diff --git a/.travis.yml b/.travis.yml
index 1325996..0974479 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -29,5 +29,5 @@ script:
   - catkin_make install
   - source install/setup.bash
   - cd src/package
-  - /opt/ros/hydro/share/xacro/xacro.py jaco_description/urdf/standalone_arm.xacro >> sanity.urdf
-  - diff sanity.urdf jaco_description/urdf/standalone_arm.urdf
+  - /opt/ros/hydro/share/xacro/xacro.py jaco_description/robots/standalone_arm.urdf.xacro >> sanity.urdf
+  - diff sanity.urdf jaco_description/robots/standalone_arm.urdf
diff --git a/README.md b/README.md
index 054492d..e91152c 100644
--- a/README.md
+++ b/README.md
@@ -17,7 +17,7 @@ This package servers as an alternative to [jaco-arm](https://github.com/Kinovaro
    * `xmllint --noblanks my_modified_mesh.dae > ../my_modified_mesh.min.dae`
  1. Re-compile the modified URDF
    * `cd /path/to/wpi_jaco`
-   * `rosrun xacro xacro jaco_description/urdf/standalone_arm.xacro > jaco_description/urdf/standalone_arm.urdf`
+   * `rosrun xacro xacro jaco_description/robots/standalone_arm.urdf.xacro > jaco_description/robots/standalone_arm.urdf`
 
 ### License
 For full terms and conditions, see the [LICENSE](LICENSE) file.
diff --git a/jaco_description/launch/display.launch b/jaco_description/launch/display.launch
deleted file mode 100644
index 0f8f432..0000000
--- a/jaco_description/launch/display.launch
+++ /dev/null
@@ -1,11 +0,0 @@
-<launch>
-  <arg name="gui" default="false" />
-
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find jaco_description)/urdf/standalone_arm.xacro'" />
-  <param name="use_gui" value="$(arg gui)"/>
-
-  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
-    <rosparam param="source_list">[jaco_arm/joint_states]</rosparam>
-  </node>
-  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
-</launch>
diff --git a/jaco_description/launch/jaco_description.launch b/jaco_description/launch/jaco_description.launch
new file mode 100644
index 0000000..dea554a
--- /dev/null
+++ b/jaco_description/launch/jaco_description.launch
@@ -0,0 +1,17 @@
+<launch>
+  <!-- Joint state publisher gui -->
+  <arg name="gui" default="false" />
+
+  <!-- Load the URDF file -->
+  <arg name="urdf_file" default="$(find xacro)/xacro.py '$(find jaco_description)/robots/standalone_arm.urdf.xacro'" />
+  <param name="robot_description" command="$(arg urdf_file)" />
+  
+  <!-- State publishers -->
+  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
+    <param name="publish_frequency" type="double" value="50" />
+  </node>
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <param name="use_gui" value="$(arg gui)" />
+    <rosparam param="source_list">[jaco_arm/joint_states]</rosparam>
+  </node>
+</launch>
diff --git a/jaco_description/launch/view.launch b/jaco_description/launch/view.launch
new file mode 100644
index 0000000..82768da
--- /dev/null
+++ b/jaco_description/launch/view.launch
@@ -0,0 +1,6 @@
+<launch>
+  <include file="$(find jaco_description)/launch/jaco_description.launch">
+     <arg name="gui" value="true" />
+  </include>
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find jaco_description)/rviz/view_robot.rviz" required="true" />
+</launch>
diff --git a/jaco_description/meshes/original/jaco_large_ring_cover.dae b/jaco_description/meshes/jaco_large_ring_cover.dae
similarity index 99%
rename from jaco_description/meshes/original/jaco_large_ring_cover.dae
rename to jaco_description/meshes/jaco_large_ring_cover.dae
index ca50ce3..f25a4d3 100644
--- a/jaco_description/meshes/original/jaco_large_ring_cover.dae
+++ b/jaco_description/meshes/jaco_large_ring_cover.dae
@@ -6,7 +6,6 @@
         </contributor>
         <created>2014-08-04T14:01:56Z</created>
         <modified>2014-08-04T14:01:56Z</modified>
-        <unit meter="0.0254" name="inch" />
         <up_axis>Z_UP</up_axis>
     </asset>
     <library_visual_scenes>
diff --git a/jaco_description/meshes/jaco_large_ring_cover.min.dae b/jaco_description/meshes/jaco_large_ring_cover.min.dae
deleted file mode 100644
index e5a3d6a..0000000
--- a/jaco_description/meshes/jaco_large_ring_cover.min.dae
+++ /dev/null
@@ -1,2 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?>
