_knuckle_link:
-                                      {}
-                                    kinova_left_robotiq_85_right_knuckle_link:
-                                      kinova_left_robotiq_85_right_finger_link:
-                                        kinova_left_robotiq_85_right_finger_tip_link:
-                                          {}
-            eddie_torso_shoulder_right_link:
-              eddie_torso_shoulder_right_arm_attach_link:
-                kinova_right_base_link:
-                  kinova_right_shoulder_link:
-                    kinova_right_half_arm_1_link:
-                      kinova_right_half_arm_2_link:
-                        kinova_right_forearm_link:
-                          kinova_right_spherical_wrist_1_link:
-                            kinova_right_spherical_wrist_2_link:
-                              kinova_right_bracelet_link:
-                                kinova_right_end_effector_link:
-                                  kinova_right_camera_color_frame:
-                                    {}
-                                  kinova_right_camera_depth_frame:
-                                    {}
-                                  kinova_right_camera_link:
-                                    {}
-                                  kinova_right_robotiq_85_base_link:
-                                    kinova_right_grasp_link:
-                                      {}
-                                    kinova_right_robotiq_85_left_inner_knuckle_link:
-                                      {}
-                                    kinova_right_robotiq_85_left_knuckle_link:
-                                      kinova_right_robotiq_85_left_finger_link:
-                                        kinova_right_robotiq_85_left_finger_tip_link:
-                                          {}
-                                    kinova_right_robotiq_85_right_inner_knuckle_link:
-                                      {}
-                                    kinova_right_robotiq_85_right_knuckle_link:
-                                      kinova_right_robotiq_85_right_finger_link:
-                                        kinova_right_robotiq_85_right_finger_tip_link:
-                                          {}
-      Update Interval: 0
-      Value: true
-  Enabled: true
-  Global Options:
-    Background Color: 48; 48; 48
-    Fixed Frame: base_link
-    Frame Rate: 30
-  Name: root
-  Tools:
-    - Class: rviz_default_plugins/Interact
-      Hide Inactive Objects: true
-    - Class: rviz_default_plugins/MoveCamera
-    - Class: rviz_default_plugins/Select
-    - Class: rviz_default_plugins/FocusCamera
-    - Class: rviz_default_plugins/Measure
-      Line color: 128; 128; 0
-    - Class: rviz_default_plugins/SetInitialPose
-      Covariance x: 0.25
-      Covariance y: 0.25
-      Covariance yaw: 0.06853891909122467
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /initialpose
-    - Class: rviz_default_plugins/SetGoal
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /goal_pose
-    - Class: rviz_default_plugins/PublishPoint
-      Single click: true
-      Topic:
-        Depth: 5
-        Durability Policy: Volatile
-        History Policy: Keep Last
-        Reliability Policy: Reliable
-        Value: /clicked_point
-  Transformation:
-    Current:
-      Class: rviz_default_plugins/TF
-  Value: true
-  Views:
-    Current:
-      Class: rviz_default_plugins/Orbit
-      Distance: 2.484539031982422
-      Enable Stereo Rendering:
-        Stereo Eye Separation: 0.05999999865889549
-        Stereo Focal Distance: 1
-        Swap Stereo Eyes: false
-        Value: false
-      Focal Point:
-        X: -0.18551626801490784
-        Y: 0.034696418792009354
-        Z: 0.36925041675567627
-      Focal Shape Fixed Size: true
-      Focal Shape Size: 0.05000000074505806
-      Invert Z Axis: false
-      Name: Current View
-      Near Clip Distance: 0.009999999776482582
-      Pitch: 0.5947974324226379
-      Target Frame: <Fixed Frame>
-      Value: Orbit (rviz)
-      Yaw: 6.276514053344727
-    Saved: ~
-Window Geometry:
-  Displays:
-    collapsed: false
-  Height: 2086
-  Hide Left Dock: false
-  Hide Right Dock: false
-  QMainWindow State: 000000ff00000000fd00000004000000000000032200000724fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b000000b000fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000006e000007240000018200fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000015f00000724fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000006e000007240000013200fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e1000001970000000300000f000000005afc0100000002fb0000000800540069006d0065010000000000000f000000058100fffffffb0000000800540069006d0065010000000000000450000000000000000000000a670000072400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
-  Selection:
-    collapsed: false
-  Time:
-    collapsed: false
-  Tool Properties:
-    collapsed: false
-  Views:
-    collapsed: false
-  Width: 3840
-  X: 4096
-  Y: 0
diff --git a/eddie_description/config/initial_positions.yaml b/eddie_description/config/initial_positions.yaml
deleted file mode 100644
index a6d5ad6..0000000
--- a/eddie_description/config/initial_positions.yaml
+++ /dev/null
@@ -1,8 +0,0 @@
-# NOTE: Used for both 6 and 7 dof bots. The joint_7 value will be unused for 6 dof bots
-joint_1: -0.517734469311598
-joint_2: -0.08483200000000002
-joint_3: 1.7743715307475147
-joint_4: -1.4395920000000002
-joint_5: 0.0
-joint_6: -0.708248
-joint_7: 0.0
diff --git a/eddie_description/config/initial_positions_arm_left.yaml b/eddie_description/config/initial_positions_arm_left.yaml
deleted file mode 100644
index fe009af..0000000
--- a/eddie_description/config/initial_positions_arm_left.yaml
+++ /dev/null
@@ -1,8 +0,0 @@
-# NOTE: Used for both 6 and 7 dof bots. The joint_7 value will be unused for 6 dof bots
-joint_1: -0.70 #-0.517734469311598
-joint_2: -2.05 #-0.08483200000000002
-joint_3: 2.14 #1.7743715307475147
-joint_4: -2.44 #-1.4395920000000002
-joint_5: -1.57 #0.0
-joint_6: 0.00 #-0.708248
-joint_7: 0.0
diff --git a/eddie_description/config/ros2_controllers.yaml b/eddie_description/config/ros2_controllers.yaml
deleted file mode 100644
index c8d54c3..0000000
--- a/eddie_description/config/ros2_controllers.yaml
+++ /dev/null
@@ -1,57 +0,0 @@
-controller_manager:
-  ros__parameters:
-    update_rate: 1000  # Hz
-
-    joint_state_broadcaster:
-      type: joint_state_broadcaster/JointStateBroadcaster
-
-    joint_trajectory_controller:
-      type: joint_trajectory_controller/JointTrajectoryController
-
-    twist_controller:
-      type: picknik_twist_controller/PicknikTwistController
-
-    robotiq_gripper_controller:
-      type: position_controllers/GripperActionController
-
-    fault_controller:
-      type: picknik_reset_fault_controller/PicknikResetFaultController
-
-joint_trajectory_controller:
-  ros__parameters:
-    joints:
-      - kinova_left_joint_2
-      - kinova_left_joint_1
-      - kinova_left_joint_3
-      - kinova_left_joint_4
-      - kinova_left_joint_5
-      - kinova_left_joint_6
-      - kinova_left_joint_7
-    command_interfaces:
-      - position
-    state_interfaces:
-      - position
-      - velocity
-    state_publish_rate: 100.0
-    action_monitor_rate: 20.0
-    allow_partial_joints_goal: false
-    constraints:
-      stopped_velocity_tolerance: 0.0
-      goal_time: 0.0
-
-twist_controller:
-  ros__parameters:
-    joint: tcp
-    interface_names:
-      - twist.linear.x
-      - twist.linear.y
-      - twist.linear.z
-      - twist.angular.x
-      - twist.angular.y
-      - twist.angular.z
-
-robotiq_gripper_controller:
-  ros__parameters:
-    default: true
-    joint: robotiq_85_left_knuckle_joint
-    allow_stalling: true
diff --git a/eddie_description/config/zero_positions.yaml b/eddie_description/config/zero_positions.yaml
deleted file mode 100644
index cd1029a..0000000
--- a/eddie_description/config/zero_positions.yaml
+++ /dev/null
@@ -1,20 +0,0 @@
-# NOTE: Used for both 6 and 7 dof bots. The joint_7 value will be unused for 6 dof bots
-joint_state_publisher:
-  ros__parameters:
-    zeros:
-      # left arm
-      kinova_left_joint_1: -0.70
-      kinova_left_joint_2: -2.05
-      kinova_left_joint_3: 2.14
-      kinova_left_joint_4: -2.44
-      kinova_left_joint_5: -1.57
-      kinova_left_joint_6: 0.00
-      kinova_left_joint_7: 0.00
-      # right arm
-      kinova_right_joint_1: 0.70
-      kinova_right_joint_2: -2.05
-      kinova_right_joint_3: 0.90
-      kinova_right_joint_4: 2.44
-      kinova_right_joint_5: 1.57
-      kinova_right_joint_6: 0.00
-      kinova_right_joint_7: 0.00
diff --git a/eddie_description/package.xml b/eddie_description/package.xml
deleted file mode 100644
index 76d0cf9..0000000
--- a/eddie_description/package.xml
+++ /dev/null
@@ -1,26 +0,0 @@
-<?xml version="1.0"?>
-<package format="2">
-  <name>eddie_description</name>
-  <version>0.1.0</version>
-  <description>Robot descriptions for the eddie robot in form of URDF files and meshes</description>
-
-  <maintainer email="robotics@inf.h-brs.de">MAS robotics</maintainer>
-
-  <license>GPLv3</license>
-
-  <author email="dharmingeo@gmail.com">Dharmin B.</author>
-  <author email="sushant.chavan@smail.inf.h-brs.de">Sushant Chavan</author>
-
-  <buildtool_depend>ament_cmake</buildtool_depend>
-  <exec_depend>eddie_base_description</exec_depend>
-  <exec_depend>eddie_torso_description</exec_depend>
-  <exec_depend>kortex_description</exec_depend>
-  <exec_depend>ros2launch</exec_depend>
-
-  <exec_depend>gz_ros2_control</exec_depend>
-  <exec_depend>ros_gz_bridge</exec_depend>
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>
diff --git a/eddie_description/robots/eddie.urdf.xacro b/eddie_description/robots/eddie.urdf.xacro
deleted file mode 100644
index f16c9a5..0000000
--- a/eddie_description/robots/eddie.urdf.xacro
+++ /dev/null
@@ -1,181 +0,0 @@
-<?xml version='1.0'?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="eddie">
-
-    <!-- Arguments -->
-    <xacro:arg name="prefix_arm_left" default="kinova_left_" />
-    <xacro:arg name="prefix_arm_right" default="kinova_right_" />
-
-    <xacro:arg name="arm" default="gen3" />
-    <xacro:arg name="dof" default="7" />
-    <xacro:arg name="vision" default="false" />
-    <xacro:arg name="robot_ip_left" default="192.168.1.10" />
-    <xacro:arg name="robot_ip_right" default="192.168.1.11" />
-    <xacro:arg name="username" default="admin" />
-    <xacro:arg name="password" default="admin" />
-    <xacro:arg name="port" default="10000" />
-    <xacro:arg name="port_realtime" default="10001" />
-    <xacro:arg name="session_inactivity_timeout_ms" default="60000" />
-    <xacro:arg name="connection_inactivity_timeout_ms" default="2000" />
-
-    <!-- <xacro:arg name="gripper" default="robotiq_2f_85" /> -->
-    <xacro:arg name="gripper" default="" />
-    <xacro:arg name="gripper_joint_name" default="grasp_joint" />
-
-    <xacro:arg name="use_fake_hardware" default="true" />
-    <xacro:arg name="fake_sensor_commands" default="true" />
-
-    <xacro:arg name="sim_gz" default="true" />
-    <xacro:arg name="sim_isaac" default="false" />
-
-    <xacro:arg name="use_internal_bus_gripper_comm" default="false" />
-
-    <xacro:arg name="camera_width" default="640" />
-    <xacro:arg name="camera_height" default="480" />
-    <xacro:arg name="camera_fps" default="30" />
-    <xacro:arg name="simulation_controllers"
-        default="$(find eddie_gazebo)/config/eddie_controller.yaml" />
-
-    <xacro:arg name="use_gpu_2d_laser" default="false" />
-
-    <xacro:include filename="$(find eddie_base_description)/urdf/common.xacro" />
-    <xacro:include filename="$(find eddie_base_description)/urdf/eddie_base_gz.urdf.xacro" />
-    <xacro:include filename="$(find eddie_torso_description)/urdf/eddie_torso_gz.urdf.xacro" />
-
-    <xacro:include filename="$(find eddie_description)/robots/kortex_robot.xacro" />
-    <xacro:include filename="$(find eddie_description)/robots/kortex.ros2_gz_control.xacro" />
-
-    <xacro:include filename="$(find eddie_base_description)/urdf/materials.urdf.xacro" />
-
-    <link name="base_link" />
-
-    <xacro:eddie_base name="eddie_base" parent="base_link"
-        use_gpu_2d_laser="$(arg use_gpu_2d_laser)">
-        <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-    </xacro:eddie_base>
-
-    <xacro:eddie_torso name="eddie_torso" parent="base_link">
-        <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
-    </xacro:eddie_torso>
-
-    <!-- initial position for simulations (Mock Hardware, Gazebo, Ignition) -->
-    <xacro:arg name="initial_positions_file_left"
-        default="$(find eddie_description)/config/initial_positions_arm_left.yaml" />
-    <xacro:arg name="initial_positions_file_right"
-        default="$(find eddie_description)/config/initial_positions_arm_right.yaml" />
-
-    <!-- convert to property to use substitution in function -->
-    <xacro:property name="initial_positions_file_left" default="$(arg initial_positions_file_left)" />
-    <xacro:property name="initial_positions_file_right"
-        default="$(arg initial_positions_file_right)" />
-
-    <!-- left arm  -->
-    <xacro:kinova_arm
-        parent="eddie_torso_shoulder_left_arm_attach_link"
-        prefix="$(arg prefix_arm_left)"
-        arm="$(arg arm)"
-        gripper="$(arg gripper)"
-        gripper_joint_name="$(arg gripper_joint_name)"
-        dof="$(arg dof)"
-        vision="$(arg vision)"
-        robot_ip="$(arg robot_ip_left)"
-        username="$(arg username)"
-        password="$(arg password)"
-        port="$(arg port)"
-        port_realtime="$(arg port_realtime)"
-        session_inactivity_timeout_ms="$(arg session_inactivity_timeout_ms)"
-        connection_inactivity_timeout_ms="$(arg connection_inactivity_timeout_ms)"
-        use_fake_hardware="$(arg use_fake_hardware)"
-        fake_sensor_commands="$(arg fake_sensor_commands)"
-        initial_positions="${xacro.load_yaml(initial_positions_file_left)}">
-        <origin xyz="0 0 0" rpy="0 0 0" />
-    </xacro:kinova_arm>
-
-    <xacro:kortex_ros2_control
-        name="$(arg prefix_arm_left)KortexMultiInterfaceHardware"
-        prefix="$(arg prefix_arm_left)"
-        use_fake_hardware="$(arg use_fake_hardware)"
-        fake_sensor_commands="$(arg fake_sensor_commands)"
-        sim_gz="$(arg sim_gz)"
-        tf_prefix=""
-        initial_positions="${xacro.load_yaml(initial_positions_file_left)}"
-        robot_ip="$(arg robot_ip_left)"
-        username="$(arg username)"
-        password="$(arg password)"
-        port="$(arg port)"
-        port_realtime="$(arg port_realtime)"
-        session_inactivity_timeout_ms="$(arg session_inactivity_timeout_ms)"
-        connection_inactivity_timeout_ms="$(arg connection_inactivity_timeout_ms)"
-        use_internal_bus_gripper_comm="$(arg use_internal_bus_gripper_comm)" 
-        gripper_joint_name="$(arg gripper_joint_name)"/>
-
-    <!-- right arm -->
-    <xacro:kinova_arm
-        parent="eddie_torso_shoulder_right_arm_attach_link"
-        prefix="$(arg prefix_arm_right)"
-        arm="$(arg arm)"
-        gripper="$(arg gripper)"
-        gripper_joint_name="$(arg gripper_joint_name)"
-        dof="$(arg dof)"
-        vision="$(arg vision)"
-        robot_ip="$(arg robot_ip_right)"
-        username="$(arg username)"
-        password="$(arg password)"
-        port="$(arg port)"
-        port_realtime="$(arg port_realtime)"
-        session_inactivity_timeout_ms="$(arg session_inactivity_timeout_ms)"
-        connection_inactivity_timeout_ms="$(arg connection_inactivity_timeout_ms)"
-        use_fake_hardware="$(arg use_fake_hardware)"
-        fake_sensor_commands="$(arg fake_sensor_commands)"
-        initial_positions="${xacro.load_yaml(initial_positions_file_right)}">
-        <origin xyz="0 0 0" rpy="0 0 0" />
-    </xacro:kinova_arm>
-
-    <xacro:kortex_ros2_control
-        name="$(arg prefix_arm_right)KortexMultiInterfaceHardware"
-        prefix="$(arg prefix_arm_right)"
-        use_fake_hardware="$(arg use_fake_hardware)"
-        fake_sensor_commands="$(arg fake_sensor_commands)"
-        sim_gz="$(arg sim_gz)"
-        tf_prefix=""
-        initial_positions="${xacro.load_yaml(initial_positions_file_right)}"
-        robot_ip="$(arg robot_ip_right)"
-        username="$(arg username)"
-        password="$(arg password)"
-        port="$(arg port)"
-        port_realtime="$(arg port_realtime)"
-        session_inactivity_timeout_ms="$(arg session_inactivity_timeout_ms)"
-        connection_inactivity_timeout_ms="$(arg connection_inactivity_timeout_ms)"
-        use_internal_bus_gripper_comm="$(arg use_internal_bus_gripper_comm)" 
-        gripper_joint_name="$(arg gripper_joint_name)"/>
-
-    <!-- gazebo tag for ros2 control -->
-    <gazebo>
-        <plugin filename="libgz_ros2_control-system.so"
-            name="gz_ros2_control::GazeboSimROS2ControlPlugin">
-            <robot_param>robot_description</robot_param>
-            <robot_param_node>robot_state_publisher</robot_param_node>
-            <parameters>$(arg simulation_controllers)</parameters>
-        </plugin>
-        <self_collide>1</self_collide>
-    </gazebo>
-
-    <gazebo reference="base_link">
-        <gravity>true</gravity>
-        <self_collide>false</self_collide>
-    </gazebo>
-
-    <gazebo>
-        <plugin
-            filename="gz-sim-odometry-publisher-system"
-            name="gz::sim::systems::OdometryPublisher">
-            <odom_frame>odom</odom_frame>
-            <robot_base_frame>eddie_base_link</robot_base_frame>
-        </plugin>
-
-        <plugin
-            filename="gz-sim-velocity-control-system"
-            name="gz::sim::systems::VelocityControl">
-        </plugin>
-    </gazebo>
-
-</robot>
\ No newline at end of file
diff --git a/eddie_torso_description/CMakeLists.txt b/eddie_torso_description/CMakeLists.txt
deleted file mode 100644
index 0f5ac6b..0000000
--- a/eddie_torso_description/CMakeLists.txt
+++ /dev/null
@@ -1,10 +0,0 @@
-cmake_minimum_required(VERSION 3.12)
-project(eddie_torso_description)
-
-find_package(ament_cmake REQUIRED)
-
-install(DIRECTORY meshes urdf
-  DESTINATION share/${PROJECT_NAME}
-)
-
-ament_package()
diff --git a/eddie_torso_description/meshes/sensors/hokuyo.dae b/eddie_torso_description/meshes/sensors/hokuyo.dae
deleted file mode 100644
index 097a2ed..0000000
--- a/eddie_torso_description/meshes/sensors/hokuyo.dae
+++ /dev/null
@@ -1,161 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<COLLADA version="1.4.0" xmlns="http://www.collada.org/2005/11/COLLADASchema">
-	<asset>
-		<contributor>
-			<author>Illusoft Collada 1.4.0 plugin for Blender - http://colladablender.illusoft.com</author>
-			<authoring_tool>Blender v:249 - Illusoft Collada Exporter v:0.3.162</authoring_tool>
-			<comments></comments>
-			<copyright></copyright>
-			<source_data>file:///home/alexey/laser.blend</source_data>
-		</contributor>
-		<created>2011-04-01T12:49:29.799628</created>
-		<modified>2011-04-01T12:49:29.799646</modified>
-		<unit meter="1.0" name="meter"/>
-		<up_axis>Z_UP</up_axis>
-	</asset>
-	<library_effects>
-		<effect id="black-fx" name="black-fx">
-			<profile_COMMON>
-				<technique sid="blender">
-					<phong>
-						<emission>
-							<color>0.00000 0.00000 0.00000 1</color>
-						</emission>
-						<ambient>
-							<color>0.02539 0.02539 0.02539 1</color>
-						</ambient>
-						<diffuse>
-							<color>0.02539 0.02539 0.02539 1</color>
-						</diffuse>
-						<specular>
-							<color>0.50000 0.50000 0.50000 1</color>
-						</specular>
-						<shininess>
-							<float>12.5</float>
-						</shininess>
-						<reflective>
-							<color>1.00000 1.00000 1.00000 1</color>
-						</reflective>
-						<reflectivity>
-							<float>0.0</float>
-						</reflectivity>
-						<transparent>
-							<color>1 1 1 1</color>
-						</transparent>
-						<transparency>
-							<float>0.0</float>
-						</transparency>
-					</phong>
-				</technique>
-			</profile_COMMON>
-		</effect>
-		<effect id="white_001-fx" name="white_001-fx">
-			<profile_COMMON>
-				<technique sid="blender">
-					<phong>
-						<emission>
-							<color>0.00000 0.00000 0.00000 1</color>
-						</emission>
-						<ambient>
-							<color>0.86889 0.86889 0.86889 1</color>
-						</ambient>
-						<diffuse>
-							<color>0.86889 0.86889 0.86889 1</color>
-						</diffuse>
-						<specular>
-							<color>0.12500 0.12500 0.12500 1</color>
-						</specular>
-						<shininess>
-							<float>0.75</float>
-						</shininess>
-						<reflective>
-							<color>1.00000 1.00000 1.00000 1</color>
-						</reflective>
-						<reflectivity>
-							<float>0.0</float>
-						</reflectivity>
-						<transparent>
-							<color>1 1 1 1</color>
-						</transparent>
-						<transparency>
-							<float>0.0</float>
-						</transparency>
-					</phong>
-				</technique>
-			</profile_COMMON>
-		</effect>
-	</library_effects>
-	<library_materials>
-		<material id="black" name="black">
-			<instance_effect url="#black-fx"/>
-		</material>
-		<material id="white_001" name="white_001">
-			<instance_effect url="#white_001-fx"/>
-		</material>
-	</library_materials>
-	<library_geometries>
-		<geometry id="Mesh" name="Mesh">
-			<mesh>
-				<source id="Mesh-Position">
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1067 2153 1109 2154 1089 2154 1108 2154 1108 2155 1089 2155 1091 2155 1108 2156 1091 2156 1107 2156 1107 2157 1091 2157 1093 2157 1107 2158 1093 2158 1106 2158 1106 2159 1093 2159 1097 2159 1106 2160 1097 2160 1105 2160 1105 2161 1097 2161 1071 2161 1105 2162 1071 2162 1104 2162 1104 2163 1071 2163 1073 2163 1104 2164 1073 2164 1103 2164 1103 2165 1073 2165 1076 2165 1103 2166 1076 2166 1102 2166 1102 2167 1076 2167 1079 2167 1102 2168 1079 2168 1101 2168 1101 2169 1079 2169 1081 2169 1101 2170 1081 2170 1100 2170 1100 2171 1081 2171 1083 2171 1100 2172 1083 2172 1099 2172 1099 2173 1083 2173 1085 2173 1099 2174 1085 2174 1098 2174 1098 2175 1085 2175 1087 2175 1098 2176 1087 2176 1109 2176 1109 2177 1087 2177 1089 2177 1095 2178 1071 2178 1097 2178 1095 2179 1070 2179 1071 2179 1071 2180 1070 2180 1072 2180 1071 2181 1072 2181 1073 2181 1073 2182 1072 2182 1074 2182 1073 2183 1074 2183 1076 2183 1074 2184 1075 2184 1076 2184 1076 2185 1075 2185 1077 2185 1076 2186 1077 2186 1079 2186 1077 2187 1078 2187 1079 2187 1079 2188 1078 2188 1080 2188 1079 2189 1080 2189 1081 2189 1081 2190 1080 2190 1082 2190 1081 2191 1082 2191 1083 2191 1083 2192 1082 2192 1084 2192 1083 2193 1084 2193 1085 2193 1085 2194 1084 2194 1086 2194 1085 2195 1086 2195 1087 2195 1087 2196 1086 2196 1088 2196 1087 2197 1088 2197 1089 2197 1089 2198 1088 2198 1090 2198 1089 2199 1090 2199 1091 2199 1091 2200 1090 2200 1092 2200 1091 2201 1092 2201 1093 2201 1093 2202 1092 2202 1094 2202 1093 2203 1094 2203 1097 2203 1097 2204 1094 2204 1096 2204 1097 2205 1096 2205 1095 2205 1109 2206 1119 2206 1098 2206 1098 2207 1119 2207 1120 2207 1098 2208 1120 2208 1099 2208 1099 2209 1120 2209 1118 2209 1099 2210 1118 2210 1100 2210 1100 2211 1118 2211 1116 2211 1100 2212 1116 2212 1101 2212 1101 2213 1116 2213 1115 2213 1101 2214 1115 2214 1102 2214 1102 2215 1115 2215 1110 2215 1102 2216 1110 2216 1103 2216 1103 2217 1110 2217 1112 2217 1103 2218 1112 2218 1104 2218 1104 2219 1112 2219 1111 2219 1104 2220 1111 2220 1105 2220 1105 2221 1111 2221 1113 2221 1105 2222 1113 2222 1106 2222 1106 2223 1113 2223 1114 2223 1106 2224 1114 2224 1107 2224 1107 2225 1114 2225 1117 2225 1107 2226 1117 2226 1108 2226 1108 2227 1117 2227 1121 2227 1108 2228 1121 2228 1109 2228 1109 2229 1121 2229 1119 2229 1112 2230 1110 2230 1115 2230 1111 2231 1112 2231 1113 2231 1113 2232 1112 2232 1115 2232 1113 2233 1115 2233 1114 2233 1114 2234 1115 2234 1117 2234 1115 2235 1116 2235 1117 2235 1117 2236 1116 2236 1118 2236 1117 2237 1118 2237 1121 2237 1121 2238 1118 2238 1120 2238 1121 2239 1120 2239 1119 2239</p>
-				</triangles>
-				<triangles count="1390" material="white_001">
-					<input offset="0" semantic="VERTEX" source="#Mesh-Vertex"/>
