diff --git a/ur5_description/meshes/Base.dae b/ur5_description/meshes/Base.dae
new file mode 100755
index 0000000000000000000000000000000000000000..a490a111cedd79b4f0802a1b46a960644e4f50e0
--- /dev/null
+++ b/ur5_description/meshes/Base.dae
@@ -0,0 +1,1435 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA version="1.4.0" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+ <asset>
+ <contributor>
+ <author>NxuStream2 converter - http://www.ageia.com</author>
+ <authoring_tool>PhysX Rocket, PhysX Viewer, or CreateDynamics</authoring_tool>
+ <comments>questions to: jratcliff@ageia.com</comments>
+ </contributor>
+ <created>2012-03-23T22:39:03.74Z</created>
+ <modified>2012-03-23T22:39:03.74Z</modified>
+ <unit meter="1" name="meter"/>
+ <up_axis>Y_UP</up_axis>
+ </asset>
+ <library_materials>
+ <material id="Material" name="Material">
+ <instance_effect url="#Material-fx"></instance_effect>
+ </material>
+ <material id="SWMaterial-1" name="SWMaterial-1">
+ <instance_effect url="#SWMaterial-fx-1"></instance_effect>
+ </material>
+ <material id="SWMaterial-2" name="SWMaterial-2">
+ <instance_effect url="#SWMaterial-fx-2"></instance_effect>
+ </material>
+ </library_materials>
+ <library_effects>
+ <effect id="Material-fx" name="Material">
+ <profile_COMMON>
+ <technique id="Material-fx-COMMON-0" sid="COMMON">
+ <phong>
+ <ambient>
+ <color>0.803922 0.588235 0.92549 1</color>
+ </ambient>
+ <diffuse>
+ <color>0.803922 0.588235 0.92549 1</color>
+ </diffuse>
+ <specular>
+ <color>0.631373 0.631373 0.631373 1</color>
+ </specular>
+ <shininess>
+ <float>1</float>
+ </shininess>
+ <reflective>
+ <color>0 0 0 1</color>
+ </reflective>
+ <transparent>
+ <color>1 1 1 1</color>
+ </transparent>
+ <transparency>
+ <float>0</float>
+ </transparency>
+ </phong>
+ </technique>
+ </profile_COMMON>
+ </effect>
+ <effect id="SWMaterial-fx-1" name="SWMaterial-1">
+ <profile_COMMON>
+ <technique id="Material-fx-COMMON-1" sid="COMMON">
+ <phong>
+ <ambient>
+ <color>0.060784 0.063137 0.066275 1</color>
+ </ambient>
+ <diffuse>
+ <color>0.303922 0.315686 0.331373 1</color>
+ </diffuse>
+ <specular>
+ <color>0.303922 0.315686 0.331373 1</color>
+ </specular>
+ <shininess>
+ <float>0.500000</float>
+ </shininess>
+ <reflective>
+ <color>0 0 0 1</color>
+ </reflective>
+ <transparent opaque="A_ONE">
+ <color>1 1 1 1</color>
+ </transparent>
+ <transparency>
+ <float>1.000000</float>
+ </transparency>
+ </phong>
+ </technique>
+ </profile_COMMON>
+ </effect>
+ <effect id="SWMaterial-fx-2" name="SWMaterial-2">
+ <profile_COMMON>
+ <technique id="Material-fx-COMMON-2" sid="COMMON">
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+ </ambient>
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+ </diffuse>
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+ </shininess>
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+ </reflective>
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+ </transparent>
+ <transparency>
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+ </transparency>
+ </phong>
+ </technique>
+ </profile_COMMON>
+ </effect>
+ </library_effects>
+ <library_lights>
+ <light id="Light-0" name="Light-0">
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+ <directional>
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+ </directional>
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+ </directional>
+ </technique_common>
+ </light>
+ <light id="Light-2" name="Light-2">
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+ </directional>
+ </technique_common>
+ </light>
+ </library_lights>
