diff --git a/README.md b/README.md
index 36642b2..0545a7f 100644
--- a/README.md
+++ b/README.md
@@ -50,10 +50,18 @@ By default, it allows to hold a M6 threaded rod aligned with the wrist rotation
 according to your needs.
 
 ### Software modifications
-Once the physical modification of the robotic arm has been completed, several files need to be updated to use ROS 2 with the new arm.
-The default arm name is `wx250s` and one will create a new arm configuration `wx250s_custom`. To do so:
-1. Copy the file [/wx250s_custom/xs_common.py] to `~/interbotix_ws/install/interbotix_xs_modules/lib/python3.10/site-packages/interbotix_xs_modules/xs_common/xs_common.py`.
-2. Copy the file [/wx250s_custom/wx250s_custom.urdf.xacro](http://sekisushai.net/git/sekisushai/small/src/branch/master/wx250s_custom/wx250s_custom.urdf.xacro) to `~/interbotix_ws/src/interbotix_ros_manipulators/interbotix_ros_xsarms/interbotix_xsarm_descriptions/urdf/`.
-3. Copy the file [/wx250s_custom/wx250s_custom.yaml]() to `~/interbotix_ws/src/interbotix_ros_manipulators/interbotix_ros_xsarms/interbotix_xsarm_control/config/wx250s_custom.yaml`
-4. Copy the folder [/wx250s_custom/wx259s_custom_meshes]() to `~/interbotix_ws/src/interbotix_ros_manipulators/interbotix_ros_xsarms/interbotix_xsarm_descriptions/meshes/`
-10. Run command `colcon build` in folder `~/interbotix_ws/`
+Once the Hardware modification has been completed, several files need to be updated in interbotix packages to use the new arm, named `ẁx250s_custom`. To do so, run the `install.sh` script as follows:
+```
+./install.sh
+```
+The script ask several infos to update the interbotix packages files. Also, the kinematics matrices `M` and `Slist` are computed. These matrices are needed by the Python API which will drive the robotic arm.
+
+
+```
+ros2 launch interbotix_xsarm_descriptions xsarm_description.launch.py robot_model:=wx250s_custom use_joint_pub_gui:=true
+```
+You should see this:
+
+![Alt text](wx250s_custom/rviz.png)
+
+### 
diff --git a/wx250s_custom/install.sh b/wx250s_custom/install.sh
new file mode 100755
index 0000000..984b38d
--- /dev/null
+++ b/wx250s_custom/install.sh
@@ -0,0 +1,50 @@
+#!/bin/bash 
+
+# Tweak the default interbotix_ws install to add a customized robot wx250s_custom
+
+read -p "Enter the interbotix packages installation path [default: ~/interbotix_ws]:" DIR
+DIR=${DIR:-~/interbotix_ws}
+
+cp xs_common.py "$DIR/src/interbotix_ros_toolboxes/interbotix_xs_toolbox/interbotix_xs_modules/interbotix_xs_modules/xs_common/"
+cp wx250s_custom.yaml "$DIR/src/interbotix_ros_manipulators/interbotix_ros_xsarms/interbotix_xsarm_control/config/"
+cp -r wx250s_custom_meshes "$DIR/src/interbotix_ros_manipulators/interbotix_ros_xsarms/interbotix_xsarm_descriptions/meshes/"
+
+VAR=`awk 'NR==451{ print; exit }' wx250s_custom.urdf.xacro`
+VAR=`awk -F'"' '{print $2}' <<< $VAR`
+
+read -p "Enter the coordinate between wrist_rotate joint and SMA center in m [default: ${VAR}]:" COORD
+COORD=${COORD:-${VAR}}
+
+cp wx250s_custom.urdf.xacro wx250s_custom.urdf.xacro~
+
+sed -i "451s/$VAR/$COORD/" wx250s_custom.urdf.xacro~
+
+# convert to urdf file needed for kinematic_from_description package
+ros2 run xacro xacro wx250s_custom.urdf.xacro~ > out.urdf
+
+# move the urdf.xacro file
+mv wx250s_custom.urdf.xacro~ "$DIR/src/interbotix_ros_manipulators/interbotix_ros_xsarms/interbotix_xsarm_descriptions/urdf/wx250s_custom.urdf.xacro"
+
+#
+git clone https://github.com/Interbotix/kinematics_from_description.git
+cd kinematics_from_description
+python setup.py install --user
+cd ..
