Full model

tor_description/robots/tor_arm.urdf.xacro

+<?xml version="1.0"?>
+<!--
+
+  Copyright (c) 2016, PAL Robotics, S.L.
+  All rights reserved.
+
+  This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
+  To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
+  Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
+-->
+<robot name="tor" xmlns:xacro="http://www.ros.org/wiki/xacro"
+        xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+        xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+        xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
+
+  <xacro:include filename="$(find tor_description)/urdf/arm/arm.urdf.xacro" />
+  <xacro:include filename="$(find tor_description)/urdf/gripper/gripper.urdf.xacro" />
+
+ <link name="torso_2_link">
+    <inertial>
+      <origin xyz="-0.04551 -0.00053 0.16386" rpy="0.00000 0.00000 0.00000"/>
+      <mass value="17.55011"/>
+      <inertia ixx="0.37376900000" ixy="0.00063900000" ixz="0.01219600000"
+               iyy="0.24790200000" iyz="0.00000700000"
+               izz="0.28140400000"/>
+    </inertial>
+
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://tor_description/meshes/torso/torso_2.STL" scale="1 1 1"/>
+      </geometry>
+      <material name="LightGrey" />
+    </visual>
+
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="package://tor_description/meshes/torso/torso_2_collision.STL" scale="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <xacro:tor_arm name="arm" parent="torso_2_link" side="left" reflect="1"/>
+  <xacro:tor_arm name="arm" parent="torso_2_link" side="right" reflect="-1"/>
+
+  <xacro:tor_gripper name="left_gripper" parent="arm_left_7_link"/>
+  <xacro:tor_gripper name="right_gripper" parent="arm_right_7_link"/>
+
+  <!-- Generic simulator_gazebo plugins -->
+  <xacro:include filename="$(find tor_description)/gazebo/gazebo.urdf.xacro" />
+  <!-- Materials for visualization -->
+  <xacro:include filename="$(find tor_description)/urdf/materials.urdf.xacro" />
+
+</robot>

tor_description/robots/tor_full.urdf.xacro

+<?xml version="1.0"?>
+<!--
+
+  Copyright (c) 2016, PAL Robotics, S.L.
+  All rights reserved.
+
+  This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivs 3.0 Unported License.
+  To view a copy of this license, visit http://creativecommons.org/licenses/by-nc-nd/3.0/ or send a letter to
+  Creative Commons, 444 Castro Street, Suite 900, Mountain View, California, 94041, USA.
+-->
+<robot name="tor" xmlns:xacro="http://www.ros.org/wiki/xacro"
+        xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+        xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+        xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface">
+
+  <xacro:include filename="$(find tor_description)/urdf/torso/torso.urdf.xacro" />
+  <xacro:include filename="$(find tor_description)/urdf/head/head.urdf.xacro" />
+  <xacro:include filename="$(find tor_description)/urdf/arm/arm.urdf.xacro" />
+  <xacro:include filename="$(find tor_description)/urdf/gripper/gripper.urdf.xacro" />
+  <xacro:include filename="$(find tor_description)/urdf/leg/leg_v2.urdf.xacro" />
+
+  <xacro:tor_torso name="torso" />
+
+  <xacro:tor_head name="head" parent="torso_2_link"/>
+
+  <xacro:tor_arm name="arm" parent="torso_2_link" side="left" reflect="1"/>
+  <xacro:tor_arm name="arm" parent="torso_2_link" side="right" reflect="-1"/>
+
+  <xacro:tor_gripper name="left_gripper" parent="arm_left_7_link"/>
+  <xacro:tor_gripper name="right_gripper" parent="arm_right_7_link"/>
+
+  <xacro:tor_leg prefix="left"  reflect="1" />
+  <xacro:tor_leg prefix="right" reflect="-1" />
+
+  <!-- Generic simulator_gazebo plugins -->
+  <xacro:include filename="$(find tor_description)/gazebo/gazebo.urdf.xacro" />
+  <!-- Materials for visualization -->
+  <xacro:include filename="$(find tor_description)/urdf/materials.urdf.xacro" />
+
+</robot>

tor_description/robots/upload_arm.launch

+<launch>
+
+  <!-- Robot description -->
+  <param name="robot_description" command="$(find xacro)/xacro.py '$(find tor_description)/robots/tor_arm.urdf.xacro'" />
+
+</launch>

tor_description/robots/upload_full.launch

+<launch>
+
+  <!-- Robot description -->
+  <param name="robot_description" command="$(find xacro)/xacro.py '$(find tor_description)/robots/tor_full.urdf.xacro'" />
+
+</launch>