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+ </library_physics_scenes>
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+ <instance_physics_scene url="#SceneInstances-Physics"/>
+ <instance_visual_scene url="#Scene0-Visual"/>
+ </scene>
+</COLLADA>
diff --git a/ur5_description/meshes/Forearm.dae b/ur5_description/meshes/Forearm.dae
new file mode 100755
index 0000000000000000000000000000000000000000..5404decb9183639b5ebbc178a979d1c3c2836703
--- /dev/null
+++ b/ur5_description/meshes/Forearm.dae
@@ -0,0 +1,13699 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA version="1.4.0" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+ <asset>
+ <contributor>
+ <author>NxuStream2 converter - http://www.ageia.com</author>
+ <authoring_tool>PhysX Rocket, PhysX Viewer, or CreateDynamics</authoring_tool>
+ <comments>questions to: jratcliff@ageia.com</comments>
+ </contributor>
+ <created>2012-03-23T22:46:10.139Z</created>
+ <modified>2012-03-23T22:46:10.139Z</modified>
+ <unit meter="1" name="meter"/>
+ <up_axis>Y_UP</up_axis>
+ </asset>
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+ </material>
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+ </material>
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+ </material>
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+ </material>
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+ </material>
+ <material id="SWMaterial-9" name="SWMaterial-9">
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+ </material>
+ </library_materials>
+ <library_effects>
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+ </box>
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+ <rotate>1 0 0 0</rotate>
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+ <skinWidth>0.000001589</skinWidth>
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+ </technique>
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+ <extra>
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+ </rigid_body>
+ <rigid_body sid="Actor3-RigidBody" name="UR5-1/Size 3 to Size 1_Angle_r02_Simple-1">
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+ </physics_model>
+ <physics_model id="Scene0-PhysicsInstance">
+ <instance_physics_model url="#Scene0-PhysicsModel">
+ <instance_rigid_body target="#Actor0-Node" body="Actor0-RigidBody">
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+ </instance_rigid_body>
+ <extra>
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+ </extra>
+ </instance_physics_model>
+ </physics_model>
+ </library_physics_models>
+ <library_physics_scenes>
+ <physics_scene id="SceneInstances-Physics">
+ <instance_physics_model url="#Scene0-PhysicsInstance"/>
+ <technique_common>
+ <gravity>0 0 0</gravity>
+ <time_step>0.000781</time_step>
+ </technique_common>
+ </physics_scene>
+ </library_physics_scenes>
+ <scene>
+ <instance_physics_scene url="#SceneInstances-Physics"/>
+ <instance_visual_scene url="#Scene0-Visual"/>
+ </scene>
+</COLLADA>
diff --git a/ur5_description/meshes/Shoulder.dae b/ur5_description/meshes/Shoulder.dae
new file mode 100755
index 0000000000000000000000000000000000000000..667acc2d95237716df7c1411cd8602efdf36b3bb
--- /dev/null
+++ b/ur5_description/meshes/Shoulder.dae
@@ -0,0 +1,8705 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA version="1.4.0" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+ <asset>
+ <contributor>
+ <author>NxuStream2 converter - http://www.ageia.com</author>
+ <authoring_tool>PhysX Rocket, PhysX Viewer, or CreateDynamics</authoring_tool>
+ <comments>questions to: jratcliff@ageia.com</comments>
+ </contributor>
+ <created>2012-03-23T22:31:12.206Z</created>
