diff --git a/spot_description/meshes/arm/collision/arm_link_el0.stl b/spot_description/meshes/arm/collision/arm_link_el0.stl
new file mode 100644
index 00000000..3e46451d
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diff --git a/spot_description/meshes/arm/collision/arm_link_el1.stl b/spot_description/meshes/arm/collision/arm_link_el1.stl
new file mode 100644
index 00000000..1ef8a104
Binary files /dev/null and b/spot_description/meshes/arm/collision/arm_link_el1.stl differ
diff --git a/spot_description/meshes/arm/collision/arm_link_fngr.stl b/spot_description/meshes/arm/collision/arm_link_fngr.stl
new file mode 100644
index 00000000..397703f6
Binary files /dev/null and b/spot_description/meshes/arm/collision/arm_link_fngr.stl differ
diff --git a/spot_description/meshes/arm/collision/arm_link_hr0.stl b/spot_description/meshes/arm/collision/arm_link_hr0.stl
new file mode 100644
index 00000000..fb962950
Binary files /dev/null and b/spot_description/meshes/arm/collision/arm_link_hr0.stl differ
diff --git a/spot_description/meshes/arm/collision/arm_link_sh0.stl b/spot_description/meshes/arm/collision/arm_link_sh0.stl
new file mode 100644
index 00000000..159debd9
Binary files /dev/null and b/spot_description/meshes/arm/collision/arm_link_sh0.stl differ
diff --git a/spot_description/meshes/arm/collision/arm_link_sh1.stl b/spot_description/meshes/arm/collision/arm_link_sh1.stl
new file mode 100644
index 00000000..00895445
Binary files /dev/null and b/spot_description/meshes/arm/collision/arm_link_sh1.stl differ
diff --git a/spot_description/meshes/arm/collision/arm_link_wr0.stl b/spot_description/meshes/arm/collision/arm_link_wr0.stl
new file mode 100644
index 00000000..286ccc3e
Binary files /dev/null and b/spot_description/meshes/arm/collision/arm_link_wr0.stl differ
diff --git a/spot_description/meshes/arm/collision/arm_link_wr1.stl b/spot_description/meshes/arm/collision/arm_link_wr1.stl
new file mode 100644
index 00000000..95b376e5
Binary files /dev/null and b/spot_description/meshes/arm/collision/arm_link_wr1.stl differ
diff --git a/spot_description/meshes/arm/visual/arm_link_el0.obj b/spot_description/meshes/arm/visual/arm_link_el0.obj
new file mode 100644
index 00000000..4ed72c64
--- /dev/null
+++ b/spot_description/meshes/arm/visual/arm_link_el0.obj
@@ -0,0 +1,22842 @@
+# Blender v2.79 (sub 0) OBJ File: 'el0.blend'
+# www.blender.org
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diff --git a/spot_description/meshes/arm/visual/arm_link_el1.obj b/spot_description/meshes/arm/visual/arm_link_el1.obj
new file mode 100644
index 00000000..2c6a452a
--- /dev/null
+++ b/spot_description/meshes/arm/visual/arm_link_el1.obj
@@ -0,0 +1,23721 @@
+# Blender v2.79 (sub 0) OBJ File: 'el1.blend'
+# www.blender.org
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diff --git a/spot_description/meshes/arm/visual/arm_link_fngr.obj b/spot_description/meshes/arm/visual/arm_link_fngr.obj
new file mode 100644
index 00000000..eab9705d
--- /dev/null
+++ b/spot_description/meshes/arm/visual/arm_link_fngr.obj
@@ -0,0 +1,18364 @@
+# Blender v2.79 (sub 0) OBJ File: 'arm0.link_fngr.blend'
+# www.blender.org
+o arm0.link_fngr
+v 0.037969 0.038367 -0.026011
+v 0.041970 0.039117 -0.027209
+v 0.041493 0.038764 -0.026653
+v 0.041258 0.038231 -0.025896
+v 0.041272 0.037384 -0.024884
+v 0.039893 0.036422 -0.023751
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diff --git a/spot_description/meshes/arm/visual/arm_link_hr0.obj b/spot_description/meshes/arm/visual/arm_link_hr0.obj
new file mode 100644
index 00000000..46ceb083
--- /dev/null
+++ b/spot_description/meshes/arm/visual/arm_link_hr0.obj
