ur_moveit_plugins.xml

<library path="lib/libur3_moveit_plugin">
  <class name="ur_kinematics/UR3KinematicsPlugin" type="ur_kinematics::URKinematicsPlugin" base_class_type="kinematics::KinematicsBase">
    <description>
      Analytic kinematics for the Universal Robots UR3.
      Developed by Kelsey Hawkins from Georgia Tech.
      See http://hdl.handle.net/1853/50782 for details.
    </description>
  </class>
</library>

<library path="lib/libur5_moveit_plugin">
  <class name="ur_kinematics/UR5KinematicsPlugin" type="ur_kinematics::URKinematicsPlugin" base_class_type="kinematics::KinematicsBase">
    <description>
      Analytic kinematics for the Universal Robots UR5.
      Developed by Kelsey Hawkins from Georgia Tech.
      See http://hdl.handle.net/1853/50782 for details.
    </description>
  </class>
</library>

<library path="lib/libur10_moveit_plugin">
  <class name="ur_kinematics/UR10KinematicsPlugin" type="ur_kinematics::URKinematicsPlugin" base_class_type="kinematics::KinematicsBase">
    <description>
      Analytic kinematics for the Universal Robots UR10.
      Developed by Kelsey Hawkins from Georgia Tech.
      See http://hdl.handle.net/1853/50782 for details.
    </description>
  </class>
</library>