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1856 3764 1855 3764 1646 3764 1683 3765 1645 3765 1857 3765 1857 3765 1856 3765 1683 3765 1617 3766 1646 3766 1855 3766 1855 3766 1858 3766 1617 3766 1645 3767 1616 3767 1859 3767 1859 3767 1857 3767 1645 3767 1571 3768 1617 3768 1858 3768 1858 3768 1860 3768 1571 3768 1616 3769 1570 3769 1861 3769 1861 3769 1859 3769 1616 3769 1569 3770 1571 3770 1860 3770 1860 3770 1862 3770 1569 3770 1570 3771 1568 3771 1863 3771 1863 3771 1861 3771 1570 3771 1523 3772 1569 3772 1862 3772 1862 3772 1864 3772 1523 3772 1568 3773 1522 3773 1865 3773 1865 3773 1863 3773 1568 3773 1476 3774 1523 3774 1864 3774 1864 3774 1866 3774 1476 3774 1522 3775 1475 3775 1867 3775 1867 3775 1865 3775 1522 3775 1473 3776 1476 3776 1866 3776 1866 3776 1868 3776 1473 3776 1475 3777 1472 3777 1869 3777 1869 3777 1867 3777 1475 3777 1471 3778 1473 3778 1868 3778 1868 3778 1870 3778 1471 3778 1472 3779 1470 3779 1871 3779 1871 3779 1869 3779 1472 3779 1469 3780 1471 3780 1870 3780 1870 3780 1872 3780 1469 3780 1470 3781 1468 3781 1873 3781 1873 3781 1871 3781 1470 3781 1467 3782 1469 3782 1872 3782 1872 3782 1874 3782 1467 3782 1468 3783 1466 3783 1875 3783 1875 3783 1873 3783 1468 3783 1421 3784 1467 3784 1874 3784 1874 3784 1876 3784 1421 3784 1466 3785 1420 3785 1877 3785 1877 3785 1875 3785 1466 3785 1420 3786 1404 3786 1878 3786 1878 3786 1877 3786 1420 3786 1234 3787 1238 3787 1879 3787 1879 3787 1881 3787 1234 3787 1237 3788 1233 3788 1882 3788 1882 3788 1880 3788 1237 3788 1217 3789 1234 3789 1881 3789 1881 3789 1883 3789 1217 3789 1216 3790 1217 3790 1883 3790 1883 3790 1884 3790 1216 3790 1233 3791 1215 3791 1885 3791 1885 3791 1882 3791 1233 3791 1215 3792 1216 3792 1884 3792 1884 3792 1885 3792 1215 3792</p>
-				</triangles>
-			</mesh>
-		</geometry>
-	</library_geometries>
-	<library_visual_scenes>
-		<visual_scene id="Scene" name="Scene">
-			<node layer="L1" id="Mesh_001" name="Mesh_001">
-				<translate sid="translate">0.00000 0.00000 0.00000</translate>
-				<rotate sid="rotateZ">0 0 1 0.00000</rotate>
-				<rotate sid="rotateY">0 1 0 -0.00000</rotate>
-				<rotate sid="rotateX">1 0 0 90.00000</rotate>
-				<scale sid="scale">1.00000 1.00000 1.00000</scale>
-				<instance_geometry url="#Mesh">
-					<bind_material>
-						<technique_common>
-							<instance_material symbol="black" target="#black">
-								<bind_vertex_input input_semantic="TEXCOORD" input_set="1" semantic="CHANNEL1"/>
-							</instance_material>
-							<instance_material symbol="white_001" target="#white_001">
-								<bind_vertex_input input_semantic="TEXCOORD" input_set="1" semantic="CHANNEL1"/>
-							</instance_material>
-						</technique_common>
-					</bind_material>
-				</instance_geometry>
-			</node>
-		</visual_scene>
-	</library_visual_scenes>
-	<scene>
-		<instance_visual_scene url="#Scene"/>
-	</scene>
-</COLLADA>
diff --git a/eddie_torso_description/meshes/sensors/hokuyo_convex.dae b/eddie_torso_description/meshes/sensors/hokuyo_convex.dae
deleted file mode 100644
index da1c5fe..0000000
--- a/eddie_torso_description/meshes/sensors/hokuyo_convex.dae
+++ /dev/null
@@ -1,63 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
-    <asset>
-        <contributor>
-            <author>VCGLab</author>
-            <authoring_tool>VCGLib | MeshLab</authoring_tool>
-        </contributor>
-        <up_axis>Y_UP</up_axis>
-        <created>Sat Jul 28 08:47:21 2012</created>
-        <modified>Sat Jul 28 08:47:21 2012</modified>
-    </asset>
-    <library_images/>
-    <library_materials/>
-    <library_effects/>
-    <library_geometries>
-        <geometry id="shape0-lib" name="shape0">
-            <mesh>
-                <source id="shape0-lib-positions" name="position">
-                    <float_array id="shape0-lib-positions-array" count="228">-0.023 -0.025 -0.03505 0.02164 -0.02364 0.00545 -0.00528 0.01799 0.03505 -0.01856 0.00267 0.03505 -0.01417 0.01228 0.03505 -0.02331 0.02261 0.0057 -0.01706 0.00779 0.03505 0 0.01875 0.03505 0.00528 0.01799 0.03505 -0.02164 0.02364 0.00545 -0.02264 0.02337 0.00545 0.01706 -0.00779 0.03505 -0.02261 -0.02331 0.0057 -0.0225 -0.004 0.02545 -0.02264 -0.004 0.02495 -0.02364 -0.02164 0.00545 -0.02239 0.0045 0.02538 0.02264 0.02337 0.00545 -0.02261 0.02331 0.0057 -0.02164 0.02357 0.0057 0.01417 -0.01228 0.03505 0.02264 -0.02337 0.00545 0.01856 0.00267 0.03505 0 -0.01875 0.03505 -0.0225 0.004 0.02545 0.02164 0.02357 0.0057 0.01417 0.01228 0.03505 0.01706 0.00779 0.03505 0.02364 0.02164 0.00545 0.02331 0.02261 0.0057 0.02357 0.02164 0.0057 -0.024 0.02473 -0.03505 0.02261 -0.02331 0.0057 0.02164 -0.02357 0.0057 0.02364 -0.02164 0.00545 -0.00528 -0.01799 0.03505 -0.02164 -0.02364 0.00545 -0.02164 -0.02357 0.0057 -0.02264 0.004 0.02495 -0.025 0.023 -0.03505 -0.02357 0.02164 0.0057 -0.02364 0.02164 0.00545 -0.01706 -0.00779 0.03505 -0.01856 -0.00267 0.03505 -0.02331 -0.02261 0.0057 -0.02239 -0.0045 0.02538 -0.02357 -0.02164 0.0057 0.02164 0.02364 0.00545 0.02357 -0.02164 0.0057 0.02331 -0.02261 0.0057 -0.02264 -0.02337 0.00545 -0.02337 -0.02264 0.00545 -0.02337 0.02264 0.00545 0.02337 0.02264 0.00545 0.02473 0.024 -0.03505 0.024 0.02473 -0.03505 0.02261 0.02331 0.0057 0.01856 -0.00267 0.03505 -0.01417 -0.01228 0.03505 0.00528 -0.01799 0.03505 -0.01014 0.01577 0.03505 0.01014 0.01577 0.03505 0.01014 -0.01577 0.03505 -0.01014 -0.01577 0.03505 0.02473 -0.024 -0.03505 0.025 -0.023 -0.03505 -0.024 -0.02473 -0.03505 0.023 -0.025 -0.03505 0.023 0.025 -0.03505 0.025 0.023 -0.03505 -0.02473 -0.024 -0.03505 -0.025 -0.023 -0.03505 -0.02473 0.024 -0.03505 -0.023 0.025 -0.03505 0.024 -0.02473 -0.03505 0.02337 -0.02264 0.00545</float_array>
-                    <technique_common>
-                        <accessor count="76" source="#shape0-lib-positions-array" stride="3">
-                            <param name="X" type="float"/>
-                            <param name="Y" type="float"/>
-                            <param name="Z" type="float"/>
-                        </accessor>
-                    </technique_common>
-                </source>
-                <source id="shape0-lib-normals" name="normal">
-                    <float_array id="shape0-lib-normals-array" count="444">-0.260445 -0.964612 0.0411377 0.260445 -0.964612 0.0411377 0.260445 -0.964612 0.0411377 0 -0.986627 0.162993 -0.964612 -0.260445 0.0411377 -0.964612 -0.260445 0.0411377 -0.260445 -0.964612 0.0411377 -0.935632 -0.23656 0.261977 -0.591935 0.683524 0.427094 -0.384409 0.841544 0.379517 -0.880555 0.257975 0.397582 -0.766136 0.493125 0.412145 -0.640176 0.640176 0.424676 -0.866324 0.346709 0.359549 0.137626 0.956138 0.258572 0 0.986627 0.162993 -0.252094 0.933683 0.254333 -0.137626 0.956138 0.258572 0.260445 0.964612 0.0411378 0.137626 -0.956138 0.258572 0.906821 -0.26567 0.327253 0.766136 -0.493125 0.412145 -0.252094 -0.933683 0.254333 -0.935634 -0.236556 0.261974 -0.883119 0.249878 0.397066 0.384409 0.841544 0.379517 0.591935 0.683524 0.427094 0.252094 0.933683 0.254333 -0.24601 0.917808 0.311621 -0.249923 0.932405 0.261073 -0.153436 0.951561 0.266437 0.964612 0.260445 0.0411377 0.964612 0.260445 0.0411378 -0.260445 0.964612 0.0411378 0.384409 -0.841544 0.379517 0.591935 -0.683524 0.427093 0.252094 -0.933683 0.254333 0.640176 -0.640176 0.424675 0.950444 0.160728 0.266124 -0.137626 -0.956138 0.258572 -0.929305 0.249092 0.272663 -0.93261 0.242583 0.267193 -0.766136 -0.493125 0.412145 -0.640176 -0.640176 0.424675 -0.933683 -0.252094 0.254333 -0.932405 -0.249923 0.261073 0.153436 0.951561 0.266437 0.249923 0.932405 0.261073 0.24601 0.917808 0.311621 0.640176 0.640176 0.424676 0.766136 0.493125 0.412145 0.906821 0.26567 0.327253 0.916644 0.245698 0.315273 0.933683 0.252094 0.254333 0.932405 0.249923 0.261073 -0.260445 0.964612 0.0411378 0.153436 -0.951561 0.266437 0.249923 -0.932405 0.261073 0.24601 -0.917808 0.311621 0.964612 -0.260445 0.0411377 -0.591935 -0.683524 0.427093 -0.384409 -0.841544 0.379517 -0.249923 -0.932405 0.261073 -0.153436 -0.951561 0.266437 -0.24601 -0.917808 0.311621 -0.935634 0.236556 0.261974 -0.935632 0.23656 0.261977 -0.964612 0.260445 0.0411377 -0.964612 0.260445 0.0411378 -0.933683 0.252094 0.254333 -0.932405 0.249923 0.261073 -0.866324 -0.346709 0.359549 -0.880555 -0.257975 0.397582 -0.883119 -0.249878 0.397066 -0.93261 -0.242583 0.267193 -0.929305 -0.249092 0.272663 0.260445 0.964612 0.0411378 0.950444 -0.160728 0.266124 0.916644 -0.245698 0.315273 0.932405 -0.249923 0.261073 0.964612 -0.260445 0.0411377 0.933683 -0.252094 0.254333 0 -0.999437 0.0335613 0 -0.999437 0.0335613 -0.706311 -0.706311 0.0474362 -0.706311 -0.706311 0.0474362 -0.962965 0 0.269626 -0.962965 0 0.269626 -0.685253 0.685253 0.246689 -0.685254 0.685254 0.246689 0.706311 0.706311 0.0474362 0.706311 0.706311 0.0474362 -0.925116 0 0.379683 -0.925116 0 0.379683 -0.685254 -0.685254 0.246689 -0.685253 -0.685253 0.246689 0.685254 0.685254 0.246689 0.685253 0.685253 0.246689 -0.706311 0.706311 0.0474362 -0.706311 0.706311 0.0474362 0.985591 0 0.169149 0.985591 -7.27966e-09 0.169149 0.999437 0 0.0335614 0.999437 -1.44438e-09 0.0335614 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 -0.998688 0 0.0512148 -0.998688 -2.20413e-09 0.0512148 -0.999437 0 0.0335614 -0.999437 -1.44438e-09 0.0335614 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0.999437 0.0335614 0 0.999437 0.0335614 0.706311 -0.706311 0.0474362 0.706311 -0.706311 0.0474362 0.685254 -0.685254 0.246689 0.685253 -0.685253 0.246689</float_array>
-                    <technique_common>
-                        <accessor count="148" source="#shape0-lib-normals-array" stride="3">
-                            <param name="X" type="float"/>
-                            <param name="Y" type="float"/>
-                            <param name="Z" type="float"/>
-                        </accessor>
-                    </technique_common>
-                </source>
-                <vertices id="shape0-lib-vertices">
-                    <input semantic="POSITION" source="#shape0-lib-positions"/>
-                </vertices>
-                <triangles count="148">
-                    <input offset="0" semantic="VERTEX" source="#shape0-lib-vertices"/>
-                    <input offset="1" semantic="NORMAL" source="#shape0-lib-normals"/>
-                    <p>36 0 66 0 0 0 74 1 1 1 67 1 74 2 21 2 1 2 36 3 1 3 23 3 71 4 70 4 15 4 51 5 15 5 70 5 36 6 50 6 66 6 46 7 13 7 15 7 4 8 60 8 18 8 60 9 2 9 18 9 6 10 16 10 3 10 4 11 5 11 6 11 4 12 18 12 5 12 5 13 16 13 6 13 47 14 7 14 8 14 47 15 9 15 7 15 10 16 18 16 9 16 7 17 9 17 2 17 55 18 47 18 17 18 1 19 59 19 23 19 11 20 49 20 57 20 20 21 49 21 11 21 12 22 50 22 36 22 13 23 14 23 15 23 16 24 24 24 3 24 61 25 56 25 8 25 26 26 56 26 61 26 47 27 56 27 17 27 2 28 19 28 18 28 19 29 9 29 18 29 9 30 19 30 2 30 28 31 69 31 54 31 28 32 54 32 53 32 9 33 31 33 10 33 59 34 32 34 62 34 62 35 32 35 20 35 32 36 1 36 21 36 32 37 49 37 20 37 28 38 30 38 22 38 23 39 35 39 36 39 5 40 40 40 16 40 40 41 24 41 16 41 42 42 44 42 58 42 44 43 12 43 58 43 51 44 44 44 15 44 15 45 44 45 46 45 8 46 25 46 47 46 47 47 25 47 56 47 56 48 25 48 8 48 29 49 56 49 26 49 27 50 29 50 26 50 22 51 29 51 27 51 30 52 29 52 22 52 53 53 29 53 28 53 28 54 29 54 30 54 31 55 9 55 73 55 1 56 33 56 59 56 32 57 33 57 1 57 32 58 59 58 33 58 65 59 34 59 64 59 12 60 63 60 58 60 35 61 63 61 12 61 36 62 37 62 12 62 35 63 37 63 36 63 35 64 12 64 37 64 24 65 41 65 38 65 40 66 41 66 24 66 39 67 41 67 72 67 72 68 41 68 52 68 52 69 41 69 5 69 40 70 5 70 41 70 45 71 44 71 42 71 43 72 45 72 42 72 43 73 13 73 45 73 46 74 45 74 13 74 44 75 45 75 46 75 55 76 68 76 47 76 48 77 34 77 57 77 49 78 48 78 57 78 34 79 48 79 49 79 34 80 75 80 64 80 34 81 49 81 75 81 67 82 1 82 0 82 0 83 1 83 36 83 50 84 70 84 66 84 70 85 50 85 51 85 13 86 24 86 14 86 14 87 24 87 38 87 5 88 18 88 52 88 10 89 52 89 18 89 53 90 54 90 17 90 54 91 55 91 17 91 24 92 13 92 43 92 24 93 43 93 3 93 50 94 44 94 51 94 12 95 44 95 50 95 29 96 53 96 17 96 56 97 29 97 17 97 10 98 72 98 52 98 31 99 72 99 10 99 57 100 34 100 22 100 22 101 34 101 28 101 69 102 34 102 65 102 28 103 34 103 69 103 6 104 63 104 4 104 42 105 58 105 63 105 8 106 63 106 61 106 57 107 63 107 11 107 59 108 62 108 63 108 22 109 63 109 57 109 2 110 63 110 7 110 6 111 3 111 63 111 60 112 63 112 2 112 26 113 61 113 63 113 20 114 63 114 62 114 60 115 4 115 63 115 8 116 7 116 63 116 26 117 63 117 27 117 59 118 63 118 23 118 20 119 11 119 63 119 22 120 27 120 63 120 43 121 42 121 63 121 63 122 35 122 23 122 43 123 63 123 3 123 14 124 38 124 41 124 14 125 41 125 15 125 71 126 41 126 39 126 15 127 41 127 71 127 64 128 68 128 65 128 70 129 68 129 66 129 67 130 68 130 74 130 71 131 39 131 68 131 65 132 68 132 69 132 67 133 0 133 68 133 66 134 68 134 0 134 64 135 74 135 68 135 70 136 71 136 68 136 54 137 68 137 55 137 54 138 69 138 68 138 72 139 31 139 68 139 72 140 68 140 39 140 73 141 68 141 31 141 9 142 47 142 68 142 73 143 9 143 68 143 64 144 75 144 74 144 74 145 75 145 21 145 21 146 75 146 32 146 32 147 75 147 49 147</p>
-                </triangles>
-            </mesh>
-        </geometry>
-    </library_geometries>
-    <library_visual_scenes>
-        <visual_scene id="VisualSceneNode" name="VisualScene">
-            <node id="node" name="node">
-                <instance_geometry url="#shape0-lib">
-                    <bind_material>
-                        <technique_common/>
-                    </bind_material>
-                </instance_geometry>
-            </node>
-        </visual_scene>
-    </library_visual_scenes>
-    <scene>
-        <instance_visual_scene url="#VisualSceneNode"/>
-    </scene>
-</COLLADA>
diff --git a/eddie_torso_description/package.xml b/eddie_torso_description/package.xml
deleted file mode 100644
index 490316c..0000000
--- a/eddie_torso_description/package.xml
+++ /dev/null
@@ -1,20 +0,0 @@
-<?xml version="1.0"?>
-<package format="2">
-  <name>eddie_torso_description</name>
-  <version>0.1.0</version>
-  <description>Description of the torso of Eddie in form of URDF files and meshes</description>
-
-  <maintainer email="robotics@inf.h-brs.de">MAS robotics</maintainer>
-
-  <license>GPLv3</license>
-
-  <author email="aleksandar.mitrevski@h-brs.de">Alex Mitrevski</author>
-  <author email="dharmingeo@gmail.com">Dharmin B.</author>
-  <author email="sushant.chavan@smail.inf.h-brs.de">Sushant Chavan</author>
-
-  <buildtool_depend>ament_cmake</buildtool_depend>
-
-  <export>
-    <build_type>ament_cmake</build_type>
-  </export>
-</package>
diff --git a/eddie_torso_description/urdf/eddie_torso_gz.urdf.xacro b/eddie_torso_description/urdf/eddie_torso_gz.urdf.xacro
deleted file mode 100644
index ac71b02..0000000
--- a/eddie_torso_description/urdf/eddie_torso_gz.urdf.xacro
+++ /dev/null
@@ -1,147 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-
-    <!-- torso parameters -->
-    <xacro:property name="torso_height" value="0.3" />
-    <xacro:property name="torso_width" value="0.4" />
-    <xacro:property name="torso_thickness" value="0.19" />
-    <xacro:property name="torso_back_offset" value="0.02" />
-
-    <xacro:property name="torso_shoulder_z_offset" value="0.03" />
-    <xacro:property name="torso_shoulder_height" value="0.2" />
-    <xacro:property name="torso_shoulder_width" value="0.2" />
-    <xacro:property name="torso_shoulder_thickness" value="0.02" />
-
-    <xacro:include filename="$(find eddie_base_description)/urdf/common.xacro" />
-    <xacro:include filename="$(find eddie_base_description)/urdf/eddie_base_gz.urdf.xacro" />
-
-    <xacro:macro name="eddie_torso" params="name parent *origin use_gpu_2d_laser:=true">
-        <!-- TORSO -->
-        <joint name="${name}_joint" type="fixed">
-            <origin
-                xyz="${-base_size_x/2 + torso_back_offset + torso_thickness/2} 0 ${wheel_slit_height + base_size_z}"
-                rpy="0 0 0" />
-            <parent link="${parent}" />
-            <child link="${name}_link" />
-        </joint>
-
-        <link name="${name}_link">
-            <visual>
-                <origin
-                    xyz="0 0 ${torso_height/2}"
-                    rpy="0 0 0" />
-                <geometry>
-                    <box size="${torso_thickness} ${torso_width} ${torso_height}" />
-                </geometry>
-                <material name="Grey"/>
-            </visual>
-
-            <!-- torso collision -->
-            <collision>
-                <origin
-                    xyz="0 0 ${torso_height/2}"
-                    rpy="0 0 0" />
-                <geometry>
-                    <box size="${torso_thickness} ${torso_width} ${torso_height}" />
-                </geometry>
-            </collision>
-
-            <xacro:cuboid_inertia mass="${base_mass/10000}" length="${base_size_x}"
-                breadth="${base_size_y}" height="${base_size_z}" />
-        </link>
-
-        <!-- TORSO SHOULDER LEFT -->
-        <joint name="${name}_shoulder_left_joint" type="fixed">
-            <origin
-                xyz="${torso_thickness/2 - torso_shoulder_thickness/2} 0 ${torso_height - torso_shoulder_z_offset}"
-                rpy="0. 0.1309 0.7853982" />
-            <parent link="${name}_link" />
-            <child link="${name}_shoulder_left_link" />
-        </joint>
-
-        <link name="${name}_shoulder_left_link">
-            <visual>
-                <origin
-                    xyz="0 ${torso_shoulder_width/2} ${torso_shoulder_height/2}"
-                    rpy="0 0 0" />
-                <geometry>
-                    <box
-                        size="${torso_shoulder_thickness} ${torso_shoulder_width} ${torso_shoulder_height}" />
-                </geometry>
-                <material name="DarkGrey"/>
-            </visual>
-
-            <!-- torso shoulder collision -->
-            <collision>
-                <origin
-                    xyz="0 ${torso_shoulder_width/2} ${torso_shoulder_height/2}"
-                    rpy="0 0 0" />
-                <geometry>
-                    <box
-                        size="${torso_shoulder_thickness} ${torso_shoulder_width} ${torso_shoulder_height}" />
-                </geometry>
-            </collision>
-
-            <xacro:cuboid_inertia mass="${base_mass}" length="${base_size_x}"
-                breadth="${base_size_y}" height="${base_size_z}" />
-        </link>
-
-        <joint name="${name}_shoulder_left_arm_joint" type="fixed">
-            <origin
-                xyz="0 ${torso_shoulder_width/2} ${torso_shoulder_height/2}"
-                rpy="3.14159 -1.5708 0" />
-            <parent link="${name}_shoulder_left_link" />
-            <child link="${name}_shoulder_left_arm_attach_link" />
-        </joint>
-
-        <link name="${name}_shoulder_left_arm_attach_link" />
-
-        <!-- TORSO SHOULDER RIGHT -->
-        <joint name="${name}_shoulder_right_joint" type="fixed">
-            <origin
-                xyz="${torso_thickness/2 - torso_shoulder_thickness/2} 0 ${torso_height - torso_shoulder_z_offset}"
-                rpy="0 0.1309 -0.7853982" />
-            <parent link="${name}_link" />
-            <child link="${name}_shoulder_right_link" />
-        </joint>
-
-        <link name="${name}_shoulder_right_link">
-            <visual>
-                <origin
-                    xyz="0 ${-torso_shoulder_width/2} ${torso_shoulder_height/2}"
-                    rpy="0 0 0" />
-                <geometry>
-                    <box
-                        size="${torso_shoulder_thickness} ${torso_shoulder_width} ${torso_shoulder_height}" />
-                </geometry>
-                <material name="DarkGrey"/>
-            </visual>
-
-            <!-- torso shoulder collision -->
-            <collision>
-                <origin
-                    xyz="0 ${-torso_shoulder_width/2} ${torso_shoulder_height/2}"
-                    rpy="0 0 0" />
-                <geometry>
-                    <box
-                        size="${torso_shoulder_thickness} ${torso_shoulder_width} ${torso_shoulder_height}" />
-                </geometry>
-            </collision>
-            
-            <!-- This is causing the base to topple over under combined x y velocity -->
-            <xacro:cuboid_inertia mass="${base_mass}" length="${base_size_x}"
-                breadth="${base_size_y}" height="${base_size_z}" /> 
-        </link>
-
-        <joint name="${name}_shoulder_right_arm_joint" type="fixed">
-            <origin
-                xyz="0 ${-torso_shoulder_width/2} ${torso_shoulder_height/2}"
-                rpy="3.14159 -1.5708 0" />
-            <parent link="${name}_shoulder_right_link" />
-            <child link="${name}_shoulder_right_arm_attach_link" />
-        </joint>
-
-         <link name="${name}_shoulder_right_arm_attach_link" />
-
-    </xacro:macro>
-</robot>
\ No newline at end of file
diff --git a/eddie_torso_description/urdf/sensors/common.xacro b/eddie_torso_description/urdf/sensors/common.xacro
deleted file mode 100644
index 25ab0f3..0000000
--- a/eddie_torso_description/urdf/sensors/common.xacro
+++ /dev/null
@@ -1,45 +0,0 @@
-<?xml version="1.0"?>
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-
-    <xacro:macro name="gazebo_laser_plugin" params="name topic sample_size 
-                                                    update_rate min_angle 
-                                                    max_angle min_range max_range
-                                                    robot_namespace visualize 
-                                                    sensor_type:=gpu_ray
-                                                    plugin_filename:=libgazebo_ros_gpu_laser" >
-        <gazebo reference="${name}_link">
-            <!-- <turnGravityOff>true</turnGravityOff> -->
-            <sensor type="${sensor_type}" name="${name}">
-                <pose>0 0 0 0 0 0</pose>
-                <visualize>${visualize}</visualize>
-                <update_rate>${update_rate}</update_rate>
-                <ray>
-                    <scan>
-                        <horizontal>
-                            <samples>${sample_size}</samples>
-                            <resolution>1</resolution>
-                            <min_angle>${min_angle}</min_angle>
-                            <max_angle>${max_angle}</max_angle>
-                        </horizontal>
-                    </scan>
-                    <range>
-                        <min>${min_range}</min>
-                        <max>${max_range}</max>
-                        <resolution>0.01</resolution>
-                    </range>
-                    <noise>
-                        <type>gaussian</type>
-                        <mean>0.0</mean>
-                        <stddev>0.005</stddev>
-                    </noise>
-                </ray>
-                <plugin name="${name}_controller" filename="${plugin_filename}.so">
-                    <topicName>${topic}</topicName>
-                    <frameName>${name}_link</frameName>
-                    <robotNamespace>${robot_namespace}</robotNamespace>
-                </plugin>
-            </sensor>
-        </gazebo>
-    </xacro:macro>
-
-</robot>
diff --git a/eddie_torso_description/urdf/sensors/hokuyo.urdf.xacro b/eddie_torso_description/urdf/sensors/hokuyo.urdf.xacro
deleted file mode 100644
index 96f9b0f..0000000
--- a/eddie_torso_description/urdf/sensors/hokuyo.urdf.xacro
+++ /dev/null
@@ -1,83 +0,0 @@
-<?xml version="1.0"?>
-<!--
-Copyright (c) 2013, Goncalo Cabrita, ISR University of Coimbra
-Copyright (c) 2014, 2015 Clearpath Robotics
-All rights reserved.
-
-Redistribution and use in source and binary forms, with or without
-modification, are permitted provided that the following conditions are met:
-    * Redistributions of source code must retain the above copyright
-      notice, this list of conditions and the following disclaimer.
-    * Redistributions in binary form must reproduce the above copyright
-      notice, this list of conditions and the following disclaimer in the
-      documentation and/or other materials provided with the distribution.
-    * Neither the name of Clearpath Robotics nor the
-      names of its contributors may be used to endorse or promote products
-      derived from this software without specific prior written permission.