+rm -rf kinematics_from_description
+
+cp mr_descriptions.py mr_descriptions.py~
+
+python kinematics.py
+
+mv mr_descriptions.py "$DIR/src/interbotix_ros_toolboxes/interbotix_xs_toolbox/interbotix_xs_modules/interbotix_xs_modules/xs_robot/"
+
+mv mr_descriptions.py~ mr_descriptions.py
+
+rm out.urdf
+
+cd $DIR
+
+rm -rf build
+rm -rf install
+
+colcon build
diff --git a/wx250s_custom/kinematics.py b/wx250s_custom/kinematics.py
new file mode 100644
index 0000000..ff4d60a
--- /dev/null
+++ b/wx250s_custom/kinematics.py
@@ -0,0 +1,37 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+"""
+Created on Fri Apr  7 15:38:46 2023
+
+@author: Pierre Lecomte
+"""
+import numpy as np
+from kinematics_from_description.kfd import KinematicsFromDescriptionTool as KFD
+
+tool = KFD(
+            {
+                "body_frame": "sma_link",
+                "space_frame": "base_link",
+                "namespace": "wx250s_custom",
+            }            
+            )
+
+tool.load_desc_from_file('out.urdf')
+tool.run()
+
+print("Slist:")
+print(tool.Slist.T)
+
+print("M:")
+print(tool.M)
+
+x = f"""class wx250s_custom(ModernRoboticsDescription):
+    Slist = np.array(
+        {np.array2string(tool.Slist.T, separator=',')}
+        ).T
+
+    M = np.array({np.array2string(tool.M, separator=',')})
+    """
+
+with open("mr_descriptions.py","a") as f:
+    f.writelines(x)
\ No newline at end of file
diff --git a/wx250s_custom/matrices.txt b/wx250s_custom/matrices.txt
new file mode 100644
index 0000000..8ef65e0
--- /dev/null
+++ b/wx250s_custom/matrices.txt
@@ -0,0 +1,12 @@
+Slist:
+[[ 0.       0.       1.       0.       0.       0.     ]
+ [ 0.       1.       0.      -0.11065  0.       0.     ]
+ [ 0.       1.       0.      -0.36065  0.       0.04975]
+ [ 1.       0.       0.       0.       0.36065  0.     ]
+ [ 0.       1.       0.      -0.36065  0.       0.29975]
+ [ 1.       0.       0.       0.       0.36065  0.     ]]
+M:
+[[1.      0.      0.      0.49275]
+ [0.      1.      0.      0.     ]
+ [0.      0.      1.      0.36065]
+ [0.      0.      0.      1.     ]]
diff --git a/wx250s_custom/mr_descriptions.py b/wx250s_custom/mr_descriptions.py
new file mode 100644
index 0000000..adb35e0
--- /dev/null
+++ b/wx250s_custom/mr_descriptions.py
@@ -0,0 +1,233 @@
+# Copyright 2022 Trossen Robotics
+#
+# 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 the copyright holder 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 HOLDER OR CONTRIBUTORS 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.
+
+"""
+Modern Robotics Descriptions for all Interbotix X-Series Arms.
+
+This module contains properties required by the Modern Robotics library to perform
+kinematic calculations such as the Joint Screw Axes and Home Configuration for each
+X-Series robot.
+
+Note that the end-effector is positioned at '<robot_name>/ee_gripper_link' and that the
+Space frame is positioned at '<robot_name>/base_link'.
+
+To calculate your own MR Description, check out the kinematics_from_description package:
+    https://github.com/Interbotix/kinematics_from_description
+"""
+
+from abc import ABC
+
+import numpy as np
+
+
+class ModernRoboticsDescription(ABC):
+    """
+    Abstract base class for other MR Description classes.
+
+    Derived classes should override the Slist and M member variables.
+    """
+
+    Slist: np.ndarray = None
+    """
+    Joint screw axes in the space frame when the manipulator is at the home position, in the format
+    of a matrix with axes as the columns
+    """
+
+    M: np.ndarray = None
+    """The home configuration (position and orientation) of the end-effector"""
+
+
+class px100(ModernRoboticsDescription):
+    Slist = np.array([[0.0, 0.0, 1.0,  0.0,    0.0, 0.0],
+                      [0.0, 1.0, 0.0, -0.0931, 0.0, 0.0],
+                      [0.0, 1.0, 0.0, -0.1931, 0.0, 0.035],
+                      [0.0, 1.0, 0.0, -0.1931, 0.0, 0.135]]).T
+
+    M = np.array([[1.0, 0.0, 0.0, 0.248575],
+                  [0.0, 1.0, 0.0, 0.0],
+                  [0.0, 0.0, 1.0, 0.1931],
+                  [0.0, 0.0, 0.0, 1.0]])
+
+
+class px150(ModernRoboticsDescription):
+    Slist = np.array([[0.0, 0.0, 1.0,  0.0,     0.0,     0.0],
+                      [0.0, 1.0, 0.0, -0.10457, 0.0,     0.0],
+                      [0.0, 1.0, 0.0, -0.25457, 0.0,     0.05],
