diff --git a/helix_bringup/launch/helix_bringup.launch.py b/helix_bringup/launch/helix_bringup.launch.py
index 0e51050..cde033c 100644
--- a/helix_bringup/launch/helix_bringup.launch.py
+++ b/helix_bringup/launch/helix_bringup.launch.py
@@ -10,10 +10,9 @@ def generate_launch_description():
 
     ld = LaunchDescription()
 
-
-
     robot_description = os.path.join(get_package_share_directory("helix_description"), "urdf", "helix.urdf.xacro")
-    robot_description_config = xacro.process_file(robot_description)
+    robot_description_config = xacro.process_file(robot_description, mappings={'mesh_url' : 'http://127.0.0.1'})
+    # robot_description_config = xacro.process_file(robot_description, mappings={'mesh_url' : 'package://helix_description'})
 
     robot_state_publisher = Node(
             package="robot_state_publisher",
diff --git a/helix_description/urdf/dynamixel_block.xacro b/helix_description/urdf/dynamixel_block.xacro
index 5119da9..3ed8931 100644
--- a/helix_description/urdf/dynamixel_block.xacro
+++ b/helix_description/urdf/dynamixel_block.xacro
@@ -1,6 +1,8 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://ros.org/wiki/xacro">
 
+<xacro:arg name="mesh_url" default="package://helix_description" />
+
 <!-- Import Rviz colors -->
 <xacro:include filename="$(find helix_description)/urdf/dynamixel_block.material.xacro" />
 