-
-THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
-ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
-WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
-DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDERS BE LIABLE FOR ANY
-DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
-(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
-LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
-ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
-(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
-SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
--->
-
-<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
-
-    <xacro:include filename="$(find eddie_description)/urdf/sensors/common.xacro" />
-
-    <xacro:macro name="hokuyo" params="*origin name:=base_laser_front topic:=base_scan parent:=base_link sample_size:=1080 update_rate:=40
-    min_angle:=-2.35619 max_angle:=2.35619 min_range:=0.06 max_range:=10.0 robot_namespace:=/ use_gpu:=true visualize:=false" >
-
-        <joint name="${name}_joint" type="fixed">
-            <axis xyz="0 1 0" />
-            <xacro:insert_block name="origin"/>
-            <parent link="${parent}"/>
-            <child link="${name}_link"/>
-        </joint>
-
-        <link name="${name}_link">
-            <inertial>
-                <mass value="0.16" />
-                <origin xyz="0 0 0" rpy="0 0 0" />
-                <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1" />
-            </inertial>
-
-            <visual>
-                <origin xyz="0 0 0" rpy="0 0 0" />
-                <geometry>
-                    <mesh filename="package://eddie_description/meshes/sensors/hokuyo.dae" />
-                </geometry>
-            </visual>
-
-            <collision>
-                <origin xyz="0 0 0" rpy="0 0 0" />
-                <geometry>
-                    <mesh filename="package://eddie_description/meshes/sensors/hokuyo_convex.dae" />
-                </geometry>
-            </collision>
-        </link>
-
-
-        <xacro:if value="${use_gpu}">
-            <xacro:gazebo_laser_plugin name="${name}" topic="${topic}" sample_size="${sample_size}"
-                                       update_rate="${update_rate}" min_angle="${min_angle}"
-                                       max_angle="${max_angle}" min_range="${min_range}" max_range="${max_range}"
-                                       robot_namespace="${robot_namespace}" visualize="${visualize}" 
-                                       sensor_type="gpu_ray" plugin_filename="libgazebo_ros_gpu_laser"/>
-        </xacro:if>
-        <xacro:unless value="${use_gpu}">
-            <xacro:gazebo_laser_plugin name="${name}" topic="${topic}" sample_size="${sample_size}"
-                                       update_rate="${update_rate}" min_angle="${min_angle}"
-                                       max_angle="${max_angle}" min_range="${min_range}" max_range="${max_range}"
-                                       robot_namespace="${robot_namespace}" visualize="${visualize}" 
-                                       sensor_type="ray" plugin_filename="libgazebo_ros_laser"/>
-        </xacro:unless>
-
-    </xacro:macro>
-</robot>
diff --git a/eddie_urdf/eddie.urdf b/eddie_urdf/eddie.urdf
new file mode 100644
index 0000000..e4082e1
--- /dev/null
+++ b/eddie_urdf/eddie.urdf
@@ -0,0 +1,1554 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from src/eddie_description/urdf/eddie_robot.urdf.xacro | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<robot name="eddie_base_with_wheels">
+  <!-- Base Footprint -->
+  <link name="eddie_base_footprint"/>
+  <!-- Additional Component at Center -->
+  <link name="eddie_base_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="eddie_meshes/kelo_base.stl"/>
+      </geometry>
+      <material name="light_gray">
+        <color rgba="0.5 0.5 0.5 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <!-- <box size="0.622 0.659 0.308" /> -->
+        <mesh filename="eddie_meshes/kelo_base.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+  </link>
+  <link name="eddie_torso_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="eddie_meshes/kelo_torso.stl"/>
+      </geometry>
+      <material name="metallic_silver">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="eddie_meshes/kelo_torso.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+  </link>
+  <link name="eddie_left_arm_attachment_link"/>
+  <link name="eddie_right_arm_attachment_link"/>
+  <!-- Links -->
+  <link name="eddie_front_left_struct_attachment_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="eddie_meshes/kelo_drive_attachments.stl"/>
+      </geometry>
+      <material name="metallic_silver">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="eddie_meshes/kelo_drive_attachments.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+  </link>
+  <link name="eddie_front_left_struct_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="eddie_meshes/kelo_drive.stl"/>
+      </geometry>
+      <material name="metallic_silver">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="eddie_meshes/kelo_drive.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+  </link>
+  <!-- Links -->
+  <link name="eddie_front_left_right_wheel_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="eddie_meshes/hub_wheel.stl"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0 0 0 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="eddie_meshes/hub_wheel.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+  </link>
+  <!-- Links -->
+  <link name="eddie_front_left_left_wheel_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="eddie_meshes/hub_wheel.stl"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0 0 0 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="eddie_meshes/hub_wheel.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+  </link>
+  <!-- Joints -->
+  <joint name="eddie_front_left_struct_to_attachment_joint" type="continuous">
+    <parent link="eddie_front_left_struct_attachment_link"/>
+    <child link="eddie_front_left_struct_link"/>
+    <origin rpy="0 0 1.5708" xyz="-0.0100 -0.0006 -0.0641"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="eddie_front_left_eddie_front_left_left_wheel_joint" type="continuous">
+    <parent link="eddie_front_left_struct_link"/>
+    <child link="eddie_front_left_left_wheel_link"/>
+    <origin rpy="1.5708 0 0" xyz="0.0008 0.0407 -0.0366"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="eddie_front_left_eddie_front_left_right_wheel_joint" type="continuous">
+    <parent link="eddie_front_left_struct_link"/>
+    <child link="eddie_front_left_right_wheel_link"/>
+    <origin rpy="-1.5708 0 0" xyz="0.0008 -0.0403 -0.0366"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <!-- Links -->
+  <link name="eddie_rear_left_struct_attachment_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="eddie_meshes/kelo_drive_attachments.stl"/>
+      </geometry>
+      <material name="metallic_silver">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="eddie_meshes/kelo_drive_attachments.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+  </link>
+  <link name="eddie_rear_left_struct_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="eddie_meshes/kelo_drive.stl"/>
+      </geometry>
+      <material name="metallic_silver">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="eddie_meshes/kelo_drive.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+  </link>
+  <!-- Links -->
+  <link name="eddie_rear_left_right_wheel_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="eddie_meshes/hub_wheel.stl"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0 0 0 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="eddie_meshes/hub_wheel.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+  </link>
+  <!-- Links -->
+  <link name="eddie_rear_left_left_wheel_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="eddie_meshes/hub_wheel.stl"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0 0 0 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="eddie_meshes/hub_wheel.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+  </link>
+  <!-- Joints -->
+  <joint name="eddie_rear_left_struct_to_attachment_joint" type="continuous">
+    <parent link="eddie_rear_left_struct_attachment_link"/>
+    <child link="eddie_rear_left_struct_link"/>
+    <origin rpy="0 0 1.5708" xyz="-0.0100 -0.0006 -0.0641"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="eddie_rear_left_eddie_rear_left_left_wheel_joint" type="continuous">
+    <parent link="eddie_rear_left_struct_link"/>
+    <child link="eddie_rear_left_left_wheel_link"/>
+    <origin rpy="1.5708 0 0" xyz="0.0008 0.0407 -0.0366"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="eddie_rear_left_eddie_rear_left_right_wheel_joint" type="continuous">
+    <parent link="eddie_rear_left_struct_link"/>
+    <child link="eddie_rear_left_right_wheel_link"/>
+    <origin rpy="-1.5708 0 0" xyz="0.0008 -0.0403 -0.0366"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <!-- Links -->
+  <link name="eddie_rear_right_struct_attachment_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="eddie_meshes/kelo_drive_attachments.stl"/>
+      </geometry>
+      <material name="metallic_silver">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="eddie_meshes/kelo_drive_attachments.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+  </link>
+  <link name="eddie_rear_right_struct_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="eddie_meshes/kelo_drive.stl"/>
+      </geometry>
+      <material name="metallic_silver">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="eddie_meshes/kelo_drive.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+  </link>
+  <!-- Links -->
+  <link name="eddie_rear_right_right_wheel_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="eddie_meshes/hub_wheel.stl"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0 0 0 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="eddie_meshes/hub_wheel.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+  </link>
+  <!-- Links -->
+  <link name="eddie_rear_right_left_wheel_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="eddie_meshes/hub_wheel.stl"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0 0 0 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="eddie_meshes/hub_wheel.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+  </link>
+  <!-- Joints -->
+  <joint name="eddie_rear_right_struct_to_attachment_joint" type="continuous">
+    <parent link="eddie_rear_right_struct_attachment_link"/>
+    <child link="eddie_rear_right_struct_link"/>
+    <origin rpy="0 0 1.5708" xyz="-0.0100 -0.0006 -0.0641"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="eddie_rear_right_eddie_rear_right_left_wheel_joint" type="continuous">
+    <parent link="eddie_rear_right_struct_link"/>
+    <child link="eddie_rear_right_left_wheel_link"/>
+    <origin rpy="1.5708 0 0" xyz="0.0008 0.0407 -0.0366"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="eddie_rear_right_eddie_rear_right_right_wheel_joint" type="continuous">
+    <parent link="eddie_rear_right_struct_link"/>
+    <child link="eddie_rear_right_right_wheel_link"/>
+    <origin rpy="-1.5708 0 0" xyz="0.0008 -0.0403 -0.0366"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <!-- Links -->
+  <link name="eddie_front_right_struct_attachment_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="eddie_meshes/kelo_drive_attachments.stl"/>
+      </geometry>
+      <material name="metallic_silver">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="eddie_meshes/kelo_drive_attachments.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+  </link>
+  <link name="eddie_front_right_struct_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="eddie_meshes/kelo_drive.stl"/>
+      </geometry>
+      <material name="metallic_silver">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="eddie_meshes/kelo_drive.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+  </link>
+  <!-- Links -->
+  <link name="eddie_front_right_right_wheel_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="eddie_meshes/hub_wheel.stl"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0 0 0 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="eddie_meshes/hub_wheel.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+  </link>
+  <!-- Links -->
+  <link name="eddie_front_right_left_wheel_link">
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="eddie_meshes/hub_wheel.stl"/>
+      </geometry>
+      <material name="black">
+        <color rgba="0 0 0 1.0"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="eddie_meshes/hub_wheel.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1.0"/>
+      <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+    </inertial>
+  </link>
+  <!-- Joints -->
+  <joint name="eddie_front_right_struct_to_attachment_joint" type="continuous">
+    <parent link="eddie_front_right_struct_attachment_link"/>
+    <child link="eddie_front_right_struct_link"/>
+    <origin rpy="0 0 1.5708" xyz="-0.0100 -0.0006 -0.0641"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="eddie_front_right_eddie_front_right_left_wheel_joint" type="continuous">
+    <parent link="eddie_front_right_struct_link"/>
+    <child link="eddie_front_right_left_wheel_link"/>
+    <origin rpy="1.5708 0 0" xyz="0.0008 0.0407 -0.0366"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <joint name="eddie_front_right_eddie_front_right_right_wheel_joint" type="continuous">
+    <parent link="eddie_front_right_struct_link"/>
+    <child link="eddie_front_right_right_wheel_link"/>
+    <origin rpy="-1.5708 0 0" xyz="0.0008 -0.0403 -0.0366"/>
+    <axis xyz="0 0 1"/>
+  </joint>
+  <!-- Joints -->
+  <joint name="eddie_base_footprint_joint" type="fixed">
+    <parent link="eddie_base_footprint"/>
+    <child link="eddie_base_link"/>
+    <origin rpy="0 0 0" xyz="0 0 0.2164"/>
+  </joint>
+  <joint name="eddie_base_torso_joint" type="fixed">
+    <parent link="eddie_base_link"/>
+    <child link="eddie_torso_link"/>
+    <origin rpy="0 0 1.5708" xyz="-0.1738 0.0003 0.4184"/>
+  </joint>
+  <joint name="eddie_front_left_joint" type="fixed">
+    <parent link="eddie_base_link"/>
+    <child link="eddie_front_left_struct_attachment_link"/>
+    <origin rpy="0 0 1.5708" xyz="0.2078 0.1880 -0.0632"/>
+  </joint>
+  <joint name="eddie_rear_left_joint" type="fixed">
+    <parent link="eddie_base_link"/>
+    <child link="eddie_rear_left_struct_attachment_link"/>
+    <origin rpy="0 0 1.5708" xyz="-0.2078 0.1880 -0.0632"/>
+  </joint>
+  <joint name="eddie_rear_right_joint" type="fixed">
+    <parent link="eddie_base_link"/>
+    <child link="eddie_rear_right_struct_attachment_link"/>
+    <origin rpy="0 0 -1.5708" xyz="-0.2078 -0.1880 -0.0632"/>
+  </joint>
+  <joint name="eddie_front_right_joint" type="fixed">
+    <parent link="eddie_base_link"/>
+    <child link="eddie_front_right_struct_attachment_link"/>
+    <origin rpy="0 0 -1.5708" xyz="0.2078 -0.1880 -0.0632"/>
+  </joint>
+  <joint name="eddie_left_arm_attachment_joint" type="fixed">
+    <parent link="eddie_torso_link"/>
+    <child link="eddie_left_arm_attachment_link"/>
+    <origin rpy="0 0.09 -0.7783" xyz="0.0676 -0.0236 0.1160"/>
+  </joint>
+  <joint name="eddie_right_arm_attachment_joint" type="fixed">
+    <parent link="eddie_torso_link"/>
+    <child link="eddie_right_arm_attachment_link"/>
+    <origin rpy="0 0.09 -2.3632" xyz="-0.0676 -0.0236 0.1160"/>
+  </joint>
+  <!-- ros2 control include -->
+  <!-- <xacro:include filename="$(find kortex_description)/arms/gen3/${dof}dof/urdf/kortex.ros2_control.xacro" />
+    <xacro:kortex_ros2_control
+      name="${prefix}KortexMultiInterfaceHardware" prefix="${prefix}"
+      use_fake_hardware="${use_fake_hardware}"
+      fake_sensor_commands="${fake_sensor_commands}"
+      sim_gazebo="${sim_gazebo}"
+      sim_ignition="${sim_ignition}"
+      sim_isaac="${sim_isaac}"
+      isaac_joint_commands="${isaac_joint_commands}"
+      isaac_joint_states="${isaac_joint_states}"
+      tf_prefix=""
+      initial_positions="${initial_positions}"
+      robot_ip="${robot_ip}"
+      username="${username}"
+      password="${password}"
+      port="${port}"
+      port_realtime="${port_realtime}"
+      session_inactivity_timeout_ms="${session_inactivity_timeout_ms}"
+      connection_inactivity_timeout_ms="${connection_inactivity_timeout_ms}"
+      use_internal_bus_gripper_comm="${use_internal_bus_gripper_comm}"
+      gripper_max_velocity="${gripper_max_velocity}"
+      gripper_max_force="${gripper_max_force}"
+      gripper_joint_name="${gripper_joint_name}"/> -->
+  <joint name="eddie_left_arm_base_joint" type="fixed">
+    <origin rpy="1.5708 -1.5708 1.5708" xyz="0.01549 0 0"/>
+    <parent link="eddie_left_arm_attachment_link"/>
+    <child link="eddie_left_arm_base_link"/>
+  </joint>
+  <link name="eddie_left_arm_base_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.000648 -0.000166 0.084487"/>
+      <mass value="1.697"/>
+      <inertia ixx="0.004622" ixy="9E-06" ixz="6E-05" iyy="0.004495" iyz="9E-06" izz="0.002079"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="eddie_meshes/base_link.dae"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.75294 0.75294 0.75294 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="eddie_meshes/base_link.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="eddie_left_arm_shoulder_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-2.3E-05 -0.010364 -0.07336"/>
+      <mass value="1.3773"/>
+      <inertia ixx="0.00457" ixy="1E-06" ixz="2E-06" iyy="0.004831" iyz="0.000448" izz="0.001409"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="eddie_meshes/shoulder_link.dae"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.75294 0.75294 0.75294 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="eddie_meshes/shoulder_link.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="eddie_left_arm_joint_1" type="continuous">
+    <origin rpy="3.1416 2.7629E-18 -4.9305E-36" xyz="0 0 0.15643"/>
+    <parent link="eddie_left_arm_base_link"/>
+    <child link="eddie_left_arm_shoulder_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="39" velocity="1.3963"/>
+  </joint>
+  <link name="eddie_left_arm_half_arm_1_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-4.4E-05 -0.09958 -0.013278"/>
+      <mass value="1.1636"/>
+      <inertia ixx="0.011088" ixy="5E-06" ixz="0" iyy="0.001072" iyz="-0.000691" izz="0.011255"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="eddie_meshes/half_arm_1_link.dae"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.75294 0.75294 0.75294 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="eddie_meshes/half_arm_1_link.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="eddie_left_arm_joint_2" type="revolute">
+    <origin rpy="1.5708 2.1343E-17 -1.1102E-16" xyz="0 0.005375 -0.12838"/>
+    <parent link="eddie_left_arm_shoulder_link"/>
+    <child link="eddie_left_arm_half_arm_1_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="39" lower="-2.24" upper="2.24" velocity="1.3963"/>
+  </joint>
+  <link name="eddie_left_arm_half_arm_2_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-4.4E-05 -0.006641 -0.117892"/>
+      <mass value="1.1636"/>
+      <inertia ixx="0.010932" ixy="0" ixz="-7E-06" iyy="0.011127" iyz="0.000606" izz="0.001043"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="eddie_meshes/half_arm_2_link.dae"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.75294 0.75294 0.75294 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="eddie_meshes/half_arm_2_link.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="eddie_left_arm_joint_3" type="continuous">
+    <origin rpy="-1.5708 1.2326E-32 -2.9122E-16" xyz="0 -0.21038 -0.006375"/>
+    <parent link="eddie_left_arm_half_arm_1_link"/>
+    <child link="eddie_left_arm_half_arm_2_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="39" velocity="1.3963"/>
+  </joint>
+  <link name="eddie_left_arm_forearm_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-1.8E-05 -0.075478 -0.015006"/>
+      <mass value="0.9302"/>
+      <inertia ixx="0.008147" ixy="-1E-06" ixz="0" iyy="0.000631" iyz="-0.0005" izz="0.008316"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="eddie_meshes/forearm_link.dae"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.75294 0.75294 0.75294 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="eddie_meshes/forearm_link.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="eddie_left_arm_joint_4" type="revolute">
+    <origin rpy="1.5708 -6.6954E-17 -1.6653E-16" xyz="0 0.006375 -0.21038"/>
+    <parent link="eddie_left_arm_half_arm_2_link"/>
+    <child link="eddie_left_arm_forearm_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="39" lower="-2.57" upper="2.57" velocity="1.3963"/>
+  </joint>
+  <link name="eddie_left_arm_spherical_wrist_1_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="1E-06 -0.009432 -0.063883"/>
+      <mass value="0.6781"/>
+      <inertia ixx="0.001596" ixy="0" ixz="0" iyy="0.001607" iyz="0.000256" izz="0.000399"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="eddie_meshes/spherical_wrist_1_link.dae"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.75294 0.75294 0.75294 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="eddie_meshes/spherical_wrist_1_link.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="eddie_left_arm_joint_5" type="continuous">
+    <origin rpy="-1.5708 2.2204E-16 -6.373E-17" xyz="0 -0.20843 -0.006375"/>
+    <parent link="eddie_left_arm_forearm_link"/>
+    <child link="eddie_left_arm_spherical_wrist_1_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9" velocity="1.2218"/>
+  </joint>
+  <link name="eddie_left_arm_spherical_wrist_2_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="1E-06 -0.045483 -0.00965"/>
+      <mass value="0.6781"/>
+      <inertia ixx="0.001641" ixy="0" ixz="0" iyy="0.00041" iyz="-0.000278" izz="0.001641"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="eddie_meshes/spherical_wrist_2_link.dae"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.75294 0.75294 0.75294 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="eddie_meshes/spherical_wrist_2_link.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="eddie_left_arm_joint_6" type="revolute">
+    <origin rpy="1.5708 9.2076E-28 -8.2157E-15" xyz="0 0.00017505 -0.10593"/>
+    <parent link="eddie_left_arm_spherical_wrist_1_link"/>
+    <child link="eddie_left_arm_spherical_wrist_2_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9" lower="-2.09" upper="2.09" velocity="1.2218"/>
+  </joint>
+  <link name="eddie_left_arm_bracelet_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000281 0.011402 -0.029798"/>
+      <mass value="0.5"/>
+      <inertia ixx="0.000587" ixy="3E-06" ixz="3E-06" iyy="0.000369" iyz="-0.000118" izz="0.000609"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="eddie_meshes/bracelet_with_vision_link.dae"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.75294 0.75294 0.75294 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="eddie_meshes/bracelet_with_vision_link.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="eddie_left_arm_joint_7" type="continuous">
+    <origin rpy="-1.5708 -5.5511E-17 9.6396E-17" xyz="0 -0.10593 -0.00017505"/>
+    <parent link="eddie_left_arm_spherical_wrist_2_link"/>
+    <child link="eddie_left_arm_bracelet_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9" velocity="1.2218"/>
+  </joint>
+  <link name="eddie_left_arm_end_effector_link"/>
+  <joint name="eddie_left_arm_end_effector" type="fixed">
+    <origin rpy="3.14159265358979 1.09937075168372E-32 0" xyz="0 0 -0.0615250000000001"/>
+    <parent link="eddie_left_arm_bracelet_link"/>
+    <child link="eddie_left_arm_end_effector_link"/>
+    <axis xyz="0 0 0"/>
+  </joint>
+  <link name="eddie_left_arm_camera_link"/>
+  <joint name="eddie_left_arm_camera_module" type="fixed">
+    <origin rpy="3.141592653589793 3.141592653589793 0" xyz="0 0.05639 -0.00305"/>
+    <parent link="eddie_left_arm_end_effector_link"/>
+    <child link="eddie_left_arm_camera_link"/>
+  </joint>
+  <link name="eddie_left_arm_camera_depth_frame"/>
+  <joint name="eddie_left_arm_depth_module" type="fixed">
+    <origin rpy="3.141592653589793 3.141592653589793 0" xyz="0.0275 0.066 -0.00305"/>
+    <parent link="eddie_left_arm_end_effector_link"/>
+    <child link="eddie_left_arm_camera_depth_frame"/>
+  </joint>
+  <link name="eddie_left_arm_camera_color_frame"/>
+  <joint name="eddie_left_arm_color_module" type="fixed">
+    <origin rpy="3.141592653589793 3.141592653589793 0" xyz="0 0.05639 -0.00305"/>
+    <parent link="eddie_left_arm_end_effector_link"/>
+    <child link="eddie_left_arm_camera_color_frame"/>
+  </joint>
+  <link name="eddie_left_arm_robotiq_85_base_link">
+    <visual>
+      <geometry>
+        <mesh filename="eddie_meshes/visual/2f_85/robotiq_base.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="eddie_meshes/collision/2f_85/robotiq_base.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 2.274e-05 0.03232288"/>
+      <mass value="6.6320197e-01"/>
+      <inertia ixx="5.1617816e-04" ixy="2.936e-8" ixz="0.0" iyy="5.8802208e-04" iyz="-3.2296e-7" izz="3.9462776e-04"/>
+    </inertial>
+  </link>
+  <link name="eddie_left_arm_robotiq_85_left_knuckle_link">
+    <visual>
+      <geometry>
+        <mesh filename="eddie_meshes/visual/2f_85/left_knuckle.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="eddie_meshes/collision/2f_85/left_knuckle.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.01213197 0.0002 -0.00058647"/>
+      <mass value="1.384773208e-02"/>
+      <inertia ixx="3.5232e-7" ixy="0.0" ixz="1.1744e-7" iyy="2.31944e-6" iyz="0" izz="2.23136e-6"/>
+    </inertial>
+  </link>
+  <link name="eddie_left_arm_robotiq_85_right_knuckle_link">
+    <visual>
+      <geometry>
+        <mesh filename="eddie_meshes/visual/2f_85/right_knuckle.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="eddie_meshes/collision/2f_85/right_knuckle.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.01213197 0.0002 -0.00058647"/>
+      <mass value="1.384773208e-02"/>
+      <inertia ixx="3.5232e-7" ixy="0.0" ixz="-1.1744e-7" iyy="2.31944e-6" iyz="0.0" izz="2.23136e-6"/>
+    </inertial>
+  </link>
+  <link name="eddie_left_arm_robotiq_85_left_finger_link">
+    <visual>
+      <geometry>
+        <mesh filename="eddie_meshes/visual/2f_85/left_finger.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="eddie_meshes/collision/2f_85/left_finger.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.00346899 -0.00079447 0.01867121"/>
+      <mass value="4.260376752e-02"/>
+      <inertia ixx="1.385792000000000e-05" ixy="0.0" ixz="-2.17264e-06" iyy="1.183208e-05" iyz="0.0" izz="5.19672e-06"/>
+    </inertial>
+  </link>
+  <link name="eddie_left_arm_robotiq_85_right_finger_link">
+    <visual>
+      <geometry>
+        <mesh filename="eddie_meshes/visual/2f_85/right_finger.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="eddie_meshes/collision/2f_85/right_finger.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.00346899 -5.53e-06 0.01867121"/>
+      <mass value="4.260376752000000e-02"/>
+      <inertia ixx="1.385792e-05" ixy="0.0" ixz="2.17264e-06" iyy="1.183208e-05" iyz="0.0" izz="5.19672e-06"/>
+    </inertial>
+  </link>
+  <link name="eddie_left_arm_robotiq_85_left_inner_knuckle_link">
+    <visual>
+      <geometry>
+        <mesh filename="eddie_meshes/visual/2f_85/left_inner_knuckle.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="eddie_meshes/collision/2f_85/left_inner_knuckle.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.01897699 0.00015001 0.02247101"/>
+      <mass value="2.969376448e-02"/>
+      <inertia ixx="9.57136e-06" ixy="0.0" ixz="-3.93424e-06" iyy="8.69056e-06" iyz="0.0" izz="8.19144e-06"/>
+    </inertial>
+  </link>
+  <link name="eddie_left_arm_robotiq_85_right_inner_knuckle_link">
+    <visual>
+      <geometry>