@@ -0,0 +1,22618 @@
+# Blender v2.79 (sub 0) OBJ File: 'hr0.blend'
+# www.blender.org
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diff --git a/spot_description/meshes/arm/visual/arm_link_sh0.obj b/spot_description/meshes/arm/visual/arm_link_sh0.obj
new file mode 100644
index 00000000..f35c3c35
--- /dev/null
+++ b/spot_description/meshes/arm/visual/arm_link_sh0.obj
@@ -0,0 +1,6462 @@
+# Blender v2.79 (sub 0) OBJ File: 'sh0_6.blend'
+# www.blender.org
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diff --git a/spot_description/meshes/arm/visual/arm_link_sh1.obj b/spot_description/meshes/arm/visual/arm_link_sh1.obj
new file mode 100644
index 00000000..c5fd27f6
--- /dev/null
+++ b/spot_description/meshes/arm/visual/arm_link_sh1.obj
@@ -0,0 +1,1069 @@
+# Blender v2.79 (sub 0) OBJ File: 'sh1.blend'
+# www.blender.org
+o arm0.link_sh1
+v 0.007635 0.037938 -0.029863
+v 0.034419 0.031132 -0.013239
+v 0.000393 0.031150 0.036958
+v 0.002977 0.035685 0.036880
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+v 0.030371 -0.031214 -0.020964
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+v -0.027980 0.036584 -0.022835
+v -0.036591 -0.031169 -0.004443
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+v 0.016739 -0.037907 -0.025843
+v -0.036904 0.031143 -0.001425
+v 0.020654 0.037930 -0.023135
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diff --git a/spot_description/meshes/arm/visual/arm_link_wr0.obj b/spot_description/meshes/arm/visual/arm_link_wr0.obj
new file mode 100644
index 00000000..4abc6f16
--- /dev/null
+++ b/spot_description/meshes/arm/visual/arm_link_wr0.obj
@@ -0,0 +1,9283 @@
+# Blender v2.79 (sub 0) OBJ File: 'wr0.blend'
+# www.blender.org
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diff --git a/spot_description/meshes/arm/visual/arm_link_wr1.obj b/spot_description/meshes/arm/visual/arm_link_wr1.obj
new file mode 100644
index 00000000..f57e0b17
--- /dev/null
+++ b/spot_description/meshes/arm/visual/arm_link_wr1.obj
@@ -0,0 +1,14061 @@
+# Blender v2.79 (sub 0) OBJ File: 'arm0.link_wr1.blend'
+# www.blender.org
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+f 3012//5004 3013//5005 3015//5006
+f 3016//4953 3012//5004 3015//5006
+f 3013//5005 3014//5007 3015//5006
+f 2905//4957 523//1189 7//1459
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diff --git a/spot_description/meshes/arm/visual/spot.urdf b/spot_description/meshes/arm/visual/spot.urdf
new file mode 100644
index 00000000..e69de29b
diff --git a/spot_description/urdf/accessories.urdf.xacro b/spot_description/urdf/accessories.urdf.xacro
index ac6f1bdf..47e32d6b 100644
--- a/spot_description/urdf/accessories.urdf.xacro
+++ b/spot_description/urdf/accessories.urdf.xacro
@@ -79,6 +79,7 @@
   </xacro:if>
 
   <xacro:if value="$(optenv SPOT_ARM 0)">
-    <xacro:include filename="$(find spot_description)/urdf/spot_arm.xacro" />
+    <xacro:include filename="$(find spot_description)/urdf/spot_arm_macro.urdf" />
+    <xacro:load_arm tf_prefix=""/>
   </xacro:if>
 </robot>
diff --git a/spot_description/urdf/spot_arm.xacro b/spot_description/urdf/spot_arm.xacro
deleted file mode 100644
index ef3d733c..00000000
--- a/spot_description/urdf/spot_arm.xacro
+++ /dev/null
@@ -1,238 +0,0 @@
-<?xml version="1.0" ?>
-<robot name="spot_arm" xmlns:xacro="http://www.ros.org/wiki/xacro">
-
-<material name="silver">
-  <color rgba="0.700 0.700 0.700 1.000"/>
-</material>
-
-<link name="base_arm_link">
-  <inertial>
-    <origin rpy="0 0 0" xyz="1.2371844231029972e-17 0.0 0.0325"/>
-    <mass value="5.770791545379091"/>