+                      [0.0, 1.0, 0.0, -0.25457, 0.0,     0.2],
+                      [1.0, 0.0, 0.0,  0.0,     0.25457, 0.0]]).T
+
+    M = np.array([[1.0, 0.0, 0.0, 0.358575],
+                  [0.0, 1.0, 0.0, 0.0],
+                  [0.0, 0.0, 1.0, 0.25457],
+                  [0.0, 0.0, 0.0, 1.0]])
+
+
+class rx150(ModernRoboticsDescription):
+    Slist = np.array([[0.0, 0.0, 1.0,  0.0,     0.0,     0.0],
+                      [0.0, 1.0, 0.0, -0.10457, 0.0,     0.0],
+                      [0.0, 1.0, 0.0, -0.25457, 0.0,     0.05],
+                      [0.0, 1.0, 0.0, -0.25457, 0.0,     0.2],
+                      [1.0, 0.0, 0.0,  0.0,     0.25457, 0.0]]).T
+
+    M = np.array([[1.0, 0.0, 0.0, 0.358575],
+                  [0.0, 1.0, 0.0, 0.0],
+                  [0.0, 0.0, 1.0, 0.25457],
+                  [0.0, 0.0, 0.0, 1.0]])
+
+
+class rx200(ModernRoboticsDescription):
+    Slist = np.array([[0.0, 0.0, 1.0,  0.0,     0.0,     0.0],
+                      [0.0, 1.0, 0.0, -0.10457, 0.0,     0.0],
+                      [0.0, 1.0, 0.0, -0.30457, 0.0,     0.05],
+                      [0.0, 1.0, 0.0, -0.30457, 0.0,     0.25],
+                      [1.0, 0.0, 0.0,  0.0,     0.30457, 0.0]]).T
+
+    M = np.array([[1.0, 0.0, 0.0, 0.408575],
+                  [0.0, 1.0, 0.0, 0.0],
+                  [0.0, 0.0, 1.0, 0.30457],
+                  [0.0, 0.0, 0.0, 1.0]])
+
+
+class vx250(ModernRoboticsDescription):
+    Slist = np.array([[0.0, 0.0, 1.0,  0.0,     0.0,     0.0],
+                      [0.0, 1.0, 0.0, -0.12705, 0.0,     0.0],
+                      [0.0, 1.0, 0.0, -0.37705, 0.0,     0.06],
+                      [0.0, 1.0, 0.0, -0.37705, 0.0,     0.31],
+                      [1.0, 0.0, 0.0,  0.0,     0.37705, 0.0]]).T
+
+    M = np.array([[1.0, 0.0, 0.0, 0.468575],
+                  [0.0, 1.0, 0.0, 0.0],
+                  [0.0, 0.0, 1.0, 0.37705],
+                  [0.0, 0.0, 0.0, 1.0]])
+
+
+class vx300(ModernRoboticsDescription):
+    Slist = np.array([[0.0, 0.0, 1.0,  0.0,     0.0,     0.0],
+                      [0.0, 1.0, 0.0, -0.12705, 0.0,     0.0],
+                      [0.0, 1.0, 0.0, -0.42705, 0.0,     0.05955],
+                      [0.0, 1.0, 0.0, -0.42705, 0.0,     0.35955],
+                      [1.0, 0.0, 0.0,  0.0,     0.42705, 0.0]]).T
+
+    M = np.array([[1.0, 0.0, 0.0, 0.536494],
+                  [0.0, 1.0, 0.0, 0.0],
+                  [0.0, 0.0, 1.0, 0.42705],
+                  [0.0, 0.0, 0.0, 1.0]])
+
+
+class vx300s(ModernRoboticsDescription):
+    Slist = np.array([[0.0, 0.0, 1.0,  0.0,     0.0,     0.0],
+                      [0.0, 1.0, 0.0, -0.12705, 0.0,     0.0],
+                      [0.0, 1.0, 0.0, -0.42705, 0.0,     0.05955],
+                      [1.0, 0.0, 0.0,  0.0,     0.42705, 0.0],
+                      [0.0, 1.0, 0.0, -0.42705, 0.0,     0.35955],
+                      [1.0, 0.0, 0.0,  0.0,     0.42705, 0.0]]).T
+
+    M = np.array([[1.0, 0.0, 0.0, 0.536494],
+                  [0.0, 1.0, 0.0, 0.0],
+                  [0.0, 0.0, 1.0, 0.42705],
+                  [0.0, 0.0, 0.0, 1.0]])
+
+
+class wx200(ModernRoboticsDescription):
+    Slist = np.array([[0.0, 0.0, 1.0,  0.0,     0.0,     0.0],
+                      [0.0, 1.0, 0.0, -0.11065, 0.0,     0.0],
+                      [0.0, 1.0, 0.0, -0.31065, 0.0,     0.05],
+                      [0.0, 1.0, 0.0, -0.31065, 0.0,     0.25],
+                      [1.0, 0.0, 0.0,  0.0,     0.31065, 0.0]]).T
+
+    M = np.array([[1.0, 0.0, 0.0, 0.408575],
+                  [0.0, 1.0, 0.0, 0.0],
+                  [0.0, 0.0, 1.0, 0.31065],
+                  [0.0, 0.0, 0.0, 1.0]])
+
+
+class wx250(ModernRoboticsDescription):
+    Slist = np.array([[0.0, 0.0, 1.0,  0.0,     0.0,     0.0],
+                      [0.0, 1.0, 0.0, -0.11065, 0.0,     0.0],
+                      [0.0, 1.0, 0.0, -0.36065, 0.0,     0.04975],
+                      [0.0, 1.0, 0.0, -0.36065, 0.0,     0.29975],
+                      [1.0, 0.0, 0.0,  0.0,     0.36065, 0.0]]).T
+
+    M = np.array([[1.0, 0.0, 0.0, 0.458325],
+                  [0.0, 1.0, 0.0, 0.0],
+                  [0.0, 0.0, 1.0, 0.36065],
+                  [0.0, 0.0, 0.0, 1.0]])
+
+
+class wx250s(ModernRoboticsDescription):
+    Slist = np.array([[0.0, 0.0, 1.0,  0.0,     0.0,     0.0],
+                      [0.0, 1.0, 0.0, -0.11065, 0.0,     0.0],