+        <mesh filename="eddie_meshes/visual/2f_85/right_inner_knuckle.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="eddie_meshes/collision/2f_85/right_inner_knuckle.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.01926824 5.001e-05 0.02222178"/>
+      <mass value="2.969376448e-02"/>
+      <inertia ixx="9.42456e-06" ixy="0.0" ixz="3.9636e-06" iyy="8.69056e-06" iyz="0.0" izz="8.33824e-06"/>
+    </inertial>
+  </link>
+  <link name="eddie_left_arm_robotiq_85_left_finger_tip_link">
+    <visual>
+      <geometry>
+        <mesh filename="eddie_meshes/visual/2f_85/left_finger_tip.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="eddie_meshes/collision/2f_85/left_finger_tip.stl"/>
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu1>100000.0</mu1>
+            <mu2>100000.0</mu2>
+          </ode>
+        </friction>
+        <contact>
+          <ode>
+            <kp>1e+5</kp>
+            <kd>1</kd>
+            <soft_cfm>0</soft_cfm>
+            <soft_erp>0.2</soft_erp>
+            <minDepth>0.002</minDepth>
+            <maxVel>0</maxVel>
+          </ode>
+        </contact>
+      </surface>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.01456706 -0.0008 0.01649701"/>
+      <mass value="4.268588744e-02"/>
+      <inertia ixx="1.048152e-05" ixy="0.0" ixz="3.5232e-6" iyy="1.197888e-05" iyz="0.0" izz="4.22784e-06"/>
+    </inertial>
+  </link>
+  <link name="eddie_left_arm_robotiq_85_right_finger_tip_link">
+    <visual>
+      <geometry>
+        <mesh filename="eddie_meshes/visual/2f_85/right_finger_tip.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="eddie_meshes/collision/2f_85/right_finger_tip.stl"/>
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu1>100000.0</mu1>
+            <mu2>100000.0</mu2>
+          </ode>
+        </friction>
+        <contact>
+          <ode>
+            <kp>1e+5</kp>
+            <kd>1</kd>
+            <soft_cfm>0</soft_cfm>
+            <soft_erp>0.2</soft_erp>
+            <minDepth>0.002</minDepth>
+            <maxVel>0</maxVel>
+          </ode>
+        </contact>
+      </surface>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.01456706 5e-05 0.01649701"/>
+      <mass value="4.268588744e-02"/>
+      <inertia ixx="1.048152e-05" ixy="0.0" ixz="-3.5232e-06" iyy="1.197888e-05" iyz="0.0" izz="4.22784e-06"/>
+    </inertial>
+  </link>
+  <joint name="eddie_left_arm_robotiq_85_base_joint" type="fixed">
+    <parent link="eddie_left_arm_end_effector_link"/>
+    <child link="eddie_left_arm_robotiq_85_base_link"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+  </joint>
+  <joint name="eddie_left_arm_robotiq_85_left_knuckle_joint" type="revolute">
+    <parent link="eddie_left_arm_robotiq_85_base_link"/>
+    <child link="eddie_left_arm_robotiq_85_left_knuckle_link"/>
+    <axis xyz="0 -1 0"/>
+    <origin rpy="0 0 0" xyz="0.03060114 0.0 0.05490452"/>
+    <limit effort="50" lower="0.0" upper="0.8" velocity="0.5"/>
+  </joint>
+  <joint name="eddie_left_arm_robotiq_85_right_knuckle_joint" type="revolute">
+    <parent link="eddie_left_arm_robotiq_85_base_link"/>
+    <child link="eddie_left_arm_robotiq_85_right_knuckle_link"/>
+    <axis xyz="0 -1 0"/>
+    <origin rpy="0 0 0" xyz="-0.03060114 0.0 0.05490452"/>
+    <limit effort="50" lower="-0.8" upper="0.0" velocity="0.5"/>
+    <mimic joint="eddie_left_arm_robotiq_85_left_knuckle_joint" multiplier="-1"/>
+  </joint>
+  <joint name="eddie_left_arm_robotiq_85_left_finger_joint" type="fixed">
+    <parent link="eddie_left_arm_robotiq_85_left_knuckle_link"/>
+    <child link="eddie_left_arm_robotiq_85_left_finger_link"/>
+    <origin rpy="0 0 0" xyz="0.03152616 0.0 -0.00376347"/>
+  </joint>
+  <joint name="eddie_left_arm_robotiq_85_right_finger_joint" type="fixed">
+    <parent link="eddie_left_arm_robotiq_85_right_knuckle_link"/>
+    <child link="eddie_left_arm_robotiq_85_right_finger_link"/>
+    <origin rpy="0 0 0" xyz="-0.03152616 0.0 -0.00376347"/>
+  </joint>
+  <joint name="eddie_left_arm_robotiq_85_left_inner_knuckle_joint" type="continuous">
+    <parent link="eddie_left_arm_robotiq_85_base_link"/>
+    <child link="eddie_left_arm_robotiq_85_left_inner_knuckle_link"/>
+    <axis xyz="0 -1 0"/>
+    <origin rpy="0 0 0" xyz="0.0127 0.0 0.06142"/>
+    <mimic joint="eddie_left_arm_robotiq_85_left_knuckle_joint"/>
+  </joint>
+  <joint name="eddie_left_arm_robotiq_85_right_inner_knuckle_joint" type="continuous">
+    <parent link="eddie_left_arm_robotiq_85_base_link"/>
+    <child link="eddie_left_arm_robotiq_85_right_inner_knuckle_link"/>
+    <axis xyz="0 -1 0"/>
+    <origin rpy="0 0 0" xyz="-0.0127 0.0 0.06142"/>
+    <mimic joint="eddie_left_arm_robotiq_85_left_knuckle_joint" multiplier="-1"/>
+  </joint>
+  <joint name="eddie_left_arm_robotiq_85_left_finger_tip_joint" type="continuous">
+    <parent link="eddie_left_arm_robotiq_85_left_finger_link"/>
+    <child link="eddie_left_arm_robotiq_85_left_finger_tip_link"/>
+    <axis xyz="0 -1 0"/>
+    <origin rpy="0 0 0" xyz="0.00563134 0.0 0.04718515"/>
+    <mimic joint="eddie_left_arm_robotiq_85_left_knuckle_joint" multiplier="-1"/>
+  </joint>
+  <joint name="eddie_left_arm_robotiq_85_right_finger_tip_joint" type="continuous">
+    <parent link="eddie_left_arm_robotiq_85_right_finger_link"/>
+    <child link="eddie_left_arm_robotiq_85_right_finger_tip_link"/>
+    <axis xyz="0 -1 0"/>
+    <origin rpy="0 0 0" xyz="-0.00563134 0.0 0.04718515"/>
+    <mimic joint="eddie_left_arm_robotiq_85_left_knuckle_joint"/>
+  </joint>
+  <!-- ros2 control include -->
+  <!-- <xacro:include filename="$(find kortex_description)/arms/gen3/${dof}dof/urdf/kortex.ros2_control.xacro" />
+    <xacro:kortex_ros2_control
+      name="${prefix}KortexMultiInterfaceHardware" prefix="${prefix}"
+      use_fake_hardware="${use_fake_hardware}"
+      fake_sensor_commands="${fake_sensor_commands}"
+      sim_gazebo="${sim_gazebo}"
+      sim_ignition="${sim_ignition}"
+      sim_isaac="${sim_isaac}"
+      isaac_joint_commands="${isaac_joint_commands}"
+      isaac_joint_states="${isaac_joint_states}"
+      tf_prefix=""
+      initial_positions="${initial_positions}"
+      robot_ip="${robot_ip}"
+      username="${username}"
+      password="${password}"
+      port="${port}"
+      port_realtime="${port_realtime}"
+      session_inactivity_timeout_ms="${session_inactivity_timeout_ms}"
+      connection_inactivity_timeout_ms="${connection_inactivity_timeout_ms}"
+      use_internal_bus_gripper_comm="${use_internal_bus_gripper_comm}"
+      gripper_max_velocity="${gripper_max_velocity}"
+      gripper_max_force="${gripper_max_force}"
+      gripper_joint_name="${gripper_joint_name}"/> -->
+  <joint name="eddie_right_arm_base_joint" type="fixed">
+    <origin rpy="1.5708 -1.5708 1.5708" xyz="0.01549 0 0"/>
+    <parent link="eddie_right_arm_attachment_link"/>
+    <child link="eddie_right_arm_base_link"/>
+  </joint>
+  <link name="eddie_right_arm_base_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.000648 -0.000166 0.084487"/>
+      <mass value="1.697"/>
+      <inertia ixx="0.004622" ixy="9E-06" ixz="6E-05" iyy="0.004495" iyz="9E-06" izz="0.002079"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="eddie_meshes/base_link.dae"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.75294 0.75294 0.75294 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="eddie_meshes/base_link.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="eddie_right_arm_shoulder_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-2.3E-05 -0.010364 -0.07336"/>
+      <mass value="1.3773"/>
+      <inertia ixx="0.00457" ixy="1E-06" ixz="2E-06" iyy="0.004831" iyz="0.000448" izz="0.001409"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="eddie_meshes/shoulder_link.dae"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.75294 0.75294 0.75294 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="eddie_meshes/shoulder_link.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="eddie_right_arm_joint_1" type="continuous">
+    <origin rpy="3.1416 2.7629E-18 -4.9305E-36" xyz="0 0 0.15643"/>
+    <parent link="eddie_right_arm_base_link"/>
+    <child link="eddie_right_arm_shoulder_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="39" velocity="1.3963"/>
+  </joint>
+  <link name="eddie_right_arm_half_arm_1_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-4.4E-05 -0.09958 -0.013278"/>
+      <mass value="1.1636"/>
+      <inertia ixx="0.011088" ixy="5E-06" ixz="0" iyy="0.001072" iyz="-0.000691" izz="0.011255"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="eddie_meshes/half_arm_1_link.dae"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.75294 0.75294 0.75294 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="eddie_meshes/half_arm_1_link.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="eddie_right_arm_joint_2" type="revolute">
+    <origin rpy="1.5708 2.1343E-17 -1.1102E-16" xyz="0 0.005375 -0.12838"/>
+    <parent link="eddie_right_arm_shoulder_link"/>
+    <child link="eddie_right_arm_half_arm_1_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="39" lower="-2.24" upper="2.24" velocity="1.3963"/>
+  </joint>
+  <link name="eddie_right_arm_half_arm_2_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-4.4E-05 -0.006641 -0.117892"/>
+      <mass value="1.1636"/>
+      <inertia ixx="0.010932" ixy="0" ixz="-7E-06" iyy="0.011127" iyz="0.000606" izz="0.001043"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="eddie_meshes/half_arm_2_link.dae"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.75294 0.75294 0.75294 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="eddie_meshes/half_arm_2_link.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="eddie_right_arm_joint_3" type="continuous">
+    <origin rpy="-1.5708 1.2326E-32 -2.9122E-16" xyz="0 -0.21038 -0.006375"/>
+    <parent link="eddie_right_arm_half_arm_1_link"/>
+    <child link="eddie_right_arm_half_arm_2_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="39" velocity="1.3963"/>
+  </joint>
+  <link name="eddie_right_arm_forearm_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="-1.8E-05 -0.075478 -0.015006"/>
+      <mass value="0.9302"/>
+      <inertia ixx="0.008147" ixy="-1E-06" ixz="0" iyy="0.000631" iyz="-0.0005" izz="0.008316"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="eddie_meshes/forearm_link.dae"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.75294 0.75294 0.75294 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="eddie_meshes/forearm_link.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="eddie_right_arm_joint_4" type="revolute">
+    <origin rpy="1.5708 -6.6954E-17 -1.6653E-16" xyz="0 0.006375 -0.21038"/>
+    <parent link="eddie_right_arm_half_arm_2_link"/>
+    <child link="eddie_right_arm_forearm_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="39" lower="-2.57" upper="2.57" velocity="1.3963"/>
+  </joint>
+  <link name="eddie_right_arm_spherical_wrist_1_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="1E-06 -0.009432 -0.063883"/>
+      <mass value="0.6781"/>
+      <inertia ixx="0.001596" ixy="0" ixz="0" iyy="0.001607" iyz="0.000256" izz="0.000399"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="eddie_meshes/spherical_wrist_1_link.dae"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.75294 0.75294 0.75294 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="eddie_meshes/spherical_wrist_1_link.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="eddie_right_arm_joint_5" type="continuous">
+    <origin rpy="-1.5708 2.2204E-16 -6.373E-17" xyz="0 -0.20843 -0.006375"/>
+    <parent link="eddie_right_arm_forearm_link"/>
+    <child link="eddie_right_arm_spherical_wrist_1_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9" velocity="1.2218"/>
+  </joint>
+  <link name="eddie_right_arm_spherical_wrist_2_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="1E-06 -0.045483 -0.00965"/>
+      <mass value="0.6781"/>
+      <inertia ixx="0.001641" ixy="0" ixz="0" iyy="0.00041" iyz="-0.000278" izz="0.001641"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="eddie_meshes/spherical_wrist_2_link.dae"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.75294 0.75294 0.75294 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="eddie_meshes/spherical_wrist_2_link.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="eddie_right_arm_joint_6" type="revolute">
+    <origin rpy="1.5708 9.2076E-28 -8.2157E-15" xyz="0 0.00017505 -0.10593"/>
+    <parent link="eddie_right_arm_spherical_wrist_1_link"/>
+    <child link="eddie_right_arm_spherical_wrist_2_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9" lower="-2.09" upper="2.09" velocity="1.2218"/>
+  </joint>
+  <link name="eddie_right_arm_bracelet_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.000281 0.011402 -0.029798"/>
+      <mass value="0.5"/>
+      <inertia ixx="0.000587" ixy="3E-06" ixz="3E-06" iyy="0.000369" iyz="-0.000118" izz="0.000609"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="eddie_meshes/bracelet_with_vision_link.dae"/>
+      </geometry>
+      <material name="">
+        <color rgba="0.75294 0.75294 0.75294 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="eddie_meshes/bracelet_with_vision_link.dae"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="eddie_right_arm_joint_7" type="continuous">
+    <origin rpy="-1.5708 -5.5511E-17 9.6396E-17" xyz="0 -0.10593 -0.00017505"/>
+    <parent link="eddie_right_arm_spherical_wrist_2_link"/>
+    <child link="eddie_right_arm_bracelet_link"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="9" velocity="1.2218"/>
+  </joint>
+  <link name="eddie_right_arm_end_effector_link"/>
+  <joint name="eddie_right_arm_end_effector" type="fixed">
+    <origin rpy="3.14159265358979 1.09937075168372E-32 0" xyz="0 0 -0.0615250000000001"/>
+    <parent link="eddie_right_arm_bracelet_link"/>
+    <child link="eddie_right_arm_end_effector_link"/>
+    <axis xyz="0 0 0"/>
+  </joint>
+  <link name="eddie_right_arm_camera_link"/>
+  <joint name="eddie_right_arm_camera_module" type="fixed">
+    <origin rpy="3.141592653589793 3.141592653589793 0" xyz="0 0.05639 -0.00305"/>
+    <parent link="eddie_right_arm_end_effector_link"/>
+    <child link="eddie_right_arm_camera_link"/>
+  </joint>
+  <link name="eddie_right_arm_camera_depth_frame"/>
+  <joint name="eddie_right_arm_depth_module" type="fixed">
+    <origin rpy="3.141592653589793 3.141592653589793 0" xyz="0.0275 0.066 -0.00305"/>
+    <parent link="eddie_right_arm_end_effector_link"/>
+    <child link="eddie_right_arm_camera_depth_frame"/>
+  </joint>
+  <link name="eddie_right_arm_camera_color_frame"/>
+  <joint name="eddie_right_arm_color_module" type="fixed">
+    <origin rpy="3.141592653589793 3.141592653589793 0" xyz="0 0.05639 -0.00305"/>
+    <parent link="eddie_right_arm_end_effector_link"/>
+    <child link="eddie_right_arm_camera_color_frame"/>
+  </joint>
+  <link name="eddie_right_arm_robotiq_85_base_link">
+    <visual>
+      <geometry>
+        <mesh filename="eddie_meshes/visual/2f_85/robotiq_base.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="eddie_meshes/collision/2f_85/robotiq_base.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.0 2.274e-05 0.03232288"/>
+      <mass value="6.6320197e-01"/>
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+    </inertial>
+  </link>
+  <link name="eddie_right_arm_robotiq_85_left_knuckle_link">
+    <visual>
+      <geometry>
+        <mesh filename="eddie_meshes/visual/2f_85/left_knuckle.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="eddie_meshes/collision/2f_85/left_knuckle.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.01213197 0.0002 -0.00058647"/>
+      <mass value="1.384773208e-02"/>
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+    </inertial>
+  </link>
+  <link name="eddie_right_arm_robotiq_85_right_knuckle_link">
+    <visual>
+      <geometry>
+        <mesh filename="eddie_meshes/visual/2f_85/right_knuckle.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="eddie_meshes/collision/2f_85/right_knuckle.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.01213197 0.0002 -0.00058647"/>
+      <mass value="1.384773208e-02"/>
+      <inertia ixx="3.5232e-7" ixy="0.0" ixz="-1.1744e-7" iyy="2.31944e-6" iyz="0.0" izz="2.23136e-6"/>
+    </inertial>
+  </link>
+  <link name="eddie_right_arm_robotiq_85_left_finger_link">
+    <visual>
+      <geometry>
+        <mesh filename="eddie_meshes/visual/2f_85/left_finger.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="eddie_meshes/collision/2f_85/left_finger.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.00346899 -0.00079447 0.01867121"/>
+      <mass value="4.260376752e-02"/>
+      <inertia ixx="1.385792000000000e-05" ixy="0.0" ixz="-2.17264e-06" iyy="1.183208e-05" iyz="0.0" izz="5.19672e-06"/>
+    </inertial>
+  </link>
+  <link name="eddie_right_arm_robotiq_85_right_finger_link">
+    <visual>
+      <geometry>
+        <mesh filename="eddie_meshes/visual/2f_85/right_finger.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="eddie_meshes/collision/2f_85/right_finger.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.00346899 -5.53e-06 0.01867121"/>
+      <mass value="4.260376752000000e-02"/>
+      <inertia ixx="1.385792e-05" ixy="0.0" ixz="2.17264e-06" iyy="1.183208e-05" iyz="0.0" izz="5.19672e-06"/>
+    </inertial>
+  </link>
+  <link name="eddie_right_arm_robotiq_85_left_inner_knuckle_link">
+    <visual>
+      <geometry>
+        <mesh filename="eddie_meshes/visual/2f_85/left_inner_knuckle.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="eddie_meshes/collision/2f_85/left_inner_knuckle.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.01897699 0.00015001 0.02247101"/>
+      <mass value="2.969376448e-02"/>
+      <inertia ixx="9.57136e-06" ixy="0.0" ixz="-3.93424e-06" iyy="8.69056e-06" iyz="0.0" izz="8.19144e-06"/>
+    </inertial>
+  </link>
+  <link name="eddie_right_arm_robotiq_85_right_inner_knuckle_link">
+    <visual>
+      <geometry>
+        <mesh filename="eddie_meshes/visual/2f_85/right_inner_knuckle.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="eddie_meshes/collision/2f_85/right_inner_knuckle.stl"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.01926824 5.001e-05 0.02222178"/>
+      <mass value="2.969376448e-02"/>
+      <inertia ixx="9.42456e-06" ixy="0.0" ixz="3.9636e-06" iyy="8.69056e-06" iyz="0.0" izz="8.33824e-06"/>
+    </inertial>
+  </link>
+  <link name="eddie_right_arm_robotiq_85_left_finger_tip_link">
+    <visual>
+      <geometry>
+        <mesh filename="eddie_meshes/visual/2f_85/left_finger_tip.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="eddie_meshes/collision/2f_85/left_finger_tip.stl"/>
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu1>100000.0</mu1>
+            <mu2>100000.0</mu2>
+          </ode>
+        </friction>
+        <contact>
+          <ode>
+            <kp>1e+5</kp>
+            <kd>1</kd>
+            <soft_cfm>0</soft_cfm>
+            <soft_erp>0.2</soft_erp>
+            <minDepth>0.002</minDepth>
+            <maxVel>0</maxVel>
+          </ode>
+        </contact>
+      </surface>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="-0.01456706 -0.0008 0.01649701"/>
+      <mass value="4.268588744e-02"/>
+      <inertia ixx="1.048152e-05" ixy="0.0" ixz="3.5232e-6" iyy="1.197888e-05" iyz="0.0" izz="4.22784e-06"/>
+    </inertial>
+  </link>
+  <link name="eddie_right_arm_robotiq_85_right_finger_tip_link">
+    <visual>
+      <geometry>
+        <mesh filename="eddie_meshes/visual/2f_85/right_finger_tip.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <geometry>
+        <mesh filename="eddie_meshes/collision/2f_85/right_finger_tip.stl"/>
+      </geometry>
+      <surface>
+        <friction>
+          <ode>
+            <mu1>100000.0</mu1>
+            <mu2>100000.0</mu2>
+          </ode>
+        </friction>
+        <contact>
+          <ode>
+            <kp>1e+5</kp>
+            <kd>1</kd>
+            <soft_cfm>0</soft_cfm>
+            <soft_erp>0.2</soft_erp>
+            <minDepth>0.002</minDepth>
+            <maxVel>0</maxVel>
+          </ode>
+        </contact>
+      </surface>
+    </collision>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0.01456706 5e-05 0.01649701"/>
+      <mass value="4.268588744e-02"/>
+      <inertia ixx="1.048152e-05" ixy="0.0" ixz="-3.5232e-06" iyy="1.197888e-05" iyz="0.0" izz="4.22784e-06"/>
+    </inertial>
+  </link>
+  <joint name="eddie_right_arm_robotiq_85_base_joint" type="fixed">
+    <parent link="eddie_right_arm_end_effector_link"/>
+    <child link="eddie_right_arm_robotiq_85_base_link"/>
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+  </joint>
+  <joint name="eddie_right_arm_robotiq_85_left_knuckle_joint" type="revolute">
+    <parent link="eddie_right_arm_robotiq_85_base_link"/>
+    <child link="eddie_right_arm_robotiq_85_left_knuckle_link"/>
+    <axis xyz="0 -1 0"/>
+    <origin rpy="0 0 0" xyz="0.03060114 0.0 0.05490452"/>
+    <limit effort="50" lower="0.0" upper="0.8" velocity="0.5"/>
+  </joint>
+  <joint name="eddie_right_arm_robotiq_85_right_knuckle_joint" type="revolute">
+    <parent link="eddie_right_arm_robotiq_85_base_link"/>
+    <child link="eddie_right_arm_robotiq_85_right_knuckle_link"/>
+    <axis xyz="0 -1 0"/>
+    <origin rpy="0 0 0" xyz="-0.03060114 0.0 0.05490452"/>
+    <limit effort="50" lower="-0.8" upper="0.0" velocity="0.5"/>
+    <mimic joint="eddie_right_arm_robotiq_85_left_knuckle_joint" multiplier="-1"/>
+  </joint>
+  <joint name="eddie_right_arm_robotiq_85_left_finger_joint" type="fixed">
+    <parent link="eddie_right_arm_robotiq_85_left_knuckle_link"/>
+    <child link="eddie_right_arm_robotiq_85_left_finger_link"/>
+    <origin rpy="0 0 0" xyz="0.03152616 0.0 -0.00376347"/>
+  </joint>
+  <joint name="eddie_right_arm_robotiq_85_right_finger_joint" type="fixed">
+    <parent link="eddie_right_arm_robotiq_85_right_knuckle_link"/>
+    <child link="eddie_right_arm_robotiq_85_right_finger_link"/>
+    <origin rpy="0 0 0" xyz="-0.03152616 0.0 -0.00376347"/>
+  </joint>
+  <joint name="eddie_right_arm_robotiq_85_left_inner_knuckle_joint" type="continuous">
+    <parent link="eddie_right_arm_robotiq_85_base_link"/>
+    <child link="eddie_right_arm_robotiq_85_left_inner_knuckle_link"/>
+    <axis xyz="0 -1 0"/>
+    <origin rpy="0 0 0" xyz="0.0127 0.0 0.06142"/>
+    <mimic joint="eddie_right_arm_robotiq_85_left_knuckle_joint"/>
+  </joint>
+  <joint name="eddie_right_arm_robotiq_85_right_inner_knuckle_joint" type="continuous">
+    <parent link="eddie_right_arm_robotiq_85_base_link"/>
+    <child link="eddie_right_arm_robotiq_85_right_inner_knuckle_link"/>
+    <axis xyz="0 -1 0"/>
+    <origin rpy="0 0 0" xyz="-0.0127 0.0 0.06142"/>
+    <mimic joint="eddie_right_arm_robotiq_85_left_knuckle_joint" multiplier="-1"/>
+  </joint>
+  <joint name="eddie_right_arm_robotiq_85_left_finger_tip_joint" type="continuous">
+    <parent link="eddie_right_arm_robotiq_85_left_finger_link"/>
+    <child link="eddie_right_arm_robotiq_85_left_finger_tip_link"/>
+    <axis xyz="0 -1 0"/>
+    <origin rpy="0 0 0" xyz="0.00563134 0.0 0.04718515"/>
+    <mimic joint="eddie_right_arm_robotiq_85_left_knuckle_joint" multiplier="-1"/>
+  </joint>
+  <joint name="eddie_right_arm_robotiq_85_right_finger_tip_joint" type="continuous">
+    <parent link="eddie_right_arm_robotiq_85_right_finger_link"/>
+    <child link="eddie_right_arm_robotiq_85_right_finger_tip_link"/>
+    <axis xyz="0 -1 0"/>
+    <origin rpy="0 0 0" xyz="-0.00563134 0.0 0.04718515"/>
+    <mimic joint="eddie_right_arm_robotiq_85_left_knuckle_joint"/>
+  </joint>
+</robot>
diff --git a/eddie_urdf/eddie_meshes/base_link.dae b/eddie_urdf/eddie_meshes/base_link.dae
new file mode 100644
index 0000000..0e80802
--- /dev/null
+++ b/eddie_urdf/eddie_meshes/base_link.dae
@@ -0,0 +1,136 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.78.0 commit date:2017-02-24, commit time:14:33, hash:e92f2352830</authoring_tool>
+    </contributor>
+    <created>2023-07-22T09:25:50</created>
+    <modified>2023-07-22T09:25:50</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_effects>
+    <effect id="White_002-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">1 1 1 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Blue_002-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0 0 1 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="White_002-material" name="White_002">
+      <instance_effect url="#White_002-effect"/>
+    </material>
+    <material id="Blue_002-material" name="Blue_002">
+      <instance_effect url="#Blue_002-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="base_link_002-mesh" name="base link.002">
+      <mesh>
+        <source id="base_link_002-mesh-positions">
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+        </polylist>
+        <polylist material="Blue_002-material" count="2001">
+          <input semantic="VERTEX" source="#base_link_002-mesh-vertices" offset="0"/>
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1789 2880 1804 2881 1789 2882 1808 2883 1808 2883 1789 2882 1796 2884 1808 2883 1796 2884 1806 1368 1806 1368 1796 2884 1795 1369 1807 2885 1794 2886 1811 2887 1811 2887 1794 2886 1799 2888 1811 2887 1799 2888 1809 2889 1809 2889 1799 2888 1798 2890 1809 2891 1798 2892 1810 2893 1810 2893 1798 2892 1797 2894 1810 2893 1797 2894 1814 2895 1814 2895 1797 2894 1801 2896 1812 2897 1800 1525 1813 1524 1813 1524 1793 1526 1805 2875 1805 2875 1793 1526 1792 2876 1751 2898 1747 1312 1749 1311 1747 1312 1759 795 1752 2899 1754 2900 1747 1312 1752 2899 1754 2900 1756 2901 1747 1312 1756 2901 1757 1310 1747 1312 1766 1313 1779 1320 1787 1314 1405 1316 1403 2837 1413 1317 1601 349 1597 849 1702 33 1764 1319 1777 2902 1779 1320 1434 1321 1433 1242 1431 722 1735 1322 1734 2848 1748 1323 1398 1325 1397 636 1428 2903 1428 2903 1426 299 1398 1325 1400 1326 1398 1326 1414 697 1410 1005 1409 96 1403 1327 1711 608 1710 1200 1672 1307 1710 1200 1673 278 1672 1307 1774 1329 1786 1352 1788 1330 1426 82 1429 81 1427 1332 1674 1308 1680 1503 1678 811 1737 1333 1739 2853 1738 1334 1660 24 1586 1348 1642 1336 1642 1336 1643 1501 1661 442 1702 33 1700 35 1704 359 1742 636 1745 636 1744 1337 254 1339 828 1398 753 1397 753 1397 509 1326 254 1339 1688 276 1673 278 1701 844 1673 278 1705 1374 1701 844 1750 1340 1735 2852 1747 1341 1419 1342 1420 2830 1415 1343 1758 1258 1753 2850 1759 1345 1560 963 1564 1470 1559 751 1445 834 1463 474 1462 1346 1586 1348 1660 24 1670 23 1678 811 1680 1503 1585 1349 1598 1350 1600 51 1599 53 1767 1351 1787 2904 1786 1352 1402 1328 1403 1327 1404 1354 1403 1327 1405 748 1404 1354 1405 748 1415 747 1406 1353 1763 1355 1778 2862 1777 1356 1646 1359 1647 1502 1667 921 1667 921 1662 1136 1646 1359 1448 704 1445 834 1449 746 1445 834 1444 2839 1544 1360 1449 746 1445 834 1544 1360 1470 1361 1480 636 1482 636 1662 1136 1661 442 1643 1501 1643 1501 1644 1362 1662 1136 1463 474 1465 473 1468 1448 1468 1448 1464 1363 1463 474 1663 22 1713 1274 1712 629 1800 1364 1812 2905 1814 1365 1672 1307 1673 278 1674 1308 1794 1367 1807 2906 1806 1368 1728 636 1730 1371 1762 1370 1730 1371 1753 636 1758 1372 1700 35 1694 839 1696 845 1696 845 1701 844 1700 35 1701 844 1705 1374 1700 35 1705 1374 1710 1200 1704 1373 1710 1200 1708 1199 1704 1373 1500 1445 1571 765 1501 766 1427 1484 1399 1230 1406 1485</p>
+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="base_link" name="base_link" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#base_link_002-mesh" name="base_link">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="White_002-material" target="#White_002-material"/>
+              <instance_material symbol="Blue_002-material" target="#Blue_002-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/eddie_urdf/eddie_meshes/bracelet_no_vision_link.dae b/eddie_urdf/eddie_meshes/bracelet_no_vision_link.dae
new file mode 100644
index 0000000..2004f5f
--- /dev/null
+++ b/eddie_urdf/eddie_meshes/bracelet_no_vision_link.dae