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input_set="0"/></instance_material></technique_common></bind_material></instance_geometry></node></node></visual_scene></library_visual_scenes><library_geometries><geometry id="ID3"><mesh><source id="ID6"><float_array id="ID9" count="3840">-20.81145 3.29621 6.732283 -21.07087 2.580437e-015 -2.480315 -21.07087 2.580437e-015 6.732283 -20.81145 3.29621 -2.480315 -20.81145 3.29621 -2.480315 -20.81145 3.29621 6.732283 -21.07087 2.580437e-015 -2.480315 -21.07087 2.580437e-015 6.732283 -21.07087 2.580437e-015 6.732283 -20.81145 -3.29621 -2.480315 -20.81145 -3.29621 6.732283 -21.07087 2.580437e-015 -2.480315 -21.07087 2.580437e-015 -2.480315 -21.07087 2.580437e-015 6.732283 -20.81145 -3.29621 -2.480315 -20.81145 -3.29621 6.732283 -20.24409 0 7.559055 -20.81145 3.29621 6.732283 -21.07087 2.580437e-015 6.732283 -19.99486 3.166874 7.559055 -19.99486 3.166874 7.559055 -20.24409 0 7.559055 -20.81145 3.29621 6.732283 -21.07087 2.580437e-015 6.732283 -20.03958 6.511256 6.732283 -20.81145 3.29621 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diff --git a/jaco_description/meshes/jaco_large_ring_cover.stl b/jaco_description/meshes/jaco_large_ring_cover.stl
new file mode 100644
index 0000000..6494b73
Binary files /dev/null and b/jaco_description/meshes/jaco_large_ring_cover.stl differ
diff --git a/jaco_description/meshes/original/jaco_link_1.dae b/jaco_description/meshes/jaco_link_1.dae
similarity index 99%
rename from jaco_description/meshes/original/jaco_link_1.dae
rename to jaco_description/meshes/jaco_link_1.dae
index e05fa97..cefc5bd 100644
--- a/jaco_description/meshes/original/jaco_link_1.dae
+++ b/jaco_description/meshes/jaco_link_1.dae
@@ -6,7 +6,6 @@
         </contributor>
         <created>2014-08-05T12:34:09Z</created>
         <modified>2014-08-05T12:34:09Z</modified>
-        <unit meter="0.0254" name="inch" />
         <up_axis>Z_UP</up_axis>
     </asset>
     <library_visual_scenes>
diff --git a/jaco_description/meshes/jaco_link_1.min.dae b/jaco_description/meshes/jaco_link_1.min.dae
deleted file mode 100644
index 66b0737..0000000
--- a/jaco_description/meshes/jaco_link_1.min.dae
+++ /dev/null
@@ -1,2 +0,0 @@
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diff --git a/jaco_description/meshes/jaco_link_1.stl b/jaco_description/meshes/jaco_link_1.stl
new file mode 100644
index 0000000..75dfb8f
Binary files /dev/null and b/jaco_description/meshes/jaco_link_1.stl differ
diff --git a/jaco_description/meshes/original/jaco_link_2.dae b/jaco_description/meshes/jaco_link_2.dae
similarity index 99%
rename from jaco_description/meshes/original/jaco_link_2.dae
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index ff8ac6e..cd5e5e5 100644
--- a/jaco_description/meshes/original/jaco_link_2.dae
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diff --git a/jaco_description/meshes/jaco_link_2.min.dae b/jaco_description/meshes/jaco_link_2.min.dae
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diff --git a/jaco_description/meshes/jaco_link_2.stl b/jaco_description/meshes/jaco_link_2.stl
new file mode 100644
index 0000000..3a15982
Binary files /dev/null and b/jaco_description/meshes/jaco_link_2.stl differ
diff --git a/jaco_description/meshes/original/jaco_link_3.dae b/jaco_description/meshes/jaco_link_3.dae
similarity index 99%
rename from jaco_description/meshes/original/jaco_link_3.dae
rename to jaco_description/meshes/jaco_link_3.dae
index b0e9b27..935f6c6 100644
--- a/jaco_description/meshes/original/jaco_link_3.dae
+++ b/jaco_description/meshes/jaco_link_3.dae
@@ -6,7 +6,6 @@
         </contributor>
         <created>2014-08-05T12:51:43Z</created>
         <modified>2014-08-05T12:51:43Z</modified>
-        <unit meter="0.0254" name="inch" />
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diff --git a/jaco_description/meshes/jaco_link_3.min.dae b/jaco_description/meshes/jaco_link_3.min.dae
deleted file mode 100644
index 8e64172..0000000
--- a/jaco_description/meshes/jaco_link_3.min.dae
+++ /dev/null
@@ -1,2 +0,0 @@
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diff --git a/jaco_description/meshes/jaco_link_3.stl b/jaco_description/meshes/jaco_link_3.stl
new file mode 100644
index 0000000..ec1d71c
Binary files /dev/null and b/jaco_description/meshes/jaco_link_3.stl differ
diff --git a/jaco_description/meshes/original/jaco_link_4_5.dae b/jaco_description/meshes/jaco_link_4_5.dae
similarity index 99%
rename from jaco_description/meshes/original/jaco_link_4_5.dae
rename to jaco_description/meshes/jaco_link_4_5.dae
index 2c9ea49..4294075 100644
--- a/jaco_description/meshes/original/jaco_link_4_5.dae
+++ b/jaco_description/meshes/jaco_link_4_5.dae
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diff --git a/jaco_description/meshes/jaco_link_4_5.min.dae b/jaco_description/meshes/jaco_link_4_5.min.dae