+ <modified>2012-03-23T22:31:12.206Z</modified>
+ <unit meter="1" name="meter"/>
+ <up_axis>Y_UP</up_axis>
+ </asset>
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+ </material>
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+ </material>
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+ </material>
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+ </triangles>
+ </mesh>
+ </geometry>
+ </library_geometries>
+ <library_visual_scenes>
+ <visual_scene id="Scene0-Visual" name="Scene0-Visual">
+ <node id="Actor0-Node" name="Actor0" type="NODE">
+ <translate>0 0 0</translate>
+ <rotate>0.707106769 0 -0.707106709 180</rotate>
+ <instance_geometry url="#ActorShape0_0-Mesh" >
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="SWMaterial-1" target="#SWMaterial-1"/>
+ <instance_material symbol="SWMaterial-2" target="#SWMaterial-2"/>
+ <instance_material symbol="SWMaterial-3" target="#SWMaterial-3"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="Actor1-Node" name="Actor1" type="NODE">
+ <translate>-0 -0 0.000000313</translate>
+ <rotate>0.707106769 0 -0.707106709 180</rotate>
+ <instance_geometry url="#ActorShape1_0-Mesh" >
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="SWMaterial-5" target="#SWMaterial-5"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="Light-0-Node" name="Light-0" type="NODE">
+ <translate> 7.099999905 7.099999905 0</translate>
+ <rotate> -0.707106709 0.353553355 0 90</rotate>
+ <instance_light url="#Light-0" />
+ </node>
+ <node id="Light-1-Node" name="Light-1" type="NODE">
+ <translate> -9.199999809 3.400000095 -1.799999952</translate>
+ <rotate> -0.346650153 -0.4689973 0 100.399238586</rotate>
+ <instance_light url="#Light-1" />
+ </node>
+ <node id="Light-2-Node" name="Light-2" type="NODE">
+ <translate> -3.400000095 6.099999905 -7.099999905</translate>
+ <rotate> 0.980710685 0 -0.097732373 218.650192261</rotate>
+ <instance_light url="#Light-2" />
+ </node>
+ <node id="Camera-0-Node" name="Camera-0" type="NODE">
+ <translate>0.232768312 0.321605265 0.473804116</translate>
+ <rotate>-0.024906287 0.440779299 0.897269905 103.953582764</rotate>
+ <instance_camera url="#Camera-0" />
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <library_physics_materials>
+ <physics_material id="pmat0_0-PhysicsMaterial" name="pmat0_0-PhysicsMaterial">
+ <technique_common>
+ <dynamic_friction>0.029999999</dynamic_friction>
+ <restitution>0</restitution>
+ <static_friction>0.029999999</static_friction>
+ </technique_common>
+ </physics_material>
+ <physics_material id="pmat1_0-PhysicsMaterial" name="pmat1_0-PhysicsMaterial">
+ <technique_common>
+ <dynamic_friction>0.100000001</dynamic_friction>
+ <restitution>0.001</restitution>
+ <static_friction>0.100000001</static_friction>
+ </technique_common>
+ </physics_material>
+ <physics_material id="pmat2_0-PhysicsMaterial" name="pmat2_0-PhysicsMaterial">
+ <technique_common>
+ <dynamic_friction>0.200000003</dynamic_friction>
+ <restitution>0.002</restitution>
+ <static_friction>0.200000003</static_friction>
+ </technique_common>
+ </physics_material>
+ <physics_material id="pmat3_0-PhysicsMaterial" name="pmat3_0-PhysicsMaterial">
+ <technique_common>
+ <dynamic_friction>0.300000012</dynamic_friction>
+ <restitution>0.003</restitution>
+ <static_friction>0.300000012</static_friction>
+ </technique_common>
+ </physics_material>
+ <physics_material id="pmat4_0-PhysicsMaterial" name="pmat4_0-PhysicsMaterial">
+ <technique_common>
+ <dynamic_friction>0.400000006</dynamic_friction>
+ <restitution>0.004</restitution>
+ <static_friction>0.400000006</static_friction>
