diff --git a/ada_description/launch/view_ada.launch.py b/ada_description/launch/view_ada.launch.py
index ce96c07..b01f030 100644
--- a/ada_description/launch/view_ada.launch.py
+++ b/ada_description/launch/view_ada.launch.py
@@ -60,15 +60,16 @@ def generate_launch_description():
     declared_arguments.append(
         DeclareLaunchArgument(
             "description_file",
-            default_value="ada.xacro",
+            default_value="ada_standalone.xacro",
             description="URDF/XACRO description file with the robot.",
         )
     )
     declared_arguments.append(
         DeclareLaunchArgument(
-            "use_forque",
-            default_value="false",
-            description="If the forque apparatus is being used.",
+            "end_effector_tool",
+            default_value="none",
+            description="The end-effector tool being used: 'none', 'fork', 'articulable_fork'",
+            choices=["none", "fork", "articulable_fork"],
         )
     )
 
@@ -76,7 +77,7 @@ def generate_launch_description():
     # General arguments
     description_package = LaunchConfiguration("description_package")
     description_file = LaunchConfiguration("description_file")
-    use_forque = LaunchConfiguration("use_forque")
+    end_effector_tool = LaunchConfiguration("end_effector_tool")
 
     robot_description_content = Command(
         [
@@ -86,8 +87,8 @@ def generate_launch_description():
                 [FindPackageShare(description_package), "urdf", description_file]
             ),
             " ",
-            "use_forque:=",
-            use_forque,
+            "end_effector_tool:=",
+            end_effector_tool,
         ]
     )
     robot_description = {
diff --git a/ada_description/meshes/forque/AFStabilizer.stl b/ada_description/meshes/forque/AFStabilizer.stl
new file mode 100644
index 0000000..8d70e22
Binary files /dev/null and b/ada_description/meshes/forque/AFStabilizer.stl differ
diff --git a/ada_description/meshes/forque/XC-430_idle.stl b/ada_description/meshes/forque/XC-430_idle.stl
new file mode 100644
index 0000000..8afa37e
Binary files /dev/null and b/ada_description/meshes/forque/XC-430_idle.stl differ
diff --git a/ada_description/meshes/forque/fr12-h103.stl b/ada_description/meshes/forque/fr12-h103.stl
new file mode 100644
index 0000000..9d93e1b
Binary files /dev/null and b/ada_description/meshes/forque/fr12-h103.stl differ
diff --git a/ada_description/meshes/forque/fr12-s101.stl b/ada_description/meshes/forque/fr12-s101.stl
new file mode 100644
index 0000000..b34d5a1
Binary files /dev/null and b/ada_description/meshes/forque/fr12-s101.stl differ
diff --git a/ada_description/meshes/forque/roll_to_ft_adapter.stl b/ada_description/meshes/forque/roll_to_ft_adapter.stl
new file mode 100644
index 0000000..c45ab7d
Binary files /dev/null and b/ada_description/meshes/forque/roll_to_ft_adapter.stl differ
diff --git a/ada_description/rviz/view_robot.rviz b/ada_description/rviz/view_robot.rviz
index d51156d..15546ea 100644
--- a/ada_description/rviz/view_robot.rviz
+++ b/ada_description/rviz/view_robot.rviz
@@ -67,6 +67,30 @@ Visualization Manager:
         Expand Joint Details: false
         Expand Link Details: false
         Expand Tree: false
+        af_link_base:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        af_link_1:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        af_motor_fixture_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        af_link_2:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        af_ft_adapter_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
         FT:
           Alpha: 1
           Show Axes: false
diff --git a/ada_description/urdf/ada.xacro b/ada_description/urdf/ada.xacro
index 9eb7a14..c256441 100644
--- a/ada_description/urdf/ada.xacro
+++ b/ada_description/urdf/ada.xacro
@@ -12,65 +12,66 @@
   xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
     xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
     xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics"
-  xmlns:xacro="http://www.ros.org/wiki/xacro" name="ada">
+  xmlns:xacro="http://www.ros.org/wiki/xacro">
 
