diff --git a/stretch_calibration/README.md b/stretch_calibration/README.md
index 6008834..45baccb 100644
--- a/stretch_calibration/README.md
+++ b/stretch_calibration/README.md
@@ -113,19 +113,7 @@ In the images below, examples of good and bad fit between the point cloud and th
 
 ## Generate a New URDF After Changing the Tool
 
-If you change the Stretch RE1's tool attached to the wrist and want to generate a new URDF for it, you can do so with xacro files in the /stretch_ros/stretch_description/urdf/ directory. Specifically, you can edit stretch_description.xacro to include a xacro other than the default stretch_gripper.xacro. 
-
-After changing the tool xacro you will need to generate a new URDF and also update this new URDF with the previously optimized calibration parameters. To do so, follow the directions below: 
-
-1. In a terminal start roscore. This will enable the main script to proceed and terminate without pressing Ctrl-C.
-
-   `roscore`
-
-1. Next, in a different terminal terminal run
-
-   `rosrun stretch_calibration update_urdf_after_xacro_change.sh`
-   
-This will update the uncalibrated URDF with the current xacro files and then create a calibrated URDF using the most recent calibration parameters.
+See the [instructions here](../stretch_description/README.md#changing-the-tool).
 
 ## Revert to a Previous Calibration
 
diff --git a/stretch_description/README.md b/stretch_description/README.md
index afc08c6..75cf447 100644
--- a/stretch_description/README.md
+++ b/stretch_description/README.md
@@ -35,36 +35,28 @@ The exported URDF will be in your "stretch_user" directory at the following path
 
 ## Changing the Tool
 
-If you wish to remove the default gripper and add a different tool, you will typically edit /stretch_description/urdf/stretch_description.xacro. Specifically, you will replace the following line in order to include the xacro for the new tool and then follow directions within stretch_ros/stretch_calibration to generate a new calibrated urdf file (stretch.urdf) that includes the new tool.
+If you want to generate a new URDF for Stretch (e.g. after attaching a new tool to Stretch), you can:
 
-`<xacro:include filename="stretch_gripper.xacro" />`
+1. Edit the [`stretch_description.xacro`](./urdf/stretch_description.xacro) file in the Stretch Description package.
 
-As an example we provide the xacro `stretch_dry_erase_marker.xacro` and its dependent mesh files with stretch_ros. 
+   Include the tool you want in the `stretch_description.xacro`. By default, it will include `stretch_gripper.xacro`. Simply comment out
+   the old `<xacro:include ...` lines and paste in new ones for your tool. Example code for the other supported tools can be found by
+   looking at the files matching `stretch_description_<tool-name>.xacro`. To add your own custom tool, copy your xacro/mesh files into
+   the urdf/meshes folders in the Stretch Description package.
 
-Some of the tools found in the [Stretch Tool Share](https://github.com/hello-robot/stretch_tool_share/) include URDF data. To integrate these tools into the URDF for your Stretch
+1. In a terminal run
 
-```bash
->>$ cd ~/repos
->>$ git clone https://github.com/hello-robot/stretch_tool_share
->>$ cd stretch_tool_share/<tool name>
->>$ cp stretch_description/urdf/* ~/catkin_ws/src/stretch_ros/stretch_description/urdf/
->>$ cp stretch_description/meshes/* ~/catkin_ws/src/stretch_ros/stretch_description/meshes/
-```
-
-Next add the xacro for the particular tool to `/stretch_description/urdf/stretch_description.xacro`. Then you can generate and preview the uncalibrated URDF:
+   ```
+   roscore
+   ```
 
-```bash
->>$ cd ~/catkin_ws/src/stretch_ros/stretch_description/urdf
->>$ cp stretch.urdf stretch.urdf.bak
->>$ roscore # run in a new terminal before running the next command
->>$ rosrun stretch_calibration update_urdf_after_xacro_change.sh
-```
+1. Next, in a different terminal terminal run
 
-Now visualize the new tool
+   ```
+   rosrun stretch_calibration update_urdf_after_xacro_change.sh
+   ```
 
-```bash
->>$ roslaunch stretch_calibration simple_test_head_calibration.launch
-```
+This will create a calibrated URDF called `stretch.urdf` using the most recent calibration parameters. Rviz will now show the new URDF.
 
 ## License and Patents