+ </technique_common>
+ </physics_material>
+ <physics_material id="pmat5_0-PhysicsMaterial" name="pmat5_0-PhysicsMaterial">
+ <technique_common>
+ <dynamic_friction>0.5</dynamic_friction>
+ <restitution>0.005</restitution>
+ <static_friction>0.5</static_friction>
+ </technique_common>
+ </physics_material>
+ <physics_material id="pmat6_0-PhysicsMaterial" name="pmat6_0-PhysicsMaterial">
+ <technique_common>
+ <dynamic_friction>0.600000024</dynamic_friction>
+ <restitution>0.006</restitution>
+ <static_friction>0.600000024</static_friction>
+ </technique_common>
+ </physics_material>
+ <physics_material id="pmat7_0-PhysicsMaterial" name="pmat7_0-PhysicsMaterial">
+ <technique_common>
+ <dynamic_friction>0.699999988</dynamic_friction>
+ <restitution>0.007</restitution>
+ <static_friction>0.699999988</static_friction>
+ </technique_common>
+ </physics_material>
+ <physics_material id="pmat8_0-PhysicsMaterial" name="pmat8_0-PhysicsMaterial">
+ <technique_common>
+ <dynamic_friction>0.800000012</dynamic_friction>
+ <restitution>0.008</restitution>
+ <static_friction>0.800000012</static_friction>
+ </technique_common>
+ </physics_material>
+ <physics_material id="pmat9_0-PhysicsMaterial" name="pmat9_0-PhysicsMaterial">
+ <technique_common>
+ <dynamic_friction>0.900000036</dynamic_friction>
+ <restitution>0.009</restitution>
+ <static_friction>0.900000036</static_friction>
+ </technique_common>
+ </physics_material>
+ <physics_material id="pmat10_0-PhysicsMaterial" name="pmat10_0-PhysicsMaterial">
+ <technique_common>
+ <dynamic_friction>1</dynamic_friction>
+ <restitution>0.01</restitution>
+ <static_friction>1</static_friction>
+ </technique_common>
+ </physics_material>
+ </library_physics_materials>
+ <library_physics_models>
+ <physics_model id="Scene0-PhysicsModel">
+ <rigid_body sid="Actor0-RigidBody" name="UR5-1/Size 3_House_r11_Simple-3">
+ <technique_common>
+ <dynamic>true</dynamic>
+ <mass>1.269989491</mass>
+ <mass_frame>
+ <translate>0.012227285 -0.013439028 -0.000000123</translate>
+ <rotate>0.800915182 0.423405886 0.423393786 102.613449097</rotate>
+ </mass_frame>
+ <inertia>0.01 0.01 0.01</inertia>
+ <instance_physics_material url="#pmat0_0-PhysicsMaterial"/>
+ <shape>
+ <density>1</density>
+ <instance_physics_material url="#pmat0_0-PhysicsMaterial"/>
+ <box>
+ <half_extents>0.000621368 0.0006425 0.000648932</half_extents>
+ </box>
+ <translate>0 0 0</translate>
+ <rotate>1 0 0 0</rotate>
+ <extra>
+ <technique profile="PhysX">
+ <group>0</group>
+ <skinWidth>0.000002485</skinWidth>
+ <disable_collision>true</disable_collision>
+ </technique>
+ </extra>
+ </shape>
+ </technique_common>
+ <extra>
+ <technique profile="PhysX">
+ <wakeUpCounter>0.399999976</wakeUpCounter>
+ <linearDamping>0</linearDamping>
+ <angularDamping>0.050000001</angularDamping>
+ <maxAngularVelocity>12.56637001</maxAngularVelocity>
+ <sleepLinearVelocity>0.150000006</sleepLinearVelocity>
+ <sleepAngularVelocity>0.140000001</sleepAngularVelocity>
+ <solverIterationCount>160</solverIterationCount>
+ <disable_gravity>false</disable_gravity>
+ <kinematic>false</kinematic>
+ <pose_sleep_test>false</pose_sleep_test>
+ <filter_sleep_velocity>false</filter_sleep_velocity>
+ <group>0</group>
+ <disable_collision>true</disable_collision>
+ <disable_response>false</disable_response>
+ <lock_com>true</lock_com>
+ </technique>
+ </extra>
+ </rigid_body>
+ <rigid_body sid="Actor1-RigidBody" name="UR5-1/Size 3_Joint lid_r06_Simple-3">
+ <technique_common>
+ <dynamic>true</dynamic>
+ <mass>0.28596741</mass>
+ <mass_frame>
+ <translate>-0.04411599 0.009393776 -0.000000007</translate>
