diff --git a/openarm_bimanual_description/urdf/openarm_bimanual.urdf b/openarm_bimanual_description/urdf/openarm_bimanual.urdf
index 44924d3..edb0091 100644
--- a/openarm_bimanual_description/urdf/openarm_bimanual.urdf
+++ b/openarm_bimanual_description/urdf/openarm_bimanual.urdf
@@ -32,7 +32,121 @@
       <inertia ixx="0.6232810322991779" ixy="7.916644206828546e-12" ixz="-1.094192214704477e-11" iyy="0.6253514495087933" iyz="-0.03342233248166168" izz="0.02000994027356939"/>
     </inertial>
   </link>
-  <!-- <xacro:include filename="openarm_bimanual_sensors.xacro"/> -->
+  <material name="aluminum">
+    <color rgba="0.5 0.5 0.5 1"/>
+  </material>
+  <material name="plastic">
+    <color rgba="0.1 0.1 0.1 1"/>
+  </material>
+  <!-- camera body, with origin at bottom screw mount -->
+  <joint name="camera_joint" type="fixed">
+    <origin rpy="0.0 1.3962634015954636 -1.5707963267948966" xyz="0.0 -0.025 0.995216"/>
+    <parent link="pedestal_link"/>
+    <child link="camera_bottom_screw_frame"/>
+  </joint>
+  <link name="camera_bottom_screw_frame"/>
+  <joint name="camera_link_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0.010600000000000002 0.0175 0.0125"/>
+    <parent link="camera_bottom_screw_frame"/>
+    <child link="camera_link"/>
+  </joint>
+  <link name="camera_link">
+    <visual>
+      <!-- the mesh origin is at front plate in between the two infrared camera axes -->
+      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0.0043 -0.0175 0"/>
+      <geometry>
+        <mesh filename="file:///opt/ros/humble/share/realsense2_description/meshes/d435.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 -0.0175 0"/>
+      <geometry>
+        <box size="0.02505 0.09 0.025"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <!-- The following are not reliable values, and should not be used for modeling -->
+      <mass value="0.072"/>
+      <origin xyz="0 0 0"/>
+      <inertia ixx="0.003881243" ixy="0.0" ixz="0.0" iyy="0.000498940" iyz="0.0" izz="0.003879257"/>
+    </inertial>
+  </link>
+  <!-- camera depth joints and links -->
+  <joint name="camera_depth_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="camera_link"/>
+    <child link="camera_depth_frame"/>
+  </joint>
+  <link name="camera_depth_frame"/>
+  <joint name="camera_depth_optical_joint" type="fixed">
+    <origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
+    <parent link="camera_depth_frame"/>
+    <child link="camera_depth_optical_frame"/>
+  </joint>
+  <link name="camera_depth_optical_frame"/>
+  <!-- camera left IR joints and links -->
+  <joint name="camera_infra1_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0.0 0"/>
+    <parent link="camera_link"/>
+    <child link="camera_infra1_frame"/>
+  </joint>
+  <link name="camera_infra1_frame"/>
+  <joint name="camera_infra1_optical_joint" type="fixed">
+    <origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
+    <parent link="camera_infra1_frame"/>
+    <child link="camera_infra1_optical_frame"/>
+  </joint>
+  <link name="camera_infra1_optical_frame"/>
+  <!-- camera right IR joints and links -->
+  <joint name="camera_infra2_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 -0.05 0"/>
+    <parent link="camera_link"/>
+    <child link="camera_infra2_frame"/>
+  </joint>
+  <link name="camera_infra2_frame"/>
+  <joint name="camera_infra2_optical_joint" type="fixed">
+    <origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
+    <parent link="camera_infra2_frame"/>