-  <xacro:include filename="$(find ada_description)/urdf/forque/forque.xacro"/>
-  <xacro:include filename="$(find ada_description)/urdf/camera/camera.xacro"/>
-  <xacro:include filename="$(find ada_description)/urdf/j2n6s200.xacro"/>
+  <!-- Robot name must be defined in the Xacro file that instantiates the ada macro -->
+  <xacro:macro name="ada" params="end_effector_tool">
+    <!-- Import macros associated with forque, robot, and camera. Macros are added to the tree below -->
+    <xacro:include filename="$(find ada_description)/urdf/forque/forque.xacro"/>
+    <xacro:include filename="$(find ada_description)/urdf/camera/camera.xacro"/>
+    <xacro:include filename="$(find ada_description)/urdf/j2n6s200.xacro"/>
 
-  <xacro:arg name="use_forque" default="true"/>
-
-  <link name="root"/>
-
-  <link name="root_tilt"/>
-  <joint name="robot_tilt" type="revolute">
-    <origin xyz="0 0 0" rpy="0 0 0" />
-    <child link="root_tilt" />
-    <parent link="root" />
-    <axis xyz="-1 0 0"/>
-    <!-- effort copied from j2n6s200 joint 2, velocity is max velocity the wheelchair can tilt,
-    lower and upper limits generously encompass the range of the wheelchair's tilt-->
-    <limit effort="80" velocity="0.15" lower="${-J_PI}" upper="${J_PI}"/>
-    <dynamics damping="0.0" friction="0.0"/>
-  </joint>
+    <link name="root"/>
+    <link name="root_tilt"/>
+    <joint name="robot_tilt" type="revolute">
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <child link="root_tilt" />
+      <parent link="root" />
+      <axis xyz="-1 0 0"/>
+      <!-- effort copied from j2n6s200 joint 2, velocity is max velocity the wheelchair can tilt,
+      lower and upper limits generously encompass the range of the wheelchair's tilt-->
+      <limit effort="80" velocity="0.15" lower="${-J_PI}" upper="${J_PI}"/>
+      <dynamics damping="0.0" friction="0.0"/>
+    </joint>
 
-  <xacro:property name="robot_root" value="root_tilt" />
+    <xacro:property name="robot_root" value="root_tilt" />
 
-  <xacro:j2n6s200 base_parent="${robot_root}"/>
+    <xacro:j2n6s200 base_parent="${robot_root}"/>
 
-  <xacro:camera_assembly base_parent="j2n6s200_link_6" base_xyz="0.0165 0 0.0011" base_rpy="${3*J_PI/2} 0 ${3*J_PI/2}"/>
+    <xacro:camera_assembly base_parent="j2n6s200_link_6" base_xyz="0.0165 0 0.0011" base_rpy="${3*J_PI/2} 0 ${3*J_PI/2}"/>
 
-  <!-- Hard-coded Extrinsics -->
-  <link name="camera_link" />
-  <joint name="extrinsics" type="fixed">
-    <origin xyz="0.0194 -0.01606 0.029014" rpy="0.17234 -1.56127 2.96967" />
-    <parent link="cameraMount" />
-    <child link="camera_link" />
-  </joint>
-  <!-- Copy Realsense in case of simulation -->
-  <!--
-  <link name="camera_color_optical_frame" />
-  <joint name="optical_republish" type="fixed">
-    <origin xyz="0.000 -0.015 0.000" rpy="-1.564 0.000 -1.573" />
-    <parent link="camera_link" />
-    <child link="camera_color_optical_frame" />
-  </joint>
-  -->
+    <!-- Hard-coded Extrinsics -->
+    <link name="camera_link" />
+    <joint name="extrinsics" type="fixed">
+      <origin xyz="0.0194 -0.01606 0.029014" rpy="0.17234 -1.56127 2.96967" />
+      <parent link="cameraMount" />
+      <child link="camera_link" />
+    </joint>
+    <!-- Copy Realsense in case of simulation -->
+    <!--
+    <link name="camera_color_optical_frame" />
+    <joint name="optical_republish" type="fixed">
+      <origin xyz="0.000 -0.015 0.000" rpy="-1.564 0.000 -1.573" />
+      <parent link="camera_link" />
+      <child link="camera_color_optical_frame" />
+    </joint>
+    -->
 