-    <inertia ixx="0.007226" ixy="-0.0" ixz="0.0" iyy="0.007226" iyz="0.0" izz="0.010387"/>
-  </inertial>
-  <visual>
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <geometry>
-      <mesh filename="package://spot_description/meshes/arm/base_link.stl" scale="0.001 0.001 0.001"/>
-    </geometry>
-    <material name="silver"/>
-  </visual>
-  <collision>
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-    <geometry>
-      <mesh filename="package://spot_description/meshes/arm/base_link.stl" scale="0.001 0.001 0.001"/>
-    </geometry>
-  </collision>
-</link>
-
-<link name="link4">
-  <inertial>
-    <origin rpy="0 0 0" xyz="-0.00911464892336129 0.12606054498393937 5.551115123125783e-17"/>
-    <mass value="10.95245995004642"/>
-    <inertia ixx="0.066789" ixy="0.011971" ixz="-0.0" iyy="0.014993" iyz="0.0" izz="0.071949"/>
-  </inertial>
-  <visual>
-    <origin rpy="0 0 0" xyz="0.001 -0.4505 -0.0475"/>
-    <geometry>
-      <mesh filename="package://spot_description/meshes/arm/link4.stl" scale="0.001 0.001 0.001"/>
-    </geometry>
-    <material name="silver"/>
-  </visual>
-  <collision>
-    <origin rpy="0 0 0" xyz="0.001 -0.4505 -0.0475"/>
-    <geometry>
-      <mesh filename="package://spot_description/meshes/arm/link4.stl" scale="0.001 0.001 0.001"/>
-    </geometry>
-  </collision>
-</link>
-
-<link name="gripper">
-  <inertial>
-    <origin rpy="0 0 0" xyz="-8.366123908053191e-08 0.07051371901138614 0.017123167388316526"/>
-    <mass value="5.9780007036604434"/>
-    <inertia ixx="0.01723" ixy="0.0" ixz="0.0" iyy="0.00734" iyz="-0.003871" izz="0.0153"/>
-  </inertial>
-  <visual>
-    <origin rpy="0 0 0" xyz="0.0085 -0.77959 -0.0475"/>
-    <geometry>
-      <mesh filename="package://spot_description/meshes/arm/gripper.stl" scale="0.001 0.001 0.001"/>
-    </geometry>
-    <material name="silver"/>
-  </visual>
-  <collision>
-    <origin rpy="0 0 0" xyz="0.0085 -0.77959 -0.0475"/>
-    <geometry>
-      <mesh filename="package://spot_description/meshes/arm/gripper.stl" scale="0.001 0.001 0.001"/>
-    </geometry>
-  </collision>
-</link>
-
-<link name="finger">
-  <inertial>
-    <origin rpy="0 0 0" xyz="0.8635899028063472 0.09862056591557622 0.00850232975194119"/>
-    <mass value="1.71236178687828"/>
-    <inertia ixx="0.002129" ixy="0.0" ixz="-0.0" iyy="0.001681" iyz="0.000162" izz="0.003403"/>
-  </inertial>
-  <visual>
-    <origin rpy="0 0 0" xyz="0.87709 -0.823505 -0.0185"/>
-    <geometry>
-      <mesh filename="package://spot_description/meshes/arm/finger.stl" scale="0.001 0.001 0.001"/>
-    </geometry>
-    <material name="silver"/>
-  </visual>
-  <collision>
-    <origin rpy="0 0 0" xyz="0.87709 -0.823505 -0.0185"/>
-    <geometry>
-      <mesh filename="package://spot_description/meshes/arm/finger.stl" scale="0.001 0.001 0.001"/>
-    </geometry>
-  </collision>
-</link>
-
-<link name="link2">
-  <inertial>
-    <origin rpy="0 0 0" xyz="-0.0163095589512068 0.17540914221218962 0.0"/>
-    <mass value="12.658281999999998"/>
-    <inertia ixx="0.12979" ixy="0.002625" ixz="0.0" iyy="0.01004" iyz="0.0" izz="0.129493"/>
-  </inertial>
-  <visual>
-    <origin rpy="0 0 0" xyz="-0.015 -0.0 -0.115"/>
-    <geometry>
-      <mesh filename="package://spot_description/meshes/arm/link2.stl" scale="0.001 0.001 0.001"/>
-    </geometry>
-    <material name="silver"/>
-  </visual>
-  <collision>
-    <origin rpy="0 0 0" xyz="-0.015 -0.0 -0.115"/>
-    <geometry>
-      <mesh filename="package://spot_description/meshes/arm/link2.stl" scale="0.001 0.001 0.001"/>
-    </geometry>
-  </collision>
-</link>
-
-<link name="link1">
-  <inertial>