deleted file mode 100644
index 4ca9cab..0000000
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diff --git a/jaco_description/meshes/jaco_link_4_5.stl b/jaco_description/meshes/jaco_link_4_5.stl
new file mode 100644
index 0000000..a69abfe
Binary files /dev/null and b/jaco_description/meshes/jaco_link_4_5.stl differ
diff --git a/jaco_description/meshes/original/jaco_link_base.dae b/jaco_description/meshes/jaco_link_base.dae
similarity index 99%
rename from jaco_description/meshes/original/jaco_link_base.dae
rename to jaco_description/meshes/jaco_link_base.dae
index 2c3ae6f..54a474d 100644
--- a/jaco_description/meshes/original/jaco_link_base.dae
+++ b/jaco_description/meshes/jaco_link_base.dae
@@ -6,7 +6,6 @@
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diff --git a/jaco_description/meshes/jaco_link_base.min.dae b/jaco_description/meshes/jaco_link_base.min.dae
deleted file mode 100644
index d844aab..0000000
--- a/jaco_description/meshes/jaco_link_base.min.dae
+++ /dev/null
@@ -1,2 +0,0 @@
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diff --git a/jaco_description/meshes/jaco_link_base.stl b/jaco_description/meshes/jaco_link_base.stl
new file mode 100644
index 0000000..00e5767
Binary files /dev/null and b/jaco_description/meshes/jaco_link_base.stl differ
diff --git a/jaco_description/meshes/original/jaco_link_finger.dae b/jaco_description/meshes/jaco_link_finger.dae
similarity index 99%
rename from jaco_description/meshes/original/jaco_link_finger.dae
rename to jaco_description/meshes/jaco_link_finger.dae
index 704a38d..ed01701 100644
--- a/jaco_description/meshes/original/jaco_link_finger.dae
+++ b/jaco_description/meshes/jaco_link_finger.dae
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diff --git a/jaco_description/meshes/jaco_link_finger.min.dae b/jaco_description/meshes/jaco_link_finger.min.dae
deleted file mode 100644
index 134fea3..0000000
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diff --git a/jaco_description/meshes/jaco_link_finger.stl b/jaco_description/meshes/jaco_link_finger.stl
new file mode 100644
index 0000000..b15fa78
Binary files /dev/null and b/jaco_description/meshes/jaco_link_finger.stl differ
diff --git a/jaco_description/meshes/original/jaco_link_finger_tip.dae b/jaco_description/meshes/jaco_link_finger_tip.dae
similarity index 99%
rename from jaco_description/meshes/original/jaco_link_finger_tip.dae
rename to jaco_description/meshes/jaco_link_finger_tip.dae
index 87a1050..c576ce3 100644
--- a/jaco_description/meshes/original/jaco_link_finger_tip.dae
+++ b/jaco_description/meshes/jaco_link_finger_tip.dae
@@ -6,7 +6,6 @@
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diff --git a/jaco_description/meshes/jaco_link_finger_tip.min.dae b/jaco_description/meshes/jaco_link_finger_tip.min.dae
deleted file mode 100644
index e939a63..0000000
--- a/jaco_description/meshes/jaco_link_finger_tip.min.dae
+++ /dev/null
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diff --git a/jaco_description/meshes/jaco_link_finger_tip.stl b/jaco_description/meshes/jaco_link_finger_tip.stl
new file mode 100644
index 0000000..660a5f8
Binary files /dev/null and b/jaco_description/meshes/jaco_link_finger_tip.stl differ
diff --git a/jaco_description/meshes/original/jaco_link_hand.dae b/jaco_description/meshes/jaco_link_hand.dae
similarity index 99%
rename from jaco_description/meshes/original/jaco_link_hand.dae
rename to jaco_description/meshes/jaco_link_hand.dae
index 7ac18d3..2e3bd46 100644
--- a/jaco_description/meshes/original/jaco_link_hand.dae
+++ b/jaco_description/meshes/jaco_link_hand.dae
@@ -6,7 +6,6 @@
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diff --git a/jaco_description/meshes/jaco_link_hand.min.dae b/jaco_description/meshes/jaco_link_hand.min.dae
deleted file mode 100644
index 6b66790..0000000
--- a/jaco_description/meshes/jaco_link_hand.min.dae
+++ /dev/null
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diff --git a/jaco_description/meshes/jaco_link_hand.stl b/jaco_description/meshes/jaco_link_hand.stl
new file mode 100644
index 0000000..eb5fcd0
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diff --git a/jaco_description/meshes/original/jaco_small_ring_cover.dae b/jaco_description/meshes/jaco_small_ring_cover.dae
similarity index 99%
rename from jaco_description/meshes/original/jaco_small_ring_cover.dae
rename to jaco_description/meshes/jaco_small_ring_cover.dae