@@ -24,14 +26,14 @@
     <visual>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="file://$(find helix_description)/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="$(arg mesh_url)/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="dynamixel_body"/>
     </visual>
     <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="file://$(find helix_description)/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="$(arg mesh_url)/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -46,14 +48,14 @@
     <visual>
       <origin xyz="-0.03 -0.037 -0.08475" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="file://$(find helix_description)/meshes/horn_0_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="$(arg mesh_url)/meshes/horn_0_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="dynamixel_horn"/>
     </visual>
     <collision>
       <origin xyz="-0.03 -0.037 -0.08475" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="file://$(find helix_description)/meshes/horn_0_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="$(arg mesh_url)/meshes/horn_0_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -69,14 +71,14 @@
     <visual>
       <origin xyz="-0.03 -0.037 -0.01425" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="file://$(find helix_description)/meshes/horn_1_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="$(arg mesh_url)/meshes/horn_1_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="dynamixel_horn"/>
     </visual>
     <collision>
       <origin xyz="-0.03 -0.037 -0.01425" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="file://$(find helix_description)/meshes/horn_1_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="$(arg mesh_url)/meshes/horn_1_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -90,14 +92,14 @@
     <visual>
       <origin xyz="-0.0 -0.037 -0.08475" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="file://$(find helix_description)/meshes/horn_2_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="$(arg mesh_url)/meshes/horn_2_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="dynamixel_horn"/>
     </visual>
     <collision>
       <origin xyz="-0.0 -0.037 -0.08475" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="file://$(find helix_description)/meshes/horn_2_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="$(arg mesh_url)/meshes/horn_2_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -111,14 +113,14 @@
     <visual>
       <origin xyz="-0.0 -0.037 -0.01425" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="file://$(find helix_description)/meshes/horn_3_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="$(arg mesh_url)/meshes/horn_3_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="dynamixel_horn"/>
     </visual>
     <collision>
       <origin xyz="-0.0 -0.037 -0.01425" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="file://$(find helix_description)/meshes/horn_3_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="$(arg mesh_url)/meshes/horn_3_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -132,14 +134,14 @@
     <visual>
       <origin xyz="0.03 -0.037 -0.08475" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="file://$(find helix_description)/meshes/horn_4_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="$(arg mesh_url)/meshes/horn_4_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="dynamixel_horn"/>
     </visual>
     <collision>
       <origin xyz="0.03 -0.037 -0.08475" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="file://$(find helix_description)/meshes/horn_4_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="$(arg mesh_url)/meshes/horn_4_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -153,14 +155,14 @@
     <visual>
       <origin xyz="0.03 -0.037 -0.01425" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="file://$(find helix_description)/meshes/horn_5_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="$(arg mesh_url)/meshes/horn_5_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="dynamixel_horn"/>
     </visual>
     <collision>
       <origin xyz="0.03 -0.037 -0.01425" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="file://$(find helix_description)/meshes/horn_5_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="$(arg mesh_url)/meshes/horn_5_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -174,14 +176,14 @@
     <visual>
       <origin xyz="0.03 0.037 -0.08475" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="file://$(find helix_description)/meshes/horn_6_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="$(arg mesh_url)/meshes/horn_6_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="dynamixel_horn"/>
     </visual>
     <collision>
       <origin xyz="0.03 0.037 -0.08475" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="file://$(find helix_description)/meshes/horn_6_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="$(arg mesh_url)/meshes/horn_6_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -195,14 +197,14 @@
     <visual>
       <origin xyz="0.03 0.037 -0.01425" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="file://$(find helix_description)/meshes/horn_7_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="$(arg mesh_url)/meshes/horn_7_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="dynamixel_horn"/>
     </visual>
     <collision>
       <origin xyz="0.03 0.037 -0.01425" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="file://$(find helix_description)/meshes/horn_7_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="$(arg mesh_url)/meshes/horn_7_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -216,14 +218,14 @@
     <visual>
       <origin xyz="-0.0 0.037 -0.08475" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="file://$(find helix_description)/meshes/horn_8_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="$(arg mesh_url)/meshes/horn_8_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="dynamixel_horn"/>
     </visual>
     <collision>
       <origin xyz="-0.0 0.037 -0.08475" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="file://$(find helix_description)/meshes/horn_8_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="$(arg mesh_url)/meshes/horn_8_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -237,14 +239,14 @@
     <visual>
       <origin xyz="-0.0 0.037 -0.01425" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="file://$(find helix_description)/meshes/horn_9_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="$(arg mesh_url)/meshes/horn_9_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="dynamixel_horn"/>
     </visual>
     <collision>
       <origin xyz="-0.0 0.037 -0.01425" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="file://$(find helix_description)/meshes/horn_9_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="$(arg mesh_url)/meshes/horn_9_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -258,14 +260,14 @@
     <visual>
       <origin xyz="-0.03 0.037 -0.08475" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="file://$(find helix_description)/meshes/horn_10_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="$(arg mesh_url)/meshes/horn_10_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="dynamixel_horn"/>
     </visual>
     <collision>
       <origin xyz="-0.03 0.037 -0.08475" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="file://$(find helix_description)/meshes/horn_10_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="$(arg mesh_url)/meshes/horn_10_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -279,14 +281,14 @@
     <visual>
       <origin xyz="-0.03 0.037 -0.01425" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="file://$(find helix_description)/meshes/horn_11_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="$(arg mesh_url)/meshes/horn_11_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
       <material name="dynamixel_horn"/>
     </visual>
     <collision>
       <origin xyz="-0.03 0.037 -0.01425" rpy="0 0 0"/>
       <geometry>
-        <mesh filename="file://$(find helix_description)/meshes/horn_11_1.stl" scale="0.001 0.001 0.001"/>
+        <mesh filename="$(arg mesh_url)/meshes/horn_11_1.stl" scale="0.001 0.001 0.001"/>
       </geometry>
     </collision>
   </link>
@@ -376,110 +378,5 @@
     <axis xyz="0.0 -1.0 0.0"/>
   </joint>
 
