diff --git a/godel_robots/abb/godel_irb2400/godel_irb2400_moveit_config/.setup_assistant b/godel_robots/abb/godel_irb2400/godel_irb2400_moveit_config/.setup_assistant
index a1e092dd..fdaa5f53 100644
--- a/godel_robots/abb/godel_irb2400/godel_irb2400_moveit_config/.setup_assistant
+++ b/godel_robots/abb/godel_irb2400/godel_irb2400_moveit_config/.setup_assistant
@@ -5,6 +5,4 @@ moveit_setup_assistant_config:
   SRDF:
     relative_path: config/irb2400_workspace.srdf
   CONFIG:
-    author_name: AustinDeric
-    author_email: austin.deric@gmail.com
-    generated_timestamp: 1490130796
\ No newline at end of file
+    generated_timestamp: 1432224738
\ No newline at end of file
diff --git a/godel_robots/abb/godel_irb2400/godel_irb2400_moveit_config/config/irb2400_workspace.srdf b/godel_robots/abb/godel_irb2400/godel_irb2400_moveit_config/config/irb2400_workspace.srdf
index f201f159..e5c15b05 100644
--- a/godel_robots/abb/godel_irb2400/godel_irb2400_moveit_config/config/irb2400_workspace.srdf
+++ b/godel_robots/abb/godel_irb2400/godel_irb2400_moveit_config/config/irb2400_workspace.srdf
@@ -27,34 +27,25 @@
     <!--VIRTUAL JOINT: Purpose: this element defines a virtual joint between a robot link and an external frame of reference (considered fixed with respect to the robot)-->
     <virtual_joint name="FixedBase" type="fixed" parent_frame="map" child_link="world_frame" />
     <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
-    <disable_collisions link1="adapter_tube" link2="blending_tool" reason="Never" />
-    <disable_collisions link1="adapter_tube" link2="bracket" reason="Adjacent" />
-    <disable_collisions link1="adapter_tube" link2="ensenso" reason="Never" />
-    <disable_collisions link1="adapter_tube" link2="keyence" reason="Never" />
-    <disable_collisions link1="adapter_tube" link2="link_2" reason="Never" />
-    <disable_collisions link1="adapter_tube" link2="link_3" reason="Never" />
-    <disable_collisions link1="adapter_tube" link2="link_5" reason="Never" />
-    <disable_collisions link1="adapter_tube" link2="link_6" reason="Adjacent" />
     <disable_collisions link1="base_link" link2="link_1" reason="Adjacent" />
     <disable_collisions link1="base_link" link2="link_2" reason="Never" />
     <disable_collisions link1="base_link" link2="link_3" reason="Never" />
-    <disable_collisions link1="blending_tool" link2="bracket" reason="Adjacent" />
     <disable_collisions link1="blending_tool" link2="ensenso" reason="Never" />
+    <disable_collisions link1="blending_tool" link2="gripper_body" reason="Adjacent" />
     <disable_collisions link1="blending_tool" link2="keyence" reason="Never" />
     <disable_collisions link1="blending_tool" link2="link_3" reason="Never" />
     <disable_collisions link1="blending_tool" link2="link_5" reason="Never" />
     <disable_collisions link1="blending_tool" link2="link_6" reason="Never" />
-    <disable_collisions link1="bracket" link2="ensenso" reason="Adjacent" />
-    <disable_collisions link1="bracket" link2="keyence" reason="Adjacent" />
-    <disable_collisions link1="bracket" link2="link_3" reason="Never" />
-    <disable_collisions link1="bracket" link2="link_5" reason="Never" />
-    <disable_collisions link1="bracket" link2="link_6" reason="Never" />