index 719f3b2..1adc602 100644
--- a/jaco_description/meshes/original/jaco_small_ring_cover.dae
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diff --git a/jaco_description/meshes/jaco_small_ring_cover.min.dae b/jaco_description/meshes/jaco_small_ring_cover.min.dae
deleted file mode 100644
index 2d29aa4..0000000
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145 146 145 144 147 148 149 150 151 150 149 152 153 154 153 152 155 156 157 158 159 158 157 160 161 162 161 160 163 164 165 166 167 166 165 168 169 170 169 168 171 172 173 174 175 174 173 176 177 178 177 176 179 180 181 182 183 182 181 184 185 186 185 184 187 188 189 190 191 190 189 192 193 194 193 192 195 196 197 198 199 198 197 200 201 202 201 200 203 204 205 206 207 206 205 208 209 210 209 208 211 212 213 214 215 214 213 216 217 218 217 216 219 220 221 222 223 222 221 224 225 226 225 224 227 228 229 230 231 230 229 232 233 234 233 232 235 236 237 238 239 238 237 240 241 242 241 240 243 244 245 246 247 246 245 248 249 250 249 248 251 252 253 254 255 254 253 256 257 258 257 256 259 260 261 262 263 262 261 264 265 266 265 264 267 268 269 270 271 270 269 272 273 274 273 272 275 276 277 278 279 278 277 280 281 282 281 280 283 284 285 286 287 286 285 288 289 290 289 288 291 292 293 294 295 294 293 296 297 298 297 296 299 300 301 302 303 302 301 304 305 306 305 304 307 308 309 310 311 310 309 312 313 314 313 312 315 316 317 318 319 318 317</p></triangles></mesh></geometry><geometry id="ID19"><mesh><source id="ID22"><float_array id="ID24" count="6">0.00126537 -0.003649647 -0.3838583 -7.009458e-005 -2.903412e-005 -0.3838583</float_array><technique_common><accessor count="2" source="#ID24" stride="3"><param name="X" type="float"/><param name="Y" type="float"/><param name="Z" type="float"/></accessor></technique_common></source><vertices id="ID23"><input semantic="POSITION" source="#ID22"/></vertices><lines count="1" material="Material2"><input offset="0" semantic="VERTEX" source="#ID23"/><p>1 0</p></lines></mesh></geometry></library_geometries><library_materials><material id="ID6" name="material_1"><instance_effect url="#ID7"/></material><material id="ID20" name="edge_color000255"><instance_effect url="#ID21"/></material></library_materials><library_effects><effect id="ID7"><profile_COMMON><technique sid="COMMON"><lambert><diffuse><color>0.8666667 0.8666667 0.8666667 1</color></diffuse></lambert></technique></profile_COMMON></effect><effect id="ID21"><profile_COMMON><technique sid="COMMON"><constant><transparent opaque="A_ONE"><color>0 0 0 1</color></transparent><transparency><float>1</float></transparency></constant></technique></profile_COMMON></effect></library_effects><scene><instance_visual_scene url="#ID1"/></scene></COLLADA>
diff --git a/jaco_description/meshes/jaco_small_ring_cover.stl b/jaco_description/meshes/jaco_small_ring_cover.stl
new file mode 100644
index 0000000..c029d67
Binary files /dev/null and b/jaco_description/meshes/jaco_small_ring_cover.stl differ
diff --git a/jaco_description/package.xml b/jaco_description/package.xml
index b813901..f5dcd32 100644
--- a/jaco_description/package.xml
+++ b/jaco_description/package.xml
@@ -6,6 +6,8 @@
   
   <maintainer email="davidkent@wpi.edu">David Kent</maintainer>
   <maintainer email="rctoris@wpi.edu">Russell Toris</maintainer>
+  <author email="rctoris@wpi.edu">Russell Toris</author>
+  <author email="davidkent@wpi.edu">David Kent</author>
   <author email="bpwiselybabu@wpi.edu">Benzun Pious Wisely Babu</author>
 
   <license>BSD</license>
diff --git a/jaco_description/urdf/standalone_arm.urdf b/jaco_description/robots/standalone_arm.urdf
similarity index 100%
rename from jaco_description/urdf/standalone_arm.urdf
rename to jaco_description/robots/standalone_arm.urdf
diff --git a/jaco_description/urdf/standalone_arm.xacro b/jaco_description/robots/standalone_arm.urdf.xacro
similarity index 88%
rename from jaco_description/urdf/standalone_arm.xacro
rename to jaco_description/robots/standalone_arm.urdf.xacro
index 9d25c92..37b0621 100644
--- a/jaco_description/urdf/standalone_arm.xacro
+++ b/jaco_description/robots/standalone_arm.urdf.xacro
@@ -13,19 +13,19 @@
 	xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics"
 	xmlns:xacro="http://ros.org/wiki/xacro" name="jaco">
 
-	<xacro:include filename="$(find jaco_description)/urdf/jaco_arm.xacro" />
+	<xacro:include filename="$(find jaco_description)/urdf/jaco_arm.urdf.xacro" />
 
 	<link name="root">
 		<visual>
 			<origin xyz="0 0 0" rpy="0 0 0" />