+                      [0.0, 1.0, 0.0, -0.36065, 0.0,     0.04975],
+                      [1.0, 0.0, 0.0,  0.0,     0.36065, 0.0],
+                      [0.0, 1.0, 0.0, -0.36065, 0.0,     0.29975],
+                      [1.0, 0.0, 0.0,  0.0,     0.36065, 0.0]]).T
+
+    M = np.array([[1.0, 0.0, 0.0, 0.458325],
+                  [0.0, 1.0, 0.0, 0.0],
+                  [0.0, 0.0, 1.0, 0.36065],
+                  [0.0, 0.0, 0.0, 1.0]])
+
+
+class mobile_px100(ModernRoboticsDescription):
+    Slist = np.array([[0.0, 0.0, 1.0,  0.0,     0.0, 0.0],
+                      [0.0, 1.0, 0.0, -0.08518, 0.0, 0.0],
+                      [0.0, 1.0, 0.0, -0.18518, 0.0, 0.035],
+                      [0.0, 1.0, 0.0, -0.18518, 0.0, 0.135]]).T
+
+    M = np.array([[1.0, 0.0, 0.0, 0.248575],
+                  [0.0, 1.0, 0.0, 0.0],
+                  [0.0, 0.0, 1.0, 0.18518],
+                  [0.0, 0.0, 0.0, 1.0]])
+
+
+class mobile_wx200(ModernRoboticsDescription):
+    Slist = np.array([[0.0, 0.0, 1.0,  0.0,      0.0,      0.0],
+                      [0.0, 1.0, 0.0, -0.104825, 0.0,      0.0],
+                      [0.0, 1.0, 0.0, -0.304825, 0.0,      0.05],
+                      [0.0, 1.0, 0.0, -0.304825, 0.0,      0.25],
+                      [1.0, 0.0, 0.0,  0.0,      0.304825, 0.0]]).T
+
+    M = np.array([[1.0, 0.0, 0.0, 0.408575],
+                  [0.0, 1.0, 0.0, 0.0],
+                  [0.0, 0.0, 1.0, 0.304825],
+                  [0.0, 0.0, 0.0, 1.0]])
+
+
+class mobile_wx250s(ModernRoboticsDescription):
+    Slist = np.array([[0.0, 0.0, 1.0,  0.0,      0.0,      0.0],
+                      [0.0, 1.0, 0.0, -0.104825, 0.0,      0.0],
+                      [0.0, 1.0, 0.0, -0.354825, 0.0,      0.04975],
+                      [1.0, 0.0, 0.0,  0.0,      0.354825, 0.0],
+                      [0.0, 1.0, 0.0, -0.354825, 0.0,      0.29975],
+                      [1.0, 0.0, 0.0,  0.0,      0.354825, 0.0]]).T
+
+    M = np.array([[1.0, 0.0, 0.0, 0.458325],
+                  [0.0, 1.0, 0.0, 0.0],
+                  [0.0, 0.0, 1.0, 0.354825],
+                  [0.0, 0.0, 0.0, 1.0]])
+
diff --git a/wx250s_custom/rviz.png b/wx250s_custom/rviz.png
new file mode 100644
index 0000000..c520b8c
Binary files /dev/null and b/wx250s_custom/rviz.png differ
diff --git a/wx250s_custom/wx250s_custom.urdf b/wx250s_custom/wx250s_custom.urdf
deleted file mode 100644
index aa2f88a..0000000
--- a/wx250s_custom/wx250s_custom.urdf
+++ /dev/null
@@ -1,700 +0,0 @@
-<?xml version="1.0"?>
-<robot name="wx250s_custom" xmlns:xacro="http://ros.org/wiki/xacro">
-
-  <material name="interbotix_black">
-    <texture filename="package://interbotix_xsarm_descriptions/meshes/interbotix_black.png"/>
-  </material>
-
-
-    <link name="world"/>
-    <joint name="fixed" type="fixed">
-      <parent
-        link="world"/>
-      <child
-        link="wx250s_custom/base_link"/>
-    </joint>
-
-
-  <link name="wx250s_custom/base_link">
-    <visual>
-      <origin
-        rpy="0 0 1.5707963267948966"
-        xyz="0 0 0"/>
-      <geometry>
-        <mesh
-          filename="${mesh_directory}/base.stl"
-          scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="interbotix_black"/>
-    </visual>
-    <collision>
-      <origin
-        rpy="0 0 1.5707963267948966"
-        xyz="0 0 0"/>
-      <geometry>
-        <mesh
-          filename="${mesh_directory}/base.stl"
-          scale="0.001 0.001 0.001"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <origin
-        rpy="0 0 1.5707963267948966"
-        xyz="-0.0380446000 0.0006138920 0.0193354000"/>
-      <mass value="0.538736"/>
-      <inertia
-        ixx="0.0021150000"
-        iyy="0.0006921000"
-        izz="0.0025240000"
-        ixy="-0.0000163500"
-        ixz="0.0000006998"
-        iyz="0.0000464200"/>
-    </inertial>
-  </link>
-
-  <joint name="waist" type="revolute">
-    <axis xyz="0 0 1"/>
-    <limit
-      effort="10"
-      lower="-3.141582653589793"
-      upper="3.141582653589793"
-      velocity="3.141592653589793"/>
-    <origin
-      rpy="0 0 0"
-      xyz="0 0 0.072"/>
-    <parent
-      link="wx250s_custom/base_link"/>
-    <child
-      link="wx250s_custom/shoulder_link"/>
-    <dynamics
-      friction="0.1"
-      damping="0.1"/>
-  </joint>
-
-  <link name="wx250s_custom/shoulder_link">
-    <visual>
-      <origin
-        rpy="0 0 1.5707963267948966"