-  <xacro:forque_assembly_link link_name="FTArmMount" link_mesh="2024_01_18_FTArmMount" mass="0.03783" cog="0.010957 -0.019223 -0.03777">
-    <inertia ixx="0.000018817" iyy="0.00001119989" iyz="-0.00000120296" izz="0.000026883" ixy="-0.0000003327" ixz="-0.000000092476"/>
-  </xacro:forque_assembly_link>
-  <xacro:forque_assembly_joint joint_name="FTArmMount_to_arm" parent="j2n6s200_link_6" child="FTArmMount" joint_origin_xyz="0.0065 -0.011 -0.0075" joint_origin_rpy="${J_PI/2} 0 ${J_PI/2}"/>
+    <xacro:forque_assembly_link link_name="FTArmMount" link_mesh="2024_01_18_FTArmMount" mass="0.03783" cog="0.010957 -0.019223 -0.03777">
+      <inertia ixx="0.000018817" iyy="0.00001119989" iyz="-0.00000120296" izz="0.000026883" ixy="-0.0000003327" ixz="-0.000000092476"/>
+    </xacro:forque_assembly_link>
+    <xacro:forque_assembly_joint joint_name="FTArmMount_to_arm" type="fixed" parent="j2n6s200_link_6" child="FTArmMount" joint_axis_xyz="0 0 1" joint_origin_xyz="0.0065 -0.011 -0.0075" joint_origin_rpy="${J_PI/2} 0 ${J_PI/2}"/>
 
-  <xacro:if value="$(arg use_forque)">
-    <xacro:forque_assembly base_parent="FTArmMount"/>
+    <xacro:unless value="${end_effector_tool == 'none'}">
+      <xacro:forque_assembly base_parent="FTArmMount" end_effector_tool="${end_effector_tool}"/>
 
-    <link name="FTSensor" />
-    <joint name="EE_to_FTSensor" type="fixed">
-        <child link="FTSensor"/>
-        <parent link="j2n6s200_end_effector"/>
-        <origin rpy="0 0 0" xyz="0.0 0.0 0.092"/>
-    </joint>
-  </xacro:if>
+      <link name="FTSensor" />
+      <joint name="EE_to_FTSensor" type="fixed">
+          <child link="FTSensor"/>
+          <parent link="j2n6s200_end_effector"/>
+          <origin rpy="0 0 0" xyz="0.0 0.0 0.092"/>
+      </joint>
+    </xacro:unless>
+  </xacro:macro>
 
 </robot>
diff --git a/ada_description/urdf/ada_standalone.xacro b/ada_description/urdf/ada_standalone.xacro
new file mode 100644
index 0000000..a5fc795
--- /dev/null
+++ b/ada_description/urdf/ada_standalone.xacro
@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<robot xmlns:xi="http://www.w3.org/2001/XInclude"
+  xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
+  xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
+  xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
+  xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
+  xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
+  xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
+  xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
+  xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
+  xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
+  xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
+  xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics"
+  xmlns:xacro="http://www.ros.org/wiki/xacro"
+  name="ada">
+
+  <xacro:arg name="end_effector_tool" default="fork" />
+
+  <xacro:include filename="$(find ada_description)/urdf/ada.xacro" />
+
+  <xacro:property name="root" value="root" />
+  <xacro:property name="end_effector_tool" value="$(arg end_effector_tool)" />
+  <xacro:ada end_effector_tool="${end_effector_tool}" />
+
+</robot>
diff --git a/ada_description/urdf/forque/forque.xacro b/ada_description/urdf/forque/forque.xacro
index bee27dc..e5fc36d 100644
--- a/ada_description/urdf/forque/forque.xacro
+++ b/ada_description/urdf/forque/forque.xacro
@@ -19,6 +19,7 @@
 	<xacro:property name="default_inertial">
 		<inertia ixx="0.000005" iyy="0.000005" iyz="0" izz="0.000005" ixy="0" ixz="0"/>
 	</xacro:property>
+  <xacro:property name="forque_assembly_dummy_default_value" value="1234567890"/>
 
 
 	<xacro:macro name="forque_assembly_link" params="link_name link_mesh mass:=0 cog:='0 0 0' *inertia">
@@ -48,57 +49,98 @@
 		</link>
 	</xacro:macro>
 