-
-
-  <!-- Joint 1 -->
-  
-  <!-- <joint name="dynamixel0to_delete" type="revolute">
-    <parent link="link1"/>
-    <child link="link2"/>
-    <origin xyz="0.012 0.0 0.017" rpy="0 0 0"/>
-    <axis xyz="0 0 1"/>
-    <limit velocity="4.8" effort="1" lower="-2.82743338823" upper="2.82743338823" />
-  </joint> -->
-
-
-
-  <!-- Link 1 -->
-  <!-- <link name="link1">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://helix_description/meshes/chain_link1.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="grey"/>
-    </visual>
-
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://helix_description/meshes/chain_link1.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-    </collision>
-
-    <inertial>
-      <origin xyz="3.0876154e-04 0.0000000e+00 -1.2176461e-04" />
-      <mass value="7.9119962e-02" />
-      <inertia ixx="1.2505234e-05" ixy="0.0" ixz="-1.7855208e-07"
-               iyy="2.1898364e-05" iyz="0.0"
-               izz="1.9267361e-05" />
-    </inertial>
-  </link> -->
-
-
-
-  <!--  Link 2 -->
-  <!-- <link name="link2">
-    <visual>
-      <origin xyz="0 0 0.019" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://helix_description/meshes/chain_link2.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="grey"/>
-    </visual>
-
-    <collision>
-      <origin xyz="0 0 0.019" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://helix_description/meshes/chain_link2.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-    </collision>
-
-     <inertial>
-      <origin xyz="-3.0184870e-04 5.4043684e-04 0.047433464e-02" />
-      <mass value="9.8406837e-02" />
-      <inertia ixx="3.4543422e-05" ixy="-1.6031095e-08" ixz="-3.8375155e-07"
-               iyy="3.2689329e-05" iyz="2.8511935e-08"
-               izz="1.8850320e-05" />
-    </inertial>
-  </link> -->
-
-  <!--  Joint 2 -->
-  <!-- <joint name="dynamixel1" type="revolute">
-    <parent link="link2"/>
-    <child link="link3"/>
-    <origin xyz="0.0 0.0 0.0595" rpy="0 0 0"/>
-    <axis xyz="0 1 0"/>
-    <limit velocity="4.8" effort="1" lower="-1.79070781255" upper="1.57079632679" />
-  </joint> -->
-
-  <!--  Link 3 -->
-  <!-- <link name="link3">
-    <visual>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://helix_description/meshes/chain_link3.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-      <material name="grey"/>
-    </visual>
-
-    <collision>
-      <origin xyz="0 0 0" rpy="0 0 0"/>
-      <geometry>
-        <mesh filename="package://helix_description/meshes/chain_link3.stl" scale="0.001 0.001 0.001"/>
-      </geometry>
-    </collision>
-
-    <inertial>
-      <origin xyz="1.0308393e-02 3.7743363e-04 1.0170197e-01" />
-      <mass value="1.3850917e-01" />
-      <inertia ixx="3.3055381e-04" ixy="-9.7940978e-08" ixz="-3.8505711e-05"
-               iyy="3.4290447e-04" iyz="-1.5717516e-06"
-               izz="6.0346498e-05" />
-    </inertial>
-  </link> -->
-
-
-
 </xacro:macro>
 </robot>
diff --git a/helix_description/urdf/helix.urdf.xacro b/helix_description/urdf/helix.urdf.xacro
index 4093a44..171f578 100644
--- a/helix_description/urdf/helix.urdf.xacro
+++ b/helix_description/urdf/helix.urdf.xacro
@@ -1,17 +1,14 @@
 <?xml version="1.0"?>
 <robot name="helix_description" xmlns:xacro="http://ros.org/wiki/xacro">
   
-  <!-- Uncomment this to show dynamixel!-->
   <xacro:include filename="$(find helix_description)/urdf/dynamixel_block.xacro" />
   <xacro:include filename="$(find helix_description)/urdf/dynamixel_block.ros2_control.xacro" />
 
-  <!-- Uncomment this to show hand!-->
-  <xacro:include filename="$(find helix_description)/urdf/helix.xacro" />
+  <xacro:include filename="$(find helix_description)/urdf/helix.xacro"  />
 
 
   <link name="world"/>
 
-  <!-- Uncomment this to show dynamixels!-->
   <xacro:dynamixel_block_ros2_control name="dynamixel_block_ros2_control" />
 
   <xacro:dynamixel_block parent="world">
diff --git a/helix_description/urdf/helix.xacro b/helix_description/urdf/helix.xacro
index 5656c51..788bdc0 100644
--- a/helix_description/urdf/helix.xacro
+++ b/helix_description/urdf/helix.xacro
@@ -1,6 +1,8 @@
 <?xml version="1.0" ?>
 <robot name="URDF_Hand" xmlns:xacro="http://www.ros.org/wiki/xacro">
 
+<xacro:arg name="mesh_url" default="package://helix_description" />
+
 <xacro:include filename="$(find helix_description)/urdf/helix.materials.xacro" />
 
