diff --git a/mesh/base_frame.stl b/mesh/base_frame.stl
new file mode 100644
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diff --git a/mesh/camera_frame.stl b/mesh/camera_frame.stl
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diff --git a/mesh/caster_bearing_frame.stl b/mesh/caster_bearing_frame.stl
new file mode 100644
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diff --git a/mesh/caster_connector.stl b/mesh/caster_connector.stl
new file mode 100644
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diff --git a/mesh/caster_frame_left.stl b/mesh/caster_frame_left.stl
new file mode 100644
index 0000000..ef1a782
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diff --git a/mesh/caster_frame_right.stl b/mesh/caster_frame_right.stl
new file mode 100644
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diff --git a/mesh/caster_frame_top.stl b/mesh/caster_frame_top.stl
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diff --git a/mesh/caster_wheel.stl b/mesh/caster_wheel.stl
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diff --git a/mesh/laser_frame.stl b/mesh/laser_frame.stl
new file mode 100644
index 0000000..8f4bde8
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diff --git a/mesh/left_motor.stl b/mesh/left_motor.stl
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diff --git a/mesh/left_motor_frame.stl b/mesh/left_motor_frame.stl
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index 0000000..7cdfd4b
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diff --git a/mesh/left_wheel.stl b/mesh/left_wheel.stl
new file mode 100644
index 0000000..be8d8ed
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diff --git a/mesh/motor_bar_frame.stl b/mesh/motor_bar_frame.stl
new file mode 100644
index 0000000..4403563
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diff --git a/mesh/right_motor.stl b/mesh/right_motor.stl
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index 0000000..38eb4a8
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diff --git a/mesh/right_motor_frame.stl b/mesh/right_motor_frame.stl
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diff --git a/mesh/wheel_frame.stl b/mesh/wheel_frame.stl
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diff --git a/setup.py b/setup.py
index 060b33d..40d8227 100644
--- a/setup.py
+++ b/setup.py
@@ -13,6 +13,7 @@ setup(
['resource/' + package_name]),
('share/' + package_name, ['package.xml']),
(os.path.join('share', package_name, 'urdf'), glob('urdf/*.xacro')),
+ (os.path.join('share', package_name, 'mesh'), glob('mesh/*.stl')),
],
install_requires=['setuptools'],
zip_safe=True,
diff --git a/urdf/diffbot_description.urdf.xacro b/urdf/diffbot_description.urdf.xacro
index bd4fba9..563d08e 100644
--- a/urdf/diffbot_description.urdf.xacro
+++ b/urdf/diffbot_description.urdf.xacro
@@ -5,216 +5,395 @@
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diff --git a/urdf/diffbot_description.urdf.xacro.bak2 b/urdf/diffbot_description.urdf.xacro.bak2
new file mode 100644
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--- /dev/null
+++ b/urdf/diffbot_description.urdf.xacro.bak2
@@ -0,0 +1,223 @@
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diff --git a/urdf/robot.urdf b/urdf/robot.urdf
new file mode 100644
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--- /dev/null
+++ b/urdf/robot.urdf
@@ -0,0 +1,294 @@
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