@@ -0,0 +1,100 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.78.0 commit date:2017-02-24, commit time:14:33, hash:e92f2352830</authoring_tool>
+    </contributor>
+    <created>2023-07-22T09:02:25</created>
+    <modified>2023-07-22T09:02:25</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_effects>
+    <effect id="White-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">1 1 1 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="White-material" name="White">
+      <instance_effect url="#White-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="bracelet_no_vision_link-mesh" name="bracelet no vision link">
+      <mesh>
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+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="bracelet_no_vision_link" name="bracelet_no_vision_link" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#bracelet_no_vision_link-mesh" name="bracelet_no_vision_link">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="White-material" target="#White-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/eddie_urdf/eddie_meshes/bracelet_with_vision_link.dae b/eddie_urdf/eddie_meshes/bracelet_with_vision_link.dae
new file mode 100644
index 0000000..a92dda7
--- /dev/null
+++ b/eddie_urdf/eddie_meshes/bracelet_with_vision_link.dae
@@ -0,0 +1,100 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.78.0 commit date:2017-02-24, commit time:14:33, hash:e92f2352830</authoring_tool>
+    </contributor>
+    <created>2023-11-28T07:29:57</created>
+    <modified>2023-11-28T07:29:57</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_effects>
+    <effect id="white-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">1 1 1 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="white-material" name="white">
+      <instance_effect url="#white-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="shape0-mesh" name="shape0">
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+            <technique_common>
+              <instance_material symbol="white-material" target="#white-material"/>
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+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
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new file mode 100644
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new file mode 100644
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diff --git a/eddie_urdf/eddie_meshes/collision/2f_85/left_knuckle.stl b/eddie_urdf/eddie_meshes/collision/2f_85/left_knuckle.stl
new file mode 100644
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diff --git a/eddie_urdf/eddie_meshes/collision/2f_85/right_finger.stl b/eddie_urdf/eddie_meshes/collision/2f_85/right_finger.stl
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diff --git a/eddie_urdf/eddie_meshes/collision/2f_85/right_finger_tip.stl b/eddie_urdf/eddie_meshes/collision/2f_85/right_finger_tip.stl
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diff --git a/eddie_urdf/eddie_meshes/collision/2f_85/right_inner_knuckle.stl b/eddie_urdf/eddie_meshes/collision/2f_85/right_inner_knuckle.stl
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diff --git a/eddie_urdf/eddie_meshes/collision/2f_85/right_knuckle.stl b/eddie_urdf/eddie_meshes/collision/2f_85/right_knuckle.stl
new file mode 100644
index 0000000..92dbfda
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diff --git a/eddie_urdf/eddie_meshes/collision/2f_85/robotiq_base.stl b/eddie_urdf/eddie_meshes/collision/2f_85/robotiq_base.stl
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diff --git a/eddie_urdf/eddie_meshes/collision/2f_85/ur_to_robotiq_adapter.stl b/eddie_urdf/eddie_meshes/collision/2f_85/ur_to_robotiq_adapter.stl
new file mode 100644
index 0000000..2470209
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diff --git a/eddie_urdf/eddie_meshes/forearm_link.dae b/eddie_urdf/eddie_meshes/forearm_link.dae
new file mode 100644
index 0000000..8b174b8
--- /dev/null
+++ b/eddie_urdf/eddie_meshes/forearm_link.dae
@@ -0,0 +1,100 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.78.0 commit date:2017-02-24, commit time:14:33, hash:e92f2352830</authoring_tool>
+    </contributor>
+    <created>2023-07-22T09:18:46</created>
+    <modified>2023-07-22T09:18:46</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_effects>
+    <effect id="White-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
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+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">1 1 1 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="White-material" name="White">
+      <instance_effect url="#White-effect"/>
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+  </library_materials>
+  <library_geometries>
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3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
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3966 3571 4656 3845 4657 3847 4085 3878 4084</p>
+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="forearm_link" name="forearm_link" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#forearm_link-mesh" name="forearm_link">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="White-material" target="#White-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/eddie_urdf/eddie_meshes/half_arm_1_link.dae b/eddie_urdf/eddie_meshes/half_arm_1_link.dae
new file mode 100644
index 0000000..882d48f
--- /dev/null
+++ b/eddie_urdf/eddie_meshes/half_arm_1_link.dae
@@ -0,0 +1,100 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.78.0 commit date:2017-02-24, commit time:14:33, hash:e92f2352830</authoring_tool>
+    </contributor>
+    <created>2023-07-22T09:23:24</created>
+    <modified>2023-07-22T09:23:24</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_effects>
+    <effect id="White-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">1 1 1 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="White-material" name="White">
+      <instance_effect url="#White-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="half_arm_1_link-mesh" name="half arm 1 link">
+      <mesh>
+        <source id="half_arm_1_link-mesh-positions">
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3335 2976 3239 2977 1966 2978 1967 4188 3389 4345 3390 4343 3391 2978 1967 2979 364 2980 363 4363 3392 4360 3393 4361 607 2980 363 2981 362 2982 3394 4260 346 4257 3395 4259 16 2982 3394 2983 3396 2984 3397 3245 1536 3216 1489 3215 1979 2984 3397 2985 3226 2986 3225 2986 3225 2987 1465 2988 1464 3123 3398 3041 3399 3113 3400 2988 1464 2989 1463 2990 3401 2949 3323 2948 3360 2947 3359 2990 3401 2991 3385 2992 3402 2992 3402 2993 3188 2994 2963 4015 3403 4012 3404 4013 3405 2923 2962 2924 82 2922 147 80 3406 41 3407 81 3408 4186 126 4343 3391 4341 3409 4279 3410 4091 3411 4089 3412 4198 3413 4355 3414 4353 3415 2848 3416 2845 3417 2846 3417 4130 3418 4012 3404 4128 3419 4498 3420 4484 3421 4486 3422 3297 2 3241 3423 3242 3424 3186 729 3222 3425 3221 3426 2997 3427 3051 3428 3052 410 73 3429 96 3430 95 3431 2905 2003 2959 3368 2957 2001 83 3432 47 3433 84 3434 3001 3435 3055 3139 3056 3157 3182 408 3226 3278 3225 3436 4055 3437 4052 3438 4053 3439 4245 3440 4125 3441 4123 3442 2939 3347 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4335 589 4332 3603 4333 3604 3013 3605 3067 3606 3068 3472 4111 3607 4255 3608 4113 3609 4259 2008 4111 3607 4109 2009 4267 3610 4103 3203 4101 3611 3184 1495 3222 3425 3185 731 38 3612 35 3613 37 3614 3225 3436 3183 406 3182 408 4157 3615 4236 3616 4159 3617 42 71 39 3618 41 7 138 3619 66 3620 139 3621 4244 3622 4241 3623 4243 1485 81 3408 39 3624 78 3625 3176 2816 3230 3626 3177 3545 3170 3553 3171 381 2787 3554 2763 3518 3206 1466 3207 3516 60 3627 57 1453 59 375 4057 3628 4443 3629 4441 3630 3173 3508 3235 3631 3234 50 3275 3146 3265 3632 3274 3633 3044 3634 3125 3635 3127 3636 3237 3253 3171 381 3170 3553 4134 3637 4004 3638 4006 3639 3270 3640 3268 3178 3269 3558 4545 1434 4544 1450 4409 3641 2840 3642 2837 3643 2838 3644 3167 665 3239 192 3168 666 4302 3645 4227 3646 4225 3647 4282 3648 4279 3649 4281 1523 2822 3650 2819 3651 2820 3191 3243 3652 3164 1490 3216 1489 3164 1490 3242 3424 3165 2979 2912 3276 2941 53 2914 3653 4313 3654 4310 3655 4311 3656 3079 3657 3058 3658 3077 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+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="half_arm_1_link" name="half_arm_1_link" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#half_arm_1_link-mesh" name="half_arm_1_link">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="White-material" target="#White-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/eddie_urdf/eddie_meshes/half_arm_2_link.dae b/eddie_urdf/eddie_meshes/half_arm_2_link.dae
new file mode 100644
index 0000000..56159a3
--- /dev/null
+++ b/eddie_urdf/eddie_meshes/half_arm_2_link.dae
@@ -0,0 +1,100 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.78.0 commit date:2017-02-24, commit time:14:33, hash:e92f2352830</authoring_tool>
+    </contributor>
+    <created>2023-07-22T08:47:38</created>
+    <modified>2023-07-22T08:47:38</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_effects>
+    <effect id="White-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">1 1 1 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.25 0.25 0.25 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="White-material" name="White">
+      <instance_effect url="#White-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="half_arm_2_link-mesh" name="half arm 2 link">
+      <mesh>
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+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="half_arm_2_link" name="half_arm_2_link" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#half_arm_2_link-mesh" name="half_arm_2_link">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="White-material" target="#White-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/eddie_urdf/eddie_meshes/hub_wheel.stl b/eddie_urdf/eddie_meshes/hub_wheel.stl
new file mode 100644
index 0000000..2a44c3c
Binary files /dev/null and b/eddie_urdf/eddie_meshes/hub_wheel.stl differ
diff --git a/eddie_urdf/eddie_meshes/kelo_base.stl b/eddie_urdf/eddie_meshes/kelo_base.stl
new file mode 100644
index 0000000..f39cbf7
Binary files /dev/null and b/eddie_urdf/eddie_meshes/kelo_base.stl differ
diff --git a/eddie_urdf/eddie_meshes/kelo_drive.stl b/eddie_urdf/eddie_meshes/kelo_drive.stl
new file mode 100644
index 0000000..7a74b96
Binary files /dev/null and b/eddie_urdf/eddie_meshes/kelo_drive.stl differ
diff --git a/eddie_urdf/eddie_meshes/kelo_drive_attachments.stl b/eddie_urdf/eddie_meshes/kelo_drive_attachments.stl
new file mode 100644
index 0000000..306048a
Binary files /dev/null and b/eddie_urdf/eddie_meshes/kelo_drive_attachments.stl differ
diff --git a/eddie_urdf/eddie_meshes/kelo_torso.stl b/eddie_urdf/eddie_meshes/kelo_torso.stl
new file mode 100644
index 0000000..2c5262f
Binary files /dev/null and b/eddie_urdf/eddie_meshes/kelo_torso.stl differ
diff --git a/eddie_urdf/eddie_meshes/shoulder_link.dae b/eddie_urdf/eddie_meshes/shoulder_link.dae
new file mode 100644
index 0000000..ead076c
--- /dev/null
+++ b/eddie_urdf/eddie_meshes/shoulder_link.dae
@@ -0,0 +1,100 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.78.0 commit date:2017-02-24, commit time:14:33, hash:e92f2352830</authoring_tool>
+    </contributor>
+    <created>2023-07-22T08:48:26</created>
+    <modified>2023-07-22T08:48:26</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_effects>
+    <effect id="White-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">1 1 1 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.25 0.25 0.25 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="White-material" name="White">
+      <instance_effect url="#White-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="shoulder_link-mesh" name="shoulder link">
+      <mesh>
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+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="shoulder_link" name="shoulder_link" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#shoulder_link-mesh" name="shoulder_link">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="White-material" target="#White-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/eddie_urdf/eddie_meshes/spherical_wrist_1_link.dae b/eddie_urdf/eddie_meshes/spherical_wrist_1_link.dae
new file mode 100644
index 0000000..b96ec18
--- /dev/null
+++ b/eddie_urdf/eddie_meshes/spherical_wrist_1_link.dae
@@ -0,0 +1,100 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.78.0 commit date:2017-02-24, commit time:14:33, hash:e92f2352830</authoring_tool>
+    </contributor>
+    <created>2023-07-22T09:15:44</created>
+    <modified>2023-07-22T09:15:44</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_effects>
+    <effect id="White-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">1 1 1 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="White-material" name="White">
+      <instance_effect url="#White-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="spherical_wrist_1_link-mesh" name="spherical wrist 1 link">
+      <mesh>
+        <source id="spherical_wrist_1_link-mesh-positions">
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3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
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+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="spherical_wrist_1_link" name="spherical_wrist_1_link" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#spherical_wrist_1_link-mesh" name="spherical_wrist_1_link">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="White-material" target="#White-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/eddie_urdf/eddie_meshes/spherical_wrist_2_link.dae b/eddie_urdf/eddie_meshes/spherical_wrist_2_link.dae
new file mode 100644
index 0000000..298e8d3
--- /dev/null
+++ b/eddie_urdf/eddie_meshes/spherical_wrist_2_link.dae
@@ -0,0 +1,100 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.78.0 commit date:2017-02-24, commit time:14:33, hash:e92f2352830</authoring_tool>
+    </contributor>
+    <created>2023-07-22T09:12:57</created>
+    <modified>2023-07-22T09:12:57</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_effects>
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3346 3139 3358 3139 3358 3119 3346 3114 3341 3139 3358 3114 3341 3137 3356 3137 3356 3114 3341 3113 3340 3137 3356 3113 3340 3115 3342 3158 3368 3159 3369 3160 3370 3161 3371 3162 3372 3163 3373 3158 3368 3160 3370 3164 3374 3164 3374 3160 3370 3165 3375 3164 3374 3165 3375 3166 3376 3166 3376 3165 3375 3167 3377 3166 3376 3167 3377 3168 3378 3168 3378 3167 3377 3169 3379 3168 3378 3169 3379 3170 3380 3170 3380 3169 3379 3171 3381 3170 3380 3171 3381 3172 3382 3172 3382 3171 3381 3173 2737 3172 3382 3173 2737 3174 2736 3174 2736 3175 1247 3176 1246 1518 1816 1519 2553 2221 2606 2282 288 2280 1242 2281 286 1486 1700 1502 1705 1501 420 3941 3383 3887 3384 3889 3385 3161 3371 3163 3373 3185 3386 3185 3386 3163 3373 3186 3387 3185 3386 3186 3387 3187 3388 3187 3388 3186 3387 3188 3389 3187 3388 3188 3389 3189 3390 3189 3390 3188 3389 3190 3391 3189 3390 3190 3391 3191 3392 3191 3392 3190 3391 3192 3393 3191 3392 3192 3393 3193 3394 3193 3394 3194 340 3195 1135 3173 2737 3196 1134 3197 1949 2438 2725 2442 423 2437 3395 3195 1135 3173 2737 3171 3381 3195 1135 3171 3381 3193 3394 3193 3394 3171 3381 3169 3379 3193 3394 3169 3379 3191 3392 3191 3392 3169 3379 3167 3377 3191 3392 3167 3377 3189 3390 3189 3390 3167 3377 3165 3375 3189 3390 3165 3375 3187 3388 3187 3388 3165 3375 3160 3370 3187 3388 3160 3370 3185 3386 3185 3386 3160 3370 3159 3369 3185 3386 3159 3369 3161 3371 2409 385 2448 386 2411 2708 3176 1246 3148 271 3146 3365 3176 1246 3146 3365 3174 2736 3174 2736 3146 3365 3144 3363 3174 2736 3144 3363 3172 3382 3172 3382 3144 3363 3142 3361 3172 3382 3142 3361 3170 3380 3170 3380 3142 3361 3140 3359 3170 3380 3140 3359 3168 3378 3168 3378 3140 3359 3138 3357 3168 3378 3138 3357 3166 3376 3166 3376 3138 3357 3117 3344 3166 3376 3117 3344 3164 3374 3164 3374 3117 3344 3116 3343 3164 3374 3116 3343 3158 3368 402 1252 403 60 400 1194 424 427 423 1839 422 1035 3130 2535 3105 1936 3104 3334 3130 2535 3104 3334 3128 3355 3128 3355 3104 3334 3103 3333 3128 3355 3103 3333 3126 3353 3126 3353 3103 3333 3102 3332 3126 3353 3102 3332 3124 3351 3124 3351 3102 3332 3101 3331 3124 3351 3101 3331 3122 3349 3122 3349 3101 3331 3100 3330 3122 3349 3100 3330 3120 3347 3120 3347 3100 3330 3099 3329 3120 3347 3099 3329 3118 3345 3118 3345 3099 3329 3098 3328 3118 3345 3098 3328 3112 3339 3112 3339 3098 3328 3097 3327 3112 3339 3097 3327 3113 3340 3113 3340 3097 3327 3096 3326 3113 3340 3096 3326 3115 3342 3115 3342 3096 3326 3095 3325 3115 3342 3095 3325 3116 3343 3116 3343 3095 3325 3094 3324 3116 3343 3094 3324 3158 3368 3158 3368 3094 3324 3093 3323 3158 3368 3093 3323 3159 3369 3159 3369 3093 3323 3092 3322 3159 3369 3092 3322 3161 3371 3161 3371 3092 3322 3091 3321 3161 3371 3091 3321 3162 3372 3162 3372 3091 3321 3111 3338 4318 3396 4315 3397 4317 3398 3745 3399 95 3400 3746 3401 2282 288 2284 2580 2259 2623 1417 3402 1450 3403 1420 1248 2442 423 2436 3367 2437 3395 1450 3403 1452 326 1443 319 1509 378 2231 1051 2224 2716 2388 3404 2397 1828 2387 2538 1903 2209 1902 2208 2773 3040 2773 3040 1902 2208 2426 3405 2773 3040 2426 3405 2772 3039 2369 3284 1434 435 1433 1744 2772 3039 2427 3406 2771 3038 2392 3407 2391 1197 2394 3408 2766 3033 2429 350 2765 3032 980 329 978 500 987 330 2765 3032 2431 1656 2754 3023 2754 3023 2433 1655 2755 3024 2403 1030 3192 3393 3190 3391 2755 3024 2434 1005 2764 1004 2427 3406 2429 350 2771 3038 2764 1004 2419 1003 2763 2621 2763 2621 2420 2620 2762 3031 2762 3031 2420 2620 2421 2718 2762 3031 2421 2718 2761 3030 2761 3030 2421 2718 2422 1169 2761 3030 2422 1169 2760 3029 2760 3029 2422 1169 2423 1244 2760 3029 2423 1244 2759 3028 2759 3028 2423 1244 2424 2217 2759 3028 2424 2217 2758 3027 2758 3027 2424 2217 2425 2722 2758 3027 2425 2722 2757 3026 2757 3026 2425 2722 2362 2677 2757 3026 2362 2677 2756 3025 2756 3025 2362 2677 2361 2676 2866 3100 2522 2339 2524 2338 2866 3100 2524 2338 2868 3104 2868 3104 2524 2338 2536 2807 2868 3104 2536 2807 2869 3105 2869 3105 2536 2807 2534 2805 2869 3105 2534 2805 2477 2751 2477 2751 2534 2805 2532 2803 2477 2751 2532 2803 2478 2752 2478 2752 2532 2803 2530 2801 2478 2752 2530 2801 2352 2671 2352 2671 2530 2801 2528 2799 2352 2671 2528 2799 2350 2669 2350 2669 2528 2799 2526 2797 2350 2669 2526 2797 2913 3147 2913 3147 2526 2797 2471 2747 2913 3147 2471 2747 2942 3174 2942 3174 2471 2747 2473 2749 2942 3174 2473 2749 2943 3175 2943 3175 2473 2749 2618 2887 2943 3175 2618 2887 3027 3259 3027 3259 2618 2887 2617 2886 3027 3259 2617 2886 2968 3199 2968 3199 2617 2886 2644 2913 2968 3199 2644 2913 2969 3200 2969 3200 2644 2913 2711 2980 2969 3200 2711 2980 2325 2653 2325 2653 2711 2980 2741 3010 2325 2653 2741 3010 2326 2654 2326 2654 2741 3010 2463 2743 2326 2654 2463 2743 3005 3237 3005 3237 2463 2743 2348 2667 3005 3237 2348 2667 3108 3335 3108 3335 2348 2667 2347 2666 3108 3335 2347 2666 3109 3336 3109 3336 2347 2666 2496 2770 3109 3336 2496 2770 3110 3337 3110 3337 2496 2770 2495 2769 3110 3337 2495 2769 3111 3338 3111 3338 2495 2769 2494 2768 3111 3338 2494 2768 3162 3372 3162 3372 2494 2768 2756 3025 3162 3372 2756 3025 3163 3373 3163 3373 2756 3025 2361 2676 3163 3373 2361 2676 3186 3387 3186 3387 2361 2676 2360 2675 3186 3387 2360 2675 3188 3389 3188 3389 2360 2675 2404 1241 3188 3389 2404 1241 3190 3391 3632 3409 3631 3410 3634 3411 3155 241 3136 1038 3135 375 1445 1947 1439 2198 1444 317 3266 188 3497 3412 3499 188 3483 3413 3482 3414 3484 3415 1931 1647 1930 2252 2055 1604 3465 3416 3244 3417 3246 3418 3422 2297 3225 3419 3421 2302 2142 907 2141 853 1932 2629 3510 3420 3440 3421 3512 174 3448 134 122 3422 121 2456 3434 3423 3488 2293 3486 2309 142 3424 150 3425 143 3426 3288 3427 3289 3428 3290 3429 3291 3430 3292 3431 3290 3429 3290 3429 3292 3431 3293 3432 3290 3429 3293 3432 3288 3427 3294 3433 3295 3434 3291 3430 3291 3430 3295 3434 3296 3435 3291 3430 3296 3435 3292 3431 315 949 486 546 259 3436 3294 3433 3298 2452 3299 3437 3294 3433 3299 3437 3295 3434 720 866 697 2628 242 157 289 191 684 792 686 796 3477 3438 3286 3439 3234 3103 1181 3091 1182 3440 1192 1547 3408 142 3406 142 3407 142 3031 469 2903 3135 3030 1877 257 1871 487 533 485 532 3447 3441 131 154 122 3422 2085 858 2090 1503 2086 856 3314 3442 3315 1496 3312 1495 3316 3443 3317 3444 3314 3442 3314 3442 3317 3444 3318 3445 3314 3442 3318 3445 3315 1496 3319 3446 3320 3447 3316 3443 3316 3443 3320 3447 3321 6 3316 3443 3321 6 3317 3444 3322 3448 3323 3449 3319 3446 3319 3446 3323 3449 3324 3450 3319 3446 3324 3450 3320 3447 3325 3451 3326 3452 3322 3448 3322 3448 3326 3452 3327 3453 3322 3448 3327 3453 3323 3449 3328 3454 3329 3455 3325 3451 3325 3451 3329 3455 3330 3456 3325 3451 3330 3456 3326 3452 3331 3457 3332 3458 3328 3454 3328 3454 3332 3458 3333 3459 3328 3454 3333 3459 3329 3455 3334 3460 3335 3461 3331 3457 3331 3457 3335 3461 3336 3462 3331 3457 3336 3462 3332 3458 3337 3463 3338 3464 3334 3460 3334 3460 3338 3464 3339 3465 3334 3460 3339 3465 3335 3461 3340 3466 3341 3467 3337 3463 3337 3463 3341 3467 3342 3468 3337 3463 3342 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2303 3222 2303 3421 2302 3225 3419 3225 3419 3422 2297 3224 3559 3224 3559 3423 2296 3232 3560 3232 3560 3425 3561 3233 3562 3233 3562 3427 3563 3230 3564 3230 3564 3429 3565 3207 3517 2329 3220 2839 1482 2330 1454 152 3566 155 3567 3442 131 264 3568 194 3569 3434 3423 165 3570 3456 3570 204 3570 161 3571 3436 3572 3437 2656 161 3571 3437 2656 159 3573 1990 3574 2030 2793 1989 3575 192 3576 3438 3577 3436 3572 192 3576 3436 3572 202 3578 146 3579 3449 3579 168 3579 179 3580 3439 3581 3438 3577 179 3580 3438 3577 180 3582 3439 3581 189 3583 178 3584 3439 3581 178 3584 3440 3421 178 3584 116 3585 3440 3421 3263 3586 3357 3587 3265 3078 115 3588 143 3589 3441 175 3441 175 143 3589 144 3590 3441 175 144 3590 3442 131 3442 131 144 3590 152 3566 208 3591 217 3592 3454 2291 3442 131 155 3567 140 3593 3442 131 140 3593 3443 1442 202 3594 3436 3594 161 3594 3443 1442 174 3595 176 3596 3443 1442 176 3596 3444 3597 140 3598 174 3598 3443 3598 3444 3597 148 3599 139 3600 3444 3597 139 3600 3445 182 139 3600 136 153 3445 182 3317 3601 3239 3602 3237 3603 2100 2405 2091 1599 2099 2399 1080 1342 1042 1351 1041 1350 168 3604 3449 3605 170 3606 170 3606 3449 3605 3448 134 170 3606 3448 134 209 3607 209 3607 3448 134 211 2455 1946 2239 1953 803 1947 1872 3449 3605 146 3608 3450 466 230 3609 3455 3610 216 3611 254 3612 255 3613 3450 466 3450 466 255 3613 225 3614 3450 466 225 3614 3451 137 3451 137 225 3614 226 722 240 3615 3433 2298 237 3616 3451 137 251 723 253 3617 3451 137 253 3617 3452 1849 253 3617 267 1847 3452 1849 270 1848 272 3618 3452 1849 3452 1849 272 3618 273 3619 3452 1849 273 3619 3435 3620 3435 3620 273 3619 275 3621 3435 3620 275 3621 277 3622 220 3623 3453 2308 223 3624 223 3624 3453 2308 3435 3620 223 3624 3435 3620 246 3625 159 3626 3437 3626 126 3626 3453 2308 222 3627 3434 3423 3434 3423 222 3627 262 3628 3434 3423 262 3628 264 3568 3434 3423 194 3569 243 3629 3434 3423 243 3629 3454 2291 3454 2291 243 3629 208 3591 246 3625 3435 3620 277 3622 3454 2291 217 3592 216 3630 3454 2291 216 3630 3455 3610 190 3631 1225 768 191 3632 230 3609 232 3633 3455 3610 3455 3610 232 3633 234 3634 3455 3610 234 3634 3433 2298 3433 2298 234 3634 235 3635 3433 2298 235 3635 237 3616 204 3636 3456 1260 206 3637 206 3637 3456 1260 3433 2298 206 3637 3433 2298 240 3615 179 3638 189 3638 3439 3638 3456 1260 165 3639 3457 1707 254 3612 3450 466 146 3640 183 1706 184 3641 3457 1707 3457 1707 184 3641 163 3642 3457 1707 163 3642 3458 3643 3458 3643 163 3642 129 3644 129 3644 128 3645 3458 3643 3495 3646 3268 3647 3270 3648 3489 3649 3274 869 3276 877 3460 3086 119 3650 126 3651 3460 3086 126 3651 3437 2656 148 3652 3444 3652 176 3652 3463 3653 3246 3418 3248 2306 3422 2297 3423 2296 3224 3559 3416 142 3414 142 3415 142 3435 3620 3484 2310 3482 3654 3415 3655 3376 3656 3416 1277 3444 3597 3466 184 3464 2301 3501 3657 3262 3658 3264 189 2890 3126 2855 2222 2856 1501 2466 3093 2465 772 2467 783 3255 3659 3253 3660 3342 3661 3425 142 3423 142 3424 142 2084 1598 1988 3059 2083 827 3480 3662 3435 3620 3482 3654 3460 3086 120 3663 119 3650 3412 142 3410 142 3411 142 3309 3055 3308 3664 3311 3144 3379 3665 3378 3666 3411 3667 3411 3667 3410 3668 3379 3665 3379 3665 3410 3668 3409 3669 3379 3665 3409 3669 3380 3670 3409 3669 3408 3671 3380 3670 3380 3670 3408 3671 3407 3672 3380 3670 3407 3672 3381 3673 3407 3672 3406 3674 3381 3673 3381 3673 3406 3674 3405 3675 3381 3673 3405 3675 3382 3676 3405 3675 3404 3543 3382 3676 3382 3676 3404 3543 3403 3542 3382 3676 3403 3542 3383 3677 3403 3542 3402 3540 3383 3677 3383 3677 3402 3540 3401 3539 3383 3677 3401 3539 3384 3678 3401 3539 3400 3537 3384 3678 3384 3678 3400 3537 3399 3536 3384 3678 3399 3536 3385 3679 3399 3536 3398 3534 3385 3679 3385 3679 3398 3534 3397 3533 3385 3679 3397 3533 3358 3680 3397 3533 3396 3531 3358 3680 3358 3680 3396 3531 3395 3530 3358 3680 3395 3530 3359 3681 3395 3530 3394 3528 3359 3681 3359 3681 3394 3528 3393 3527 3359 3681 3393 3527 3360 3682 3393 3527 3392 3525 3360 3682 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+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="spherical_wrist_2_link" name="spherical_wrist_2_link" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#spherical_wrist_2_link-mesh" name="spherical_wrist_2_link">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="White-material" target="#White-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/eddie_urdf/eddie_meshes/visual/2f_85/left_finger.dae b/eddie_urdf/eddie_meshes/visual/2f_85/left_finger.dae
new file mode 100644
index 0000000..a29253a
--- /dev/null
+++ b/eddie_urdf/eddie_meshes/visual/2f_85/left_finger.dae
@@ -0,0 +1,133 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 3.0.1 commit date:2022-01-25, commit time:17:19, hash:dc2d18018171</authoring_tool>
+    </contributor>
+    <created>2022-08-24T15:34:03</created>
+    <modified>2022-08-24T15:34:03</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="grey-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.25 0.25 0.25 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.7991033 0.7991029 0.799103 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.7991033 0.7991029 0.799103 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">0</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="black-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.25 0.25 0.25 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.03150501 0.03150501 0.03150501 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.03150501 0.03150501 0.03150501 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">0</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="grey-material" name="grey">
+      <instance_effect url="#grey-effect"/>
+    </material>
+    <material id="black-material" name="black">
+      <instance_effect url="#black-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="left_finger-mesh" name="left_finger">
+      <mesh>
+        <source id="left_finger-mesh-positions">
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+          <technique_common>
+            <accessor source="#left_finger-mesh-normals-array" count="2147" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="left_finger-mesh-vertices">
+          <input semantic="POSITION" source="#left_finger-mesh-positions"/>
+        </vertices>
+        <triangles material="grey-material" count="570">
+          <input semantic="VERTEX" source="#left_finger-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#left_finger-mesh-normals" offset="1"/>