+    <disable_collisions link1="ensenso" link2="gripper_body" reason="Adjacent" />
     <disable_collisions link1="ensenso" link2="keyence" reason="Never" />
     <disable_collisions link1="ensenso" link2="link_2" reason="Never" />
     <disable_collisions link1="ensenso" link2="link_3" reason="Never" />
     <disable_collisions link1="ensenso" link2="link_5" reason="Never" />
     <disable_collisions link1="ensenso" link2="link_6" reason="Never" />
-    <disable_collisions link1="keyence" link2="link_2" reason="Never" />
+    <disable_collisions link1="gripper_body" link2="keyence" reason="Adjacent" />
+    <disable_collisions link1="gripper_body" link2="link_3" reason="Never" />
+    <disable_collisions link1="gripper_body" link2="link_5" reason="Never" />
+    <disable_collisions link1="gripper_body" link2="link_6" reason="Adjacent" />
     <disable_collisions link1="keyence" link2="link_3" reason="Never" />
     <disable_collisions link1="keyence" link2="link_5" reason="Never" />
     <disable_collisions link1="keyence" link2="link_6" reason="Never" />
diff --git a/godel_robots/abb/godel_irb2400/godel_irb2400_moveit_config/launch/irb2400_calib_planning_context.launch b/godel_robots/abb/godel_irb2400/godel_irb2400_moveit_config/launch/irb2400_calib_planning_context.launch
index 8836c961..878f1ebd 100644
--- a/godel_robots/abb/godel_irb2400/godel_irb2400_moveit_config/launch/irb2400_calib_planning_context.launch
+++ b/godel_robots/abb/godel_irb2400/godel_irb2400_moveit_config/launch/irb2400_calib_planning_context.launch
@@ -7,7 +7,7 @@
   <arg name="robot_description" default="robot_description"/>
 
   <!-- Load universal robot description format (URDF) -->
-  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find godel_irb2400_support)/urdf/calib_irb2400_workspace.xacro'"/>
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro.py '$(find godel_irb2400_support)/urdf/calib_irb2400_workspace.xacro'"/>
 
   <!-- The semantic description that corresponds to the URDF -->
   <param name="$(arg robot_description)_semantic" textfile="$(find godel_irb2400_moveit_config)/config/irb2400_workspace.srdf" />
diff --git a/godel_robots/abb/godel_irb2400/godel_irb2400_moveit_config/launch/planning_context.launch b/godel_robots/abb/godel_irb2400/godel_irb2400_moveit_config/launch/planning_context.launch
index 5b6662e3..e26f00f8 100644
--- a/godel_robots/abb/godel_irb2400/godel_irb2400_moveit_config/launch/planning_context.launch
+++ b/godel_robots/abb/godel_irb2400/godel_irb2400_moveit_config/launch/planning_context.launch
@@ -6,7 +6,7 @@
   <arg name="robot_description" default="robot_description"/>
 
   <!-- Load universal robot description format (URDF) -->
-  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro --inorder '$(find godel_irb2400_support)/urdf/irb2400_workspace.xacro'"/>
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" command="$(find xacro)/xacro.py '$(find godel_irb2400_support)/urdf/irb2400_workspace.xacro'"/>
 
   <!-- The semantic description that corresponds to the URDF -->
   <param name="$(arg robot_description)_semantic" textfile="$(find godel_irb2400_moveit_config)/config/irb2400_workspace.srdf" />
diff --git a/godel_robots/abb/godel_irb2400/godel_irb2400_support/meshes/collision/ensenso_blending_eff.stl b/godel_robots/abb/godel_irb2400/godel_irb2400_support/meshes/collision/ensenso_blending_eff.stl
