diff --git a/CMakeLists.txt b/CMakeLists.txt
index 067078d5cfe4b0e4b6cc0c547b6b2b1331861d06..cf86d52c29d3eafcec0524dbb50f1b1bb2c66d0d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -14,4 +14,4 @@ include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
# variables.
#list(APPEND CPACK_SOURCE_IGNORE_FILES /core/experimental)
-rosbuild_make_distribution(0.1.1)
+rosbuild_make_distribution(0.1.2)
diff --git a/ur5_base/launch/load_pretty.launch b/ur5_base/launch/load_pretty.launch
deleted file mode 100644
index 152be579c38a58d80617d684fc176715dd010289..0000000000000000000000000000000000000000
--- a/ur5_base/launch/load_pretty.launch
+++ /dev/null
@@ -1,3 +0,0 @@
-<launch>
- <param name="robot_description" command="$(find xacro)/xacro.py '$(find ur5_base)/urdf/base.urdf.pretty.xacro'" />
-</launch>
diff --git a/ur5_base/urdf/base.urdf.pretty.xacro b/ur5_base/urdf/base.urdf.pretty.xacro
deleted file mode 100644
index e47859c04e456b36dad20e1135aaf49b55bbe21d..0000000000000000000000000000000000000000
--- a/ur5_base/urdf/base.urdf.pretty.xacro
+++ /dev/null
@@ -1,78 +0,0 @@
-<?xml version="1.0"?>
-
-<robot name="ur5_with_base">
- <include filename="$(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>
diff --git a/ur5_description/urdf/model.urdf.pretty.xacro b/ur5_description/urdf/model.urdf.pretty.xacro
deleted file mode 100644
index 531bdfd2c2839c35691619d87bb428e8a2293785..0000000000000000000000000000000000000000
--- a/ur5_description/urdf/model.urdf.pretty.xacro
+++ /dev/null
@@ -1,289 +0,0 @@
-<?xml version="1.0"?>
-<!--
-DH for UR5:
-a = [0.00000, -0.42500, -0.39225, 0.00000, 0.00000, 0.0000]
-d = [0.089159, 0.00000, 0.00000, 0.10915, 0.09465, 0.0823]
-alpha = [ 1.570796327, 0, 0, 1.570796327, -1.570796327, 0 ]
-q_home_offset = [0, -1.570796327, 0, -1.570796327, 0, 0]
-joint_direction = [-1, -1, 1, 1, 1, 1]
-mass = [3.7000, 8.3930, 2.2750, 1.2190, 1.2190, 0.1879]
-center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0, 0.0265], [0, -0.0018, 0.01634], [0, 0.0018,0.01634], [0, 0, -0.001159] ]
--->
-<robot>
-
- <property name="pi" value="3.14159265" />
-
-<!-- Inertia parameters -->
- <property name="base_mass" value="4.0" /> <!-- Invented number, only matters for simulator -->
- <property name="shoulder_mass" value="3.7000" />
- <property name="upper_arm_mass" value="8.3930" />
- <property name="forearm_mass" value="2.2750" />
- <property name="wrist_1_mass" value="1.2190" />
- <property name="wrist_2_mass" value="1.2190" />
- <property name="wrist_3_mass" value="0.1879" />
-
- <property name="shoulder_cog" value="0.0 0.00193 -0.02561" />
- <property name="upper_arm_cog" value="0.0 -0.024201 0.2125" /> <!-- 0.11336 - 0.089159 = -->
- <property name="forearm_cog" value="0.0 0.0265 0.11993" /> <!-- 0.119 is not half of 0.39225, is this really correct? -->
- <property name="wrist_1_cog" value="0.0 0.110949 0.01634" /> <!-- 0.0018 + 0.10915 = 0.110949 -->
- <property name="wrist_2_cog" value="0.0 0.0018 0.11099" /> <!-- 0.01634 + 0.09465 = 0.11099-->
- <property name="wrist_3_cog" value="0.0 0.001159 0.0" />
-
-<!-- Kinematic model -->
- <property name="shoulder_height" value="0.089159" />
- <property name="shoulder_offset" value="0.13585" /> <!-- shoulder_offset - elbow_offset + wrist_1_length = 0.10915 -->
- <property name="upper_arm_length" value="0.42500" />
- <property name="elbow_offset" value="0.1197" /> <!-- CAD measured -->
- <property name="forearm_length" value="0.39225" />
- <property name="wrist_1_length" value="0.093" /> <!-- CAD measured -->
- <property name="wrist_2_length" value="0.09465" /> <!-- In CAD this distance is 0.930, but in the spec it is 0.09465 -->
- <property name="wrist_3_length" value="0.0823" />
-
- <property name="shoulder_radius" value="0.060" /> <!-- manually measured -->
- <property name="upper_arm_radius" value="0.054" /> <!-- manually measured -->
- <property name="elbow_radius" value="0.060" /> <!-- manually measured -->
- <property name="forearm_radius" value="0.040" /> <!-- manually measured -->
- <property name="wrist_radius" value="0.045" /> <!-- manually measured -->
-
-<!-- Collision model -->
- <property name="base_collision_length" value="0.160" /> <!-- manually measured -->
