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<robot xmlns:xacro="http://wiki.ros.org/xacro"
name="ur10" >
<!-- common stuff -->
<xacro:include filename="$(find ur_description)/urdf/common.gazebo.xacro" />
<xacro:include filename="$(find ur_description)/urdf/ur10.urdf.xacro" />
<xacro:ur10_robot prefix="" joint_limited="true"
shoulder_pan_lower_limit="${-pi}" shoulder_pan_upper_limit="${pi}"
shoulder_lift_lower_limit="${-pi}" shoulder_lift_upper_limit="${pi}"
elbow_joint_lower_limit="${-pi}" elbow_joint_upper_limit="${pi}"
wrist_1_lower_limit="${-pi}" wrist_1_upper_limit="${pi}"
wrist_2_lower_limit="${-pi}" wrist_2_upper_limit="${pi}"
wrist_3_lower_limit="${-pi}" wrist_3_upper_limit="${pi}"
/>
<joint name="world_joint" type="fixed">
<parent link="world" />
<child link = "base_link" />
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
</joint>