diff --git a/.github/workflows/ci.yaml b/.github/workflows/ci.yaml
index 2fe56fa6..7fa64976 100644
--- a/.github/workflows/ci.yaml
+++ b/.github/workflows/ci.yaml
@@ -35,7 +35,7 @@ jobs:
         with:
           distribution: rolling
           linter: ${{ matrix.linter }}
-          package-name: uwrt_mars_rover
+          package-name: uwrt_mars_rover_arm_description
 
 
   amd64-build:
@@ -62,8 +62,7 @@ jobs:
             }
           colcon-mixin-repository: https://raw.githubusercontent.com/colcon/colcon-mixin-repository/3e627e0fa30db85aea05a50e2c61a9832664d236/index.yaml
           target-ros2-distro: foxy
-          package-name: uwrt_mars_rover
-
+          package-name: uwrt_mars_rover_arm_description
 
   arm64-build:
     runs-on: ubuntu-latest
diff --git a/uwrt_mars_rover_arm/uwrt_mars_rover_arm_description/uwrt_mars_rover_arm_description/CMakeLists.txt b/uwrt_mars_rover_arm/uwrt_mars_rover_arm_description/uwrt_mars_rover_arm_description/CMakeLists.txt
new file mode 100644
index 00000000..e07a8c02
--- /dev/null
+++ b/uwrt_mars_rover_arm/uwrt_mars_rover_arm_description/uwrt_mars_rover_arm_description/CMakeLists.txt
@@ -0,0 +1,40 @@
+cmake_minimum_required(VERSION 3.5)
+project(uwrt_mars_rover_arm_description)
+
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C++14
+if(NOT CMAKE_CXX_STANDARD)
+  set(CMAKE_CXX_STANDARD 14)
+endif()
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+install(
+  DIRECTORY launch rviz urdf
+  DESTINATION share/${PROJECT_NAME}
+)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # uncomment the line when a copyright and license is not present in all source files
+  #set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # uncomment the line when this package is not in a git repo
+  #set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()
diff --git a/uwrt_mars_rover_arm/uwrt_mars_rover_arm_description/uwrt_mars_rover_arm_description/launch/launch.py b/uwrt_mars_rover_arm/uwrt_mars_rover_arm_description/uwrt_mars_rover_arm_description/launch/launch.py
new file mode 100644
index 00000000..03b8a642
--- /dev/null
+++ b/uwrt_mars_rover_arm/uwrt_mars_rover_arm_description/uwrt_mars_rover_arm_description/launch/launch.py
@@ -0,0 +1,67 @@
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+import os 
+
+def generate_launch_description():
+    declared_arguments = []
+
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "description_package",
+            default_value="uwrt_mars_rover_arm_description",
+            description="package",
+        )
+    )
+    declared_arguments.append(
+        DeclareLaunchArgument(
+            "description_file",
+            default_value="urdf.xacro",
+            description="urdf file",
+        )
+    )
+    
+    description_package = LaunchConfiguration("description_package")
+    description_file = LaunchConfiguration("description_file")
+
+    robot_description_content = Command(
+        [
+            PathJoinSubstitution([FindExecutable(name="xacro")]),
+            " ",
+            PathJoinSubstitution([FindPackageShare(description_package), "urdf", description_file]),
+        ]
+    )
+    robot_description = {"robot_description": robot_description_content}
+
+    rviz_config_file = PathJoinSubstitution(
+        [FindPackageShare(description_package), "rviz", "rviz.rviz"]
+    )
+
+    joint_state_publisher_node = Node(
+        package="joint_state_publisher_gui",
+        executable="joint_state_publisher_gui",
+    )
+    robot_state_publisher_node = Node(
+        package="robot_state_publisher",
+        executable="robot_state_publisher",
+        output="both",
+        parameters=[robot_description],
+    )
+    rviz_node = Node(
+        package="rviz2",
+        executable="rviz2",
+        name="rviz2",
+        output="log",
+        arguments=["-d", rviz_config_file],
+    )
+
+    nodes_to_start = [
+        joint_state_publisher_node,
+        robot_state_publisher_node,
+        rviz_node,
+    ]
+
+    return LaunchDescription(declared_arguments + nodes_to_start)
\ No newline at end of file
diff --git a/uwrt_mars_rover_arm/uwrt_mars_rover_arm_description/uwrt_mars_rover_arm_description/package.xml b/uwrt_mars_rover_arm/uwrt_mars_rover_arm_description/uwrt_mars_rover_arm_description/package.xml
new file mode 100644
index 00000000..ba35ac8b
--- /dev/null
+++ b/uwrt_mars_rover_arm/uwrt_mars_rover_arm_description/uwrt_mars_rover_arm_description/package.xml