-	<xacro:macro name="forque_assembly_joint" params="joint_name parent child joint_origin_xyz joint_origin_rpy">
-		<joint name="${joint_name}" type="fixed">
-			<parent link="${parent}"/>
-			<child link="${child}"/>
-			<axis xyz="0 0 1"/>
-			<origin xyz="${joint_origin_xyz}" rpy="${joint_origin_rpy}"/>
-		</joint>
+	<xacro:macro name="forque_assembly_joint" params="joint_name type parent child joint_axis_xyz joint_origin_xyz joint_origin_rpy joint_lower_limit:=${forque_assembly_dummy_default_value} joint_upper_limit:=${forque_assembly_dummy_default_value} joint_velocity_limit:=${forque_assembly_dummy_default_value} joint_torque_limit:=${forque_assembly_dummy_default_value}">
+
+    <joint name="${joint_name}" type="${type}">
+      <parent link="${parent}"/>
+      <child link="${child}"/>
+      <axis xyz="${joint_axis_xyz}"/>
+      <xacro:if value="${type == 'revolute'}">
+        <limit
+          effort="${joint_torque_limit}"
+          velocity="${joint_velocity_limit}"
+          lower="${joint_lower_limit}"
+          upper="${joint_upper_limit}"/>
+      </xacro:if>
+      <xacro:if value="${type == 'continuous'}">
+        <limit effort="${joint_torque_limit}" velocity="${joint_velocity_limit}"/>
+      </xacro:if>
+      <origin xyz="${joint_origin_xyz}" rpy="${joint_origin_rpy}"/>
+      <dynamics damping="0.0" friction="0.0"/>
+    </joint>
 	</xacro:macro>
 
-
-	<xacro:macro name="forque_assembly" params="base_parent use_antenna:=false">
+	<xacro:macro name="forque_assembly" params="base_parent end_effector_tool use_antenna:=false">
 
 		<xacro:forque_assembly_link link_name="FTMount" link_mesh="2024_01_18_FTMount" mass="0.103" cog="0.010934 -0.138522 -0.05066">
 			<inertia ixx="0.00017623" iyy="0.000068428" iyz="-0.00001757133" izz="0.00021455" ixy="0.00000095729" ixz="-0.0000000562908"/>
         </xacro:forque_assembly_link>
-	  	<xacro:forque_assembly_joint joint_name="FTMount_to_world" parent="${base_parent}" child="FTMount" joint_origin_xyz="0 0 -0.005" joint_origin_rpy="0 0 0"/>
+	  	<xacro:forque_assembly_joint joint_name="FTMount_to_world" type="fixed" parent="${base_parent}" child="FTMount" joint_axis_xyz="0 0 1" joint_origin_xyz="0 0 -0.005" joint_origin_rpy="0 0 0"/>
 
 	  	<xacro:forque_assembly_link link_name="FT" link_mesh="2023_03_09_wirelessFT" mass="0.280" cog="0.0111446 -0.0882070 -0.0544936">
 	  		<inertia ixx="0.000543925" iyy="0.000165428" iyz="-0.00000001487288" izz="0.000691232" ixy="-0.00000128367" ixz="0"/>
 	  	</xacro:forque_assembly_link>
-	  	<xacro:forque_assembly_joint joint_name="FT_to_FTMount" parent="FTMount" child="FT" joint_origin_xyz="0 0 0" joint_origin_rpy="0 0 0"/>
+	  	<xacro:forque_assembly_joint joint_name="FT_to_FTMount" type="fixed" parent="FTMount" child="FT" joint_axis_xyz="0 0 1" joint_origin_xyz="0 0 0" joint_origin_rpy="0 0 0"/>
 
 
 	  	<xacro:if value="${use_antenna}">
-		  	<xacro:forque_assembly_link link_name="FTAntenna" link_mesh="2023_03_09_wirelessFTAntenna" mass="0.018" cog="-0.0162965 0.0666626 -0.0545096">
-	  		  <xacro:insert_block name="default_inertial"/>
-	  	  </xacro:forque_assembly_link>
-	  	  <xacro:forque_assembly_joint joint_name="FTAntenna_to_FT" parent="FT" child="FTAntenna" joint_origin_xyz="0 0 0" joint_origin_rpy="0 0 0"/>
-		  </xacro:if>
+            <xacro:forque_assembly_link link_name="FTAntenna" link_mesh="2023_03_09_wirelessFTAntenna" mass="0.018" cog="-0.0162965 0.0666626 -0.0545096">
+                <xacro:insert_block name="default_inertial"/>
+            </xacro:forque_assembly_link>
+    	  	<xacro:forque_assembly_joint joint_name="FTAntenna_to_FT" type="fixed" parent="FT" child="FTAntenna" joint_axis_xyz="0 0 1" joint_origin_xyz="0 0 0" joint_origin_rpy="0 0 0"/>
+		</xacro:if>
 