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1969 1357 1967 1380 1990 1357 1967 1381 1991 1356 1966 1382 1992 1357 1967 1357 1967 1382 1992 1383 1993 1357 1967 1383 1993 1381 1991 1381 1991 1383 1993 1384 1994 1381 1991 1384 1994 1385 1995 1372 1982 1374 1984 1386 1996 1386 1996 1374 1984 1375 1985 1386 1996 1375 1985 1387 1997 1387 1997 1375 1985 1376 1986 1387 1997 1376 1986 1388 1998 1388 1998 1376 1986 1377 1987 1388 1998 1377 1987 1389 1999 1389 1999 1377 1987 1378 1988 1389 1999 1378 1988 1390 2000 1390 2000 1378 1988 1379 1989 1390 2000 1379 1989 1391 2001 1391 2001 1379 1989 1380 1990 1391 2001 1380 1990 1392 2002 1392 2002 1380 1990 1381 1991 1392 2002 1381 1991 1393 2003 1393 2003 1381 1991 1385 1995 1393 2003 1385 1995 1394 2004 1327 1923 1326 1922 1386 1996 1386 1996 1326 1922 1395 2005 1386 1996 1395 2005 1372 1982 1335 1937 1334 1935 1391 2001 1391 2001 1334 1935 1333 1933 1391 2001 1333 1933 1390 2000 1390 2000 1333 1933 1332 1932 1390 2000 1332 1932 1389 1999 1389 1999 1332 1932 1331 1930 1389 1999 1331 1930 1388 1998 1388 1998 1331 1930 1330 1929 1388 1998 1330 1929 1387 1997 1387 1997 1330 1929 1329 1927 1387 1997 1329 1927 1386 1996 1386 1996 1329 1927 1328 1926 1386 1996 1328 1926 1327 1923 1335 1937 1391 2001 1336 1938 1336 1938 1391 2001 1392 2002 1336 1938 1392 2002 1339 1943 1339 1943 1392 2002 1393 2003 1339 1943 1393 2003 1338 1942 1338 1942 1393 2003 1394 2004 1338 1942 1394 2004 1337 1940 1384 1994 1383 1993 1396 2006 1396 2006 1383 1993 1382 1992 1394 2004 1385 1995 1397 2007 1397 2007 1385 1995 1384 1994 1340 1944 1337 1940 1394 2004 1355 1965 1398 2008 1399 2009 1399 2009 1398 2008 1400 2010 1399 2009 1400 2010 1401 2011 1401 2011 1400 2010 1402 2012 1401 2011 1402 2012 1403 2013 1403 2013 1402 2012 1404 2014 1403 2013 1404 2014 1405 2015 1405 2015 1404 2014 1406 2016 1405 2015 1406 2016 1407 2017 1407 2017 1406 2016 1408 2018 1407 2017 1408 2018 1409 2019 1409 2019 1408 2018 1410 2020 1409 2019 1410 2020 1411 2021 1411 2021 1410 2020 1412 2022 1411 2021 1412 2022 1413 2023 1413 2023 1412 2022 1414 2024 1413 2023 1414 2024 1415 2025 1415 2025 1414 2024 1416 2026 1415 2025 1416 2026 1417 2027 1417 2027 1416 2026 1418 2028 1417 2027 1418 2028 1419 2029 1419 2029 1418 2028 1420 2030 1419 2029 1420 2030 1421 2031 1421 2031 1420 2030 1396 2006 1421 2031 1396 2006 1422 2032 1422 2032 1396 2006 1382 1992 1422 2032 1382 1992 1356 1966 1384 1994 1396 2006 1397 2007 1397 2007 1396 2006 1420 2033 1397 2007 1420 2033 1423 2034 1423 2034 1420 2033 1418 2035 1423 2034 1418 2035 1424 2036 1424 2036 1418 2035 1416 2037 1424 2036 1416 2037 1425 2038 1425 2038 1416 2037 1414 2039 1425 2038 1414 2039 1426 2040 1426 2040 1414 2039 1412 2041 1426 2040 1412 2041 1427 2042 1427 2042 1412 2041 1410 2043 1427 2042 1410 2043 1428 2044 1428 2044 1410 2043 1408 2045 1428 2044 1408 2045 1429 2046 1429 2046 1408 2045 1406 2047 1429 2046 1406 2047 1430 2048 1430 2048 1406 2047 1404 2049 1430 2048 1404 2049 1431 2050 1431 2050 1404 2049 1402 2051 1431 2050 1402 2051 1432 2052 1432 2052 1402 2051 1400 2053 1432 2052 1400 2053 1433 2054 1433 2054 1400 2053 1398 2008 1433 2054 1398 2008 1434 2055 1355 1965 1354 1964 1398 2008 1398 2008 1354 1964 1373 1983 1398 2008 1373 1983 1434 2055 1434 2055 1373 1983 1372 1982 1434 2055 1372 1982 1395 2005 1394 2004 1397 2007 1340 1944 1340 1944 1397 2007 1423 2034 1340 1944 1423 2034 1341 1946 1341 1946 1423 2034 1424 2036 1341 1946 1424 2036 1342 1947 1342 1947 1424 2036 1425 2038 1342 1947 1425 2038 1343 1949 1343 1949 1425 2038 1426 2040 1343 1949 1426 2040 1344 1950 1344 1950 1426 2040 1427 2042 1344 1950 1427 2042 1345 1952 1345 1952 1427 2042 1428 2044 1345 1952 1428 2044 1346 1953 1346 1953 1428 2044 1429 2046 1346 1953 1429 2046 1347 1955 1347 1955 1429 2046 1430 2048 1347 1955 1430 2048 1348 1956 1348 1956 1430 2048 1431 2050 1348 1956 1431 2050 1349 1958 1349 1958 1431 2050 1432 2052 1349 1958 1432 2052 1350 1959 1350 1959 1432 2052 1433 2054 1350 1959 1433 2054 1352 1962 1352 1962 1433 2054 1434 2055 1352 1962 1434 2055 1351 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+        </triangles>
+        <triangles material="black-material" count="2360">
+          <input semantic="VERTEX" source="#left_finger-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#left_finger-mesh-normals" offset="1"/>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="left_finger" name="left_finger" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#left_finger-mesh" name="left_finger">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="grey-material" target="#grey-material"/>
+              <instance_material symbol="black-material" target="#black-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/eddie_urdf/eddie_meshes/visual/2f_85/left_finger_tip.dae b/eddie_urdf/eddie_meshes/visual/2f_85/left_finger_tip.dae
new file mode 100644
index 0000000..4eef71e
--- /dev/null
+++ b/eddie_urdf/eddie_meshes/visual/2f_85/left_finger_tip.dae
@@ -0,0 +1,133 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 3.0.1 commit date:2022-01-25, commit time:17:19, hash:dc2d18018171</authoring_tool>
+    </contributor>
+    <created>2022-08-24T15:33:17</created>
+    <modified>2022-08-24T15:33:17</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="black-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.25 0.25 0.25 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.03150501 0.03150501 0.03150501 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.03150501 0.03150501 0.03150501 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">0</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="grey-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.25 0.25 0.25 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.7991033 0.7991029 0.799103 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.7991033 0.7991029 0.799103 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">0</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="black-material" name="black">
+      <instance_effect url="#black-effect"/>
+    </material>
+    <material id="grey-material" name="grey">
+      <instance_effect url="#grey-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="left_finger_tip-mesh" name="left_finger_tip">
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+        </triangles>
+        <triangles material="grey-material" count="950">
+          <input semantic="VERTEX" source="#left_finger_tip-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#left_finger_tip-mesh-normals" offset="1"/>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="left_finger_tip" name="left_finger_tip" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#left_finger_tip-mesh" name="left_finger_tip">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="black-material" target="#black-material"/>
+              <instance_material symbol="grey-material" target="#grey-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/eddie_urdf/eddie_meshes/visual/2f_85/left_inner_knuckle.dae b/eddie_urdf/eddie_meshes/visual/2f_85/left_inner_knuckle.dae
new file mode 100644
index 0000000..73e5036
--- /dev/null
+++ b/eddie_urdf/eddie_meshes/visual/2f_85/left_inner_knuckle.dae
@@ -0,0 +1,133 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 3.0.1 commit date:2022-01-25, commit time:17:19, hash:dc2d18018171</authoring_tool>
+    </contributor>
+    <created>2022-08-24T15:32:50</created>
+    <modified>2022-08-24T15:32:50</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="black-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.25 0.25 0.25 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.03150501 0.03150501 0.03150501 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.03150501 0.03150501 0.03150501 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">0</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="grey-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.25 0.25 0.25 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.7991033 0.7991029 0.799103 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.7991033 0.7991029 0.799103 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">0</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="black-material" name="black">
+      <instance_effect url="#black-effect"/>
+    </material>
+    <material id="grey-material" name="grey">
+      <instance_effect url="#grey-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="left_inner_knuckle-mesh" name="left_inner_knuckle">
+      <mesh>
+        <source id="left_inner_knuckle-mesh-positions">
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+          <technique_common>
+            <accessor source="#left_inner_knuckle-mesh-normals-array" count="1180" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="left_inner_knuckle-mesh-vertices">
+          <input semantic="POSITION" source="#left_inner_knuckle-mesh-positions"/>
+        </vertices>
+        <triangles material="black-material" count="1732">
+          <input semantic="VERTEX" source="#left_inner_knuckle-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#left_inner_knuckle-mesh-normals" offset="1"/>
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+        </triangles>
+        <triangles material="grey-material" count="46">
+          <input semantic="VERTEX" source="#left_inner_knuckle-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#left_inner_knuckle-mesh-normals" offset="1"/>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="left_inner_knuckle" name="left_inner_knuckle" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#left_inner_knuckle-mesh" name="left_inner_knuckle">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="black-material" target="#black-material"/>
+              <instance_material symbol="grey-material" target="#grey-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/eddie_urdf/eddie_meshes/visual/2f_85/left_knuckle.dae b/eddie_urdf/eddie_meshes/visual/2f_85/left_knuckle.dae
new file mode 100644
index 0000000..3e4145f
--- /dev/null
+++ b/eddie_urdf/eddie_meshes/visual/2f_85/left_knuckle.dae
@@ -0,0 +1,98 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 3.0.1 commit date:2022-01-25, commit time:17:19, hash:dc2d18018171</authoring_tool>
+    </contributor>
+    <created>2022-08-11T20:31:03</created>
+    <modified>2022-08-11T20:31:03</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="grey-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.25 0.25 0.25 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.7991033 0.7991029 0.799103 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.7991033 0.7991029 0.799103 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">0</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="grey-material" name="grey">
+      <instance_effect url="#grey-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="left_knuckle-mesh" name="left_knuckle">
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244 537 826 3 3 537 826 5 5 5 5 537 826 7 7 191 229 190 228 529 827 191 229 529 827 234 722 234 722 529 827 528 828 234 722 528 828 235 829 235 829 528 828 527 830 235 829 527 830 236 831 236 831 527 830 526 832 236 831 526 832 239 833 239 833 526 832 525 834 239 833 525 834 240 835 240 835 525 834 524 836 240 835 524 836 241 837 241 837 524 836 523 838 241 837 523 838 237 839 237 839 523 838 522 840 237 839 522 840 238 841 238 841 522 840 173 211 238 841 173 211 172 210 171 209 170 208 530 842 171 209 530 842 198 843 198 843 530 842 531 844 198 843 531 844 195 845 195 845 531 844 532 846 195 845 532 846 196 847 196 847 532 846 533 848 196 847 533 848 197 849 197 849 533 848 534 850 197 849 534 850 192 851 192 851 534 850 535 852 192 851 535 852 193 853 193 853 535 852 536 854 193 853 536 854 194 855 194 855 536 854 537 856 194 855 537 856 199 857 199 857 537 856 153 191 199 857 153 191 152 190 112 131 113 132 538 858 538 858 113 132 433 583 538 858 433 583 539 859 539 859 433 583 432 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919 207 255 206 253 582 919 206 253 583 920 583 920 206 253 205 252 583 920 205 252 584 921 584 921 205 252 204 250 584 921 204 250 585 922 585 922 204 250 203 249 585 922 203 249 586 923 586 923 203 249 202 247 586 923 202 247 587 924 587 924 202 247 201 246 587 924 201 246 588 925 588 925 201 246 200 243 588 925 200 243 0 0 0 0 200 243 1 1 56 56 36 36 589 926 589 926 36 36 572 909 589 926 572 909 590 927 590 927 572 909 573 910 590 927 573 910 591 928 591 928 573 910 574 911 591 928 574 911 592 929 592 929 574 911 575 912 592 929 575 912 593 930 593 930 575 912 576 913 593 930 576 913 594 931 594 931 576 913 577 914 594 931 577 914 595 932 595 932 577 914 578 915 595 932 578 915 596 933 596 933 578 915 579 916 596 933 579 916 597 934 597 934 579 916 580 917 597 934 580 917 598 935 598 935 580 917 581 918 598 935 581 918 599 936 599 936 581 918 582 919 599 936 582 919 600 937 600 937 582 919 583 920 600 937 583 920 601 938 601 938 583 920 584 921 601 938 584 921 602 939 602 939 584 921 585 922 602 939 585 922 603 940 603 940 585 922 586 923 603 940 586 923 604 941 604 941 586 923 587 924 604 941 587 924 605 942 605 942 587 924 588 925 605 942 588 925 38 38 38 38 588 925 0 0 75 93 56 94 459 643 459 643 56 94 589 943 459 643 589 943 460 644 460 644 589 943 590 944 460 644 590 944 462 662 462 662 590 944 591 945 462 662 591 945 463 663 463 663 591 945 592 946 463 663 592 946 464 665 464 665 592 946 593 947 464 665 593 947 473 681 473 681 593 947 594 948 473 681 594 948 474 682 474 682 594 948 595 949 474 682 595 949 476 684 476 684 595 949 596 950 476 684 596 950 478 686 478 686 596 950 597 951 478 686 597 951 479 687 479 687 597 951 598 952 479 687 598 952 481 688 481 688 598 952 599 953 481 688 599 953 485 698 485 698 599 953 600 954 485 698 600 954 486 699 486 699 600 954 601 955 486 699 601 955 488 701 488 701 601 955 602 956 488 701 602 956 490 703 490 703 602 956 603 957 490 703 603 957 491 704 491 704 603 957 604 958 491 704 604 958 484 691 484 691 604 958 605 959 484 691 605 959 57 57 57 57 605 959 38 58</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="left_knuckle" name="left_knuckle" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#left_knuckle-mesh" name="left_knuckle">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="grey-material" target="#grey-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/eddie_urdf/eddie_meshes/visual/2f_85/right_finger.dae b/eddie_urdf/eddie_meshes/visual/2f_85/right_finger.dae
new file mode 100644
index 0000000..7e36470
--- /dev/null
+++ b/eddie_urdf/eddie_meshes/visual/2f_85/right_finger.dae
@@ -0,0 +1,133 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
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+          <technique_common>
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+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="right_finger-mesh-vertices">
+          <input semantic="POSITION" source="#right_finger-mesh-positions"/>
+        </vertices>
+        <triangles material="grey-material" count="622">
+          <input semantic="VERTEX" source="#right_finger-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#right_finger-mesh-normals" offset="1"/>
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+        </triangles>
+        <triangles material="black-material" count="2308">
+          <input semantic="VERTEX" source="#right_finger-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#right_finger-mesh-normals" offset="1"/>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="right_finger" name="right_finger" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#right_finger-mesh" name="right_finger">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="grey-material" target="#grey-material"/>
+              <instance_material symbol="black-material" target="#black-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/eddie_urdf/eddie_meshes/visual/2f_85/right_finger_tip.dae b/eddie_urdf/eddie_meshes/visual/2f_85/right_finger_tip.dae
new file mode 100644
index 0000000..bd06f8b
--- /dev/null
+++ b/eddie_urdf/eddie_meshes/visual/2f_85/right_finger_tip.dae
@@ -0,0 +1,133 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 3.0.1 commit date:2022-01-25, commit time:17:19, hash:dc2d18018171</authoring_tool>
+    </contributor>
+    <created>2022-08-24T15:31:43</created>
+    <modified>2022-08-24T15:31:43</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="black-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.25 0.25 0.25 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.03150501 0.03150501 0.03150501 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.03150501 0.03150501 0.03150501 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">0</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="grey-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.25 0.25 0.25 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.7991033 0.7991029 0.799103 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.7991033 0.7991029 0.799103 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">0</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="black-material" name="black">
+      <instance_effect url="#black-effect"/>
+    </material>
+    <material id="grey-material" name="grey">
+      <instance_effect url="#grey-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="right_finger_tip-mesh" name="right_finger_tip">
+      <mesh>
+        <source id="right_finger_tip-mesh-positions">
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+          <technique_common>
+            <accessor source="#right_finger_tip-mesh-normals-array" count="2086" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="right_finger_tip-mesh-vertices">
+          <input semantic="POSITION" source="#right_finger_tip-mesh-positions"/>
+        </vertices>
+        <triangles material="black-material" count="1668">
+          <input semantic="VERTEX" source="#right_finger_tip-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#right_finger_tip-mesh-normals" offset="1"/>
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+        </triangles>
+        <triangles material="grey-material" count="950">
+          <input semantic="VERTEX" source="#right_finger_tip-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#right_finger_tip-mesh-normals" offset="1"/>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="right_finger_tip" name="right_finger_tip" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#right_finger_tip-mesh" name="right_finger_tip">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="black-material" target="#black-material"/>
+              <instance_material symbol="grey-material" target="#grey-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/eddie_urdf/eddie_meshes/visual/2f_85/right_inner_knuckle.dae b/eddie_urdf/eddie_meshes/visual/2f_85/right_inner_knuckle.dae
new file mode 100644
index 0000000..95bc480
--- /dev/null
+++ b/eddie_urdf/eddie_meshes/visual/2f_85/right_inner_knuckle.dae
@@ -0,0 +1,133 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 3.0.1 commit date:2022-01-25, commit time:17:19, hash:dc2d18018171</authoring_tool>
+    </contributor>
+    <created>2022-08-24T15:31:05</created>
+    <modified>2022-08-24T15:31:05</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="black-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.25 0.25 0.25 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.03150501 0.03150501 0.03150501 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.03150501 0.03150501 0.03150501 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">0</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="grey-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.25 0.25 0.25 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.7991033 0.7991029 0.799103 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.7991033 0.7991029 0.799103 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">0</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="black-material" name="black">
+      <instance_effect url="#black-effect"/>
+    </material>
+    <material id="grey-material" name="grey">
+      <instance_effect url="#grey-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="right_inner_knuckle-mesh" name="right_inner_knuckle">
+      <mesh>
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+        </triangles>
+        <triangles material="grey-material" count="46">
+          <input semantic="VERTEX" source="#right_inner_knuckle-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#right_inner_knuckle-mesh-normals" offset="1"/>
+          <p>0 0 1 1 2 2 3 3 4 4 5 5 6 6 3 3 7 7 7 7 3 3 0 0 7 7 0 0 8 8 8 8 0 0 2 2 8 8 2 2 9 9 10 10 0 0 11 11 11 11 0 0 3 3 11 11 3 3 12 12 12 12 3 3 5 5 12 12 5 5 13 13 22 30 23 31 24 32 22 30 24 32 25 33 25 33 24 32 26 34 25 33 26 34 27 35 28 36 24 32 29 37 29 37 24 32 23 31 29 37 23 31 30 38 30 38 23 31 31 39 32 36 33 36 34 36 34 36 33 36 25 33 34 36 25 33 35 36 35 36 25 33 27 35 56 10 58 70 59 71 58 70 60 72 61 73 44 74 46 10 48 10 59 71 58 70 62 75 62 75 58 70 61 73 62 75 61 73 63 10 56 10 59 71 54 76 54 76 59 71 44 74 54 76 44 74 52 77 52 77 44 74 48 10 52 77 48 10 50 10 76 92 78 93 66 94 79 95 80 36 81 96 64 36 66 94 82 36 82 36 66 94 78 93 82 36 78 93 81 96 81 96 78 93 83 97 81 96 83 97 79 95 72 36 74 98 70 99 70 99 74 98 76 92 70 99 76 92 68 36 68 36 76 92 66 94</p>
+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="right_inner_knuckle" name="right_inner_knuckle" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#right_inner_knuckle-mesh" name="right_inner_knuckle">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="black-material" target="#black-material"/>
+              <instance_material symbol="grey-material" target="#grey-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/eddie_urdf/eddie_meshes/visual/2f_85/right_knuckle.dae b/eddie_urdf/eddie_meshes/visual/2f_85/right_knuckle.dae
new file mode 100644
index 0000000..d34c9cd
--- /dev/null
+++ b/eddie_urdf/eddie_meshes/visual/2f_85/right_knuckle.dae
@@ -0,0 +1,98 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 3.0.1 commit date:2022-01-25, commit time:17:19, hash:dc2d18018171</authoring_tool>
+    </contributor>
+    <created>2022-08-11T20:32:20</created>
+    <modified>2022-08-11T20:32:20</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="grey-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.25 0.25 0.25 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.7991033 0.7991029 0.799103 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.7991033 0.7991029 0.799103 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">0</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="grey-material" name="grey">
+      <instance_effect url="#grey-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="right_knuckle-mesh" name="right_knuckle">
+      <mesh>
+        <source id="right_knuckle-mesh-positions">
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+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
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+          </technique_common>
+        </source>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="right_knuckle" name="right_knuckle" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#right_knuckle-mesh" name="right_knuckle">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="grey-material" target="#grey-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/eddie_urdf/eddie_meshes/visual/2f_85/robotiq_base.dae b/eddie_urdf/eddie_meshes/visual/2f_85/robotiq_base.dae
new file mode 100644
index 0000000..a50da3e
--- /dev/null
+++ b/eddie_urdf/eddie_meshes/visual/2f_85/robotiq_base.dae
@@ -0,0 +1,133 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 3.0.1 commit date:2022-01-25, commit time:17:19, hash:dc2d18018171</authoring_tool>
+    </contributor>
+    <created>2022-08-24T15:30:10</created>
+    <modified>2022-08-24T15:30:10</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_effects>
+    <effect id="black-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.25 0.25 0.25 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.03150501 0.03150501 0.03150501 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.03150501 0.03150501 0.03150501 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">0</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="grey-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0.25 0.25 0.25 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.7991033 0.7991029 0.799103 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.7991033 0.7991029 0.799103 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">0</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_images/>
+  <library_materials>
+    <material id="black-material" name="black">
+      <instance_effect url="#black-effect"/>
+    </material>
+    <material id="grey-material" name="grey">
+      <instance_effect url="#grey-effect"/>
+    </material>
+  </library_materials>
+  <library_geometries>
+    <geometry id="robotiq_base-mesh" name="robotiq_base">
+      <mesh>
+        <source id="robotiq_base-mesh-positions">
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+          <technique_common>
+            <accessor source="#robotiq_base-mesh-normals-array" count="25665" stride="3">
+              <param name="X" type="float"/>
+              <param name="Y" type="float"/>
+              <param name="Z" type="float"/>
+            </accessor>
+          </technique_common>
+        </source>
+        <vertices id="robotiq_base-mesh-vertices">
+          <input semantic="POSITION" source="#robotiq_base-mesh-positions"/>
+        </vertices>
+        <triangles material="black-material" count="23476">
+          <input semantic="VERTEX" source="#robotiq_base-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#robotiq_base-mesh-normals" offset="1"/>
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+        </triangles>
+        <triangles material="grey-material" count="5802">
+          <input semantic="VERTEX" source="#robotiq_base-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#robotiq_base-mesh-normals" offset="1"/>
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+        </triangles>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="robotiq_base" name="robotiq_base" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#robotiq_base-mesh" name="robotiq_base">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="black-material" target="#black-material"/>
+              <instance_material symbol="grey-material" target="#grey-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/eddie_urdf/eddie_meshes/visual/2f_85/ur_to_robotiq_adapter.dae b/eddie_urdf/eddie_meshes/visual/2f_85/ur_to_robotiq_adapter.dae
new file mode 100644
index 0000000..83fbb19
--- /dev/null
+++ b/eddie_urdf/eddie_meshes/visual/2f_85/ur_to_robotiq_adapter.dae
@@ -0,0 +1,136 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
+  <asset>
+    <contributor>
+      <author>Blender User</author>
+      <authoring_tool>Blender 2.78.0 commit date:2017-02-24, commit time:14:33, hash:e92f2352830</authoring_tool>
+    </contributor>
+    <created>2021-09-29T11:55:10</created>
+    <modified>2021-09-29T11:55:10</modified>
+    <unit name="meter" meter="1"/>
+    <up_axis>Z_UP</up_axis>
+  </asset>
+  <library_images/>
+  <library_effects>
+    <effect id="Material_003-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.04 0.04 0.04 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+    <effect id="Material_004-effect">
+      <profile_COMMON>
+        <technique sid="common">
+          <phong>
+            <emission>
+              <color sid="emission">0 0 0 1</color>
+            </emission>
+            <ambient>
+              <color sid="ambient">0 0 0 1</color>
+            </ambient>
+            <diffuse>
+              <color sid="diffuse">0.3 0.3 0.3 1</color>
+            </diffuse>
+            <specular>
+              <color sid="specular">0.5 0.5 0.5 1</color>
+            </specular>
+            <shininess>
+              <float sid="shininess">50</float>
+            </shininess>
+            <index_of_refraction>
+              <float sid="index_of_refraction">1</float>
+            </index_of_refraction>
+          </phong>
+        </technique>
+      </profile_COMMON>
+    </effect>