@@ -0,0 +1,26 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>uwrt_mars_rover_arm_description</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="meshva03@gmail.com">meshva</maintainer>
+  <license>TODO: License declaration</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <exec_depend>joint_state_publisher</exec_depend>
+  <exec_depend>launch</exec_depend>
+  <exec_depend>launch_ros</exec_depend>
+  <exec_depend>robot_state_publisher</exec_depend>
+  <exec_depend>rviz2</exec_depend>
+  <exec_depend>urdf</exec_depend>
+  <exec_depend>xacro</exec_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
diff --git a/uwrt_mars_rover_arm/uwrt_mars_rover_arm_description/uwrt_mars_rover_arm_description/rviz/rviz.rviz b/uwrt_mars_rover_arm/uwrt_mars_rover_arm_description/uwrt_mars_rover_arm_description/rviz/rviz.rviz
new file mode 100644
index 00000000..0ca50480
--- /dev/null
+++ b/uwrt_mars_rover_arm/uwrt_mars_rover_arm_description/uwrt_mars_rover_arm_description/rviz/rviz.rviz
@@ -0,0 +1,229 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /RobotModel1
+        - /TF1
+        - /TF1/Frames1
+      Splitter Ratio: 0.5
+    Tree Height: 617
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /robot_description
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_footprint:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        drivewhl_l_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        drivewhl_r_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front_caster:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        gps_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        imu_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        lidar_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
+        base_footprint:
+          Value: false
+        base_link:
+          Value: false
+        drivewhl_l_link:
+          Value: true
+        drivewhl_r_link:
+          Value: true
+        front_caster:
+          Value: false
+        gps_link:
+          Value: false
+        imu_link:
+          Value: false
+        lidar_link:
+          Value: false
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: false
+      Show Axes: true
+      Show Names: true
+      Tree:
+        base_footprint:
+          base_link:
+            drivewhl_l_link:
+              {}
+            drivewhl_r_link:
+              {}
+            front_caster:
+              {}
+            gps_link:
+              {}
+            imu_link:
+              {}
+            lidar_link:
+              {}
+      Update Interval: 0
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: base_link
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 4.434264183044434
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0.31193429231643677
+        Y: 0.11948385089635849
+        Z: -0.4807402193546295
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.490397572517395
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 1.0503965616226196
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 846
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002f4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002f4000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002f4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d000002f4000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004420000003efc0100000002fb0000000800540069006d00650100000000000004420000000000000000fb0000000800540069006d006501000000000000045000000000000000000000023f000002f400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1200
+  X: 246
+  Y: 77
diff --git a/uwrt_mars_rover_arm/uwrt_mars_rover_arm_description/uwrt_mars_rover_arm_description/urdf/arm_params.yaml b/uwrt_mars_rover_arm/uwrt_mars_rover_arm_description/uwrt_mars_rover_arm_description/urdf/arm_params.yaml
new file mode 100644
index 00000000..cd36dac2
--- /dev/null
+++ b/uwrt_mars_rover_arm/uwrt_mars_rover_arm_description/uwrt_mars_rover_arm_description/urdf/arm_params.yaml
@@ -0,0 +1,45 @@
+dimensions:
+  box_size: 1
+
+  turntable_radius: 0.6
+  turntable_length: 0.1
+  
+  upper_arm_radius: 0.1
+  upper_arm_length: 1
+
+  forearm_radius: 0.1
+  forearm_length: 0.5
+
+  forearm_roll_radius: 0.1
+  forearm_roll_length: 0.5
+
+  wrist_radius: 0.1
+  wrist_length: 0.5
+
+  claw_width: 0.05
+  claw_length: 0.25
+
+inertia:
+  default_mass: 1
+
+joints: 
+  default_limit_effort: 10
+  default_limit_vel: 0.5
+