 <link name="base_link">
@@ -12,14 +14,14 @@
   <visual>
     <origin xyz="0 0 0" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="file://$(find helix_description)/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(arg mesh_url)/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
     </geometry>
     <material name="hand_base"/>
   </visual>
   <collision>
     <origin xyz="0 0 0" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="file://$(find helix_description)/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(arg mesh_url)/meshes/base_link.stl" scale="0.001 0.001 0.001"/>
     </geometry>
   </collision>
 </link>
@@ -33,14 +35,14 @@
   <visual>
     <origin xyz="-0.04166 -0.008898 -0.0855" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="file://$(find helix_description)/meshes/Pinky_Base_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(arg mesh_url)/meshes/Pinky_Base_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
     <material name="finger_base"/>
   </visual>
   <collision>
     <origin xyz="-0.04166 -0.008898 -0.0855" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="file://$(find helix_description)/meshes/Pinky_Base_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(arg mesh_url)/meshes/Pinky_Base_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
   </collision>
 </link>
@@ -54,14 +56,14 @@
   <visual>
     <origin xyz="-0.019342 -0.005171 -0.0915" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="file://$(find helix_description)/meshes/Ring_Base_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(arg mesh_url)/meshes/Ring_Base_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
     <material name="finger_base"/>
   </visual>
   <collision>
     <origin xyz="-0.019342 -0.005171 -0.0915" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="file://$(find helix_description)/meshes/Ring_Base_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(arg mesh_url)/meshes/Ring_Base_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
   </collision>
 </link>
@@ -75,14 +77,14 @@
   <visual>
     <origin xyz="0.003522 -0.0035 -0.0965" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="file://$(find helix_description)/meshes/Middle_Base_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(arg mesh_url)/meshes/Middle_Base_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
     <material name="finger_base"/>
   </visual>
   <collision>
     <origin xyz="0.003522 -0.0035 -0.0965" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="file://$(find helix_description)/meshes/Middle_Base_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(arg mesh_url)/meshes/Middle_Base_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
   </collision>
 </link>
@@ -96,14 +98,14 @@
   <visual>
     <origin xyz="0.027097 -0.003767 -0.0915" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="file://$(find helix_description)/meshes/Index_Base_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(arg mesh_url)/meshes/Index_Base_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
     <material name="finger_base"/>
   </visual>
   <collision>
     <origin xyz="0.027097 -0.003767 -0.0915" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="file://$(find helix_description)/meshes/Index_Base_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(arg mesh_url)/meshes/Index_Base_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
   </collision>
 </link>
@@ -117,14 +119,14 @@
   <visual>
     <origin xyz="-0.032646 -0.016381 -0.0971" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="file://$(find helix_description)/meshes/Pinky_2dof_joint_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(arg mesh_url)/meshes/Pinky_2dof_joint_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
     <material name="2dof_joint"/>
   </visual>
   <collision>
     <origin xyz="-0.032646 -0.016381 -0.0971" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="file://$(find helix_description)/meshes/Pinky_2dof_joint_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(arg mesh_url)/meshes/Pinky_2dof_joint_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
   </collision>
 </link>
@@ -138,14 +140,14 @@
   <visual>
     <origin xyz="-0.011086 -0.013483 -0.1031" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="file://$(find helix_description)/meshes/Ring_2dof_joint_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(arg mesh_url)/meshes/Ring_2dof_joint_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
     <material name="2dof_joint"/>
   </visual>
   <collision>
     <origin xyz="-0.011086 -0.013483 -0.1031" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="file://$(find helix_description)/meshes/Ring_2dof_joint_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(arg mesh_url)/meshes/Ring_2dof_joint_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
   </collision>
 </link>
@@ -159,14 +161,14 @@
   <visual>
     <origin xyz="0.011022 -0.0125 -0.1081" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="file://$(find helix_description)/meshes/Middle_2dof_joint_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(arg mesh_url)/meshes/Middle_2dof_joint_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
     <material name="2dof_joint"/>
   </visual>
   <collision>
     <origin xyz="0.011022 -0.0125 -0.1081" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="file://$(find helix_description)/meshes/Middle_2dof_joint_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(arg mesh_url)/meshes/Middle_2dof_joint_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
   </collision>
 </link>
@@ -180,14 +182,14 @@
   <visual>
     <origin xyz="0.034116 -0.013147 -0.1031" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="file://$(find helix_description)/meshes/Index_2dof_joint_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(arg mesh_url)/meshes/Index_2dof_joint_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
     <material name="2dof_joint"/>
   </visual>
   <collision>