 	  	<xacro:forque_assembly_link link_name="forkHandle" link_mesh="2024_06_24_forkHandleHollow" mass="0.028" cog="0.011097 -0.162629 -0.011948">
 	  		<inertia ixx="0.00003114" iyy="0.000011867" iyz="0.00000054005" izz="0.000038478" ixy="-0.00000050626" ixz="0.000000082271"/>
 	  	</xacro:forque_assembly_link>
-
 		<!-- The slight rotation was manually added due to empirical deformations in the robot gripped, such that the fingers and fork handle were slightly pitched up relative to the wrist. -->
-		<xacro:forque_assembly_joint joint_name="forkHandle_to_FTMount" parent="FTMount" child="forkHandle" joint_origin_xyz="0 0.005 0.0013" joint_origin_rpy="-0.025 0 -0.0065"/>
+		<xacro:forque_assembly_joint joint_name="forkHandle_to_FTMount" type="fixed" parent="FTMount" child="forkHandle" joint_axis_xyz="0 0 1" joint_origin_xyz="0 0.005 0.0013" joint_origin_rpy="-0.025 0 -0.0065"/>
 
 		<xacro:forque_assembly_link link_name="forkHandleCover" link_mesh="2024_06_24_forkHandleCover" mass="0.004" cog="0.011157 -0.168451 0.006404">
 	  		<inertia ixx="0.0000027878" iyy="0.00000064518" iyz="0.00000016201" izz="0.000003363634" ixy="0.00000000012805" ixz="0.00000000006585"/>
 	  	</xacro:forque_assembly_link>
-		<xacro:forque_assembly_joint joint_name="forkHandleCover_to_forkHandle" parent="forkHandle" child="forkHandleCover" joint_origin_xyz="0 0 0" joint_origin_rpy="0 0 0"/>
+		<xacro:forque_assembly_joint joint_name="forkHandleCover_to_forkHandle" type="fixed" parent="forkHandle" child="forkHandleCover" joint_axis_xyz="0 0 1" joint_origin_xyz="0 0 0" joint_origin_rpy="0 0 0"/>
+      <xacro:if value="${end_effector_tool == 'articulable_fork'}">
+          <xacro:forque_assembly_link link_name="af_link_base" link_mesh="fr12-h103" mass="0.0907185" cog="0.0 0.0 0.0">
+              <xacro:insert_block name="default_inertial"/>
+          </xacro:forque_assembly_link>
+          <xacro:forque_assembly_joint joint_name="af_joint_base" type="fixed" parent="forkHandle" child="af_link_base" joint_axis_xyz="0 0 1" joint_origin_xyz="0.010929196 -0.2826805 -0.0091" joint_origin_rpy="0 0 0"/>
+
+          <xacro:forque_assembly_link link_name="af_link_1" link_mesh="XC-430_idle" mass="0.065" cog="0.21641853 -14.751192 -16.796092">
+              <inertia ixx="18680.931" iyy="9585.9138" iyz="-845.46678" izz="17346.641" ixy="1.3348619" ixz="-45.354028"/>
+          </xacro:forque_assembly_link>
+          <xacro:forque_assembly_joint joint_name="af_joint_1" type="revolute" parent="af_link_base" child="af_link_1" joint_axis_xyz="0 0 1" joint_origin_xyz="0 0 0" joint_origin_rpy="${J_PI/2} 0 ${J_PI/2}" joint_lower_limit="${-J_PI/2}" joint_upper_limit="${J_PI/2}" joint_velocity_limit="1" joint_torque_limit="1.4"/>
+
+          <xacro:forque_assembly_link link_name="af_motor_fixture_link" link_mesh="fr12-s101" mass="0.0453592" cog="0 0 0">
+              <xacro:insert_block name="default_inertial"/>
+          </xacro:forque_assembly_link>
+          <xacro:forque_assembly_joint joint_name="af_motor_fixture_joint_1" type="fixed" parent="af_link_1" child="af_motor_fixture_link" joint_axis_xyz="0 0 1" joint_origin_xyz="0 0 0" joint_origin_rpy="0 ${-J_PI/2} 0"/>
+
+          <xacro:forque_assembly_link link_name="af_link_2" link_mesh="XC-430_idle" mass="0.065" cog="0.21641853 -14.751192 -16.796092">
+              <inertia ixx="18680.931" iyy="9585.9138" iyz="-845.46678" izz="17346.641" ixy="1.3348619" ixz="-45.354028"/>
+          </xacro:forque_assembly_link>
+          <xacro:forque_assembly_joint joint_name="af_motor_fixture_joint_2" type="fixed" parent="af_link_1" child="af_link_2" joint_axis_xyz="0 0 1" joint_origin_xyz="-0.03825 0 0" joint_origin_rpy="0 ${-J_PI/2} 0"/>
+
+          <xacro:forque_assembly_link link_name="af_ft_adapter_link" link_mesh="roll_to_ft_adapter" mass="0.001" cog="0 0 0">
+              <xacro:insert_block name="default_inertial"/>
+          </xacro:forque_assembly_link>
+          <xacro:forque_assembly_joint joint_name="af_joint_2" type="revolute" parent="af_link_2" child="af_ft_adapter_link" joint_axis_xyz="0 -1 0" joint_origin_xyz="0 0 0.019" joint_origin_rpy="${-J_PI/2} 0 0" joint_lower_limit="${-J_PI}" joint_upper_limit="${J_PI}" joint_velocity_limit="1" joint_torque_limit="1.4"/>
+      </xacro:if>
 