-        xyz="0 0 -0.003"/>
-      <geometry>
-        <mesh
-          filename="${mesh_directory}/shoulder.stl"
-          scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="interbotix_black"/>
-    </visual>
-    <collision>
-      <origin
-        rpy="0 0 1.5707963267948966"
-        xyz="0 0 -0.003"/>
-      <geometry>
-        <mesh
-          filename="${mesh_directory}/shoulder.stl"
-          scale="0.001 0.001 0.001"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <origin
-        rpy="0 0 1.5707963267948966"
-        xyz="0.0000223482 0.0000414609 0.0066287000"/>
-      <mass value="0.480879"/>
-      <inertia
-        ixx="0.0003790000"
-        iyy="0.0005557000"
-        izz="0.0005889000"
-        ixy="0.0000000022"
-        ixz="-0.0000003561"
-        iyz="0.0000012245"/>
-    </inertial>
-  </link>
-
-  <joint name="shoulder" type="revolute">
-    <axis xyz="0 1 0"/>
-    <limit
-      effort="20"
-      lower="-1.8849555921538759"
-      upper="-1.9896753472735356"
-      velocity="3.141592653589793"/>
-    <origin
-      rpy="0 0 0"
-      xyz="0 0 0.03865"/>
-    <parent
-      link="wx250s_custom/shoulder_link"/>
-    <child
-      link="wx250s_custom/upper_arm_link"/>
-    <dynamics
-      friction="0.1"
-      damping="0.1"/>
-  </joint>
-
-  <link name="wx250s_custom/upper_arm_link">
-    <visual>
-      <origin
-        rpy="0 0 1.5707963267948966"
-        xyz="0 0 0"/>
-      <geometry>
-        <mesh
-          filename="${mesh_directory}/upper_arm.stl"
-          scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="interbotix_black"/>
-    </visual>
-    <collision>
-      <origin
-        rpy="0 0 1.5707963267948966"
-        xyz="0 0 0"/>
-      <geometry>
-        <mesh
-          filename="${mesh_directory}/upper_arm.stl"
-          scale="0.001 0.001 0.001"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <origin
-        rpy="0 0 1.5707963267948966"
-        xyz="0.0171605000 0.0000002725 0.1913230000"/>
-      <mass value="0.430811"/>
-      <inertia
-        ixx="0.0034630000"
-        iyy="0.0035870000"
-        izz="0.0004566000"
-        ixy="-0.0000000001"
-        ixz="-0.0000000002"
-        iyz="0.0004272000"/>
-    </inertial>
-  </link>
-
-  <joint name="elbow" type="revolute">
-    <axis xyz="0 1 0"/>
-    <limit
-      effort="15"
-      lower="-2.1467549799530254"
-      upper="1.605702911834783"
-      velocity="3.141592653589793"/>
-    <origin
-      rpy="0 0 0"
-      xyz="0.04975 0 0.25"/>
-    <parent
-      link="wx250s_custom/upper_arm_link"/>
-    <child
-      link="wx250s_custom/upper_forearm_link"/>
-    <dynamics
-      friction="0.1"
-      damping="0.1"/>
-  </joint>
-
-  <link name="wx250s_custom/upper_forearm_link">
-    <visual>
-      <origin
-        rpy="0 0 0"
-        xyz="0 0 0"/>
-      <geometry>
-        <mesh
-          filename="${mesh_directory}/upper_forearm.stl"
-          scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="interbotix_black"/>
-    </visual>
-    <collision>
-      <origin
-        rpy="0 0 0"
-        xyz="0 0 0"/>
-      <geometry>
-        <mesh
-          filename="${mesh_directory}/upper_forearm.stl"
-          scale="0.001 0.001 0.001"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <origin
-        rpy="0 0 0"
-        xyz="0.1079630000 0.0001158760 0"/>
-      <mass value="0.234589"/>
-      <inertia
-        ixx="0.0000397100"
-        iyy="0.0008878000"
-        izz="0.0008880000"
-        ixy="0.0000023528"
-        ixz="0"
-        iyz="0"/>
-    </inertial>
-  </link>
-
-  <joint name="forearm_roll" type="revolute">
-    <axis xyz="1 0 0"/>
-    <limit
-      effort="2"
-      lower="-3.141582653589793"
-      upper="3.141582653589793"
-      velocity="3.141592653589793"/>
-    <origin
-      rpy="0 0 0"
-      xyz="0.175 0 0"/>
-    <parent
-      link="wx250s_custom/upper_forearm_link"/>
-    <child
-      link="wx250s_custom/lower_forearm_link"/>
-    <dynamics
-      friction="0.1"
-      damping="0.1"/>
-  </joint>
-
-  <link name="wx250s_custom/lower_forearm_link">
-    <visual>
-      <origin
-        rpy="3.141592653589793 0 0"
-        xyz="0 0 0"/>
-      <geometry>
-        <mesh
-          filename="${mesh_directory}/lower_forearm.stl"
-          scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="interbotix_black"/>
-    </visual>