     <origin xyz="0.034116 -0.013147 -0.1031" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="file://$(find helix_description)/meshes/Index_2dof_joint_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(arg mesh_url)/meshes/Index_2dof_joint_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
   </collision>
 </link>
@@ -201,14 +203,14 @@
   <visual>
     <origin xyz="-0.033283 -0.012939 -0.1061" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="file://$(find helix_description)/meshes/Pinky_Proximal_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(arg mesh_url)/meshes/Pinky_Proximal_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
     <material name="proximal"/>
   </visual>
   <collision>
     <origin xyz="-0.033283 -0.012939 -0.1061" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="file://$(find helix_description)/meshes/Pinky_Proximal_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(arg mesh_url)/meshes/Pinky_Proximal_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
   </collision>
 </link>
@@ -222,14 +224,14 @@
   <visual>
     <origin xyz="-0.011391 -0.009996 -0.1121" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="file://$(find helix_description)/meshes/Ring_Proximal_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(arg mesh_url)/meshes/Ring_Proximal_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
     <material name="proximal"/>
   </visual>
   <collision>
     <origin xyz="-0.011391 -0.009996 -0.1121" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="file://$(find helix_description)/meshes/Ring_Proximal_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(arg mesh_url)/meshes/Ring_Proximal_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
   </collision>
 </link>
@@ -243,14 +245,14 @@
   <visual>
     <origin xyz="0.011022 -0.009 -0.1171" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="file://$(find helix_description)/meshes/Middle_Proximal_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(arg mesh_url)/meshes/Middle_Proximal_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
     <material name="proximal"/>
   </visual>
   <collision>
     <origin xyz="0.011022 -0.009 -0.1171" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="file://$(find helix_description)/meshes/Middle_Proximal_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(arg mesh_url)/meshes/Middle_Proximal_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
   </collision>
 </link>
@@ -264,14 +266,14 @@
   <visual>
     <origin xyz="0.034299 -0.009652 -0.1121" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="file://$(find helix_description)/meshes/Index_Proximal_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(arg mesh_url)/meshes/Index_Proximal_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
     <material name="proximal"/>
   </visual>
   <collision>
     <origin xyz="0.034299 -0.009652 -0.1121" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="file://$(find helix_description)/meshes/Index_Proximal_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(arg mesh_url)/meshes/Index_Proximal_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
   </collision>
 </link>
@@ -285,14 +287,14 @@
   <visual>
     <origin xyz="0.03087 -0.016337 -0.03092" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="file://$(find helix_description)/meshes/Thumb_Metacarpal_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(arg mesh_url)/meshes/Thumb_Metacarpal_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
     <material name="proximal"/>
   </visual>
   <collision>
     <origin xyz="0.03087 -0.016337 -0.03092" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="file://$(find helix_description)/meshes/Thumb_Metacarpal_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(arg mesh_url)/meshes/Thumb_Metacarpal_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
   </collision>
 </link>
@@ -306,14 +308,14 @@
   <visual>
     <origin xyz="-0.033283 -0.012939 -0.1446" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="file://$(find helix_description)/meshes/Pinky_Middle_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(arg mesh_url)/meshes/Pinky_Middle_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
     <material name="middle"/>
   </visual>
   <collision>
     <origin xyz="-0.033283 -0.012939 -0.1446" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="file://$(find helix_description)/meshes/Pinky_Middle_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(arg mesh_url)/meshes/Pinky_Middle_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
   </collision>
 </link>
@@ -327,14 +329,14 @@
   <visual>
     <origin xyz="-0.011391 -0.009996 -0.1556" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="file://$(find helix_description)/meshes/Ring_Middle_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(arg mesh_url)/meshes/Ring_Middle_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
     <material name="middle"/>
   </visual>
   <collision>
     <origin xyz="-0.011391 -0.009996 -0.1556" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="file://$(find helix_description)/meshes/Ring_Middle_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(arg mesh_url)/meshes/Ring_Middle_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
   </collision>
 </link>
@@ -348,14 +350,14 @@
   <visual>
     <origin xyz="0.011022 -0.009 -0.1656" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="file://$(find helix_description)/meshes/Middle_Middle_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(arg mesh_url)/meshes/Middle_Middle_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
     <material name="middle"/>
   </visual>
   <collision>
     <origin xyz="0.011022 -0.009 -0.1656" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="file://$(find helix_description)/meshes/Middle_Middle_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(arg mesh_url)/meshes/Middle_Middle_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
   </collision>
 </link>
@@ -369,14 +371,14 @@
   <visual>
     <origin xyz="0.034299 -0.009652 -0.1556" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="file://$(find helix_description)/meshes/Index_Middle_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(arg mesh_url)/meshes/Index_Middle_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