+  shoulder_lower: !degrees  -90.0
+  shoulder_upper: !degrees  90.0
+
+  elbow_lower: !degrees  -180.0
+  elbow_upper: !degrees  0
+
+  roll_lower: !degrees  -90.0
+  roll_upper: !degrees  90.0
+
+  wrist_lower: !degrees  -90.0
+  wrist_upper: !degrees  90.0
+
+  claw_left_lower: !degrees  -90.0
+  claw_left_upper: !degrees  0
+
+  claw_right_lower: !degrees  0
+  claw_right_upper: !degrees  90.0
\ No newline at end of file
diff --git a/uwrt_mars_rover_arm/uwrt_mars_rover_arm_description/uwrt_mars_rover_arm_description/urdf/macro.xacro b/uwrt_mars_rover_arm/uwrt_mars_rover_arm_description/uwrt_mars_rover_arm_description/urdf/macro.xacro
new file mode 100644
index 00000000..38ffa786
--- /dev/null
+++ b/uwrt_mars_rover_arm/uwrt_mars_rover_arm_description/uwrt_mars_rover_arm_description/urdf/macro.xacro
@@ -0,0 +1,173 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro">
+    <!-- file with common value -->
+    <xacro:include filename="$(find uwrt_mars_rover_arm_description)/urdf/values.xacro" />
+
+    <xacro:macro name="robot" params="param_file">
+        <xacro:read_model_data param_file="${param_file}"/>
+
+        <!-- all links and joints -->
+        <link name = "arm_link">
+            <visual>
+                <xacro:rectangle_visual x="${box_size}" y="${box_size}" z="${box_size}"/>
+            </visual>
+            <collision>
+                <xacro:rectangle_visual x="${box_size}" y="${box_size}" z="${box_size}"/>
+            </collision>
+        </link>
+
+        <joint name = "turntable_joint" type = "continuous">
+            <parent link = "arm_link"/>
+            <child link = "turntable"/>
+            <origin xyz = "0 0 ${box_size/2 + turntable_length/2}"/>
+            <axis xyz = "0 0 1"/>
+        </joint>
+
+        <link name = "turntable">
+            <visual>
+                <xacro:cylinder_visual radius="${turntable_radius}" length="${turntable_length}"/>
+            </visual>
+            <collision>
+                <xacro:cylinder_visual radius="${turntable_radius}" length="${turntable_length}"/>
+            </collision>
+            <inertial>
+                <mass value ="${default_mass}"/>
+                <xacro:default_inertia/>
+            </inertial>
+        </link>
+
+        <joint name = "shoulder_joint" type = "revolute">
+            <parent link = "turntable"/>
+            <child link = "upper_arm"/>
+            <limit effort="${default_limit_effort}" lower="${shoulder_lower}" upper="${shoulder_upper}" velocity="${default_limit_vel}"/>
+        </joint>
+
+        <link name = "upper_arm">
+            <visual>
+                <origin xyz = "0 0 ${upper_arm_length/2}" rpy= "0 0 0"/>
+                <xacro:cylinder_visual radius="${upper_arm_radius}" length="${upper_arm_length}"/>
+            </visual>
+            <collision>
+                <origin xyz = "0 0 ${upper_arm_length/2}" rpy= "0 0 0"/>
+                <xacro:cylinder_visual radius="${upper_arm_radius}" length="${upper_arm_length}"/>
+            </collision>
+            <inertial>
+                <mass value ="${default_mass}"/>
+                <xacro:default_inertia/>
+            </inertial>
+        </link>
+
+        <joint name = "elbow_joint" type = "revolute">
+            <parent link = "upper_arm"/>
+            <child link = "forearm"/>
+            <limit effort="${default_limit_effort}" lower="${elbow_lower}" upper="${elbow_upper}" velocity="${default_limit_vel}"/>
+            <origin xyz = "0 0 ${upper_arm_length}" rpy= "0 0 0"/>
+        </joint>
+
+        <link name = "forearm">
+            <visual>
+                <origin xyz = "0 0 ${forearm_length/2}" rpy= "0 0 0"/>
+                <xacro:cylinder_visual radius="${forearm_radius}" length="${forearm_length}"/>
+            </visual>
+            <collision>
+                <origin xyz = "0 0 ${forearm_length/2}" rpy= "0 0 0"/>
+                <xacro:cylinder_visual radius="${forearm_radius}" length="${forearm_length}"/>
+            </collision>
+            <inertial>
+                <mass value ="${default_mass}"/>
+                <xacro:default_inertia/>
+            </inertial>
+        </link>
+
+        <joint name = "roll_joint" type = "revolute">
+            <parent link = "forearm"/>
+            <child link = "forearm_roll"/>
+            <limit effort="${default_limit_effort}" lower="${roll_lower}" upper="${roll_upper}" velocity="${default_limit_vel}"/>