-    <origin rpy="0 0 0" xyz="0.05071972800114364 -1.0308563411658574e-17 0.04676911608650795"/>
-    <mass value="6.925827706354272"/>
-    <inertia ixx="0.01241" ixy="-0.0" ixz="-0.001047" iyy="0.010387" iyz="0.0" izz="0.012306"/>
-  </inertial>
-  <visual>
-    <origin rpy="0 0 0" xyz="-0.0 -0.0 -0.065"/>
-    <geometry>
-      <mesh filename="package://spot_description/meshes/arm/link1.stl" scale="0.001 0.001 0.001"/>
-    </geometry>
-    <material name="silver"/>
-  </visual>
-  <collision>
-    <origin rpy="0 0 0" xyz="-0.0 -0.0 -0.065"/>
-    <geometry>
-      <mesh filename="package://spot_description/meshes/arm/link1.stl" scale="0.001 0.001 0.001"/>
-    </geometry>
-  </collision>
-</link>
-
-<link name="wrist">
-  <inertial>
-    <origin rpy="0 0 0" xyz="0.03954999709763633 0.03472006124891969 4.209155544249166e-08"/>
-    <mass value="3.2278801394086396"/>
-    <inertia ixx="0.00339" ixy="-2.1e-05" ixz="0.0" iyy="0.002242" iyz="-0.0" izz="0.003439"/>
-  </inertial>
-  <visual>
-    <origin rpy="0 0 0" xyz="0.0485 -0.69859 -0.0475"/>
-    <geometry>
-      <mesh filename="package://spot_description/meshes/arm/wrist.stl" scale="0.001 0.001 0.001"/>
-    </geometry>
-    <material name="silver"/>
-  </visual>
-  <collision>
-    <origin rpy="0 0 0" xyz="0.0485 -0.69859 -0.0475"/>
-    <geometry>
-      <mesh filename="package://spot_description/meshes/arm/wrist.stl" scale="0.001 0.001 0.001"/>
-    </geometry>
-  </collision>
-</link>
-
-<link name="link3">
-  <inertial>
-    <origin rpy="0 0 0" xyz="-0.015621881612358529 0.06665620790957599 -0.058074231003688394"/>
-    <mass value="7.368455487741179"/>
-    <inertia ixx="0.018073" ixy="0.000915" ixz="-0.00101" iyy="0.011789" iyz="0.003728" izz="0.01667"/>
-  </inertial>
-  <visual>
-    <origin rpy="0 0 0" xyz="-0.017 -0.3125 -0.115"/>
-    <geometry>
-      <mesh filename="package://spot_description/meshes/arm/link3.stl" scale="0.001 0.001 0.001"/>
-    </geometry>
-    <material name="silver"/>
-  </visual>
-  <collision>
-    <origin rpy="0 0 0" xyz="-0.017 -0.3125 -0.115"/>
-    <geometry>
-      <mesh filename="package://spot_description/meshes/arm/link3.stl" scale="0.001 0.001 0.001"/>
-    </geometry>
-  </collision>
-</link>
-
-<joint name="base_arm_joint" type="fixed">
-        <origin xyz="0.29 0 0.08" rpy="0 0 0" />
-        <parent link="body" />
-        <child link="base_arm_link" />
-    </joint>
-
-<joint name="arm_joint1" type="revolute">
-  <origin rpy="0 0 0" xyz="0.0 0.0 0.065"/>
-  <parent link="base_arm_link"/>
-  <child link="link1"/>
-  <axis xyz="0.0 0.0 1.0"/>
-  <limit effort="100" lower="-3.141593" upper="2.617994" velocity="100"/>
-</joint>
-
-<joint name="arm_joint2" type="revolute">
-  <origin rpy="0 0 0" xyz="0.015 0.0 0.05"/>
-  <parent link="link1"/>
-  <child link="link2"/>
-  <axis xyz="-1.0 0.0 0.0"/>
-  <limit effort="100" lower="-3.665191" upper="0.0" velocity="100"/>
-</joint>
-
-<joint name="arm_joint3" type="revolute">
-  <origin rpy="0 0 0" xyz="0.002 0.3125 0.0"/>
-  <parent link="link2"/>
-  <child link="link3"/>
-  <axis xyz="1.0 0.0 0.0"/>
-  <limit effort="100" lower="0.0" upper="2.96706" velocity="100"/>
-</joint>
-
-<joint name="arm_joint4" type="revolute">
-  <origin rpy="0 0 0" xyz="-0.018 0.138 -0.0675"/>
-  <parent link="link3"/>
-  <child link="link4"/>
-  <axis xyz="0.0 1.0 0.0"/>
-  <limit effort="100" lower="-2.879793" upper="2.879793" velocity="100"/>
-</joint>
-
-<joint name="arm_joint5" type="revolute">
-  <origin rpy="0 0 0" xyz="-0.0475 0.24809 0.0"/>
-  <parent link="link4"/>
-  <child link="wrist"/>
-  <axis xyz="1.0 0.0 0.0"/>
-  <limit effort="100" lower="-1.570796" upper="1.570796" velocity="100"/>