 			<geometry>
-				<box size = "0 0 0"/> <!-- making it slightly bigger in x and z direction -->
+				<box size = "0 0 0" />
 			</geometry>
 		</visual>
 		<collision>
 			<origin xyz="0 0 0" rpy="0 0 0" />
 			<geometry>
-				<box size = "0 0 0"/> <!-- making it slightly bigger in x and z direction -->
+				<box size = "0 0 0" />
 			</geometry>
 		</collision>
 	</link>
diff --git a/jaco_description/rviz/view_robot.rviz b/jaco_description/rviz/view_robot.rviz
new file mode 100644
index 0000000..6853971
--- /dev/null
+++ b/jaco_description/rviz/view_robot.rviz
@@ -0,0 +1,240 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /RobotModel1
+        - /TF1/Frames1
+        - /TF1/Tree1
+      Splitter Ratio: 0.761745
+    Tree Height: 775
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.03
+        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/RobotModel
+      Collision Enabled: false
+      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
+        jaco_large_ring_cover_1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        jaco_large_ring_cover_2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        jaco_large_ring_cover_3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        jaco_link_1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        jaco_link_2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        jaco_link_3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        jaco_link_4:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        jaco_link_5:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        jaco_link_base:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        jaco_link_finger_1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        jaco_link_finger_2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        jaco_link_finger_3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        jaco_link_finger_tip_1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        jaco_link_finger_tip_2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        jaco_link_finger_tip_3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        jaco_link_hand:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        jaco_small_ring_cover_1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        jaco_small_ring_cover_2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        jaco_small_ring_cover_3:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        root:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz/TF
+      Enabled: false
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        {}
+      Update Interval: 0
+      Value: false
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: root
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 4.1741
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.06
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: -0.0837655
+        Y: -0.188298
+        Z: 0.642417
+      Name: Current View
+      Near Clip Distance: 0.01
+      Pitch: 0.080203
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.7404
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1056
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000013c00000396fc0200000009fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002800000396000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000a0049006d00610067006501000002fa000000160000000000000000000000010000010f00000396fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002800000396000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007800000003efc0100000002fb0000000800540069006d0065010000000000000780000002f600fffffffb0000000800540069006d00650100000000000004500000000000000000000005290000039600000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1920
+  X: 1920
+  Y: 24
diff --git a/jaco_description/urdf/jaco_arm.xacro b/jaco_description/urdf/jaco_arm.urdf.xacro
similarity index 62%
rename from jaco_description/urdf/jaco_arm.xacro
rename to jaco_description/urdf/jaco_arm.urdf.xacro
index 43f202e..08a1c67 100644
--- a/jaco_description/urdf/jaco_arm.xacro
+++ b/jaco_description/urdf/jaco_arm.urdf.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0"?>
-<root xmlns:xi="http://www.w3.org/2001/XInclude"
+<robot xmlns:xi="http://www.w3.org/2001/XInclude"
 	xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
 	xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
 	xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
@@ -13,99 +13,100 @@