+            <origin xyz = "0 0 ${forearm_length}" rpy= "0 0 0"/>
+            <axis xyz = "0 0 1"/>
+        </joint>
+
+        <link name = "forearm_roll">
+            <visual>
+                <origin xyz = "0 0 ${forearm_roll_length/2}" rpy= "0 0 0"/>
+                <xacro:cylinder_visual radius="${forearm_roll_radius}" length="${forearm_roll_length}"/>
+            </visual>
+            <collision>
+                <origin xyz = "0 0 ${forearm_roll_length/2}" rpy= "0 0 0"/>
+                <xacro:cylinder_visual radius="${forearm_roll_radius}" length="${forearm_roll_length}"/>
+            </collision>
+            <inertial>
+                <mass value ="${default_mass}"/>
+                <xacro:default_inertia/>
+            </inertial>
+        </link>
+
+        <joint name = "wrist_joint" type = "revolute">
+            <parent link = "forearm_roll"/>
+            <child link = "wrist"/>
+            <limit effort="${default_limit_effort}" lower="${wrist_lower}" upper="${wrist_upper}" velocity="${default_limit_vel}"/>
+            <origin xyz = "0 0 ${forearm_roll_length}" rpy= "0 0 0"/>
+            <axis xyz = "0 1 0"/>
+        </joint> 
+
+        <link name = "wrist">
+            <visual>
+                <origin xyz = "0 0 ${wrist_length/2}" rpy= "0 0 0"/>
+                <xacro:cylinder_visual radius="${forearm_roll_radius}" length="${forearm_roll_length}"/>
+            </visual>
+            <collision>
+                <origin xyz = "0 0 ${wrist_length/2}" rpy= "0 0 0"/>
+                <xacro:cylinder_visual radius="${forearm_roll_radius}" length="${forearm_roll_length}"/>
+            </collision>
+            <inertial>
+                <mass value ="${default_mass}"/>
+                <xacro:default_inertia/>
+            </inertial>
+        </link>
+
+        <joint name = "claw_left_joint" type = "revolute">
+            <parent link = "wrist"/>
+            <child link = "claw_left"/>
+            <limit effort="${default_limit_effort}" lower="${claw_left_lower}" upper="${claw_left_upper}" velocity="${default_limit_vel}"/>
+            <origin xyz = "0 0 ${wrist_length}" rpy= "0 0 0"/>
+        </joint> 
+
+        <link name = "claw_left">
+            <visual>
+                <origin xyz = "0 ${claw_width * 3/4} ${claw_length/4}" rpy= "0 0 0"/>
+                <xacro:rectangle_visual x="${claw_width}" y="${claw_width}" z="${claw_length}"/>
+            </visual>
+            <collision>
+                <origin xyz = "0 ${claw_width * 3/4} ${claw_length/4}" rpy= "0 0 0"/>
+                <xacro:rectangle_visual x="${claw_width}" y="${claw_width}" z="${claw_length}"/>
+            </collision>
+            <inertial>
+                <mass value ="${default_mass}"/>
+                <xacro:default_inertia/>
+            </inertial>
+        </link>
+
+        <joint name = "claw_right_joint" type = "revolute">
+            <parent link = "wrist"/>
+            <child link = "claw_right"/>
+            <limit effort="${default_limit_effort}" lower="${claw_right_lower}" upper="${claw_right_upper}" velocity="${default_limit_vel}"/>
+            <origin xyz = "0 0 ${wrist_length}" rpy= "0 0 0"/>
+        </joint> 
+
+        <link name = "claw_right">
+            <visual>
+                <origin xyz = "0 ${-claw_width * 3/4} ${claw_length/4}" rpy= "0 0 0"/>
+                <xacro:rectangle_visual x="${claw_width}" y="${claw_width}" z="${claw_length}"/>
+            </visual>
+            <collision>
+                <origin xyz = "0 ${claw_width * 3/4} ${claw_length/4}" rpy= "0 0 0"/>
+                <xacro:rectangle_visual x="${claw_width}" y="${claw_width}" z="${claw_length}"/>
+            </collision>
+            <inertial>
+                <mass value ="${default_mass}"/>
+                <xacro:default_inertia/>
+            </inertial>
+        </link>
+
+    </xacro:macro>
+</robot>
\ No newline at end of file
diff --git a/uwrt_mars_rover_arm/uwrt_mars_rover_arm_description/uwrt_mars_rover_arm_description/urdf/urdf.xacro b/uwrt_mars_rover_arm/uwrt_mars_rover_arm_description/uwrt_mars_rover_arm_description/urdf/urdf.xacro
new file mode 100644
index 00000000..e439e7b9
--- /dev/null
+++ b/uwrt_mars_rover_arm/uwrt_mars_rover_arm_description/uwrt_mars_rover_arm_description/urdf/urdf.xacro
@@ -0,0 +1,7 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro" name="arm_robot">
+    <xacro:include filename="$(find uwrt_mars_rover_arm_description)/urdf/macro.xacro"/>