+ <rotate>0.702155352 -0.119562887 0.701913536 166.204071045</rotate>
+ </mass_frame>
+ <inertia>0.01 0.01 0.01</inertia>
+ <instance_physics_material url="#pmat0_0-PhysicsMaterial"/>
+ <shape>
+ <density>1</density>
+ <instance_physics_material url="#pmat0_0-PhysicsMaterial"/>
+ <box>
+ <half_extents>0.000595072 0.000595022 0.000313513</half_extents>
+ </box>
+ <translate>0 0 0</translate>
+ <rotate>1 0 0 0</rotate>
+ <extra>
+ <technique profile="PhysX">
+ <group>0</group>
+ <skinWidth>0.000001254</skinWidth>
+ <disable_collision>true</disable_collision>
+ </technique>
+ </extra>
+ </shape>
+ </technique_common>
+ <extra>
+ <technique profile="PhysX">
+ <wakeUpCounter>0.399999976</wakeUpCounter>
+ <linearDamping>0</linearDamping>
+ <angularDamping>0.050000001</angularDamping>
+ <maxAngularVelocity>12.56637001</maxAngularVelocity>
+ <sleepLinearVelocity>0.150000006</sleepLinearVelocity>
+ <sleepAngularVelocity>0.140000001</sleepAngularVelocity>
+ <solverIterationCount>160</solverIterationCount>
+ <disable_gravity>false</disable_gravity>
+ <kinematic>false</kinematic>
+ <pose_sleep_test>false</pose_sleep_test>
+ <filter_sleep_velocity>false</filter_sleep_velocity>
+ <group>0</group>
+ <disable_collision>true</disable_collision>
+ <disable_response>false</disable_response>
+ <lock_com>true</lock_com>
+ </technique>
+ </extra>
+ </rigid_body>
+ </physics_model>
+ <physics_model id="Scene0-PhysicsInstance">
+ <instance_physics_model url="#Scene0-PhysicsModel">
+ <instance_rigid_body target="#Actor0-Node" body="Actor0-RigidBody">
+ <technique_common>
+ <angular_velocity>0 0 0</angular_velocity>
+ <velocity>0 0 0</velocity>
+ </technique_common>
+ </instance_rigid_body>
+ <instance_rigid_body target="#Actor1-Node" body="Actor1-RigidBody">
+ <technique_common>
+ <angular_velocity>0 0 0</angular_velocity>
+ <velocity>0 0 0</velocity>
+ </technique_common>
+ </instance_rigid_body>
+ <extra>
+ <technique profile="PhysX">
+ </technique>
+ </extra>
+ </instance_physics_model>
+ </physics_model>
+ </library_physics_models>
+ <library_physics_scenes>
+ <physics_scene id="SceneInstances-Physics">
+ <instance_physics_model url="#Scene0-PhysicsInstance"/>
+ <technique_common>
+ <gravity>0 0 0</gravity>
+ <time_step>0.000781</time_step>
+ </technique_common>
+ </physics_scene>
+ </library_physics_scenes>
+ <scene>
+ <instance_physics_scene url="#SceneInstances-Physics"/>
+ <instance_visual_scene url="#Scene0-Visual"/>
+ </scene>
+</COLLADA>
diff --git a/ur5_description/meshes/Wrist1.dae b/ur5_description/meshes/Wrist1.dae
new file mode 100755
index 0000000000000000000000000000000000000000..fea3dcc676df2dd4735b4e09c9b517c38b217ffb
--- /dev/null
+++ b/ur5_description/meshes/Wrist1.dae
@@ -0,0 +1,9024 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA version="1.4.0" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+ <asset>
+ <contributor>
+ <author>NxuStream2 converter - http://www.ageia.com</author>
+ <authoring_tool>PhysX Rocket, PhysX Viewer, or CreateDynamics</authoring_tool>
+ <comments>questions to: jratcliff@ageia.com</comments>
+ </contributor>
+ <created>2012-03-24T00:28:59.515Z</created>
+ <modified>2012-03-24T00:28:59.515Z</modified>
+ <unit meter="1" name="meter"/>
+ <up_axis>Y_UP</up_axis>
+ </asset>
+ <library_materials>
+ <material id="Material" name="Material">
+ <instance_effect url="#Material-fx"></instance_effect>
+ </material>
+ <material id="SWMaterial-1" name="SWMaterial-1">
+ <instance_effect url="#SWMaterial-fx-1"></instance_effect>
+ </material>
+ <material id="SWMaterial-2" name="SWMaterial-2">
+ <instance_effect url="#SWMaterial-fx-2"></instance_effect>