+    <child link="camera_infra2_optical_frame"/>
+  </joint>
+  <link name="camera_infra2_optical_frame"/>
+  <!-- camera color joints and links -->
+  <joint name="camera_color_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0.015 0"/>
+    <parent link="camera_link"/>
+    <child link="camera_color_frame"/>
+  </joint>
+  <link name="camera_color_frame"/>
+  <joint name="camera_color_optical_joint" type="fixed">
+    <origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
+    <parent link="camera_color_frame"/>
+    <child link="camera_color_optical_frame"/>
+  </joint>
+  <link name="camera_color_optical_frame"/>
+  <link name="camera_accel_frame"/>
+  <link name="camera_accel_optical_frame"/>
+  <link name="camera_gyro_frame"/>
+  <link name="camera_gyro_optical_frame"/>
+  <joint name="camera_accel_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.01174 -0.00552 0.0051"/>
+    <parent link="camera_link"/>
+    <child link="camera_accel_frame"/>
+  </joint>
+  <joint name="camera_accel_optical_joint" type="fixed">
+    <origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
+    <parent link="camera_accel_frame"/>
+    <child link="camera_accel_optical_frame"/>
+  </joint>
+  <joint name="camera_gyro_joint" type="fixed">
+    <origin rpy="0 0 0" xyz="-0.01174 -0.00552 0.0051"/>
+    <parent link="camera_link"/>
+    <child link="camera_gyro_frame"/>
+  </joint>
+  <joint name="camera_gyro_optical_joint" type="fixed">
+    <origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
+    <parent link="camera_gyro_frame"/>
+    <child link="camera_gyro_optical_frame"/>
+  </joint>
   <link name="world"/>
   <joint name="dummy_joint" type="fixed">
     <parent link="world"/>
@@ -334,15 +448,15 @@
     <parent link="right_link2"/>
     <child link="right_link3"/>
     <origin rpy="-1.5707963267948968 0.0 0.0" xyz="0.0 -0.02975 0.04475"/>
-    <axis xyz="0 0 -1"/>
-    <limit effort="0.0" lower="-3.141592653589793" upper="0" velocity="0.0"/>
+    <axis xyz="0 0 1"/>
+    <limit effort="0.0" lower="0" upper="3.141592653589793" velocity="0.0"/>
   </joint>
   <joint name="right_rev3" type="revolute">
     <parent link="right_link3"/>
     <child link="right_link4"/>
     <origin rpy="-1.5707963267949054 0 -1.562038143900564" xyz="-0.0612477 -0.000536432 0.02975"/>
     <axis xyz="0 0 -1"/>
-    <limit effort="0.0" lower="-3.6651914291880923" upper="0.5235987755982988" velocity="0.0"/>
+    <limit effort="0.0" lower="-0.52359" upper="3.66519" velocity="0.0"/>
   </joint>
   <joint name="right_rev4" type="revolute">
     <parent link="right_link4"/>
@@ -376,14 +490,14 @@
     <parent link="right_link8"/>
     <child link="right_link_left_jaw"/>
     <origin rpy="1.570796326795101 -0.014066001454929162 0.00875904933542146" xyz="-0.1071 0.0768568 0.0132053"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="0.0" lower="-0.0451" upper="0.0" velocity="0.0"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="0.0" lower="-0.0451" upper="0.0" velocity="0.1"/>
   </joint>
   <joint name="right_right_pris2" type="prismatic">
     <parent link="right_link8"/>
     <child link="right_link_right_jaw"/>
     <origin rpy="1.570796326794883 -0.014066001454927403 0.008759049336290027" xyz="-0.10571 -0.0781373 0.0132053"/>
-    <axis xyz="0 0 1"/>
+    <axis xyz="0 0 -1"/>
     <limit effort="0.0" lower="-0.0451" upper="0.0" velocity="0.0"/>
     <mimic joint="right_left_pris1" multiplier="-1.0" offset="0.0"/>
   </joint>
@@ -693,14 +807,14 @@