new file mode 100644
index 00000000..1a1b6e5b
Binary files /dev/null and b/godel_robots/abb/godel_irb2400/godel_irb2400_support/meshes/collision/ensenso_blending_eff.stl differ
diff --git a/godel_robots/abb/godel_irb2400/godel_irb2400_support/meshes/visual/Blending_Tool.STL b/godel_robots/abb/godel_irb2400/godel_irb2400_support/meshes/visual/Blending_Tool.STL
new file mode 100644
index 00000000..72273693
Binary files /dev/null and b/godel_robots/abb/godel_irb2400/godel_irb2400_support/meshes/visual/Blending_Tool.STL differ
diff --git a/godel_robots/abb/godel_irb2400/godel_irb2400_support/meshes/visual/Bracket.STL b/godel_robots/abb/godel_irb2400/godel_irb2400_support/meshes/visual/Bracket.STL
new file mode 100644
index 00000000..e3892604
Binary files /dev/null and b/godel_robots/abb/godel_irb2400/godel_irb2400_support/meshes/visual/Bracket.STL differ
diff --git a/godel_robots/abb/godel_irb2400/godel_irb2400_support/meshes/visual/Ensenso.STL b/godel_robots/abb/godel_irb2400/godel_irb2400_support/meshes/visual/Ensenso.STL
new file mode 100644
index 00000000..bf172710
Binary files /dev/null and b/godel_robots/abb/godel_irb2400/godel_irb2400_support/meshes/visual/Ensenso.STL differ
diff --git a/godel_robots/abb/godel_irb2400/godel_irb2400_support/meshes/visual/Laser_Sensor.STL b/godel_robots/abb/godel_irb2400/godel_irb2400_support/meshes/visual/Laser_Sensor.STL
new file mode 100644
index 00000000..5e58f3d4
Binary files /dev/null and b/godel_robots/abb/godel_irb2400/godel_irb2400_support/meshes/visual/Laser_Sensor.STL differ
diff --git a/godel_robots/abb/godel_irb2400/godel_irb2400_support/meshes/visual/ensenso_blending_eff.stl b/godel_robots/abb/godel_irb2400/godel_irb2400_support/meshes/visual/ensenso_blending_eff.stl
new file mode 100644
index 00000000..7f8c2c3c
Binary files /dev/null and b/godel_robots/abb/godel_irb2400/godel_irb2400_support/meshes/visual/ensenso_blending_eff.stl differ
diff --git a/godel_robots/abb/godel_irb2400/godel_irb2400_support/urdf/abb_blending_eff_macro.xacro b/godel_robots/abb/godel_irb2400/godel_irb2400_support/urdf/abb_blending_eff_macro.xacro
new file mode 100644
index 00000000..8f2777f1
--- /dev/null
+++ b/godel_robots/abb/godel_irb2400/godel_irb2400_support/urdf/abb_blending_eff_macro.xacro
@@ -0,0 +1,156 @@
+<?xml version="1.0" ?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+  <xacro:property name="ensenso_optical_x" value="0"/>
+  <xacro:property name="ensenso_optical_y" value="0.0909"/>
+  <xacro:property name="ensenso_optical_z" value="0.1255"/>
+
+  <xacro:property name="keyence_optical_x" value="0"/>
+  <xacro:property name="keyence_optical_y" value="0.216"/> <!--To the face of the sensor: y = 0.216-->
+  <xacro:property name="keyence_optical_z" value="0.12192"/>
+
+  <xacro:property name="keyence_tcp_x" value="0"/>
+  <xacro:property name="keyence_tcp_y" value="0.2863"/>
+  <xacro:property name="keyence_tcp_z" value="0.12192"/>
+
+  <xacro:property name="kinect_mount_x" value="0.09"/>
+  <xacro:property name="kinect_mount_y" value="-0.065"/>
+  <xacro:property name="kinect_mount_z" value="0.15"/>
+
+  <xacro:property name="blend_tcp_x" value="0"/>
+  <xacro:property name="blend_tcp_y" value="0"/>
+  <xacro:property name="blend_tcp_z" value="0.040"/> <!-- TBD -->