 	xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics"
 	xmlns:xacro="http://ros.org/wiki/xacro">
 	
-	<property name="J_PI" value="3.1415926535897931" />
-	<property name="J_LIM" value="${2*J_PI}" />
-	<property name="link_base" value="jaco_link_base" />
-	<property name="link" value="jaco_link" />	
-	<property name="link_1" value="jaco_link_1" />
-	<property name="link_2" value="jaco_link_2" />
-	<property name="link_3" value="jaco_link_3" />
-	<property name="link_hand" value="jaco_link_hand" />
-	<property name="link_finger" value="jaco_link_finger" />
-	<property name="link_finger_tip" value="jaco_link_finger_tip" />
-
-	<property name="joint_base" value="jaco_joint_base" />
-	<property name="joint_base_axis_xyz" value="0 0 0" />
-	<property name="joint_base_origin_xyz" value="0 0 0" />
-	<property name="joint_base_origin_rpy" value="0 0 0" />
-
-	<property name="joint_1" value="jaco_joint_1" />
-	<property name="joint_1_axis_xyz" value="0 0 1" />
-	<property name="joint_1_origin_xyz" value="0 0 0.1535" />
-	<property name="joint_1_origin_rpy" value="${J_PI} 0 0" />
-
-	<property name="joint_2" value="jaco_joint_2" />
-	<property name="joint_2_axis_xyz" value="0 0 1" />
-	<property name="joint_2_origin_xyz" value="0 0 -0.1185" />
-	<property name="joint_2_origin_rpy" value="-${J_PI/2} -${J_PI/2} 0" />
-
-	<property name="joint_3" value="jaco_joint_3" />
-	<property name="joint_3_axis_xyz" value="0 0 1" />
-	<property name="joint_3_origin_xyz" value="0.41 0 0" />
-	<property name="joint_3_origin_rpy" value="${J_PI} 0 ${J_PI}" />
-
-	<property name="joint_4" value="jaco_joint_4" />
-	<property name="joint_4_axis_xyz" value="0 0 1" />
-	<property name="joint_4_origin_xyz" value="0.207 0 -0.01125" />
-	<property name="joint_4_origin_rpy" value="0 -${J_PI/2} 0" />
-
-	<property name="joint_5" value="jaco_joint_5" />
-	<property name="joint_5_axis_xyz" value="0 0 1" />
-	<property name="joint_5_origin_xyz" value="0.0343 0 -0.06588" />
-	<property name="joint_5_origin_rpy" value="0 ${J_PI/180*55} ${J_PI}" />
-
-	<property name="joint_6" value="jaco_joint_6" />
-	<property name="joint_6_axis_xyz" value="0 0 1" />
-	<property name="joint_6_origin_xyz" value="0.0343 0 -0.06588" />
-	<property name="joint_6_origin_rpy" value="0 ${J_PI/180*55} ${J_PI}" />
-
-	<property name="joint_finger_1" value="jaco_joint_finger_1" />
-	<property name="joint_finger_1_axis_xyz" value="0 0 1" />
-	<property name="joint_finger_1_origin_xyz" value="-0.032578 0.0033 -0.12131" />  
-	<property name="joint_finger_1_origin_rpy" value="-1.7983 1.117 3.1416" />
-	<property name="joint_finger_1_lower_limit" value="0" />
-	<property name="joint_finger_1_upper_limit" value="${J_PI/180*40}" />
-
-	<property name="joint_finger_3" value="jaco_joint_finger_3" />
-	<property name="joint_finger_3_axis_xyz" value="0 0 1" />
-	<property name="joint_finger_3_origin_xyz" value="0.027788 -0.0206 -0.12131" />
-	<property name="joint_finger_3_origin_rpy" value="-1.6222 1.117 -0.23615" />
-	<property name="joint_finger_3_lower_limit" value="0" />
-	<property name="joint_finger_3_upper_limit" value="${J_PI/180*40}" />
-
-	<property name="joint_finger_2" value="jaco_joint_finger_2" />
-	<property name="joint_finger_2_axis_xyz" value="0 0 1" />
-	<property name="joint_finger_2_origin_xyz" value="0.027788 0.0206 -0.12131" />
-	<property name="joint_finger_2_origin_rpy" value="-1.5161 1.1459 0.23978" />
-	<property name="joint_finger_2_lower_limit" value="0" />
-	<property name="joint_finger_2_upper_limit" value="${J_PI/180*40}" />
+  <xacro:property name="M_SCALE" value="0.0254" />
+	<xacro:property name="M_PI" value="3.1415926535897931" />
+	<xacro:property name="J_LIM" value="${2*M_PI}" />
+	<xacro:property name="link_base" value="jaco_link_base" />
+	<xacro:property name="link" value="jaco_link" />	
+	<xacro:property name="link_1" value="jaco_link_1" />
+	<xacro:property name="link_2" value="jaco_link_2" />
+	<xacro:property name="link_3" value="jaco_link_3" />
+	<xacro:property name="link_hand" value="jaco_link_hand" />
+	<xacro:property name="link_finger" value="jaco_link_finger" />
+	<xacro:property name="link_finger_tip" value="jaco_link_finger_tip" />
+
+	<xacro:property name="joint_base" value="jaco_joint_base" />
+	<xacro:property name="joint_base_axis_xyz" value="0 0 0" />
+	<xacro:property name="joint_base_origin_xyz" value="0 0 0" />
+	<xacro:property name="joint_base_origin_rpy" value="0 0 0" />
+
+	<xacro:property name="joint_1" value="jaco_joint_1" />
