Very cool! This has also been a dream of mine, which you might have guessed if you [do the urdf tutorials](
http://wiki.ros.org/urdf/Tutorials/Building%20a%20Visual%20Robot%20Model%20with%20URDF%20from%20Scratch).
For those interested, there is also this video from a few years back.
https://www.youtube.com/watch?v=0aTsYVmqooE
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