+
+  <xacro:property name="chuck_tcp_x" value="-0.2483"/>
+  <xacro:property name="chuck_tcp_y" value="0"/>
+  <xacro:property name="chuck_tcp_z" value="0.12192"/>
+
+
+  <xacro:property name="half_pi" value="1.5707963267948966"/>
+
+
+  <xacro:macro name="blending_eff_definition" params="prefix">
+    <!-- eff_frame is Base Link -->
+    <link name="${prefix}eff_frame"/>
+
+    <!-- End Effector "Body" Geometry -->
+    <link name="${prefix}gripper_body">
+      <visual>
+        <geometry>
+          <mesh filename="package://godel_irb2400_support/meshes/visual/Bracket.STL"/>
+          <!--<mesh filename="package://godel_irb2400_support/meshes/visual/ensenso_blending_eff.stl"/>-->
+        </geometry>
+        <material name="grey">
+          <color rgba="0.5 0.5 0.5 1.0"/>
+        </material>
+      </visual>
+      <collision>
+        <geometry>
+          <mesh filename="package://godel_irb2400_support/meshes/collision/ensenso_blending_eff.stl"/>
+        </geometry>
+      </collision>
+    </link>
+
+
+    <joint name="${prefix}eff_frame_to_eff_body" type="fixed">
+      <parent link="${prefix}eff_frame"/>
+      <child link="${prefix}gripper_body"/>
+    </joint>
+
+    <link name="${prefix}blending_tool">
+        <visual>
+            <geometry>
+                <mesh filename="package://godel_irb2400_support/meshes/visual/Blending_Tool.STL"/>
+            </geometry>
+            <material name="red">
+                <color rgba="1 0 0 1"/>
+            </material>
+        </visual>
+    </link>
+
+    <joint name="${prefix}bracket_to_blending_tool" type="fixed">
+        <parent link="${prefix}gripper_body"/>
+        <child link="${prefix}blending_tool"/>
+    </joint>
+
+    <link name="${prefix}ensenso">
+        <visual>
+            <geometry>
+                <mesh filename="package://godel_irb2400_support/meshes/visual/Ensenso.STL"/>
+            </geometry>
+            <material name="blue">
+                <color rgba="0 0 1 1"/>
+            </material>
+        </visual>
+    </link>
+
+    <joint name="${prefix}bracket_to_ensenso" type="fixed">
+        <parent link="${prefix}gripper_body"/>
+        <child link="${prefix}ensenso"/>
+    </joint>
+
+    <link name="${prefix}keyence">
+        <visual>
+            <geometry>
+                <mesh filename="package://godel_irb2400_support/meshes/visual/Laser_Sensor.STL"/>
+            </geometry>
+            <material name="yellow">
+                <color rgba="1 1 0 1"/>
+            </material>
+        </visual>
+    </link>
+
+    <joint name="${prefix}bracket_to_keyence" type="fixed">
+        <parent link="${prefix}gripper_body"/>
+        <child link="${prefix}keyence"/>
+    </joint>
+
+    <!-- Frames for the motorized spindle on the end-->
+    <link name="${prefix}chuck_tip_frame"/> <!--The tip of the chuck-->
+    <link name="${prefix}tcp_frame"/> <!--The actual 'useful' work frame-->
+
+    <joint name="${prefix}gripper_body_to_chuck" type="fixed">
+        <parent link="${prefix}gripper_body"/>
+        <child link="${prefix}chuck_tip_frame"/>
+        <origin xyz="${chuck_tcp_x} ${chuck_tcp_y} ${chuck_tcp_z}" rpy="0 -${half_pi} 0"/>
+    </joint>
+
+    <joint name="${prefix}chuck_to_blend_tcp_frame" type="fixed">