+	<xacro:property name="joint_1_axis_xyz" value="0 0 1" />
+	<xacro:property name="joint_1_origin_xyz" value="0 0 0.1535" />
+	<xacro:property name="joint_1_origin_rpy" value="${M_PI} 0 0" />
+
+	<xacro:property name="joint_2" value="jaco_joint_2" />
+	<xacro:property name="joint_2_axis_xyz" value="0 0 1" />
+	<xacro:property name="joint_2_origin_xyz" value="0 0 -0.1185" />
+	<xacro:property name="joint_2_origin_rpy" value="-${M_PI/2} -${M_PI/2} 0" />
+
+	<xacro:property name="joint_3" value="jaco_joint_3" />
+	<xacro:property name="joint_3_axis_xyz" value="0 0 1" />
+	<xacro:property name="joint_3_origin_xyz" value="0.41 0 0" />
+	<xacro:property name="joint_3_origin_rpy" value="0 0 ${M_PI}" />
+
+	<xacro:property name="joint_4" value="jaco_joint_4" />
+	<xacro:property name="joint_4_axis_xyz" value="0 0 1" />
+	<xacro:property name="joint_4_origin_xyz" value="0.207 0 -0.01125" />
+	<xacro:property name="joint_4_origin_rpy" value="0 -${M_PI/2} 0" />
+
+	<xacro:property name="joint_5" value="jaco_joint_5" />
+	<xacro:property name="joint_5_axis_xyz" value="0 0 1" />
+	<xacro:property name="joint_5_origin_xyz" value="0.0343 0 -0.06588" />
+	<xacro:property name="joint_5_origin_rpy" value="0 ${M_PI/180*55} ${M_PI}" />
+
+	<xacro:property name="joint_6" value="jaco_joint_6" />
+	<xacro:property name="joint_6_axis_xyz" value="0 0 1" />
+	<xacro:property name="joint_6_origin_xyz" value="0.0343 0 -0.06588" />
+	<xacro:property name="joint_6_origin_rpy" value="0 ${M_PI/180*55} ${M_PI}" />
+
+	<xacro:property name="joint_finger_1" value="jaco_joint_finger_1" />
+	<xacro:property name="joint_finger_1_axis_xyz" value="0 0 1" />
+	<xacro:property name="joint_finger_1_origin_xyz" value="-0.032578 0.0033 -0.12131" />  
+	<xacro:property name="joint_finger_1_origin_rpy" value="-1.7983 1.117 3.1416" />
+	<xacro:property name="joint_finger_1_lower_limit" value="0" />
+	<xacro:property name="joint_finger_1_upper_limit" value="${M_PI/180*40}" />
+
+	<xacro:property name="joint_finger_3" value="jaco_joint_finger_3" />
+	<xacro:property name="joint_finger_3_axis_xyz" value="0 0 1" />
+	<xacro:property name="joint_finger_3_origin_xyz" value="0.027788 -0.0206 -0.12131" />
+	<xacro:property name="joint_finger_3_origin_rpy" value="-1.6222 1.117 -0.23615" />
+	<xacro:property name="joint_finger_3_lower_limit" value="0" />
+	<xacro:property name="joint_finger_3_upper_limit" value="${M_PI/180*40}" />
+
+	<xacro:property name="joint_finger_2" value="jaco_joint_finger_2" />
+	<xacro:property name="joint_finger_2_axis_xyz" value="0 0 1" />
+	<xacro:property name="joint_finger_2_origin_xyz" value="0.027788 0.0206 -0.12131" />
+	<xacro:property name="joint_finger_2_origin_rpy" value="-1.5161 1.1459 0.23978" />
+	<xacro:property name="joint_finger_2_lower_limit" value="0" />
+	<xacro:property name="joint_finger_2_upper_limit" value="${M_PI/180*40}" />
 	
-	<property name="joint_finger_tip_1" value="jaco_joint_finger_tip_1" />
-	<property name="joint_finger_tip_1_axis_xyz" value="0 0 1" />
-	<property name="joint_finger_tip_1_origin_xyz" value="0.044094 -0.0029 0" />  
-	<property name="joint_finger_tip_1_origin_rpy" value="0 0 0" />
-	<property name="joint_finger_tip_1_lower_limit" value="0" />
-	<property name="joint_finger_tip_1_upper_limit" value="${J_PI/180*40}" />
+	<xacro:property name="joint_finger_tip_1" value="jaco_joint_finger_tip_1" />
+	<xacro:property name="joint_finger_tip_1_axis_xyz" value="0 0 1" />
+	<xacro:property name="joint_finger_tip_1_origin_xyz" value="0.044094 -0.0029 0" />  
+	<xacro:property name="joint_finger_tip_1_origin_rpy" value="0 0 0" />
+	<xacro:property name="joint_finger_tip_1_lower_limit" value="0" />
+	<xacro:property name="joint_finger_tip_1_upper_limit" value="${M_PI/180*40}" />
 	
-	<property name="joint_finger_tip_2" value="jaco_joint_finger_tip_2" />
-	<property name="joint_finger_tip_2_axis_xyz" value="0 0 1" />
-	<property name="joint_finger_tip_2_origin_xyz" value="0.044094 -0.0029 0" />  
-	<property name="joint_finger_tip_2_origin_rpy" value="0 0 0" />
-	<property name="joint_finger_tip_2_lower_limit" value="0" />
-	<property name="joint_finger_tip_2_upper_limit" value="${J_PI/180*40}" />
+	<xacro:property name="joint_finger_tip_2" value="jaco_joint_finger_tip_2" />
+	<xacro:property name="joint_finger_tip_2_axis_xyz" value="0 0 1" />
+	<xacro:property name="joint_finger_tip_2_origin_xyz" value="0.044094 -0.0029 0" />  
+	<xacro:property name="joint_finger_tip_2_origin_rpy" value="0 0 0" />