+  </library_effects>
+  <library_materials>
+    <material id="Material_003-material" name="Material_003">
+      <instance_effect url="#Material_003-effect"/>
+    </material>
+    <material id="Material_004-material" name="Material_004">
+      <instance_effect url="#Material_004-effect"/>
+    </material>
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2127 80 2128 80 2128 1234 2127 1235 2129 80 2128 1235 2129 82 2130 82 2130 1235 2129 1236 2131 82 2130 1236 2131 115 2132 115 2132 1236 2131 1237 2133 115 2132 1237 2133 116 2134 116 2134 1237 2133 1238 2135 116 2134 1238 2135 95 2136 95 2136 1238 2135 1239 2136 95 2136 1239 2136 29 287 29 287 1239 2136 266 288 248 243 249 244 1204 2137 1204 2137 249 244 1142 2138 1204 2137 1142 2138 1205 2139 1205 2139 1142 2138 1143 2140 1205 2139 1143 2140 1206 2141 1206 2141 1143 2140 1144 2142 1206 2141 1144 2142 1207 2143 1207 2143 1144 2142 1145 2144 1207 2143 1145 2144 1208 2145 1208 2145 1145 2144 1146 2146 1208 2145 1146 2146 1209 2147 1209 2147 1146 2146 1147 2148 1209 2147 1147 2148 1210 2149 1210 2149 1147 2148 1148 2150 1210 2149 1148 2150 1211 2151 1211 2151 1148 2150 1149 2152 1211 2151 1149 2152 1212 2153 1212 2153 1149 2152 1150 2154 1212 2153 1150 2154 1213 2155 1213 2155 1150 2154 1151 2156 1213 2155 1151 2156 1214 2157 1214 2157 1151 2156 1152 2158 1214 2157 1152 2158 1215 2159 1215 2159 1152 2158 1117 2160 1215 2159 1117 2160 1216 2161 1216 2161 1117 2160 1118 2162 1216 2161 1118 2162 1217 2163 1217 2163 1118 2162 1119 2164 1217 2163 1119 2164 1218 2165 1218 2165 1119 2164 1120 2166 1218 2165 1120 2166 1219 2167 1219 2167 1120 2166 1121 2168 1219 2167 1121 2168 1220 2169 1220 2169 1121 2168 1122 2170 1220 2169 1122 2170 1221 2171 1221 2171 1122 2170 1123 2172 1221 2171 1123 2172 1222 2173 1222 2173 1123 2172 1124 2174 1222 2173 1124 2174 1223 2175 1223 2175 1124 2174 1125 2176 1223 2175 1125 2176 1224 2177 1224 2177 1125 2176 1126 2178 1224 2177 1126 2178 1225 2179 1225 2179 1126 2178 1127 2180 1225 2179 1127 2180 1226 2181 1226 2181 1127 2180 1128 2182 1226 2181 1128 2182 1227 2183 1227 2183 1128 2182 1129 2184 1227 2183 1129 2184 1228 2185 1228 2185 1129 2184 1130 2186 1228 2185 1130 2186 1229 2187 1229 2187 1130 2186 1141 2188 1229 2187 1141 2188 1230 2189 1230 2189 1141 2188 1140 2190 1230 2189 1140 2190 1231 2191 1231 2191 1140 2190 1139 2192 1231 2191 1139 2192 1232 2193 1232 2193 1139 2192 1138 2194 1232 2193 1138 2194 1233 2195 1233 2195 1138 2194 1137 2196 1233 2195 1137 2196 1234 2197 1234 2197 1137 2196 1136 2198 1234 2197 1136 2198 1235 2199 1235 2199 1136 2198 1135 2200 1235 2199 1135 2200 1236 2201 1236 2201 1135 2200 1134 2202 1236 2201 1134 2202 1237 2203 1237 2203 1134 2202 1133 2204 1237 2203 1133 2204 1238 2205 1238 2205 1133 2204 1132 2206 1238 2205 1132 2206 1239 2207 1239 2207 1132 2206 1131 2208 1239 2207 1131 2208 266 261 266 261 1131 2208 267 262 1240 2209 1241 2210 1242 2211 1242 2211 1241 2210 1243 2212 1242 2211 1243 2212 1197 2213 1197 2213 1198 2214 1242 2211 1242 2211 1198 2214 1244 2215 1242 2211 1244 2215 1240 2209 1240 2209 1244 2215 1245 2216 1245 2216 1244 2215 1200 2217 1245 2216 1200 2217 1246 2218 1200 2217 1247 2219 1246 2218 1246 2218 1247 2219 1248 2220 1246 2218 1248 2220 1249 2221 1249 2221 1248 2220 1250 2222 1249 2221 1250 2222 1251 2223 1251 2223 1250 2222 891 2224 1251 2223 891 2224 1252 2225 1243 2226 1241 2227 1253 2226 1253 2226 1241 2227 1254 2228 895 2229 1255 2230 1256 2231 1256 2231 1255 2230 1257 2232 1256 2231 1257 2232 1258 2233 1253 2234 1254 2235 1259 2236 1259 2236 1254 2235 1260 2237 1257 2238 1255 2239 1261 2240 1261 2240 1255 2239 1262 2241 1259 2236 1260 2237 1263 2242 1263 2242 1260 2237 1264 2243 1263 2242 1264 2243 1265 2244 1265 2244 1264 2243 1266 2245 1265 2244 1266 2245 1267 2246 1267 2246 1266 2245 1268 2247 1267 2246 1268 2247 1269 2248 1269 2248 1268 2247 1270 2249 1269 2248 1270 2249 1271 2250 1271 2250 1270 2249 1272 2251 1271 2250 1272 2251 1273 2252 1273 2252 1272 2251 1274 2253 1273 2252 1274 2253 1275 2254 1275 2254 1274 2253 1276 2255 1261 2256 1262 2257 1277 2258 1277 2258 1262 2257 1278 2259 1279 2260 1275 2254 1276 2255 1279 2260 1276 2255 1280 2261 1281 2262 1280 2261 1276 2255 1282 2263 1281 2262 1276 2255 1283 2264 1282 2263 1276 2255 1284 2265 1283 2264 1276 2255 1285 2266 1284 2265 1276 2255 1286 2267 1285 2266 1276 2255 1287 2268 1288 2269 1289 2270 1289 2270 1288 2269 1290 2271 1289 2270 1290 2271 1291 2272 1291 2272 1290 2271 1292 2273 1291 2272 1292 2273 1293 2274 1293 2274 1292 2273 1294 2275 1293 2274 1294 2275 1295 2276 1295 2276 1294 2275 1296 2277 1295 2276 1296 2277 1297 2278 1297 2278 1296 2277 1298 2279 1297 2278 1298 2279 1299 2280 1299 2280 1298 2279 1300 2281 1299 2280 1300 2281 1278 2259 1278 2259 1300 2281 1277 2258 1288 2269 1301 2282 1302 2283 1302 2283 1301 2282 1303 2284 1302 2283 1303 2284 1304 2285 1304 2285 1303 2284 1305 2286 1305 2286 1306 2287 1304 2285 1304 2285 1306 2287 1307 2288 1304 2285 1307 2288 1308 2289 1286 2267 1276 2255 1309 2290 1309 2290 1276 2255 1310 2291 1309 2290 1310 2291 1311 2292 1311 2292 1310 2291 1308 2289 1311 2292 1308 2289 1312 2293 1312 2293 1308 2289 1307 2288 1313 2294 1301 2282 1288 2269 1313 2294 1288 2269 1314 2295 1315 2296 1314 2295 1288 2269 1316 2297 1315 2296 1288 2269 1317 2298 1316 2297 1288 2269 1318 2299 1317 2298 1288 2269 1319 2300 1318 2299 1288 2269 1287 2268 1319 2300 1288 2269 17 2301 1255 2302 18 2303 18 2303 1255 2302 895 1154 18 2303 895 1154 0 2304 0 2304 895 1154 1 1155 1287 2305 72 2306 71 2307 1287 2305 71 2307 1319 2308 1319 2308 71 2307 45 2309 1319 2308 45 2309 1318 2310 1318 2310 45 2309 44 2311 1318 2310 44 2311 1317 2312 1317 2312 44 2311 43 2313 1317 2312 43 2313 1316 2314 1316 2314 43 2313 39 2315 1316 2314 39 2315 1315 2316 1315 2316 39 2315 40 2317 1315 2316 40 2317 1314 2318 1314 2318 40 2317 33 2319 1314 2318 33 2319 1313 2320 1313 2320 33 2319 32 2321 1313 2320 32 2321 1301 2322 1286 2323 22 2324 36 2325 1286 2323 36 2325 1285 2326 1285 2326 36 2325 119 2327 1285 2326 119 2327 1284 2328 1284 2328 119 2327 118 2329 1284 2328 118 2329 1283 2330 1283 2330 118 2329 117 2331 1283 2330 117 2331 1282 2332 1282 2332 117 2331 100 2333 1282 2332 100 2333 1281 2334 1281 2334 100 2333 99 2335 1281 2334 99 2335 1280 2336 1280 2336 99 2335 140 2337 1280 2336 140 2337 1279 2338 1279 2338 140 2337 139 2339 1279 2338 139 2339 1275 2340 1243 2341 7 2341 1197 1798 1197 1798 7 2341 6 1796 13 2342 1253 2342 149 2343 149 2343 1253 2342 1259 2344 149 2343 1259 2344 146 2345 146 2345 1259 2344 1263 2346 146 2345 1263 2346 147 2347 147 2347 1263 2346 1265 2348 147 2347 1265 2348 148 2349 148 2349 1265 2348 1267 2350 148 2349 1267 2350 143 2351 143 2351 1267 2350 1269 2352 143 2351 1269 2352 144 2353 144 2353 1269 2352 1271 2354 144 2353 1271 2354 145 2355 145 2355 1271 2354 1273 2356 145 2355 1273 2356 139 2339 139 2339 1273 2356 1275 2340 1278 2357 1262 2342 126 2358 126 2358 1262 2342 15 2342 72 2306 1287 2305 73 2359 73 2359 1287 2305 1289 2360 73 2359 1289 2360 123 2361 123 2361 1289 2360 1291 2362 123 2361 1291 2362 124 2363 124 2363 1291 2362 1293 2364 124 2363 1293 2364 105 2365 105 2365 1293 2364 1295 2366 105 2365 1295 2366 106 2367 106 2367 1295 2366 1297 2368 106 2367 1297 2368 125 2369 125 2369 1297 2368 1299 2370 125 2369 1299 2370 126 2358 126 2358 1299 2370 1278 2357 1262 319 1255 319 15 319 15 319 1255 319 17 319 1301 2322 32 2321 35 2371 1301 2322 35 2371 1303 2372 1303 2372 35 2371 37 2373 1303 2372 37 2373 1305 2374 1305 2374 37 2373 1306 2375 1306 2375 37 2373 38 2376 1306 2375 38 2376 1307 2342 8 317 7 317 12 317 12 317 7 317 1243 317 12 317 1243 317 13 317 13 317 1243 317 1253 317 1246 2377 1249 2378 1268 2379 1252 2380 1320 2381 1274 2382 1260 2383 1254 0 1241 2384 1268 2379 1266 2385 1246 2377 1246 2377 1266 2385 1264 2386 1246 2377 1264 2386 1245 2387 1245 2387 1264 2386 1260 2383 1245 2387 1260 2383 1240 2388 1240 2388 1260 2383 1241 2384 1257 0 1261 2389 1258 2390 1258 2390 1261 2389 1277 2391 1258 2390 1277 2391 1321 2392 1321 2392 1277 2391 1322 2393 1323 2394 1294 2395 1320 2381 1320 2381 1294 2395 1292 2396 1320 2381 1292 2396 1290 2397 1252 2380 1274 2382 1251 2398 1251 2398 1274 2382 1272 2399 1251 2398 1272 2399 1249 2378 1249 2378 1272 2399 1270 2400 1249 2378 1270 2400 1268 2379 1277 2391 1300 2401 1322 2393 1322 2393 1300 2401 1298 2402 1322 2393 1298 2402 1323 2394 1323 2394 1298 2402 1296 2403 1323 2394 1296 2403 1294 2395 1290 2397 1288 0 1320 2381 1320 2381 1288 0 1302 2404 1320 2381 1302 2404 1304 2405 1276 0 1274 2382 1310 0 1310 0 1274 2382 1320 2381 1310 0 1320 2381 1308 2406 1308 2406 1320 2381 1304 2405 1307 2342 38 2376 1312 2407 1312 2407 38 2376 24 2408 1312 2407 24 2408 1311 2409 1311 2409 24 2408 23 2410 1311 2409 23 2410 1309 2411 1309 2411 23 2410 22 2324 1309 2411 22 2324 1286 2323 1252 2225 891 2224 888 2412 1256 2231 1258 2233 1321 2413 1252 2225 888 2412 1320 2414 1320 2414 888 2412 889 2415 1320 2414 889 2415 1323 2416 889 2415 1324 2417 1323 2416 1323 2416 1324 2417 1325 2418 1323 2416 1325 2418 1322 2419 1322 2419 1325 2418 885 2420 1322 2419 885 2420 1321 2413 1321 2413 885 2420 892 2421 1321 2413 892 2421 1256 2231 1256 2231 892 2421 894 2422 1256 2231 894 2422 895 2229 1327 2427 538 2424 537 2444 475 2432 499 2499 500 2500</p>
+        </polylist>
+        <polylist material="Material_004-material" count="79">
+          <input semantic="VERTEX" source="#shape0-mesh-vertices" offset="0"/>
+          <input semantic="NORMAL" source="#shape0-mesh-normals" offset="1"/>
+          <vcount>3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
+          <p>539 2423 538 2424 1326 2425 472 2426 1327 2427 471 2428 471 2428 1327 2427 470 2429 472 2426 473 2430 1327 2427 1327 2427 473 2430 474 2431 1327 2427 474 2431 475 2432 1327 2427 502 2433 503 2434 503 2434 504 2435 1327 2427 1327 2427 504 2435 505 2436 1327 2427 505 2436 506 2437 507 2438 508 2439 1326 2425 1326 2425 508 2439 509 2440 509 2440 510 2441 1326 2425 1326 2425 510 2441 511 2442 1326 2425 511 2442 512 2443 507 2438 1326 2425 506 2437 506 2437 1326 2425 538 2424 506 2437 538 2424 1327 2427 1327 2427 537 2444 470 2429 542 2445 541 2446 1326 2425 1326 2425 541 2446 540 2447 1326 2425 540 2447 539 2423 1328 2448 524 2449 525 2450 525 2450 526 2451 1328 2448 1328 2448 526 2451 527 2452 1328 2448 527 2452 528 2453 528 2453 529 2454 1328 2448 1328 2448 529 2454 530 2455 1328 2448 530 2455 531 2456 531 2456 532 2457 1328 2448 1328 2448 532 2457 533 2458 1328 2448 533 2458 536 2459 512 2443 513 2460 1328 2448 1328 2448 513 2460 514 2461 1328 2448 514 2461 515 2462 515 2462 516 2463 1328 2448 1328 2448 516 2463 517 2464 1328 2448 517 2464 518 2465 518 2465 519 2466 1328 2448 1328 2448 519 2466 520 2467 1328 2448 520 2467 521 2468 521 2468 522 2469 1328 2448 1328 2448 522 2469 523 2470 1328 2448 523 2470 524 2449 536 2459 535 2471 1328 2448 1328 2448 535 2471 534 2472 1328 2448 534 2472 512 2443 512 2443 534 2472 544 2473 512 2443 544 2473 1326 2425 1326 2425 544 2473 543 2474 1326 2425 543 2474 542 2445 485 2475 486 2476 1329 2477 1329 2477 486 2476 487 2478 1329 2477 487 2478 488 2479 488 2479 489 2480 1329 2477 1329 2477 489 2480 490 2481 1329 2477 490 2481 491 2482 491 2482 492 2483 1329 2477 1329 2477 492 2483 493 2484 1329 2477 493 2484 494 2485 494 2485 495 2486 1329 2477 1329 2477 495 2486 496 2487 1329 2477 496 2487 497 2488 1329 2477 475 2432 476 2489 476 2489 477 2490 1329 2477 1329 2477 477 2490 478 2491 1329 2477 478 2491 479 2492 479 2492 480 2493 1329 2477 1329 2477 480 2493 481 2494 1329 2477 481 2494 482 2495 482 2495 483 2496 1329 2477 1329 2477 483 2496 484 2497 1329 2477 484 2497 485 2475 497 2488 498 2498 1329 2477 1329 2477 498 2498 499 2499 1329 2477 499 2499 475 2432 475 2432 500 2500 1327 2427 1327 2427 500 2500 501 2501 1327 2427 501 2501 502 2433</p>
+        </polylist>
+      </mesh>
+    </geometry>
+  </library_geometries>
+  <library_controllers/>
+  <library_visual_scenes>
+    <visual_scene id="Scene" name="Scene">
+      <node id="node" name="node" type="NODE">
+        <matrix sid="transform">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
+        <instance_geometry url="#shape0-mesh" name="node">
+          <bind_material>
+            <technique_common>
+              <instance_material symbol="Material_003-material" target="#Material_003-material"/>
+              <instance_material symbol="Material_004-material" target="#Material_004-material"/>
+            </technique_common>
+          </bind_material>
+        </instance_geometry>
+      </node>
+    </visual_scene>
+  </library_visual_scenes>
+  <scene>
+    <instance_visual_scene url="#Scene"/>
+  </scene>
+</COLLADA>
diff --git a/eddie_description/launch/view_eddie.launch.py b/launch/display_eddie.launch.py
old mode 100755
new mode 100644
similarity index 60%
rename from eddie_description/launch/view_eddie.launch.py
rename to launch/display_eddie.launch.py
index c6915fe..6c2032c
--- a/eddie_description/launch/view_eddie.launch.py
+++ b/launch/display_eddie.launch.py
@@ -1,16 +1,10 @@
-"""
-
-Copyright 2024 Bonn-Rhein-Sieg University
-
-Author: Vamsi Kalagaturu
-
-"""
 from ament_index_python.packages import get_package_share_directory
 from launch import LaunchDescription
 from launch.actions import DeclareLaunchArgument
-from launch.substitutions import LaunchConfiguration, Command, FindExecutable
+from launch.substitutions import LaunchConfiguration
 from launch_ros.actions import Node
-from launch_ros.descriptions import ParameterValue
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
 from launch.conditions import IfCondition, UnlessCondition
 import os
 
@@ -22,25 +16,8 @@ def generate_launch_description():
         description="Launch joint state gui publisher",
     )
 
-#  file changed to eddie_gz urdf with latest base and no gripper
-    eddie_xacro_file = os.path.join(
-        get_package_share_directory("eddie_description"), "robots", "eddie.urdf.xacro"
-    )
-
-    eddie_description_config = Command(
-        [FindExecutable(name="xacro"), " ", eddie_xacro_file]
-    )
-
-    eddie_description = {
-        "robot_description": ParameterValue(eddie_description_config, value_type=str)
-    }
-
-    robot_state_publisher_node = Node(
-        package="robot_state_publisher",
-        executable="robot_state_publisher",
-        name="robot_state_publisher",
-        parameters=[eddie_description],
-        output="screen",
+    eddie_rviz_config_file = os.path.join(
+        get_package_share_directory("eddie_description"), "config/rviz", "eddie.rviz"
     )
 
     # initial positions
@@ -53,7 +30,7 @@ def generate_launch_description():
     joint_state_publisher_gui_node = Node(
         package="joint_state_publisher_gui",
         executable="joint_state_publisher_gui",
-        name="joint_state_publisher_gui",
+        name="joint_state_publisher",
         condition=IfCondition(LaunchConfiguration("joint_state_gui")),
         output="screen",
         parameters=[zero_positions_config],
@@ -72,14 +49,30 @@ def generate_launch_description():
         package="rviz2",
         executable="rviz2",
         name="rviz2",
-        # arguments=["-d", os.path.join(get_package_share_directory("eddie_description"), "rviz", "eddie.rviz")],
+        arguments=["-d", eddie_rviz_config_file],
         output="screen",
     )
 
+    # load_eddie launch file
+    load_eddie_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            [
+                os.path.join(
+                    get_package_share_directory("eddie_description"),
+                    "launch",
+                    "load_eddie.launch.py",
+                )
+            ]
+        ),
+        launch_arguments={
+            "use_kelo_tulip": "true",
+        }.items(),
+    )
+
     return LaunchDescription(
         [
             declare_joint_state_gui,
-            robot_state_publisher_node,
+            load_eddie_launch,
             joint_state_publisher_gui_node,
             joint_state_publisher_node,
             rviz2_node,
diff --git a/launch/load_eddie.launch.py b/launch/load_eddie.launch.py
new file mode 100644
index 0000000..a2d4f76
--- /dev/null
+++ b/launch/load_eddie.launch.py
@@ -0,0 +1,116 @@
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.substitutions import LaunchConfiguration, Command, FindExecutable
+from launch_ros.actions import Node
+from launch.actions import DeclareLaunchArgument
+
+
+def generate_launch_description():
+    use_sim_time = LaunchConfiguration("use_sim_time")
+
+    # use ros2 control arg
+    use_ros2_control_arg = DeclareLaunchArgument(
+        "use_ros2_control",
+        default_value="false",
+        description="Use ros2 control",
+    )
+
+    # use kelo_tulip arg
+    use_kelo_tulip_arg = DeclareLaunchArgument(
+        "use_kelo_tulip",
+        default_value="false",
+        description="Use kelo_tulip driver to control wheels",
+    )
+
+    # use gazebo simulation arg
+    use_gz_sim_arg = DeclareLaunchArgument(
+        "use_gz_sim",
+        default_value="false",
+        description="Use gazebo simulation",
+    )
+
+    use_sim_time_arg = DeclareLaunchArgument(
+        "use_sim_time",
+        default_value="false",
+        description="Use simulation time",
+    )
+
+    # use isaac sim arg
+    use_isaac_sim_arg = DeclareLaunchArgument(
+        "use_isaac_sim",
+        default_value="false",
+        description="Use Isaac sim",
+    )
+
+    # use fake hardware arg
+    use_fake_hardware_arg = DeclareLaunchArgument(
+        "use_fake_hardware",
+        default_value="false",
+        description="Use fake hardware",
+    )
+
+    # use fake sensor commands arg
+    use_fake_sensor_commands_arg = DeclareLaunchArgument(
+        "use_fake_sensor_commands",
+        default_value="false",
+        description="Use fake sensor commands",
+    )
+
+    eddie_xacro_file = os.path.join(
+        get_package_share_directory("eddie_description"),
+        "urdf",
+        "eddie_robot.urdf.xacro",
+    )
+
+    eddie_description_urdf = Command(
+        [
+            FindExecutable(name="xacro"),
+            " ",
+            eddie_xacro_file,
+            " ",
+            "use_ros2_control:=",
+            LaunchConfiguration("use_ros2_control"),
+            " ",
+            "use_kelo_tulip:=",
+            LaunchConfiguration("use_kelo_tulip"),
+            " ",
+            "use_gz_sim:=",
+            LaunchConfiguration("use_gz_sim"),
+            " ",
+            "use_sim_isaac:=",
+            LaunchConfiguration("use_isaac_sim"),
+            " ",
+            "use_fake_hardware:=",
+            LaunchConfiguration("use_fake_hardware"),
+            " ",
+            "use_fake_sensor_commands:=",
+            LaunchConfiguration("use_fake_sensor_commands"),
+        ]
+    )
+
+    robot_state_publisher_node = Node(
+        package="robot_state_publisher",
+        executable="robot_state_publisher",
+        name="robot_state_publisher",
+        parameters=[
+            {
+                "robot_description": eddie_description_urdf,
+                "use_sim_time": use_sim_time,
+            }
+        ],
+        output="screen",
+    )
+
+    return LaunchDescription(
+        [
+            use_sim_time_arg,
+            use_ros2_control_arg,
+            use_gz_sim_arg,
+            use_isaac_sim_arg,
+            use_fake_hardware_arg,
+            use_fake_sensor_commands_arg,
+            use_kelo_tulip_arg,
+            robot_state_publisher_node,
+        ]
+    )
diff --git a/media/eddie_default_rviz.png b/media/eddie_default_rviz.png
deleted file mode 100644
index 9ac7397..0000000
Binary files a/media/eddie_default_rviz.png and /dev/null differ
diff --git a/meshes/hub_wheel.stl b/meshes/hub_wheel.stl
new file mode 100644
index 0000000..99c03cb
Binary files /dev/null and b/meshes/hub_wheel.stl differ
diff --git a/meshes/kelo_base.stl b/meshes/kelo_base.stl
new file mode 100644
index 0000000..f39cbf7
Binary files /dev/null and b/meshes/kelo_base.stl differ
diff --git a/meshes/kelo_drive.stl b/meshes/kelo_drive.stl
new file mode 100644
index 0000000..7a74b96
Binary files /dev/null and b/meshes/kelo_drive.stl differ
diff --git a/meshes/kelo_drive_attachments.stl b/meshes/kelo_drive_attachments.stl
new file mode 100644
index 0000000..306048a
Binary files /dev/null and b/meshes/kelo_drive_attachments.stl differ
diff --git a/meshes/kelo_torso.stl b/meshes/kelo_torso.stl
new file mode 100644
index 0000000..2c5262f
Binary files /dev/null and b/meshes/kelo_torso.stl differ
diff --git a/eddie_base_description/meshes/sensors/hokuyo.dae b/meshes/sensors/hokuyo.dae
similarity index 100%
rename from eddie_base_description/meshes/sensors/hokuyo.dae
rename to meshes/sensors/hokuyo.dae
diff --git a/eddie_base_description/meshes/sensors/hokuyo_convex.dae b/meshes/sensors/hokuyo_convex.dae
similarity index 100%
rename from eddie_base_description/meshes/sensors/hokuyo_convex.dae
rename to meshes/sensors/hokuyo_convex.dae
diff --git a/package.xml b/package.xml
new file mode 100644
index 0000000..844014f
--- /dev/null
+++ b/package.xml
@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>eddie_description</name>
+  <version>0.0.1</version>
+  <description>The eddie_description package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <maintainer email="vamsikalagaturu@gmail.com">Vamsi</maintainer>
+  <maintainer email="kishan.sawant@uni-bremen.de">Kishan</maintainer>
+
+  <license>MIT</license>
+
+  <!-- Dependencies -->
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <exec_depend>ros2launch</exec_depend>
+  <exec_depend>kortex_description</exec_depend>
+  <exec_depend>robotiq_description</exec_depend>
+
+  <!-- Export build information -->
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+
+</package>
diff --git a/urdf/eddie_base.macro.xacro b/urdf/eddie_base.macro.xacro
new file mode 100644
index 0000000..32db746
--- /dev/null
+++ b/urdf/eddie_base.macro.xacro
@@ -0,0 +1,228 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="eddie_base">
+
+    <!-- Include macro files -->
+    <xacro:include filename="$(find eddie_description)/urdf/kelo_drive_unit.macro.xacro" />
+
+    <xacro:macro name="eddie_base" params="robot_prefix use_ros2_control use_gz_sim use_kelo_tulip">
+
+        <!-- Properties -->
+        <xacro:property name="mesh_package" value="eddie_description" />
+        <xacro:property name="eddie_base_file" value="kelo_base.stl" />
+        <xacro:property name="eddie_torso_file" value="kelo_torso.stl" />
+
+        <!-- wheel unit attachments -->
+        <xacro:property name="front_left_attachment_origin">
+            <origin xyz="0.2078 0.1880 -0.0632" rpy="0 0 1.5708" />
+        </xacro:property>
+
+        <xacro:property name="rear_left_attachment_origin">
+            <origin xyz="-0.2078 0.1880 -0.0632" rpy="0 0 1.5708" />
+        </xacro:property>
+
+        <xacro:property name="rear_right_attachment_origin">
+            <origin xyz="-0.2078 -0.1880 -0.0632" rpy="0 0 -1.5708" />
+        </xacro:property>
+
+        <xacro:property name="front_right_attachment_origin">
+            <origin xyz="0.2078 -0.1880 -0.0632" rpy="0 0 -1.5708" />
+        </xacro:property>
+
+        <xacro:property name="front_right_struct_wrt_attachment_rpy" value="0 0 -1.5708" />
+        <xacro:property name="front_left_struct_wrt_attachment_rpy" value="0 0 1.5708" />
+        <xacro:property name="rear_right_struct_wrt_attachment_rpy" value="0 0 -1.5708" />
+        <xacro:property name="rear_left_struct_wrt_attachment_rpy" value="0 0 1.5708" />
+
+        <!-- base link origin -->
+        <xacro:property name="base_link_origin">
+            <origin xyz="0 0 0.2164" rpy="0 0 0" />
+        </xacro:property>
+
+        <!-- torso origin -->
+        <xacro:property name="torso_origin_wrt_base_link">
+            <origin xyz="-0.1738 0.0003 0.4184" rpy="0 0 1.5708" />
+        </xacro:property>
+
+        <!-- arm attachment origins -->
+        <xacro:property name="left_arm_attachment_origin">
+            <origin xyz="${-0.1738 + 0.0236} ${0.0003 + 0.0676} ${0.4184 + 0.1160}"
+                rpy="${0} ${0 + 0.09} ${1.5708 - 0.7783}" />
+        </xacro:property>
+
+        <xacro:property name="right_arm_attachment_origin">
+            <origin xyz="${-0.1738 + 0.0236} ${0.0003 - 0.0676} ${0.4184 + 0.1160}"
+                rpy="${0} ${0 + 0.09} ${1.5708 - 2.3632}" />
+        </xacro:property>
+
+        <!-- Links -->
+        <link name="${robot_prefix}base_footprint" />
+        <link name="${robot_prefix}left_arm_attachment_link" />
+        <link name="${robot_prefix}right_arm_attachment_link" />
+
+        <link name="${robot_prefix}base_link">
+            <!-- base -->
+            <visual>
+                <origin rpy="0 0 0" xyz="0 0 0" />
+                <geometry>
+                    <mesh filename="package://${mesh_package}/meshes/${eddie_base_file}" />
+                </geometry>
+                <material name="light_gray" />
+            </visual>
+            <collision>
+                <geometry>
+                    <mesh filename="package://${mesh_package}/meshes/${eddie_base_file}" />
+                </geometry>
+            </collision>
+
+            <!-- torso -->
+            <visual>
+                <xacro:insert_block name="torso_origin_wrt_base_link" />
+                <geometry>
+                    <mesh filename="package://${mesh_package}/meshes/${eddie_torso_file}" />
+                </geometry>
+                <material name="metallic_silver" />
+            </visual>
+            <collision>
+                <xacro:insert_block name="torso_origin_wrt_base_link" />
+                <geometry>
+                    <mesh filename="package://${mesh_package}/meshes/${eddie_torso_file}" />
+                </geometry>
+            </collision>
+
+            <!-- base + torso -->
+            <inertial>
+                <mass value="76.4377" />
+                <origin xyz="0 0 0.0833" rpy="0 0 0" />
+                <inertia ixx="4.128795216" ixy="0" ixz="0" iyy="4.117596854" iyz="0"
+                    izz="3.364397364" />
+            </inertial>
+        </link>
+
+        <!-- Joints -->
+        <joint name="${robot_prefix}base_link_joint" type="fixed">
+            <parent link="${robot_prefix}base_footprint" />
+            <child link="${robot_prefix}base_link" />
+            <xacro:insert_block name="base_link_origin" />
+        </joint>
+
+        <joint name="${robot_prefix}left_arm_attachment_joint" type="fixed">
+            <parent link="${robot_prefix}base_link" />
+            <child link="${robot_prefix}left_arm_attachment_link" />
+            <xacro:insert_block name="left_arm_attachment_origin" />
+        </joint>
+
+        <joint name="${robot_prefix}right_arm_attachment_joint" type="fixed">
+            <parent link="${robot_prefix}base_link" />
+            <child link="${robot_prefix}right_arm_attachment_link" />
+            <xacro:insert_block name="right_arm_attachment_origin" />
+        </joint>
+
+        <!-- laser scanners -->
+        <link name="${robot_prefix}front_right_laser_attachment_link" />
+        <link name="${robot_prefix}rear_left_laser_attachment_link" />
+
+        <joint name="${robot_prefix}front_right_laser_attachment_joint" type="fixed">
+            <parent link="${robot_prefix}base_link" />
+            <child link="${robot_prefix}front_right_laser_attachment_link" />
+            <origin xyz="0.2193 -0.2391 0.0682" rpy="0 0 0" />
+        </joint>
+
+        <joint name="${robot_prefix}rear_left_laser_attachment_joint" type="fixed">
+            <parent link="${robot_prefix}base_link" />
+            <child link="${robot_prefix}rear_left_laser_attachment_link" />
+            <origin xyz="-0.2193 0.2386 0.0682" rpy="0 0 0" />
+        </joint>
+
+        <!-- instantiate laser scanners -->
+        <xacro:include filename="$(find eddie_description)/urdf/sensors/hokuyo.urdf.xacro" />
+
+        <!-- front right -->
+        <xacro:hokuyo
+            name="${robot_prefix}front_right_laser_"