+ </material>
+ <material id="SWMaterial-3" name="SWMaterial-3">
+ <instance_effect url="#SWMaterial-fx-3"></instance_effect>
+ </material>
+ <material id="SWMaterial-4" name="SWMaterial-4">
+ <instance_effect url="#SWMaterial-fx-4"></instance_effect>
+ </material>
+ <material id="SWMaterial-6" name="SWMaterial-6">
+ <instance_effect url="#SWMaterial-fx-6"></instance_effect>
+ </material>
+ </library_materials>
+ <library_effects>
+ <effect id="Material-fx" name="Material">
+ <profile_COMMON>
+ <technique id="Material-fx-COMMON-0" sid="COMMON">
+ <phong>
+ <ambient>
+ <color>0.803922 0.588235 0.92549 1</color>
+ </ambient>
+ <diffuse>
+ <color>0.803922 0.588235 0.92549 1</color>
+ </diffuse>
+ <specular>
+ <color>0.631373 0.631373 0.631373 1</color>
+ </specular>
+ <shininess>
+ <float>1</float>
+ </shininess>
+ <reflective>
+ <color>0 0 0 1</color>
+ </reflective>
+ <transparent>
+ <color>1 1 1 1</color>
+ </transparent>
+ <transparency>
+ <float>0</float>
+ </transparency>
+ </phong>
+ </technique>
+ </profile_COMMON>
+ </effect>
+ <effect id="SWMaterial-fx-1" name="SWMaterial-1">
+ <profile_COMMON>
+ <technique id="Material-fx-COMMON-1" sid="COMMON">
+ <phong>
+ <ambient>
+ <color>0.025098 0.025098 0.025098 1</color>
+ </ambient>
+ <diffuse>
+ <color>0.125490 0.125490 0.125490 1</color>
+ </diffuse>
+ <specular>
+ <color>0.125490 0.125490 0.125490 1</color>
+ </specular>
+ <shininess>
+ <float>0.500000</float>
+ </shininess>
+ <reflective>
+ <color>0 0 0 1</color>
+ </reflective>
+ <transparent opaque="A_ONE">
+ <color>1 1 1 1</color>
+ </transparent>
+ <transparency>
+ <float>1.000000</float>
+ </transparency>
+ </phong>
+ </technique>
+ </profile_COMMON>
+ </effect>
+ <effect id="SWMaterial-fx-2" name="SWMaterial-2">
+ <profile_COMMON>
+ <technique id="Material-fx-COMMON-2" sid="COMMON">
+ <phong>
+ <ambient>
+ <color>0.000000 0.000000 0.075294 1</color>
+ </ambient>
+ <diffuse>
+ <color>0.000000 0.000000 0.376471 1</color>
+ </diffuse>
+ <specular>
+ <color>0.000000 0.000000 0.376471 1</color>
+ </specular>
+ <shininess>
+ <float>0.500000</float>
+ </shininess>
+ <reflective>
+ <color>0 0 0 1</color>
+ </reflective>
+ <transparent opaque="A_ONE">
+ <color>1 1 1 1</color>
+ </transparent>
+ <transparency>
+ <float>1.000000</float>
+ </transparency>
+ </phong>
+ </technique>
+ </profile_COMMON>
+ </effect>
+ <effect id="SWMaterial-fx-3" name="SWMaterial-3">
+ <profile_COMMON>
+ <technique id="Material-fx-COMMON-3" sid="COMMON">
+ <phong>
+ <ambient>
+ <color>0.060784 0.063137 0.066275 1</color>
+ </ambient>
+ <diffuse>
+ <color>0.303922 0.315686 0.331373 1</color>
+ </diffuse>
+ <specular>
+ <color>0.303922 0.315686 0.331373 1</color>
+ </specular>
+ <shininess>
+ <float>1.000000</float>
+ </shininess>
+ <reflective>
+ <color>0 0 0 1</color>
+ </reflective>
+ <transparent opaque="A_ONE">
+ <color>1 1 1 1</color>
+ </transparent>
+ <transparency>
+ <float>1.000000</float>
+ </transparency>
+ </phong>
+ </technique>
+ </profile_COMMON>
+ </effect>
+ <effect id="SWMaterial-fx-4" name="SWMaterial-4">
+ <profile_COMMON>
+ <technique id="Material-fx-COMMON-4" sid="COMMON">
+ <phong>
+ <ambient>
+ <color>0.000000 0.000000 0.100000 1</color>
+ </ambient>
+ <diffuse>
+ <color>0.000000 0.000000 0.500000 1</color>
+ </diffuse>
+ <specular>
+ <color>0.000000 0.000000 0.500000 1</color>
+ </specular>
+ <shininess>
+ <float>0.500000</float>
+ </shininess>
+ <reflective>
+ <color>0 0 0 1</color>
+ </reflective>
+ <transparent opaque="A_ONE">
+ <color>1 1 1 1</color>
+ </transparent>
+ <transparency>
+ <float>1.000000</float>