-</joint>
-
-<joint name="arm_joint6" type="revolute">
-  <origin rpy="0 0 0" xyz="0.04 0.081 0.0"/>
-  <parent link="wrist"/>
-  <child link="gripper"/>
-  <axis xyz="-0.0 1.0 0.0"/>
-  <limit effort="100" lower="-2.96706" upper="2.96706" velocity="100"/>
-</joint>
-
-<joint name="arm_gripper" type="revolute">
-  <origin rpy="0 0 0" xyz="-0.86859 0.043915 -0.029"/>
-  <parent link="gripper"/>
-  <child link="finger"/>
-  <axis xyz="1.0 -0.0 0.0"/>
-  <limit effort="100" lower="-1.396263" upper="0.349066" velocity="100"/>
-</joint>
-
-</robot>
diff --git a/spot_description/urdf/spot_arm_macro.urdf b/spot_description/urdf/spot_arm_macro.urdf
new file mode 100644
index 00000000..20b8dec9
--- /dev/null
+++ b/spot_description/urdf/spot_arm_macro.urdf
@@ -0,0 +1,343 @@
+<?xml version="1.0"?>
+<robot name="spot_arm" xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <xacro:macro name="load_arm" params="
+    tf_prefix">
+
+    <link name="${tf_prefix}arm_link_sh0">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find spot_description)/meshes/arm/visual/arm_link_sh0.obj" />
+        </geometry>
+        <material name="arm_link_sh0">
+          <color rgba="0.2 0.2 0.2 1" />
+        </material>
+      </visual>
+      <collision>
+        <geometry>
+          <mesh filename="file://$(find spot_description)/meshes/arm/collision/arm_link_sh0.stl" />
+        </geometry>
+      </collision>
+      <inertial>
+        <origin rpy="0.0013490340912847287 -0.15433618253071657 0.0066354181456347305"
+          xyz="-0.012372709810733795 -4.5211403630673885e-05 -0.02103196457028389" />
+        <mass value="2.3364000000000003" />
+        <inertia ixx="0.009014303010689815" ixy="0.0" ixz="0.0" iyy="0.005835102417829581" iyz="0.0"
+          izz="0.00778747846359954" />
+      </inertial>
+    </link>
+    <joint name="${tf_prefix}arm_sh0" type="revolute">
+      <origin xyz="0.292 0.0 0.188" rpy="0 0 0" />
+      <axis xyz="0 0 1" />
+      <parent link="${tf_prefix}body" />
+      <child link="${tf_prefix}arm_link_sh0" />
+      <limit effort="1000" velocity="1000.00" lower="-2.61799387799149441136"
+        upper="3.14159265358979311599" />
+      <dynamics damping="0.04" friction="0.001"/>
+    </joint>
+
+    <link name="${tf_prefix}arm_link_sh1">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find spot_description)/meshes/arm/visual/arm_link_sh1.obj" />
+        </geometry>
+        <material name="arm_link_sh1">
+          <color rgba="0.2 0.2 0.2 1" />
+        </material>
+      </visual>
+      <collision>
+        <geometry>
+          <mesh filename="file://$(find spot_description)/meshes/arm/collision/arm_link_sh1.stl" />
+        </geometry>
+      </collision>
+      <inertial>
+        <origin rpy="0.009910032200701302 -0.5123007314267984 0.002209016500439809"
+          xyz="2.4176391889341176e-05 2.4116111490002368e-06 -1.0059113265015185e-05" />
+        <mass value="0.2596" />
+        <inertia ixx="0.00020292766231464653" ixy="0.0" ixz="0.0" iyy="0.00017078637725384855"
+          iyz="0.0" izz="0.00020384964230406682" />
+      </inertial>
+    </link>
+    <joint name="${tf_prefix}arm_sh1" type="revolute">
+      <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+      <axis xyz="0 1 0" />
+      <parent link="${tf_prefix}arm_link_sh0" />
+      <child link="${tf_prefix}arm_link_sh1" />
+      <!-- <limit effort="1000" velocity="1000.00" lower="-0.52359877559829881565"
+      upper="3.14159265358979311599"/> -->
+      <limit effort="1000" velocity="1000.00" lower="-3.14159265358979311599"