     <child link="left_link3"/>
     <origin rpy="-1.5707963267948968 0.0 0.0" xyz="0.0 -0.02975 0.04475"/>
     <axis xyz="0 0 1"/>
-    <limit effort="0.0" lower="0.0" upper="3.141592653589793" velocity="0.0"/>
+    <limit effort="0.0" lower="0" upper="3.141592653589793" velocity="0.0"/>
   </joint>
   <joint name="left_rev3" type="revolute">
     <parent link="left_link3"/>
     <child link="left_link4"/>
     <origin rpy="-1.5707963267949054 3.141592653589793 -1.562038143900564" xyz="-0.0612477 -0.000536432 0.02975"/>
     <axis xyz="0 0 -1"/>
-    <limit effort="0.0" lower="-3.6651914291880923" upper="0.5235987755982988" velocity="0.0"/>
+    <limit effort="0.0" lower="-3.66519" upper="0.52359" velocity="0.0"/>
   </joint>
   <joint name="left_rev4" type="revolute">
     <parent link="left_link4"/>
@@ -734,14 +848,14 @@
     <parent link="left_link8"/>
     <child link="left_link_left_jaw"/>
     <origin rpy="1.570796326795101 -0.014066001454929162 0.00875904933542146" xyz="-0.1071 0.0768568 0.0132053"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="0.0" lower="-0.0451" upper="0.0" velocity="0.0"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="0.0" lower="-0.0451" upper="0.0" velocity="0.1"/>
   </joint>
   <joint name="left_right_pris2" type="prismatic">
     <parent link="left_link8"/>
     <child link="left_link_right_jaw"/>
     <origin rpy="1.570796326794883 -0.014066001454927403 0.008759049336290027" xyz="-0.10571 -0.0781373 0.0132053"/>
-    <axis xyz="0 0 1"/>
+    <axis xyz="0 0 -1"/>
     <limit effort="0.0" lower="-0.0451" upper="0.0" velocity="0.0"/>
     <mimic joint="left_left_pris1" multiplier="-1.0" offset="0.0"/>
   </joint>
diff --git a/openarm_description/urdf/openarm.urdf b/openarm_description/urdf/openarm.urdf
index eb4ec21..7d89e8f 100644
--- a/openarm_description/urdf/openarm.urdf
+++ b/openarm_description/urdf/openarm.urdf
@@ -305,7 +305,7 @@
     <parent link="link2"/>
     <child link="link3"/>
     <origin rpy="-1.5707963267948968 1.5707963267948966 0.0" xyz="0.0 -0.02975 0.04475"/>
-    <axis xyz="0 0 -1"/>
+    <axis xyz="0 0 1"/>
     <limit effort="0.0" lower="-1.5707963267948966" upper="1.5707963267948966" velocity="0.0"/>
   </joint>
   <joint name="rev3" type="revolute">
@@ -313,7 +313,7 @@
     <child link="link4"/>
     <origin rpy="-1.5707963267949054 0 -1.562038143900564" xyz="-0.0612477 -0.000536432 0.02975"/>
     <axis xyz="0 0 -1"/>
-    <limit effort="0.0" lower="-3.6651914291880923" upper="0.5235987755982988" velocity="0.0"/>
+    <limit effort="0.0" lower="-0.52359" upper="3.66519" velocity="0.0"/>
   </joint>
   <joint name="rev4" type="revolute">
     <parent link="link4"/>
@@ -347,14 +347,14 @@
     <parent link="link8"/>
     <child link="link_left_jaw"/>
     <origin rpy="1.570796326795101 -0.014066001454929162 0.00875904933542146" xyz="-0.1071 0.0768568 0.0132053"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="0.0" lower="-0.0451" upper="0.0" velocity="0.0"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="0.0" lower="-0.0451" upper="0.0" velocity="0.1"/>
   </joint>
   <joint name="right_pris2" type="prismatic">
     <parent link="link8"/>
     <child link="link_right_jaw"/>
     <origin rpy="1.570796326794883 -0.014066001454927403 0.008759049336290027" xyz="-0.10571 -0.0781373 0.0132053"/>
-    <axis xyz="0 0 1"/>
+    <axis xyz="0 0 -1"/>
     <limit effort="0.0" lower="-0.0451" upper="0.0" velocity="0.0"/>
     <mimic joint="left_pris1" multiplier="-1.0" offset="0.0"/>
   </joint>