+        <parent link="${prefix}chuck_tip_frame"/>
+        <child link="${prefix}tcp_frame"/>
+        <origin xyz="${blend_tcp_x} ${blend_tcp_y} ${blend_tcp_z}" rpy="0 0 0"/>
+    </joint>
+
+    <!--Frames for the keyence profilometer-->
+    <link name="${prefix}keyence_sensor_optical_frame"/>  <!--The emitter lens-->
+    <link name="${prefix}keyence_tcp_frame"/> <!--The nominal scan location (8cm forward of emitter)-->
+
+    <joint name="${prefix}gripper_body_to_keyence_sof" type="fixed">
+        <parent link="${prefix}gripper_body"/>
+        <child link="${prefix}keyence_sensor_optical_frame"/>
+        <origin xyz="${keyence_tcp_x} ${keyence_tcp_y} ${keyence_tcp_z}" rpy="${half_pi} ${half_pi} 0 "/>
+    </joint>
+
+    <joint name="${prefix}gripper_body_to_keyence_tcp_f" type="fixed">
+        <parent link="${prefix}gripper_body"/>
+        <child link="${prefix}keyence_tcp_frame"/>
+        <origin xyz="${keyence_tcp_x} ${keyence_tcp_y} ${keyence_tcp_z}" rpy="-${half_pi} ${half_pi} 0"/>
+    </joint>
+
+    <!--Frames related to the motion of the camera-->
+    <link name="${prefix}ensenso_sensor_optical_frame"/>
+    <link name="${prefix}kinect2_move_frame"/>
+
+    <joint name="${prefix}gripper_body_to_ensenso_sof" type="fixed">
+        <parent link="${prefix}gripper_body"/>
+        <child link="${prefix}ensenso_sensor_optical_frame"/>
+        <origin xyz="${ensenso_optical_x} ${ensenso_optical_y} ${ensenso_optical_z}" rpy="0 0 0"/>
+    </joint>
+
+    <joint name="${prefix}ensenso_move_frame_join" type="fixed">
+      <parent link="${prefix}ensenso_sensor_optical_frame"/>
+      <child link="${prefix}kinect2_move_frame"/>
+      <origin rpy="0 -${half_pi} 0"/>
+    </joint>
+
+  </xacro:macro>
+</robot>
diff --git a/godel_robots/abb/godel_irb2400/godel_irb2400_support/urdf/irb2400_workspace.xacro b/godel_robots/abb/godel_irb2400/godel_irb2400_support/urdf/irb2400_workspace.xacro
index 2f669a69..d049c0ac 100644
--- a/godel_robots/abb/godel_irb2400/godel_irb2400_support/urdf/irb2400_workspace.xacro
+++ b/godel_robots/abb/godel_irb2400/godel_irb2400_support/urdf/irb2400_workspace.xacro
@@ -1,18 +1,15 @@
 <?xml version="1.0" ?>
 <robot name="irb2400_workspace" xmlns:xacro="http://ros.org/wiki/xacro">
   <xacro:include filename="$(find abb_irb2400_support)/urdf/irb2400_macro.xacro"/>
-  <xacro:include filename="$(find blending_end_effector)/urdf/blending_eff_macro.xacro"/>
-  <xacro:include filename="$(find godel_irb2400_support)/urdf/swri_demo_cell_macro.xacro"/>
-
-  <link name="world_frame"/>
+  <xacro:include filename="$(find godel_irb2400_support)/urdf/abb_blending_eff_macro.xacro"/>
+  
+  <link name="world_frame"/>  
 
   <!-- instantiating arm  --> 
   <xacro:abb_irb2400 prefix=""/>
   <!-- instantiating end effector  -->
   <xacro:blending_eff_definition prefix=""/>
 
-  <xacro:swri_demo_cell prefix=""/>
-
   <!-- Attach the end effector to the end of the robot arm (tool0) -->
   <joint name="link_t_to_eff" type="fixed">
     <parent link="tool0"/>
@@ -26,11 +23,5 @@
     <child link="base_link"/>
     <origin xyz="0 0 0" rpy="0 0 0"/>
   </joint>
-
-  <joint name="world_to_demo_cell" type="fixed">
-    <parent link="world_frame"/>
-    <child link="demo_cell_base_link"/>
-    <origin xyz="0 0 0" rpy="0 0 0"/>
-  </joint>
   
 </robot>