+        upper="0.52359877559829881565" />
+      <dynamics damping="0.04" friction="0.001"/>
+    </joint>
+
+    <link name="${tf_prefix}arm_link_hr0">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find spot_description)/meshes/arm/visual/arm_link_hr0.obj" />
+        </geometry>
+        <material name="arm_link_hr0">
+          <color rgba="0.2 0.2 0.2 1" />
+        </material>
+      </visual>
+      <collision>
+        <geometry>
+          <mesh filename="file://$(find spot_description)/meshes/arm/collision/arm_link_hr0.stl" />
+        </geometry>
+      </collision>
+      <inertial>
+        <origin rpy="-0.01179850657706405 0.0002834144901480151 -0.02372295500868482"
+          xyz="0.17047011852264404 -0.0019251034827902913 4.483893280848861e-05" />
+        <mass value="1e-03" />
+        <inertia ixx="6.312631747339145e-10" ixy="0.0" ixz="0.0" iyy="1.1487063558949979e-08"
+          iyz="0.0" izz="1.161105128440526e-08" />
+      </inertial>
+    </link>
+    <joint name="${tf_prefix}arm_hr0" type="fixed">
+      <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+      <axis xyz="1 0 0" />
+      <parent link="${tf_prefix}arm_link_sh1" />
+      <child link="${tf_prefix}arm_link_hr0" />
+      <limit effort="1000" velocity="1000.00" lower="-1e6" upper="1e6" />
+      <dynamics damping="0.04" friction="0.001"/>
+    </joint>
+
+    <link name="${tf_prefix}arm_link_el0">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find spot_description)/meshes/arm/visual/arm_link_el0.obj" />
+        </geometry>
+        <material name="arm_link_el0">
+          <color rgba="0.2 0.2 0.2 1" />
+        </material>
+      </visual>
+      <collision>
+        <geometry>
+          <mesh filename="file://$(find spot_description)/meshes/arm/collision/arm_link_el0.stl" />
+        </geometry>
+      </collision>
+      <inertial>
+        <origin rpy="-0.004185887288594259 -0.6136269547775202 -0.0004619387581783485"
+          xyz="0.0553741455078125 0.00023603376757819206 0.04827198013663292" />
+        <mass value="0.725" />
+        <inertia ixx="0.0008215365829160558" ixy="0.0" ixz="0.0" iyy="0.0020047889807066404"
+          iyz="0.0" izz="0.0019722797759789395" />
+      </inertial>
+    </link>
+    <joint name="${tf_prefix}arm_el0" type="revolute">
+      <origin xyz="0.3385 0 0" rpy="0 0 0" />
+      <axis xyz="0 1 0" />
+      <parent link="${tf_prefix}arm_link_hr0" />
+      <child link="${tf_prefix}arm_link_el0" />
+      <limit effort="1000" velocity="1000.00" lower="0" upper="3.14159265358979311599" />
+      <dynamics damping="0.04" friction="0.001"/>
+    </joint>
+
+    <link name="${tf_prefix}arm_link_el1">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find spot_description)/meshes/arm/visual/arm_link_el1.obj" />
+        </geometry>
+        <material name="arm_link_el1">
+          <color rgba="0.2 0.2 0.2 1" />
+        </material>
+      </visual>
+      <collision>
+        <geometry>
+          <mesh filename="file://$(find spot_description)/meshes/arm/collision/arm_link_el1.stl" />
+        </geometry>
+      </collision>
+      <inertial>
+        <origin rpy="-0.15027374227250867 -0.0007874585461915551 0.003728225436950172"
+          xyz="-0.1257835328578949 -0.013684478588402271 0.00010157923679798841" />
+        <mass value="0.725" />
+        <inertia ixx="0.0006254807525240598" ixy="0.0" ixz="0.0" iyy="0.004402454711936095"
+          iyz="0.0" izz="0.004515915146038191" />
+      </inertial>
+    </link>
+    <joint name="${tf_prefix}arm_el1" type="revolute">
+      <origin xyz="0.40330 0.0 0.0750" rpy="0 0 0" />