- <property name="shoulder_collision_length" value="0.200" /> <!-- manually measured -->
- <property name="shoulder_collision_offset" value="0.035" /> <!-- manually measured -->
- <property name="elbow_collision_length" value="0.200" /> <!-- manually measured -->
- <property name="elbow_collision_offset" value="0.035" /> <!-- manually measured -->
-
-
-
-
- <link name="base_link" >
- <visual>
- <geometry>
- <mesh filename="package://ur5_description/meshes/Base.dae" />
- </geometry>
- <origin xyz="0.0 0.0 0.003" rpy="0.0 0.0 ${3.0 * pi / 4.0}" />
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://ur5_description/meshes/Base.dae" />
- </geometry>
- <origin xyz="0.0 0.0 0.003" rpy="0.0 0.0 ${3.0 * pi / 4.0}" />
- </collision>
- <inertial>
- <mass value="${base_mass}" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- </link>
-
- <joint name="shoulder_pan_joint" type="revolute">
- <parent link="base_link" />
- <child link = "shoulder_link" />
- <origin xyz="0.0 0.0 ${shoulder_height}" rpy="0.0 0.0 0.0" />
- <axis xyz="0.0 0.0 1.0" />
- <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
- <dynamics damping="0.1" friction="0.1"/>
- </joint>
-
- <link name="shoulder_link">
- <visual>
- <geometry>
- <mesh filename="package://ur5_description/meshes/Shoulder.dae" />
- </geometry>
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://ur5_description/meshes/Shoulder.dae" />
- </geometry>
- </collision>
- <inertial>
- <mass value="${shoulder_mass}" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- <origin xyz="${shoulder_cog}" rpy="0.0 0.0 0.0" />
- </inertial>
- </link>
-
- <joint name="shoulder_lift_joint" type="revolute">
- <parent link="shoulder_link" />
- <child link = "upper_arm_link" />
- <origin xyz="0.0 ${shoulder_offset} 0.0" rpy="0.0 ${pi / 2.0} 0.0" />
- <axis xyz="0.0 1.0 0.0" />
- <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
- <dynamics damping="0.1" friction="0.1"/>
- </joint>
-
- <link name="upper_arm_link">
- <visual>
- <geometry>
- <mesh filename="package://ur5_description/meshes/UpperArm.dae" />
- </geometry>
- <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://ur5_description/meshes/UpperArm.dae" />
- </geometry>
- <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
- </collision>
- <inertial>
- <mass value="${upper_arm_mass}" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- <origin xyz="${upper_arm_cog}" rpy="0.0 0.0 0.0" />
- </inertial>
- </link>
-
- <joint name="elbow_joint" type="revolute">
- <parent link="upper_arm_link" />
- <child link = "forearm_link" />
- <origin xyz="0.0 ${-elbow_offset} ${upper_arm_length}" rpy="0.0 0.0 0.0" />
- <axis xyz="0.0 1.0 0.0" />
- <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
- <dynamics damping="0.1" friction="0.1"/>
- </joint>
-
- <link name="forearm_link">
- <visual>
- <geometry>
- <mesh filename="package://ur5_description/meshes/Forearm.dae" />
- </geometry>
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://ur5_description/meshes/Forearm.dae" />
- </geometry>
- </collision>
- <inertial>
- <mass value="${forearm_mass}" />
- <origin xyz="${forearm_cog}" rpy="0.0 0.0 0.0" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- </link>
-
- <joint name="wrist_1_joint" type="revolute">
- <parent link="forearm_link" />
- <child link = "wrist_1_link" />
- <origin xyz="0.0 0.0 ${forearm_length}" rpy="0.0 ${pi / 2.0} 0.0" />
- <axis xyz="0.0 1.0 0.0" />
- <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
- <dynamics damping="0.1" friction="0.1"/>
- </joint>
-
- <link name="wrist_1_link">
- <visual>
- <geometry>
- <mesh filename="package://ur5_description/meshes/Wrist1.dae" />
- </geometry>
- <origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0.0 ${pi / 2.0} 0.0" />
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://ur5_description/meshes/Wrist1.dae" />
- </geometry>
- <origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0.0 ${pi / 2.0} 0.0" />
- </collision>
- <inertial>
- <mass value="${wrist_1_mass}" />
- <origin xyz="${wrist_1_cog}" rpy="0.0 0.0 0.0" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- </link>
-