-    <collision>
-      <origin
-        rpy="3.141592653589793 0 0"
-        xyz="0 0 0"/>
-      <geometry>
-        <mesh
-          filename="${mesh_directory}/lower_forearm.stl"
-          scale="0.001 0.001 0.001"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <origin
-        rpy="3.141592653589793 0 0"
-        xyz="0.0374395000 0.0052225200 0"/>
-      <mass value="0.220991"/>
-      <inertia
-        ixx="0.0000636900"
-        iyy="0.0001677000"
-        izz="0.0001834000"
-        ixy="-0.0000229200"
-        ixz="0"
-        iyz="0"/>
-    </inertial>
-  </link>
-
-  <joint name="wrist_angle" type="revolute">
-    <axis xyz="0 1 0"/>
-    <limit
-      effort="5"
-      lower="-1.7453292519943295"
-      upper="2.1467549799530254"
-      velocity="3.141592653589793"/>
-    <origin
-      rpy="0 0 0"
-      xyz="0.075 0 0"/>
-    <parent
-      link="wx250s_custom/lower_forearm_link"/>
-    <child
-      link="wx250s_custom/wrist_link"/>
-    <dynamics
-      friction="0.1"
-      damping="0.1"/>
-  </joint>
-
-  <link name="wx250s_custom/wrist_link">
-    <visual>
-      <origin
-        rpy="0 0 1.5707963267948966"
-        xyz="0 0 0"/>
-      <geometry>
-        <mesh
-          filename="${mesh_directory}/wrist.stl"
-          scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="interbotix_black"/>
-    </visual>
-    <collision>
-      <origin
-        rpy="0 0 1.5707963267948966"
-        xyz="0 0 0"/>
-      <geometry>
-        <mesh
-          filename="${mesh_directory}/wrist.stl"
-          scale="0.001 0.001 0.001"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <origin
-        rpy="0 0 1.5707963267948966"
-        xyz="0.0423600000 -0.0000106630 0.0105770000"/>
-      <mass value="0.084957"/>
-      <inertia
-        ixx="0.0000308200"
-        iyy="0.0000282200"
-        izz="0.0000315200"
-        ixy="0.0000000191"
-        ixz="0.0000000023"
-        iyz="0.0000025481"/>
-    </inertial>
-  </link>
-
-  <!-- Include the gripper if used -->
-
-
-
-    <joint name="wrist_rotate" type="revolute">
-      <axis xyz="1 0 0"/>
-      <limit
-        effort="1"
-        lower="-3.141582653589793"
-        upper="3.141582653589793"
-        velocity="3.141592653589793"/>
-      <origin
-        rpy="0 0 0"
-        xyz="0.065 0 0"/>
-      <parent
-        link="wx250s_custom/wrist_link"/>
-      <child
-        link="wx250s_custom/gripper_link"/>
-      <dynamics
-        friction="0.1"
-        damping="0.1"/>
-    </joint>
-
-    <link name="wx250s_custom/gripper_link">
-      <visual>
-        <origin
-          rpy="0 0 1.5707963267948966"
-          xyz="-0.02 0 0"/>
-        <geometry>
-          <mesh
-            filename="${mesh_directory}/gripper.stl"
-            scale="0.001 0.001 0.001"/>
-        </geometry>
-        <material name="interbotix_black"/>
-      </visual>
-      <collision>
-        <origin
-          rpy="0 0 1.5707963267948966"
-          xyz="-0.02 0 0"/>
-        <geometry>
-          <mesh
-            filename="${mesh_directory}/gripper.stl"
-            scale="0.001 0.001 0.001"/>
-        </geometry>
-      </collision>
-      <inertial>
-        <origin
-          rpy="0 0 1.5707963267948966"
-          xyz="0.0216310000 0.0000002516 0.0114100000"/>
-        <mass value="0.072885"/>
-        <inertia
-          ixx="0.0000253700"
-          iyy="0.0000183600"
-          izz="0.0000167400"
-          ixy="0.0000000000"
-          ixz="0.0000000000"
-          iyz="0.0000004340"/>
-      </inertial>
-    </link>
-
-    <joint name="ee_arm" type="fixed">
-      <axis xyz="1 0 0"/>
-      <origin
-        rpy="0 0 0"
-        xyz="0.043 0 0"/>
-      <parent
-        link="wx250s_custom/gripper_link"/>
-      <child
-        link="wx250s_custom/ee_arm_link"/>
-    </joint>
-
-    <link name="wx250s_custom/ee_arm_link">
-      <inertial>
-        <mass value="0.001"/>
-        <inertia
-          ixx="0.001"
-          iyy="0.001"
-          izz="0.001"
-          ixy="0"
-          ixz="0"
-          iyz="0"/>
-      </inertial>
-    </link>
-
-    <joint name="gripper" type="continuous">
-      <axis xyz="1 0 0"/>
-      <limit
-        effort="1"
-        velocity="3.141592653589793"/>
-      <origin
-        rpy="0 0 0"
-        xyz="0.0055 0 0"/>
-      <parent
-        link="wx250s_custom/ee_arm_link"/>
-      <child
