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<?xml version="1.0"?>
<robot name="ur5_with_base">
<include filename="$(find ur5_description)/urdf/model.urdf.pretty.xacro" />
<link name="world_link" />
<joint name="base_1_joint" type="fixed" >
<parent link="world_link" />
<child link= "base_1_link" />
</joint>
<joint name="base_2_joint" type="fixed" >
<parent link="base_1_link" />
<child link= "base_2_link" />
</joint>
<joint name="base_3_joint" type="fixed" >
<parent link="base_2_link" />
<child link= "base_3_link" />
</joint>
<joint name="base_4_joint" type="fixed" >
<parent link="base_3_link" />
<child link= "base_4_link" />
</joint>
<joint name="base_5_joint" type="fixed" >
<parent link="base_4_link" />
<child link= "base_5_link" />
</joint>
<joint name="robot_joint" type="fixed" >
<parent link="base_5_link" />
<child link= "base_link" />
<origin xyz="0.0 0.50 0.55" rpy="0.0 0.0 0.0" />
</joint>
<link name="base_1_link">
<visual>
<geometry>
<box size="0.25 0.50 0.10" />
</geometry>
<origin xyz="0.0 0.25 0.05" rpy="0.0 0.0 0.0" />
</visual>
</link>
<link name="base_2_link">
<visual>
<geometry>
<box size="0.25 0.45 0.80" />
</geometry>
<origin xyz="0.0 -0.225 0.40" rpy="0.0 0.0 0.0" />
</visual>
</link>
<link name="base_3_link">
<visual>
<geometry>
<box size="0.25 0.60 0.05" />
</geometry>
<origin xyz="0.0 0.25 0.525" rpy="0.0 0.0 0.0" />
</visual>
</link>
<link name="base_4_link">
<visual>
<geometry>
<box size="0.25 0.05 0.65" />
</geometry>
<origin xyz="0.0 0.075 0.695" rpy="0.0 0.0 0.0" />
</visual>
</link>
<link name="base_5_link">
<visual>
<geometry>
<box size="0.45 0.25 0.30" />
</geometry>
<origin xyz="0.0 -0.325 1.00" rpy="0.0 0.0 0.0" />
</visual>
</link>
</robot>