+      <axis xyz="1 0 0" />
+      <parent link="${tf_prefix}arm_link_el0" />
+      <child link="${tf_prefix}arm_link_el1" />
+      <limit effort="1000" velocity="1000.00" lower="-2.79252680319092716487"
+        upper="2.79252680319092716487" />
+      <dynamics damping="0.04" friction="0.001"/>
+    </joint>
+
+    <link name="${tf_prefix}arm_link_wr0">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find spot_description)/meshes/arm/visual/arm_link_wr0.obj" />
+        </geometry>
+        <material name="arm_link_wr0">
+          <color rgba="0.2 0.2 0.2 1" />
+        </material>
+      </visual>
+      <collision>
+        <geometry>
+          <mesh filename="file://$(find spot_description)/meshes/arm/collision/arm_link_wr0.stl" />
+        </geometry>
+      </collision>
+      <inertial>
+        <origin rpy="-0.4951534907966386 0.0033720434077784134 0.020027599337697932"
+          xyz="0.008210677653551102 -0.012051000259816647 3.143483627354726e-05" />
+        <mass value="0.98" />
+        <inertia ixx="0.0009851320696685427" ixy="0.0" ixz="0.0" iyy="0.0008916145765810678"
+          iyz="0.0" izz="0.0012354892751854467" />
+      </inertial>
+    </link>
+    <joint name="${tf_prefix}arm_wr0" type="revolute">
+      <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+      <axis xyz="0 1 0" />
+      <parent link="${tf_prefix}arm_link_el1" />
+      <child link="${tf_prefix}arm_link_wr0" />
+      <limit effort="1000" velocity="1000.00" lower="-1.83259571459404613236"
+        upper="1.83259571459404613236" />
+      <dynamics damping="0.04" friction="0.001"/>
+    </joint>
+
+    <link name="${tf_prefix}arm_link_wr1">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find spot_description)/meshes/arm/visual/arm_link_wr1.obj" />
+        </geometry>
+        <material name="arm_link_wr1">
+          <color rgba="0.2 0.2 0.2 1" />
+        </material>
+      </visual>
+      <collision>
+        <geometry>
+          <mesh filename="file://$(find spot_description)/meshes/arm/collision/arm_link_wr1.stl" />
+        </geometry>
+      </collision>
+      <inertial>
+        <origin rpy="0.006393076449033863 0.2928526604761865 -0.022814984050994802"
+          xyz="0.12516802549362183 0.00010137435310753062 -0.013997982256114483" />
+        <mass value="0.785" />
+        <inertia ixx="0.00076741362048185" ixy="0.0" ixz="0.0" iyy="0.0017628124054271809" iyz="0.0"
+          izz="0.0016818105865345951" />
+      </inertial>
+    </link>
+    <joint name="${tf_prefix}arm_wr1" type="revolute">
+      <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+      <axis xyz="1 0 0" />
+      <parent link="${tf_prefix}arm_link_wr0" />
+      <child link="${tf_prefix}arm_link_wr1" />
+      <limit effort="1000" velocity="1000.00" lower="-2.87979326579064354163"
+        upper="2.87979326579064354163" />
+      <dynamics damping="0.04" friction="0.001"/>
+    </joint>
+
+    <link name="${tf_prefix}arm_link_fngr">
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="file://$(find spot_description)/meshes/arm/visual/arm_link_fngr.obj" />
+        </geometry>
+        <material name="arm_link_fngr">
+          <color rgba="0.2 0.2 0.2 1" />
+        </material>
+      </visual>
+      <collision>
+        <geometry>
+          <mesh filename="file://$(find spot_description)/meshes/arm/collision/arm_link_fngr.stl" />
+        </geometry>
+      </collision>
+      <inertial>
+        <origin rpy="0.0003416659657240473 0.3751670012784243 -0.004058661249495721"
+          xyz="0.04787873849272728 -0.00020676758140325546 -0.01628788933157921" />