+	<xacro:property name="joint_finger_tip_2_lower_limit" value="0" />
+	<xacro:property name="joint_finger_tip_2_upper_limit" value="${M_PI/180*40}" />
 	
-	<property name="joint_finger_tip_3" value="jaco_joint_finger_tip_3" />
-	<property name="joint_finger_tip_3_axis_xyz" value="0 0 1" />
-	<property name="joint_finger_tip_3_origin_xyz" value="0.044094 -0.0029 0" />  
-	<property name="joint_finger_tip_3_origin_rpy" value="0 0 0" />
-	<property name="joint_finger_tip_3_lower_limit" value="0" />
-	<property name="joint_finger_tip_3_upper_limit" value="${J_PI/180*40}" />
+	<xacro:property name="joint_finger_tip_3" value="jaco_joint_finger_tip_3" />
+	<xacro:property name="joint_finger_tip_3_axis_xyz" value="0 0 1" />
+	<xacro:property name="joint_finger_tip_3_origin_xyz" value="0.044094 -0.0029 0" />  
+	<xacro:property name="joint_finger_tip_3_origin_rpy" value="0 0 0" />
+	<xacro:property name="joint_finger_tip_3_lower_limit" value="0" />
+	<xacro:property name="joint_finger_tip_3_upper_limit" value="${M_PI/180*40}" />
 
 	<xacro:macro name="jaco_link" params="link_name">
 		<link name="${link_name}">
 			<visual>
 				<geometry>
-					<mesh filename="package://jaco_description/meshes/${link_name}.min.dae" />
+					<mesh scale="${M_SCALE} ${M_SCALE} ${M_SCALE}" filename="package://jaco_description/meshes/${link_name}.dae" />
 				</geometry>
 				<material name="carbon_fiber">
 					<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
@@ -113,7 +114,7 @@
 			</visual>
 			<collision>
 				<geometry>
-					<mesh filename="package://jaco_description/meshes/${link_name}.min.dae" />
+					<mesh scale="${M_SCALE} ${M_SCALE} ${M_SCALE}" filename="package://jaco_description/meshes/${link_name}.stl" />
 				</geometry>
 			</collision>
 		</link>
@@ -123,7 +124,7 @@
 		<link name="${link_name}_${suffix}">
 			<visual>
 				<geometry>
-					<mesh filename="package://jaco_description/meshes/${link_name}.min.dae" />
+					<mesh scale="${M_SCALE} ${M_SCALE} ${M_SCALE}" filename="package://jaco_description/meshes/${link_name}.dae" />
 				</geometry>
 				<material name="carbon_fiber">
 					<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
@@ -131,7 +132,7 @@
 			</visual>
 			<collision>
 				<geometry>
-					<mesh filename="package://jaco_description/meshes/${link_name}.min.dae" />
+					<mesh scale="${M_SCALE} ${M_SCALE} ${M_SCALE}" filename="package://jaco_description/meshes/${link_name}.stl" />
 				</geometry>
 			</collision>
 		</link>
@@ -141,7 +142,7 @@
 		<link name="${link_name}_${suffix}">
 			<visual>
 				<geometry>
-					<mesh filename="package://jaco_description/meshes/${link_name}_4_5.min.dae" />
+					<mesh scale="${M_SCALE} ${M_SCALE} ${M_SCALE}" filename="package://jaco_description/meshes/${link_name}_4_5.dae" />
 				</geometry>
 				<material name="carbon_fiber">
 					<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
@@ -149,7 +150,7 @@
 			</visual>
 			<collision>
 				<geometry>
-					<mesh filename="package://jaco_description/meshes/${link_name}_4_5.min.dae" />
+					<mesh scale="${M_SCALE} ${M_SCALE} ${M_SCALE}" filename="package://jaco_description/meshes/${link_name}_4_5.stl" />
 				</geometry>
 			</collision>
 		</link>
@@ -159,7 +160,7 @@
 		<link name="jaco_${size}_ring_cover_${suffix}">
 			<visual>
 				<geometry>
-					<mesh filename="package://jaco_description/meshes/jaco_${size}_ring_cover.min.dae" />
+					<mesh scale="${M_SCALE} ${M_SCALE} ${M_SCALE}" filename="package://jaco_description/meshes/jaco_${size}_ring_cover.dae" />
 				</geometry>
 				<material name="carbon_fiber">
 					<color rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
@@ -167,7 +168,7 @@
 			</visual>
 			<collision>
 				<geometry>
-					<mesh filename="package://jaco_description/meshes/jaco_${size}_ring_cover.min.dae" />
+					<mesh scale="${M_SCALE} ${M_SCALE} ${M_SCALE}" filename="package://jaco_description/meshes/jaco_${size}_ring_cover.stl" />
 				</geometry>
 			</collision>
 		</link>
@@ -235,4 +236,4 @@
 		<xacro:jaco_link_suffix link_name="${link_finger_tip}" suffix="3"/>
 		<xacro:jaco_finger_joint joint_name="${joint_finger_tip_3}" type="revolute" parent="${link_finger}_3" child="${link_finger_tip}_3" joint_axis_xyz="${joint_finger_tip_3_axis_xyz}" joint_origin_xyz="${joint_finger_tip_3_origin_xyz}" joint_origin_rpy="${joint_finger_tip_3_origin_rpy}" lower_limit="${joint_finger_tip_3_lower_limit}" upper_limit="${joint_finger_tip_3_upper_limit}" />
 	</xacro:macro>
-</root>
+</robot>