+            parent="${robot_prefix}front_right_laser_attachment_link"
+            topic="/${robot_prefix}front_right_laser"
+            use_gz_sim="${use_gz_sim}"
+            max_angle="1.7"
+            min_angle="-1.7">
+            <origin xyz="0 0 0" rpy="${pi} 0 -0.7854" />
+        </xacro:hokuyo>
+
+        <!-- rear left -->
+        <xacro:hokuyo
+            name="${robot_prefix}rear_left_laser_"
+            parent="${robot_prefix}rear_left_laser_attachment_link"
+            topic="/${robot_prefix}rear_left_laser"
+            use_gz_sim="${use_gz_sim}"
+            max_angle="1.7"
+            min_angle="-1.7">
+            <origin xyz="0 0 0" rpy="${pi} 0 2.3562" />
+        </xacro:hokuyo>
+
+        <!-- imu -->
+        <link name="${robot_prefix}imu_link" />
+        <joint name="${robot_prefix}imu_joint" type="fixed">
+            <parent link="${robot_prefix}base_link" />
+            <child link="${robot_prefix}imu_link" />
+            <origin xyz="0 0 0" rpy="0 0 0" />
+        </joint>
+
+        <xacro:if value="${use_gz_sim}">
+            <gazebo reference="${robot_prefix}imu_link">
+                <sensor name="${robot_prefix}imu_sensor" type="imu">
+                    <always_on>1</always_on>
+                    <update_rate>1</update_rate>
+                    <visualize>true</visualize>
+                    <topic>${robot_prefix}imu</topic>
+                </sensor>
+            </gazebo>
+        </xacro:if>
+
+        <!-- Instantiate wheel units -->
+
+        <!-- front left -->
+        <xacro:kelo_drive_unit
+            parent="${robot_prefix}base_link"
+            use_ros2_control="${use_ros2_control}"
+            use_gz_sim="${use_gz_sim}"
+            use_kelo_tulip="${use_kelo_tulip}"
+            struct_prefix="${robot_prefix}front_left_drive_"
+            struct_wrt_attachment_rpy="${front_left_struct_wrt_attachment_rpy}">
+            <xacro:insert_block name="front_left_attachment_origin" />
+        </xacro:kelo_drive_unit>
+
+        <!-- rear left -->
+        <xacro:kelo_drive_unit
+            parent="${robot_prefix}base_link"
+            use_ros2_control="${use_ros2_control}"
+            use_gz_sim="${use_gz_sim}"
+            use_kelo_tulip="${use_kelo_tulip}"
+            struct_prefix="${robot_prefix}rear_left_drive_"
+            struct_wrt_attachment_rpy="${rear_left_struct_wrt_attachment_rpy}">
+            <xacro:insert_block name="rear_left_attachment_origin" />
+        </xacro:kelo_drive_unit>
+
+        <!-- rear right -->
+        <xacro:kelo_drive_unit
+            parent="${robot_prefix}base_link"
+            use_ros2_control="${use_ros2_control}"
+            use_gz_sim="${use_gz_sim}"
+            use_kelo_tulip="${use_kelo_tulip}"
+            struct_prefix="${robot_prefix}rear_right_drive_"
+            struct_wrt_attachment_rpy="${front_right_struct_wrt_attachment_rpy}">
+            <xacro:insert_block name="rear_right_attachment_origin" />
+        </xacro:kelo_drive_unit>
+
+        <!-- front right -->
+        <xacro:kelo_drive_unit
+            parent="${robot_prefix}base_link"
+            use_ros2_control="${use_ros2_control}"
+            use_gz_sim="${use_gz_sim}"
+            use_kelo_tulip="${use_kelo_tulip}"
+            struct_prefix="${robot_prefix}front_right_drive_"
+            struct_wrt_attachment_rpy="${rear_right_struct_wrt_attachment_rpy}">
+            <xacro:insert_block name="front_right_attachment_origin" />
+        </xacro:kelo_drive_unit>
+
+    </xacro:macro>
+
+</robot>
\ No newline at end of file
diff --git a/urdf/eddie_robot.urdf.xacro b/urdf/eddie_robot.urdf.xacro
new file mode 100644
index 0000000..889fd9f
--- /dev/null
+++ b/urdf/eddie_robot.urdf.xacro
@@ -0,0 +1,174 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="eddie_base_with_wheels">
+
+    <xacro:arg name="robot_name" default="eddie_" />
+
+    <xacro:arg name="use_ros2_control" default="false" />
+    <xacro:arg name="use_kelo_tulip" default="false" />
+
+    <xacro:arg name="use_gz_sim" default="false" />
+    <xacro:arg name="use_sim_isaac" default="false" />
+
+    <xacro:arg name="use_fake_hardware" default="false" />
+    <xacro:arg name="use_fake_sensor_commands" default="false" />
+
+    <xacro:arg name="robot_ip_left" default="192.168.1.10" />
+    <xacro:arg name="robot_ip_right" default="192.168.1.11" />
+    <xacro:arg name="username" default="admin" />
+    <xacro:arg name="password" default="admin" />
+    <xacro:arg name="port" default="10000" />
+    <xacro:arg name="port_realtime" default="10001" />
+    <xacro:arg name="session_inactivity_timeout_ms" default="60000" />
+    <xacro:arg name="connection_inactivity_timeout_ms" default="2000" />
+
+    <!-- <xacro:arg name="gripper" default="robotiq_2f_85" /> -->
+    <xacro:arg name="gripper" default="" />
+    <xacro:arg name="gripper_joint_name" default="grasp_joint" />
+
+    <xacro:arg name="use_internal_bus_gripper_comm" default="false" />
+    <xacro:arg name="simulation_controllers"
+        default="$(find eddie_gazebo)/config/eddie_controllers.yaml" />
+
+    <!-- initial position for simulations (Mock Hardware, Gazebo) -->
+    <xacro:arg name="initial_positions_file_left"
+        default="$(find eddie_description)/config/initial_positions_arm_left.yaml" />
+    <xacro:arg name="initial_positions_file_right"
+        default="$(find eddie_description)/config/initial_positions_arm_right.yaml" />
+
+    <!-- convert to property to use substitution in function -->
+    <xacro:property name="initial_positions_file_left" default="$(arg initial_positions_file_left)" />
+    <xacro:property name="initial_positions_file_right"
+        default="$(arg initial_positions_file_right)" />
+
+    <!-- Include macro files -->
+    <xacro:include filename="$(find eddie_description)/urdf/materials.xacro" />
+    <xacro:include filename="$(find eddie_description)/urdf/eddie_base.macro.xacro" />
+    <xacro:include filename="$(find eddie_description)/urdf/kinova_gen3.macro.xacro" />
+    <xacro:include filename="$(find eddie_description)/urdf/kortex.ros2_gz_control.macro.xacro" />
+
+    <!-- Eddie base with KELO hub wheels -->
+    <xacro:eddie_base robot_prefix="$(arg robot_name)"
+        use_ros2_control="$(arg use_ros2_control)"
+        use_gz_sim="$(arg use_gz_sim)"
+        use_kelo_tulip="$(arg use_kelo_tulip)" />
+
+    <!-- Left Kinova Gen3 7 DoF arm -->
+    <xacro:kinova_gen3
+        parent="$(arg robot_name)left_arm_attachment_link"
+        prefix="$(arg robot_name)left_arm_"
+        gripper="$(arg gripper)"
+        robot_ip="$(arg robot_ip_left)"
+        username="$(arg username)"
+        password="$(arg password)"
+        port="$(arg port)"
+        port_realtime="$(arg port_realtime)"
+        session_inactivity_timeout_ms="$(arg session_inactivity_timeout_ms)"
+        connection_inactivity_timeout_ms="$(arg connection_inactivity_timeout_ms)"
+        use_fake_hardware="$(arg use_fake_hardware)"
+        fake_sensor_commands="$(arg use_fake_sensor_commands)"
+        initial_positions="${xacro.load_yaml(initial_positions_file_left)}">
+        <origin xyz="0.01549 0 0" rpy="1.5708 -1.5708 1.5708" />
+    </xacro:kinova_gen3>
+
+    <xacro:if value="$(arg use_ros2_control)">
+        <xacro:kortex_ros2_control
+            name="$(arg robot_name)left_arm_KortexMultiInterfaceHardware"
+            prefix="$(arg robot_name)left_arm_"
+            use_fake_hardware="$(arg use_fake_hardware)"
+            fake_sensor_commands="$(arg use_fake_sensor_commands)"
+            sim_gz="$(arg use_gz_sim)"
+            tf_prefix=""
+            initial_positions="${xacro.load_yaml(initial_positions_file_left)}"
+            robot_ip="$(arg robot_ip_left)"
+            username="$(arg username)"
+            password="$(arg password)"
+            port="$(arg port)"
+            port_realtime="$(arg port_realtime)"
+            session_inactivity_timeout_ms="$(arg session_inactivity_timeout_ms)"
+            connection_inactivity_timeout_ms="$(arg connection_inactivity_timeout_ms)"
+            use_internal_bus_gripper_comm="$(arg use_internal_bus_gripper_comm)"
+            gripper_joint_name="$(arg gripper_joint_name)" />
+    </xacro:if>
+
+    <!-- Right Kinova Gen3 7 DoF arm -->
+    <xacro:kinova_gen3
+        parent="$(arg robot_name)right_arm_attachment_link"
+        prefix="$(arg robot_name)right_arm_"
+        gripper="$(arg gripper)"
+        robot_ip="$(arg robot_ip_right)"
+        username="$(arg username)"
+        password="$(arg password)"
+        port="$(arg port)"
+        port_realtime="$(arg port_realtime)"
+        session_inactivity_timeout_ms="$(arg session_inactivity_timeout_ms)"
+        connection_inactivity_timeout_ms="$(arg connection_inactivity_timeout_ms)"
+        use_fake_hardware="$(arg use_fake_hardware)"
+        fake_sensor_commands="$(arg use_fake_sensor_commands)"
+        initial_positions="${xacro.load_yaml(initial_positions_file_right)}">
+        <origin xyz="0.01549 0 0" rpy="1.5708 -1.5708 1.5708" />
+    </xacro:kinova_gen3>
+
+    <xacro:if value="$(arg use_ros2_control)">
+        <xacro:kortex_ros2_control
+            name="$(arg robot_name)right_arm_KortexMultiInterfaceHardware"
+            prefix="$(arg robot_name)right_arm_"
+            use_fake_hardware="$(arg use_fake_hardware)"
+            fake_sensor_commands="$(arg use_fake_sensor_commands)"
+            sim_gz="$(arg use_gz_sim)"
+            tf_prefix=""
+            initial_positions="${xacro.load_yaml(initial_positions_file_right)}"
+            robot_ip="$(arg robot_ip_right)"
+            username="$(arg username)"
+            password="$(arg password)"
+            port="$(arg port)"
+            port_realtime="$(arg port_realtime)"
+            session_inactivity_timeout_ms="$(arg session_inactivity_timeout_ms)"
+            connection_inactivity_timeout_ms="$(arg connection_inactivity_timeout_ms)"
+            use_internal_bus_gripper_comm="$(arg use_internal_bus_gripper_comm)"
+            gripper_joint_name="$(arg gripper_joint_name)" />
+    </xacro:if>
+
+    <!-- gazebo and ros2 control -->
+    <xacro:if value="$(arg use_ros2_control)">
+        <xacro:if value="$(arg use_gz_sim)">
+            <gazebo>
+                <plugin filename="libgz_ros2_control-system.so"
+                    name="gz_ros2_control::GazeboSimROS2ControlPlugin">
+                    <robot_param>robot_description</robot_param>
+                    <robot_param_node>robot_state_publisher</robot_param_node>
+                    <parameters>$(arg simulation_controllers)</parameters>
+                    <!-- <ros>
+                        <remapping>~/odom:=odom</remapping>
+                        <remapping>/tf:=tf</remapping>
+                        <remapping>/tf_static:=tf_static</remapping>
+                    </ros> -->
+                </plugin>
+            </gazebo>
+        </xacro:if>
+    </xacro:if>
+
+    <xacro:if value="$(arg use_gz_sim)">
+        <gazebo>
+            <self_collide>1</self_collide>
+
+            <plugin
+                filename="gz-sim-odometry-publisher-system"
+                name="gz::sim::systems::OdometryPublisher">
+                <odom_frame>odom</odom_frame>
+                <robot_base_frame>$(arg robot_name)base_footprint</robot_base_frame>
+            </plugin>
+            <xacro:unless value="$(arg use_kelo_tulip)">
+                <plugin
+                    filename="gz-sim-velocity-control-system"
+                    name="gz::sim::systems::VelocityControl">
+                </plugin>
+            </xacro:unless>
+        </gazebo>
+
+        <gazebo reference="$(arg robot_name)base_link">
+            <gravity>true</gravity>
+            <self_collide>false</self_collide>
+        </gazebo>
+    </xacro:if>
+
+</robot>
\ No newline at end of file
diff --git a/urdf/kelo_drive_unit.macro.xacro b/urdf/kelo_drive_unit.macro.xacro
new file mode 100644
index 0000000..bcf6813
--- /dev/null
+++ b/urdf/kelo_drive_unit.macro.xacro
@@ -0,0 +1,137 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="kelo_drive_unit">
+
+    <!-- Include macro files -->
+    <xacro:include filename="$(find eddie_description)/urdf/kelo_hub_wheel.macro.xacro" />
+
+    <xacro:macro name="kelo_drive_unit"
+        params="parent use_ros2_control use_gz_sim use_kelo_tulip struct_prefix *attachment_origin
+    struct_wrt_attachment_rpy">
+
+        <!-- pivot joint type based on use_kelo_tulip -->
+        <xacro:if value="${use_kelo_tulip}">
+            <xacro:property name="pivot_joint_type" value="continuous" />
+        </xacro:if>
+        <xacro:unless value="${use_kelo_tulip}">
+            <xacro:property name="pivot_joint_type" value="fixed" />
+        </xacro:unless>
+
+        <!-- Properties -->
+        <xacro:property name="mesh_package" value="eddie_description" />
+        <xacro:property name="struct_mesh_file" value="kelo_drive.stl" />
+        <xacro:property name="struct_attachment_mesh_file" value="kelo_drive_attachments.stl" />
+
+        <!-- struct -->
+        <xacro:property name="struct_wrt_attachment_origin">
+            <origin xyz="-0.0100 -0.0006 -0.0641" rpy="${struct_wrt_attachment_rpy}" />
+        </xacro:property>
+
+        <!-- Links -->
+        <link name="${struct_prefix}attachment_link">
+            <visual>
+                <origin rpy="0 0 0" xyz="0 0 0" />
+                <geometry>
+                    <mesh filename="package://${mesh_package}/meshes/${struct_attachment_mesh_file}" />
+                </geometry>
+                <material name="metallic_silver" />
+            </visual>
+            <collision>
+                <geometry>
+                    <mesh filename="package://${mesh_package}/meshes/${struct_attachment_mesh_file}" />
+                </geometry>
+            </collision>
+            <inertial>
+                <mass value="0.5" />
+                <inertia ixx="0.00042" ixy="0" ixz="0" iyy="0.00042" iyz="0" izz="0.0008" />
+            </inertial>
+        </link>
+
+        <!-- attachment joint -->
+        <joint name="${struct_prefix}attachment_joint" type="fixed">
+            <parent link="${parent}" />
+            <child link="${struct_prefix}attachment_link" />
+            <xacro:insert_block name="attachment_origin" />
+        </joint>
+
+        <link name="${struct_prefix}struct_link">
+            <visual>
+                <origin rpy="0 0 0" xyz="0 0 0" />
+                <geometry>
+                    <mesh filename="package://${mesh_package}/meshes/${struct_mesh_file}" />
+                </geometry>
+                <material name="metallic_silver" />
+            </visual>
+            <collision>
+                <geometry>
+                    <mesh filename="package://${mesh_package}/meshes/${struct_mesh_file}" />
+                </geometry>
+            </collision>
+            <inertial>
+                <mass value="1.392" />
+                <origin xyz="0 0 0.006" rpy="0 0 0" />
+                <inertia ixx="0.004574163" ixy="0" ixz="0" iyy="0.004344228" iyz="0"
+                    izz="0.004640438" />
+            </inertial>
+        </link>
+
+        <!-- pivot joint -->
+        <joint name="${struct_prefix}pivot_joint" type="${pivot_joint_type}">
+            <parent link="${struct_prefix}attachment_link" />
+            <child link="${struct_prefix}struct_link" />
+            <xacro:insert_block name="struct_wrt_attachment_origin" />
+            <axis xyz="0 0 1" />
+            <dynamics damping="0.1" friction="0.1" />
+        </joint>
+
+        <xacro:if value="${use_kelo_tulip}">
+            <!-- ros2 control tags -->
+            <xacro:if value="${use_ros2_control}">
+                <ros2_control name="${struct_prefix}ctr" type="system">
+                    <xacro:if value="${use_gz_sim}">
+                        <hardware>
+                            <plugin>gz_ros2_control/GazeboSimSystem</plugin>
+                        </hardware>
+                    </xacro:if>
+                    <joint name="${struct_prefix}pivot_joint">
+                        <state_interface name="position">
+                            <param name="initial_value">0.0</param>
+                        </state_interface>
+                        <state_interface name="velocity" />
+                    </joint>
+                </ros2_control>
+            </xacro:if>
+        </xacro:if>
+
+        <!-- wheels -->
+
+        <!-- right wheel -->
+        <xacro:property name="right_wheel_prefix" value="r_wheel_" />
+        <xacro:property name="right_wheel_origin">
+            <origin xyz="0.0008 0.0407 -0.0366" rpy="-1.5708 0 0" />
+        </xacro:property>
+
+        <xacro:kelo_hub_wheel wheel_prefix="${struct_prefix}${right_wheel_prefix}"
+            parent="${struct_prefix}struct_link"
+            use_ros2_control="${use_ros2_control}"
+            use_gz_sim="${use_gz_sim}"
+            use_kelo_tulip="${use_kelo_tulip}">
+            <xacro:insert_block name="right_wheel_origin" />
+        </xacro:kelo_hub_wheel>
+
+        <!-- left wheel -->
+        <xacro:property name="left_wheel_prefix" value="l_wheel_" />
+        <xacro:property name="left_wheel_origin">
+            <origin xyz="0.0008 -0.0403 -0.0366" rpy="1.5708 3.1416 0" />
+        </xacro:property>
+
+        <xacro:kelo_hub_wheel wheel_prefix="${struct_prefix}${left_wheel_prefix}"
+            parent="${struct_prefix}struct_link"
+            use_ros2_control="${use_ros2_control}"
+            use_gz_sim="${use_gz_sim}"
+            use_kelo_tulip="${use_kelo_tulip}">
+            <xacro:insert_block name="left_wheel_origin" />
+        </xacro:kelo_hub_wheel>
+
+    </xacro:macro>
+
+</robot>
\ No newline at end of file
diff --git a/urdf/kelo_hub_wheel.macro.xacro b/urdf/kelo_hub_wheel.macro.xacro
new file mode 100644
index 0000000..eea0e92
--- /dev/null
+++ b/urdf/kelo_hub_wheel.macro.xacro
@@ -0,0 +1,93 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="kelo_hub_wheel">
+
+    <xacro:macro name="kelo_hub_wheel"
+        params="wheel_prefix parent *wheel_origin use_ros2_control use_gz_sim use_kelo_tulip">
+
+        <!-- Properties -->
+        <xacro:property name="mesh_package" value="eddie_description" />
+        <xacro:property name="wheel_mesh_file" value="hub_wheel.stl" />
+
+        <!-- wheel joint type based on use_kelo_tulip -->
+        <xacro:if value="${use_kelo_tulip}">
+            <xacro:property name="wheel_joint_type" value="continuous" />
+        </xacro:if>
+        <xacro:unless value="${use_kelo_tulip}">
+            <xacro:property name="wheel_joint_type" value="fixed" />
+        </xacro:unless>
+
+        <!-- Links -->
+        <link name="${wheel_prefix}link">
+            <visual>
+                <origin rpy="0 0 0" xyz="0 0 0" />
+                <geometry>
+                    <mesh filename="package://${mesh_package}/meshes/${wheel_mesh_file}" />
+                </geometry>
+                <material name="almost_black" />
+            </visual>
+            <collision>
+                <geometry>
+                    <mesh filename="package://${mesh_package}/meshes/${wheel_mesh_file}" />
+                </geometry>
+            </collision>
+
+            <surface>
+                <friction>
+                    <ode>
+                        <mu>0.2</mu>
+                        <mu2>0.1</mu2>
+                    </ode>
+                </friction>
+            </surface>
+
+            <inertial>
+                <mass value="1.563" />
+                <origin rpy="0 0 0" xyz="0 0.00003 -0.00044" />
+                <inertia ixx="0.001012837" ixy="0" ixz="0" iyy="0.001013130" iyz="0"
+                    izz="0.001579986" />
+            </inertial>
+        </link>
+
+        <!-- Joints -->
+        <joint name="${wheel_prefix}joint" type="${wheel_joint_type}">
+            <parent link="${parent}" />
+            <child link="${wheel_prefix}link" />
+            <xacro:insert_block name="wheel_origin" />
+            <axis xyz="0 0 1" />
+            <dynamics damping="0.1" friction="0.1" />
+        </joint>
+
+        <xacro:if value="${use_kelo_tulip}">
+            <!-- ros2 control tags -->
+            <xacro:if value="${use_ros2_control}">
+                <ros2_control name="${wheel_prefix}ctr" type="system">
+                    <xacro:if value="${use_gz_sim}">
+                        <hardware>
+                            <plugin>gz_ros2_control/GazeboSimSystem</plugin>
+                        </hardware>
+                    </xacro:if>
+                    <joint name="${wheel_prefix}joint">
+                        <command_interface name="position">
+                            <param name="min">-1e+100</param>
+                            <param name="max">1e+100</param>
+                        </command_interface>
+                        <command_interface name="velocity">
+                            <param name="min">-1e+100</param>
+                            <param name="max">1e+100</param>
+                        </command_interface>
+                        <command_interface name="effort">
+                            <param name="min">-1e+100</param>
+                            <param name="max">1e+100</param>
+                        </command_interface>
+                        <state_interface name="position">
+                            <param name="initial_value">0.0</param>
+                        </state_interface>
+                        <state_interface name="velocity" />
+                        <state_interface name="effort" />
+                    </joint>
+                </ros2_control>
+            </xacro:if>
+        </xacro:if>
+
+    </xacro:macro>
+</robot>
\ No newline at end of file
diff --git a/eddie_description/robots/kortex_robot.xacro b/urdf/kinova_gen3.macro.xacro
similarity index 95%
rename from eddie_description/robots/kortex_robot.xacro
rename to urdf/kinova_gen3.macro.xacro
index 85c123a..d48e4d4 100644
--- a/eddie_description/robots/kortex_robot.xacro
+++ b/urdf/kinova_gen3.macro.xacro
@@ -1,17 +1,17 @@
 <?xml version="1.0"?>
 
-<robot xmlns:xacro="http://ros.org/wiki/xacro">
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="kinova_gen3">
 
-  <xacro:macro name="kinova_arm"
+  <xacro:macro name="kinova_gen3"
     params="
     parent
     *origin
     prefix
-    arm
+    arm:=gen3
     gripper
-    gripper_joint_name
-    dof
-    vision
+    gripper_joint_name:=grasp_joint
+    dof:=7
+    vision:=true
     robot_ip
     username
     password
diff --git a/eddie_description/robots/kortex.ros2_gz_control.xacro b/urdf/kortex.ros2_gz_control.macro.xacro
similarity index 99%
rename from eddie_description/robots/kortex.ros2_gz_control.xacro
rename to urdf/kortex.ros2_gz_control.macro.xacro
index 6b28c6e..3ca96db 100644
--- a/eddie_description/robots/kortex.ros2_gz_control.xacro
+++ b/urdf/kortex.ros2_gz_control.macro.xacro
@@ -1,4 +1,5 @@
 <?xml version="1.0"?>
+
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
   <xacro:macro name="kortex_ros2_control" params="
diff --git a/urdf/materials.xacro b/urdf/materials.xacro
new file mode 100644
index 0000000..5bbeaa8
--- /dev/null
+++ b/urdf/materials.xacro
@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="eddie_materials">
+
+    <material name="metallic_silver">
+        <color rgba="0.5 0.5 0.5 1.0" />
+    </material>
+
+    <material name="light_gray">
+        <color rgba="0.25 0.25 0.25 1.0" />
+    </material>
+
+    <material name="almost_black">
+        <color rgba="0.075 0.075 0.075 1.0" />
+    </material>
+
+</robot>
\ No newline at end of file
diff --git a/eddie_base_description/urdf/sensors/common.xacro b/urdf/sensors/common.xacro
similarity index 98%
rename from eddie_base_description/urdf/sensors/common.xacro
rename to urdf/sensors/common.xacro
index 25ab0f3..5920ed2 100644
--- a/eddie_base_description/urdf/sensors/common.xacro
+++ b/urdf/sensors/common.xacro
@@ -1,10 +1,10 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-    <xacro:macro name="gazebo_laser_plugin" params="name topic sample_size 
-                                                    update_rate min_angle 
+    <xacro:macro name="gazebo_laser_plugin" params="name topic sample_size
+                                                    update_rate min_angle
                                                     max_angle min_range max_range
-                                                    robot_namespace visualize 
+                                                    robot_namespace visualize
                                                     sensor_type:=gpu_ray
                                                     plugin_filename:=libgazebo_ros_gpu_laser" >
         <gazebo reference="${name}_link">
diff --git a/urdf/sensors/hokuyo.urdf.xacro b/urdf/sensors/hokuyo.urdf.xacro
new file mode 100644
index 0000000..a5a263d
--- /dev/null
+++ b/urdf/sensors/hokuyo.urdf.xacro
@@ -0,0 +1,79 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+
+    <xacro:macro name="hokuyo"
+        params="*origin name topic parent
+                use_gz_sim:=false
+                sample_size:=1080
+                update_rate:=40
+                min_angle:=-2.35619
+                max_angle:=2.35619
+                min_range:=0.06
+                max_range:=10.0
+                visualize:=true">
+
+        <joint name="${name}joint" type="fixed">
+            <xacro:insert_block name="origin" />
+            <parent link="${parent}" />
+            <child link="${name}link" />
+        </joint>
+
+        <link name="${name}link">
+            <inertial>
+                <mass value="0.16" />
+                <origin xyz="0 0 0" rpy="0 0 0" />
+                <inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1" />
+            </inertial>
+
+            <visual>
+                <origin xyz="0 0 0.015" rpy="0 0 0"/>
+                <geometry>
+                    <mesh filename="package://eddie_description/meshes/sensors/hokuyo.dae" />
+                </geometry>
+            </visual>
+
+            <collision>
+                <origin xyz="0 0 0.015" rpy="0 0 0"/>
+                <geometry>
+                    <mesh
+                        filename="package://eddie_description/meshes/sensors/hokuyo_convex.dae" />
+                </geometry>
+            </collision>
+        </link>
+
+        <xacro:if value="${use_gz_sim}">
+            <gazebo reference="${name}link">
+                <sensor name='${name}gpu_lidar' type='gpu_lidar'>
+                    <pose relative_to='${name}link'>0 0 0.035 0 0 0</pose>
+                    <topic>${topic}</topic>
+                    <update_rate>${update_rate}</update_rate>
+                    <gz_frame_id>${name}link</gz_frame_id>
+                    <ray>
+                        <scan>
+                            <horizontal>
+                                <samples>${sample_size}</samples>
+                                <resolution>1</resolution>
+                                <min_angle>${min_angle}</min_angle>
+                                <max_angle>${max_angle}</max_angle>
+                            </horizontal>
+                            <vertical>
+                                <samples>1</samples>
+                                <resolution>0.01</resolution>
+                                <min_angle>0</min_angle>
+                                <max_angle>0</max_angle>
+                            </vertical>
+                        </scan>
+                        <range>
+                            <min>${min_range}</min>
+                            <max>${max_range}</max>
+                            <resolution>0.01</resolution>
+                        </range>
+                    </ray>
+                    <always_on>1</always_on>
+                    <visualize>${visualize}</visualize>
+                </sensor>
+            </gazebo>
+        </xacro:if>
+
+    </xacro:macro>
+</robot>
\ No newline at end of file