+        <mass value="0.2" />
+        <inertia ixx="0.0001439963634171048" ixy="0.0" ixz="0.0" iyy="0.0003007126997998294"
+          iyz="0.0" izz="0.0003912783268020657" />
+      </inertial>
+    </link>
+    <joint name="${tf_prefix}arm_f1x" type="revolute">
+      <origin xyz="0.11745 0 0.014820" rpy="0 0 0" />
+      <axis xyz="0.0 1.0 0.0" />
+      <parent link="${tf_prefix}arm_link_wr1" />
+      <child link="${tf_prefix}arm_link_fngr" />
+      <limit effort="1000" velocity="1000.00" lower="-1.57" upper="0.0" />
+      <dynamics damping="0.04" friction="0.001"/>
+    </joint>
+
+    <transmission name="arm_joint1_trans">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="${tf_prefix}arm_joint1">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="arm_joint1_actuator">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+    </transmission>
+    <transmission name="arm_joint2_trans">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="${tf_prefix}arm_joint2">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="arm_joint2_actuator">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+    </transmission>    
+    <transmission name="arm_joint3_trans">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="${tf_prefix}arm_joint3">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="arm_joint3_actuator">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+    </transmission>        
+    <transmission name="arm_joint4_trans">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="${tf_prefix}arm_joint4">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="arm_joint4_actuator">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+    </transmission>            
+    <transmission name="arm_joint5_trans">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="${tf_prefix}arm_joint5">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="arm_joint5_actuator">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+    </transmission>            
+    <transmission name="arm_joint6_trans">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="${tf_prefix}arm_joint6">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="arm_joint6_actuator">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+    </transmission>                
+    <transmission name="arm_gripper_trans">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="${tf_prefix}arm_gripper">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="arm_gripper_actuator">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+    </transmission>                    
+
+
+    
+  </xacro:macro>
+</robot>
diff --git a/spot_driver/src/spot_driver/ros_helpers.py b/spot_driver/src/spot_driver/ros_helpers.py
index 0eb2976d..f467a9b6 100644
--- a/spot_driver/src/spot_driver/ros_helpers.py
+++ b/spot_driver/src/spot_driver/ros_helpers.py
@@ -58,13 +58,13 @@
 friendly_joint_names["hr.kn"] = "rear_right_knee"
 
 # arm joints
-friendly_joint_names["arm0.sh0"] = "arm_joint1"
-friendly_joint_names["arm0.sh1"] = "arm_joint2"
-friendly_joint_names["arm0.el0"] = "arm_joint3"
-friendly_joint_names["arm0.el1"] = "arm_joint4"
-friendly_joint_names["arm0.wr0"] = "arm_joint5"
-friendly_joint_names["arm0.wr1"] = "arm_joint6"
-friendly_joint_names["arm0.f1x"] = "arm_gripper"
+friendly_joint_names["arm0.sh0"] = "arm_sh0"
+friendly_joint_names["arm0.sh1"] = "arm_sh1"
+friendly_joint_names["arm0.el0"] = "arm_el0"
+friendly_joint_names["arm0.el1"] = "arm_el1"
+friendly_joint_names["arm0.wr0"] = "arm_wr0"
+friendly_joint_names["arm0.wr1"] = "arm_wr1"
+friendly_joint_names["arm0.f1x"] = "arm_f1x"
 
 
 class DefaultCameraInfo(CameraInfo):