-        link="wx250s_custom/gripper_prop_link"/>
-      <dynamics
-        friction="0.1"
-        damping="0.1"/>
-    </joint>
-
-    <link name="wx250s_custom/gripper_prop_link">
-      <visual>
-        <origin
-          rpy="0 0 1.5707963267948966"
-          xyz="-0.0685 0 0"/>
-        <geometry>
-          <mesh
-            filename="${mesh_directory}/gripper_prop.stl"
-            scale="0.001 0.001 0.001"/>
-        </geometry>
-        <material name="interbotix_black"/>
-      </visual>
-      <collision>
-        <origin
-          rpy="0 0 1.5707963267948966"
-          xyz="-0.0685 0 0"/>
-        <geometry>
-          <mesh
-            filename="${mesh_directory}/gripper_prop.stl"
-            scale="0.001 0.001 0.001"/>
-        </geometry>
-      </collision>
-      <inertial>
-        <origin
-          rpy="0 0 1.5707963267948966"
-          xyz="0.0008460000 -0.0000016817 0.0000420000"/>
-        <mass value="0.00434"/>
-        <inertia
-          ixx="0.0000005923"
-          iyy="0.0000011156"
-          izz="0.0000005743"
-          ixy="0.0000000000"
-          ixz="0.0000003195"
-          iyz="-0.0000000004"/>
-      </inertial>
-    </link>
-
-    <!-- If the AR tag is being used, then add the AR tag mount -->
-
-
-
-
-    <!-- If the gripper bar is being used, then also add the gripper bar -->
-
-
-
-      <joint name="gripper_bar" type="fixed">
-        <axis xyz="1 0 0"/>
-        <origin
-          rpy="0 0 0"
-          xyz="0 0 0"/>
-        <parent
-          link="wx250s_custom/ee_arm_link"/>
-        <child
-          link="wx250s_custom/gripper_bar_link"/>
-      </joint>
-
-      <link name="wx250s_custom/gripper_bar_link">
-        <visual>
-          <origin
-            rpy="0 0 1.5707963267948966"
-            xyz="-0.063 0 0"/>
-          <geometry>
-            <mesh
-              filename="${mesh_directory}/gripper_bar.stl"
-              scale="0.001 0.001 0.001"/>
-          </geometry>
-          <material name="interbotix_black"/>
-        </visual>
-        <collision>
-          <origin
-            rpy="0 0 1.5707963267948966"
-            xyz="-0.063 0 0"/>
-          <geometry>
-            <mesh
-              filename="${mesh_directory}/gripper_bar.stl"
-              scale="0.001 0.001 0.001"/>
-          </geometry>
-        </collision>
-        <inertial>
-          <origin
-            rpy="0 0 1.5707963267948966"
-            xyz="0.0096870000 0.0000008177 0.0049620000"/>
-          <mass value="0.034199"/>
-          <inertia
-            ixx="0.0000074125"
-            iyy="0.0000284300"
-            izz="0.0000286000"
-            ixy="-0.0000000008"
-            ixz="-0.0000000006"
-            iyz="-0.0000013889"/>
-        </inertial>
-      </link>
-
-      <joint name="ee_bar" type="fixed">
-        <axis xyz="1 0 0"/>
-        <origin
-          rpy="0 0 0"
-          xyz="0.023 0 0"/>
-        <parent
-          link="wx250s_custom/gripper_bar_link"/>
-        <child
-          link="wx250s_custom/fingers_link"/>
-      </joint>
-
-      <link name="wx250s_custom/fingers_link">
-        <inertial>
-          <mass value="0.001"/>
-          <inertia
-            ixx="0.001"
-            iyy="0.001"
-            izz="0.001"
-            ixy="0"
-            ixz="0"
-            iyz="0"/>
-        </inertial>
-      </link>
-
-      <!-- If the gripper fingers are being used, add those as well -->
-
-
-
-        <joint name="left_finger" type="prismatic">
-          <axis xyz="0 1 0"/>
-          <limit
-            effort="5"
-            lower="0.015"
-            upper="0.037"
-            velocity="1"/>
-          <origin
-            rpy="0 0 0"
-            xyz="0 0 0"/>
-          <parent
-            link="wx250s_custom/fingers_link"/>
-          <child
-            link="wx250s_custom/left_finger_link"/>
-          <dynamics
-            friction="0.1"
-            damping="0.1"/>
-        </joint>
-
-        <link name="wx250s_custom/left_finger_link">
-          <visual>
-            <origin
-              rpy="3.141592653589793 3.141592653589793 0"
-              xyz="0 0.005 0"/>
-            <geometry>
-              <mesh
-                filename="${mesh_directory}/gripper_finger.stl"
-                scale="0.001 0.001 0.001"/>
-            </geometry>
-            <material name="interbotix_black"/>