- <joint name="wrist_2_joint" type="revolute">
- <parent link="wrist_1_link" />
- <child link = "wrist_2_link" />
- <origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0.0 0.0 0.0" />
- <axis xyz="0.0 0.0 1.0" />
- <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
- <dynamics damping="0.1" friction="0.1"/>
- </joint>
-
- <link name="wrist_2_link">
- <visual>
- <geometry>
- <mesh filename="package://ur5_description/meshes/Wrist2.dae" />
- </geometry>
- <origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0.0 0.0 0.0" />
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://ur5_description/meshes/Wrist2.dae" />
- </geometry>
- <origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0.0 0.0 0.0" />
- </collision>
- <inertial>
- <mass value="${wrist_2_mass}" />
- <origin xyz="${wrist_2_cog}" rpy="0.0 0.0 0.0" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- </link>
-
- <joint name="wrist_3_joint" type="revolute">
- <parent link="wrist_2_link" />
- <child link = "wrist_3_link" />
- <origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0.0 0.0 0.0" />
- <axis xyz="0.0 1.0 0.0" />
- <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="10.0" velocity="${pi}"/>
- <dynamics damping="0.1" friction="0.1"/>
- </joint>
-
- <link name="wrist_3_link">
- <visual>
- <geometry>
- <mesh filename="package://ur5_description/meshes/Wrist3.dae" />
- </geometry>
- </visual>
- <collision>
- <geometry>
- <mesh filename="package://ur5_description/meshes/Wrist3.dae" />
- </geometry>
- </collision>
- <inertial>
- <mass value="${wrist_3_mass}" />
- <origin xyz="${wrist_3_cog}" rpy="0.0 0.0 0.0" />
- <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
- </inertial>
- </link>
-
- <joint name="ee_fixed_joint" type="fixed">
- <parent link="wrist_3_link" />
- <child link = "ee_link" />
- <origin xyz="0.0 ${wrist_3_length} 0.0" rpy="0.0 0.0 ${pi/2.0}" />
- </joint>
-
- <link name="ee_link" />
-
-
-
- <!-- Extra links for collision model -->
- <joint name="shoulder_collision_joint" type="fixed">
- <parent link="upper_arm_link" />
- <child link = "shoulder_collision_link" />
- </joint>
- <link name="shoulder_collision_link">
- <collision>
- <geometry>
- <cylinder length="${shoulder_collision_length}" radius="${shoulder_radius}"/>
- </geometry>
- <origin xyz="0.0 ${-shoulder_collision_offset} 0.0" rpy="${-pi / 2.0} 0.0 0.0" />
- </collision>
- </link>
-
- <joint name="elbow_collision_joint" type="fixed">
- <parent link="upper_arm_link" />
- <child link = "elbow_collision_link" />
- </joint>
- <link name="elbow_collision_link">
- <collision>
- <geometry>
- <cylinder length="${elbow_collision_length}" radius="${elbow_radius}"/>
- </geometry>
- <origin xyz="0.0 ${-elbow_collision_offset} ${upper_arm_length}" rpy="${pi / 2.0} 0.0 0.0" />
- </collision>
- </link>
-
- <gazebo reference="universal_robot">
- <material>Gazebo/Blue</material>
- </gazebo>
-
-</robot>
-
-
-
diff --git a/ur5_description/urdf/robot.urdf.pretty.xacro b/ur5_description/urdf/robot.urdf.pretty.xacro
deleted file mode 100644
index d64ba0c9ed34042b35458e1cc625eeaa88fa5c81..0000000000000000000000000000000000000000
--- a/ur5_description/urdf/robot.urdf.pretty.xacro
+++ /dev/null
@@ -1,4 +0,0 @@
-<?xml version="1.0"?>
-<robot name="ur5">
- <include filename="$(find ur5_description)/urdf/model.urdf.pretty.xacro" />
-</robot>
diff --git a/ur5_moveit/launch/ur5_moveit_visualization.launch b/ur5_moveit/launch/ur5_moveit_visualization.launch
index ffae6e46d8327790782ac74b8033ccfed15a4b59..89128e85a0061b2eca9356379290c7f8e1143cc1 100644
--- a/ur5_moveit/launch/ur5_moveit_visualization.launch
+++ b/ur5_moveit/launch/ur5_moveit_visualization.launch
@@ -2,7 +2,9 @@
<arg name="monitor_robot_state" default="false"/>
<arg name="allow_trajectory_execution" default="false"/>
- <include file="$(find ur5_base)/launch/load_pretty.launch" />
+ <!--include file="$(find ur5_description)/launch/load.launch" /-->
+ <include file="$(find ur5_base)/launch/load.launch" /> <!-- model with base -->
+
<!--<param name="robot_description" textfile="$(find ur5_description)/urdf/universal_or.dae" /-->
<param name="robot_description_semantic" textfile="$(find ur5_moveit)/config/ur5.srdf" />