 	  	<xacro:forque_assembly_link link_name="forque" link_mesh="ATI-9105-TW-NANO25-E" mass="0.0634" cog="0.0124692 0.0137169 0.010558">
 	  		<inertia ixx="0.000005235822" iyy="0.000006264852" iyz="-0.00000004033694" izz="0.00000640797" ixy="-0.0000003129932" ixz="0.000000013798"/>
 	  	</xacro:forque_assembly_link>
-	  	<xacro:forque_assembly_joint joint_name="forque_to_forkHandle" parent="forkHandle" child="forque" joint_origin_xyz="-0.00634 -0.222553 -0.004286" joint_origin_rpy="${J_PI/2} ${J_PI/3} 0"/>
+      <xacro:if value="${end_effector_tool == 'articulable_fork'}">
+          <xacro:forque_assembly_joint joint_name="af_forque_joint" type="fixed" parent="af_ft_adapter_link" child="forque" joint_axis_xyz="0 0 1" joint_origin_xyz="-0.0175 -0.011 0.004" joint_origin_rpy="${J_PI/2} ${J_PI/3} 0"/>
+      </xacro:if>
+      <xacro:if value="${end_effector_tool == 'fork'}">
+          <xacro:forque_assembly_joint joint_name="af_forque_joint" type="fixed" parent="forkHandle" child="forque" joint_axis_xyz="0 0 1" joint_origin_xyz="-0.00634 -0.222553 -0.004286" joint_origin_rpy="${J_PI/2} ${J_PI/3} 0"/>
+      </xacro:if>
 
 	  	<xacro:forque_assembly_link link_name="forkTine" link_mesh="fork_tine" mass="0.024" cog="0.013090 0.0180789 0.0445231">
 	  		<inertia ixx="0.0000098769" iyy="0.000009848103" iyz="0.00000057639" izz="0.0000015674" ixy="0.000000000806182" ixz="-0.00000000296036"/>
 	  	</xacro:forque_assembly_link>
-	  	<xacro:forque_assembly_joint joint_name="forkTine_to_forque" parent="forque" child="forkTine" joint_origin_xyz="-0.0054 0.008 0.093" joint_origin_rpy="0 ${J_PI} ${240*J_PI/180}"/>
+	  	<xacro:forque_assembly_joint joint_name="forkTine_to_forque" type="fixed" parent="forque" child="forkTine" joint_axis_xyz="0 0 1" joint_origin_xyz="-0.0054 0.008 0.093" joint_origin_rpy="0 ${J_PI} ${240*J_PI/180}"/>
 
 	  	<link name="forkTip" />
 	  	<joint name="forkTip_to_forkTine" type="fixed">