-          </visual>
-          <collision>
-            <origin
-              rpy="3.141592653589793 3.141592653589793 0"
-              xyz="0 0.005 0"/>
-            <geometry>
-              <mesh
-                filename="${mesh_directory}/gripper_finger.stl"
-                scale="0.001 0.001 0.001"/>
-            </geometry>
-          </collision>
-          <inertial>
-            <origin
-              rpy="3.141592653589793 3.141592653589793 1.5707963267948966"
-              xyz="0.0138160000 0.0000000000 0.0000000000"/>
-            <mass value="0.016246"/>
-            <inertia
-              ixx="0.0000047310"
-              iyy="0.0000015506"
-              izz="0.0000037467"
-              ixy="-0.0000004560"
-              ixz="0.0000000000"
-              iyz="0.0000000000"/>
-          </inertial>
-        </link>
-
-        <joint name="right_finger" type="prismatic">
-          <axis xyz="0 1 0"/>
-          <limit
-            effort="5"
-            lower="-0.037"
-            upper="-0.015"
-            velocity="1"/>
-          <origin
-            rpy="0 0 0"
-            xyz="0 0 0"/>
-          <parent
-            link="wx250s_custom/fingers_link"/>
-          <child
-            link="wx250s_custom/right_finger_link"/>
-          <dynamics
-            friction="0.1"
-            damping="0.1"/>
-
-            <mimic
-              joint="left_finger"
-              multiplier="-1"
-              offset="0"/>
-
-        </joint>
-
-        <link name="wx250s_custom/right_finger_link">
-          <visual>
-            <origin
-              rpy="0 3.141592653589793 0"
-              xyz="0 -0.005 0"/>
-            <geometry>
-              <mesh
-                filename="${mesh_directory}/gripper_finger.stl"
-                scale="0.001 0.001 0.001"/>
-            </geometry>
-            <material name="interbotix_black"/>
-          </visual>
-          <collision>
-            <origin
-              rpy="0 3.141592653589793 0"
-              xyz="0 -0.005 0"/>
-            <geometry>
-              <mesh
-                filename="${mesh_directory}/gripper_finger.stl"
-                scale="0.001 0.001 0.001"/>
-            </geometry>
-          </collision>
-          <inertial>
-            <origin
-              rpy="0 3.141592653589793 1.5707963267948966"
-              xyz="0.0138160000 0.0000000000  0.0000000000"/>
-            <mass value="0.016246"/>
-            <inertia
-              ixx="0.0000047310"
-              iyy="0.0000015506"
-              izz="0.0000037467"
-              ixy="0.0000004560"
-              ixz="0.0000000000"
-              iyz="0.0000000000"/>
-          </inertial>
-        </link>
-
-        <joint name="ee_gripper" type="fixed">
-          <axis xyz="1 0 0"/>
-          <origin
-            rpy="0 0 0"
-            xyz="0.128 0 0"/>
-          <parent
-            link="wx250s_custom/fingers_link"/>
-          <child
-            link="wx250s_custom/ee_gripper_link"/>
-        </joint>
-
-        <link name="wx250s_custom/ee_gripper_link">
-          <inertial>
-            <mass value="0.001"/>
-            <inertia
-              ixx="0.001"
-              iyy="0.001"
-              izz="0.001"
-              ixy="0"
-              ixz="0"
-              iyz="0"/>
-          </inertial>
-        </link>
-
-</robot>
diff --git a/wx250s_custom/wx250s_custom.urdf.xacro b/wx250s_custom/wx250s_custom.urdf.xacro
index d137f19..7885fc8 100644
--- a/wx250s_custom/wx250s_custom.urdf.xacro
+++ b/wx250s_custom/wx250s_custom.urdf.xacro
@@ -11,6 +11,7 @@
   <xacro:arg name="robot_name"                      default="${robot_model}"/>
   <xacro:arg name="base_link_frame"                 default="base_link"/>
   <xacro:arg name="use_world_frame"                 default="true"/>
+  <xacro:arg name="use_gripper"                     default="false"/>
   <xacro:arg name="external_urdf_loc"               default=""/>
   <xacro:arg name="hardware_type"                   default="actual"/>
 
@@ -487,9 +488,6 @@
       </inertial>
     </link>
 
-  <xacro:include filename="$(find interbotix_xsarm_descriptions)/urdf/control.urdf.xacro"/>
-  <xacro:include filename="$(find interbotix_xsarm_descriptions)/urdf/gazebo_configs.urdf.xacro"/>
-
   <xacro:if value="${hardware_type == 'gz_classic'}">
     <xacro:gazebo_configs/>
   </xacro:if>