+
+    <xacro:robot param_file="$(find uwrt_mars_rover_arm_description)/urdf/arm_params.yaml"/>
+
+</robot>
\ No newline at end of file
diff --git a/uwrt_mars_rover_arm/uwrt_mars_rover_arm_description/uwrt_mars_rover_arm_description/urdf/values.xacro b/uwrt_mars_rover_arm/uwrt_mars_rover_arm_description/uwrt_mars_rover_arm_description/urdf/values.xacro
new file mode 100644
index 00000000..4f9d792b
--- /dev/null
+++ b/uwrt_mars_rover_arm/uwrt_mars_rover_arm_description/uwrt_mars_rover_arm_description/urdf/values.xacro
@@ -0,0 +1,74 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://wiki.ros.org/xacro">
+    <xacro:macro name="read_model_data" params="param_file">
+    
+        <xacro:property name="config_params" value="${load_yaml(param_file)}"/>
+
+        <!-- dimensions -->
+        <xacro:property name="dim" value="${config_params['dimensions']}"/>
+        <xacro:property name="box_size" value="${dim['box_size']}" scope="parent"/>
+
+        <xacro:property name="turntable_radius" value="${dim['turntable_radius']}" scope="parent"/>
+        <xacro:property name="turntable_length" value="${dim['turntable_length']}" scope="parent"/>
+
+        <xacro:property name="upper_arm_radius" value="${dim['upper_arm_radius']}" scope="parent"/>
+        <xacro:property name="upper_arm_length" value="${dim['upper_arm_length']}" scope="parent"/>
+
+        <xacro:property name="forearm_radius" value="${dim['forearm_radius']}" scope="parent"/>
+        <xacro:property name="forearm_length" value="${dim['forearm_length']}" scope="parent"/>
+
+        <xacro:property name="forearm_roll_radius" value="${dim['forearm_roll_radius']}" scope="parent"/>
+        <xacro:property name="forearm_roll_length" value="${dim['forearm_roll_length']}" scope="parent"/>
+
+        <xacro:property name="wrist_radius" value="${dim['wrist_radius']}" scope="parent"/>
+        <xacro:property name="wrist_length" value="${dim['wrist_length']}" scope="parent"/>
+
+        <xacro:property name="claw_width" value="${dim['claw_width']}" scope="parent"/>
+        <xacro:property name="claw_length" value="${dim['claw_length']}" scope="parent"/>
+
+        <!-- mass -->
+        <xacro:property name="default_mass" value="${config_params['inertia']['default_mass']}" scope="parent"/>
+
+        <!-- joints -->
+        <xacro:property name="joints" value="${config_params['joints']}"/>
+        <xacro:property name="default_limit_effort" value="${joints['default_limit_effort']}" scope="parent"/>
+        <xacro:property name="default_limit_vel" value="${joints['default_limit_vel']}" scope="parent"/>
+
+        <xacro:property name="shoulder_lower" value="${joints['shoulder_lower']}" scope="parent"/>
+        <xacro:property name="shoulder_upper" value="${joints['shoulder_upper']}" scope="parent"/>
+
+        <xacro:property name="elbow_lower" value="${joints['elbow_lower']}" scope="parent"/>
+        <xacro:property name="elbow_upper" value="${joints['elbow_upper']}" scope="parent"/>
+
+        <xacro:property name="roll_lower" value="${joints['roll_lower']}" scope="parent"/>
+        <xacro:property name="roll_upper" value="${joints['roll_upper']}" scope="parent"/>
+
+        <xacro:property name="wrist_lower" value="${joints['wrist_lower']}" scope="parent"/>
+        <xacro:property name="wrist_upper" value="${joints['wrist_upper']}" scope="parent"/>
+
+        <xacro:property name="claw_left_lower" value="${joints['claw_left_lower']}" scope="parent"/>
+        <xacro:property name="claw_left_upper" value="${joints['claw_left_upper']}" scope="parent"/>
+
+        <xacro:property name="claw_right_lower" value="${joints['claw_right_lower']}" scope="parent"/>
+        <xacro:property name="claw_right_upper" value="${joints['claw_right_upper']}" scope="parent"/>
+        
+    </xacro:macro>
+
+    <!-- default inertia -->
+    <xacro:macro name="default_inertia">
+        <inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
+    </xacro:macro>
+    
+    <!-- common geometry -->
+    <xacro:macro name="cylinder_visual" params= "radius length">
+        <geometry>
+            <cylinder radius = "${radius}" length = "${length}"/>
+        </geometry>
+    </xacro:macro>
+
+    <xacro:macro name="rectangle_visual" params= "x y z">
+        <geometry>
+            <box size="${x} ${y} ${z}"/>
+        </geometry>
+    </xacro:macro>
+</robot>
\ No newline at end of file