diff --git a/ur_description/meshes/ur5/collision/base.stl b/ur_description/meshes/ur5/collision/base.stl
new file mode 100644
index 0000000000000000000000000000000000000000..4eb2f7eb38493e36b16587650cd65c516ea27766
Binary files /dev/null and b/ur_description/meshes/ur5/collision/base.stl differ
diff --git a/ur_description/meshes/ur5/collision/forearm.stl b/ur_description/meshes/ur5/collision/forearm.stl
new file mode 100644
index 0000000000000000000000000000000000000000..ffbed4536ef7c23c7691736124e161a226546bb9
Binary files /dev/null and b/ur_description/meshes/ur5/collision/forearm.stl differ
diff --git a/ur_description/meshes/ur5/collision/shoulder.stl b/ur_description/meshes/ur5/collision/shoulder.stl
new file mode 100644
index 0000000000000000000000000000000000000000..5088831c10deb4656b129feee4bd533824e7c152
Binary files /dev/null and b/ur_description/meshes/ur5/collision/shoulder.stl differ
diff --git a/ur_description/meshes/ur5/collision/upper_arm.stl b/ur_description/meshes/ur5/collision/upper_arm.stl
new file mode 100644
index 0000000000000000000000000000000000000000..734386e871f9114d9be2567a68c66179ea8f16b5
Binary files /dev/null and b/ur_description/meshes/ur5/collision/upper_arm.stl differ
diff --git a/ur_description/meshes/ur5/collision/wrist_1.stl b/ur_description/meshes/ur5/collision/wrist_1.stl
new file mode 100644
index 0000000000000000000000000000000000000000..a960c0c571ba7366ed2a72e94ee733bcaf034485
Binary files /dev/null and b/ur_description/meshes/ur5/collision/wrist_1.stl differ
diff --git a/ur_description/meshes/ur5/collision/wrist_2.stl b/ur_description/meshes/ur5/collision/wrist_2.stl
new file mode 100644
index 0000000000000000000000000000000000000000..9b089de4c6077cc743130865040b934248cc5b4d
Binary files /dev/null and b/ur_description/meshes/ur5/collision/wrist_2.stl differ
diff --git a/ur_description/meshes/ur5/collision/wrist_3.stl b/ur_description/meshes/ur5/collision/wrist_3.stl
new file mode 100644
index 0000000000000000000000000000000000000000..96c71f0413dfe4311bd253a8747824f29982aed4
Binary files /dev/null and b/ur_description/meshes/ur5/collision/wrist_3.stl differ
diff --git a/ur_description/urdf/ur5.urdf.xacro b/ur_description/urdf/ur5.urdf.xacro
index e4634c19fb48646abcab7bb6bf2a1dd92b58cf3d..448b3083f2c144087ff627f435d8d13d1ef52fde 100644
--- a/ur_description/urdf/ur5.urdf.xacro
+++ b/ur_description/urdf/ur5.urdf.xacro
@@ -88,7 +88,7 @@
       </visual>
       <collision>
         <geometry>
-          <mesh filename="package://ur_description/meshes/ur5/collision/Base.dae" />
+          <mesh filename="package://ur_description/meshes/ur5/collision/base.stl" />
         </geometry>
       </collision>
       <xacro:cylinder_inertial radius="0.06" length="0.05" mass="${base_mass}">
@@ -118,7 +118,7 @@
       </visual>
       <collision>
         <geometry>
-          <mesh filename="package://ur_description/meshes/ur5/collision/Shoulder.dae" />
+          <mesh filename="package://ur_description/meshes/ur5/collision/shoulder.stl" />
         </geometry>
       </collision>
       <xacro:cylinder_inertial radius="0.06" length="0.15" mass="${shoulder_mass}">
@@ -148,7 +148,7 @@
       </visual>
       <collision>
         <geometry>
-          <mesh filename="package://ur_description/meshes/ur5/collision/UpperArm.dae" />
+          <mesh filename="package://ur_description/meshes/ur5/collision/upper_arm.stl" />
         </geometry>
       </collision>
       <xacro:cylinder_inertial radius="0.06" length="0.56" mass="${upper_arm_mass}">
@@ -178,7 +178,7 @@
       </visual>
       <collision>
         <geometry>
-          <mesh filename="package://ur_description/meshes/ur5/collision/Forearm.dae" />
+          <mesh filename="package://ur_description/meshes/ur5/collision/forearm.stl" />
         </geometry>
       </collision>
       <xacro:cylinder_inertial radius="0.06" length="0.5" mass="${forearm_mass}">
@@ -208,7 +208,7 @@
       </visual>
       <collision>
         <geometry>
-          <mesh filename="package://ur_description/meshes/ur5/collision/Wrist1.dae" />
+          <mesh filename="package://ur_description/meshes/ur5/collision/wrist_1.stl" />
         </geometry>
       </collision>
       <xacro:cylinder_inertial radius="0.6" length="0.12" mass="${wrist_1_mass}">
@@ -238,7 +238,7 @@
       </visual>
       <collision>
         <geometry>
-          <mesh filename="package://ur_description/meshes/ur5/collision/Wrist2.dae" />
+          <mesh filename="package://ur_description/meshes/ur5/collision/wrist_2.stl" />
         </geometry>
       </collision>
       <xacro:cylinder_inertial radius="0.6" length="0.12" mass="${wrist_2_mass}">
@@ -268,7 +268,7 @@
       </visual>
       <collision>
         <geometry>
-          <mesh filename="package://ur_description/meshes/ur5/collision/Wrist3.dae" />
+          <mesh filename="package://ur_description/meshes/ur5/collision/wrist_3.stl" />
         </geometry>
       </collision>
       <xacro:cylinder_inertial radius="0.6" length="0.12" mass="${wrist_3_mass}">