     <material name="middle"/>
   </visual>
   <collision>
     <origin xyz="0.034299 -0.009652 -0.1556" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="file://$(find helix_description)/meshes/Index_Middle_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(arg mesh_url)/meshes/Index_Middle_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
   </collision>
 </link>
@@ -390,14 +392,14 @@
   <visual>
     <origin xyz="0.055962 -0.013817 -0.074167" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="file://$(find helix_description)/meshes/Thumb_Proximal_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(arg mesh_url)/meshes/Thumb_Proximal_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
     <material name="middle"/>
   </visual>
   <collision>
     <origin xyz="0.055962 -0.013817 -0.074167" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="file://$(find helix_description)/meshes/Thumb_Proximal_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(arg mesh_url)/meshes/Thumb_Proximal_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
   </collision>
 </link>
@@ -411,14 +413,14 @@
   <visual>
     <origin xyz="-0.033283 -0.012939 -0.1716" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="file://$(find helix_description)/meshes/Pinky_Distal_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(arg mesh_url)/meshes/Pinky_Distal_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
     <material name="distal"/>
   </visual>
   <collision>
     <origin xyz="-0.033283 -0.012939 -0.1716" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="file://$(find helix_description)/meshes/Pinky_Distal_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(arg mesh_url)/meshes/Pinky_Distal_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
   </collision>
 </link>
@@ -432,14 +434,14 @@
   <visual>
     <origin xyz="-0.011391 -0.009996 -0.1876" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="file://$(find helix_description)/meshes/Ring_Distal_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(arg mesh_url)/meshes/Ring_Distal_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
     <material name="distal"/>
   </visual>
   <collision>
     <origin xyz="-0.011391 -0.009996 -0.1876" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="file://$(find helix_description)/meshes/Ring_Distal_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(arg mesh_url)/meshes/Ring_Distal_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
   </collision>
 </link>
@@ -453,14 +455,14 @@
   <visual>
     <origin xyz="0.011022 -0.009 -0.2006" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="file://$(find helix_description)/meshes/Middle_Distal_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(arg mesh_url)/meshes/Middle_Distal_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
     <material name="distal"/>
   </visual>
   <collision>
     <origin xyz="0.011022 -0.009 -0.2006" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="file://$(find helix_description)/meshes/Middle_Distal_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(arg mesh_url)/meshes/Middle_Distal_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
   </collision>
 </link>
@@ -474,14 +476,14 @@
   <visual>
     <origin xyz="0.034299 -0.009652 -0.1876" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="file://$(find helix_description)/meshes/Index_Distal_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(arg mesh_url)/meshes/Index_Distal_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
     <material name="distal"/>
   </visual>
   <collision>
     <origin xyz="0.034299 -0.009652 -0.1876" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="file://$(find helix_description)/meshes/Index_Distal_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(arg mesh_url)/meshes/Index_Distal_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
   </collision>
 </link>
@@ -495,14 +497,14 @@
   <visual>
     <origin xyz="0.073263 -0.013776 -0.104592" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="file://$(find helix_description)/meshes/Thumb_Distal_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(arg mesh_url)/meshes/Thumb_Distal_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
     <material name="distal"/>
   </visual>
   <collision>
     <origin xyz="0.073263 -0.013776 -0.104592" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="file://$(find helix_description)/meshes/Thumb_Distal_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(arg mesh_url)/meshes/Thumb_Distal_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
   </collision>
 </link>
@@ -516,14 +518,14 @@
   <visual>
     <origin xyz="0.018032 -0.003966 -0.045336" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="file://$(find helix_description)/meshes/Thumb_Base_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(arg mesh_url)/meshes/Thumb_Base_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
     <material name="finger_base"/>
   </visual>
   <collision>
     <origin xyz="0.018032 -0.003966 -0.045336" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="file://$(find helix_description)/meshes/Thumb_Base_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(arg mesh_url)/meshes/Thumb_Base_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
   </collision>
 </link>
@@ -537,14 +539,14 @@
   <visual>
     <origin xyz="0.026985 -0.012128 -0.043132" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="file://$(find helix_description)/meshes/Thumb_2dof_joint_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(arg mesh_url)/meshes/Thumb_2dof_joint_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
     <material name="2dof_joint"/>
   </visual>
   <collision>
     <origin xyz="0.026985 -0.012128 -0.043132" rpy="0 0 0"/>
     <geometry>
-      <mesh filename="file://$(find helix_description)/meshes/Thumb_2dof_joint_1.stl" scale="0.001 0.001 0.001"/>
+      <mesh filename="$(arg mesh_url)/meshes/Thumb_2dof_joint_1.stl" scale="0.001 0.001 0.001"/>
     </geometry>
   </collision>
 </link>