+ </transparency>
+ </phong>
+ </technique>
+ </profile_COMMON>
+ </effect>
+ <effect id="SWMaterial-fx-6" name="SWMaterial-6">
+ <profile_COMMON>
+ <technique id="Material-fx-COMMON-5" sid="COMMON">
+ <phong>
+ <ambient>
+ <color>0.069804 0.069804 0.069804 1</color>
+ </ambient>
+ <diffuse>
+ <color>0.349020 0.349020 0.349020 1</color>
+ </diffuse>
+ <specular>
+ <color>0.349020 0.349020 0.349020 1</color>
+ </specular>
+ <shininess>
+ <float>0.500000</float>
+ </shininess>
+ <reflective>
+ <color>0 0 0 1</color>
+ </reflective>
+ <transparent opaque="A_ONE">
+ <color>1 1 1 1</color>
+ </transparent>
+ <transparency>
+ <float>1.000000</float>
+ </transparency>
+ </phong>
+ </technique>
+ </profile_COMMON>
+ </effect>
+ </library_effects>
+ <library_lights>
+ <light id="Light-0" name="Light-0">
+ <technique_common>
+ <directional>
+ <color>0.300000012 0.300000012 0.300000012</color>
+ </directional>
+ </technique_common>
+ </light>
+ <light id="Light-1" name="Light-1">
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+ <translate>0 0 0</translate>
+ <rotate>0 -0 -0.99999994 90</rotate>
+ <instance_geometry url="#ActorShape1_0-Mesh" >
+ <bind_material>
+ <technique_common>
+ <instance_material symbol="SWMaterial-6" target="#SWMaterial-6"/>
+ </technique_common>
+ </bind_material>
+ </instance_geometry>
+ </node>
+ <node id="Light-0-Node" name="Light-0" type="NODE">
+ <translate> 7.099999905 7.099999905 0</translate>
+ <rotate> -0.707106709 0.353553355 0 90</rotate>
+ <instance_light url="#Light-0" />
+ </node>
+ <node id="Light-1-Node" name="Light-1" type="NODE">
+ <translate> -9.199999809 3.400000095 -1.799999952</translate>
+ <rotate> -0.346650153 -0.4689973 0 100.399238586</rotate>
+ <instance_light url="#Light-1" />
+ </node>
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+ <translate> -3.400000095 6.099999905 -7.099999905</translate>
+ <rotate> 0.980710685 0 -0.097732373 218.650192261</rotate>
+ <instance_light url="#Light-2" />
+ </node>
+ <node id="Camera-0-Node" name="Camera-0" type="NODE">
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+ <rotate>0.013410232 0.994705677 -0.10188666 191.152420044</rotate>
+ <instance_camera url="#Camera-0" />
+ </node>
+ </visual_scene>
+ </library_visual_scenes>
+ <library_physics_materials>
+ <physics_material id="pmat0_0-PhysicsMaterial" name="pmat0_0-PhysicsMaterial">
+ <technique_common>
+ <dynamic_friction>0.029999999</dynamic_friction>
+ <restitution>0</restitution>
+ <static_friction>0.029999999</static_friction>
+ </technique_common>
+ </physics_material>
+ <physics_material id="pmat1_0-PhysicsMaterial" name="pmat1_0-PhysicsMaterial">
+ <technique_common>
+ <dynamic_friction>0.100000001</dynamic_friction>
+ <restitution>0.001</restitution>
+ <static_friction>0.100000001</static_friction>
+ </technique_common>
+ </physics_material>
+ <physics_material id="pmat2_0-PhysicsMaterial" name="pmat2_0-PhysicsMaterial">
+ <technique_common>
+ <dynamic_friction>0.200000003</dynamic_friction>
+ <restitution>0.002</restitution>
+ <static_friction>0.200000003</static_friction>
+ </technique_common>
+ </physics_material>
+ <physics_material id="pmat3_0-PhysicsMaterial" name="pmat3_0-PhysicsMaterial">
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+ <dynamic_friction>0.300000012</dynamic_friction>
+ <restitution>0.003</restitution>
+ <static_friction>0.300000012</static_friction>
+ </technique_common>
+ </physics_material>
+ <physics_material id="pmat4_0-PhysicsMaterial" name="pmat4_0-PhysicsMaterial">
+ <technique_common>
+ <dynamic_friction>0.400000006</dynamic_friction>
+ <restitution>0.004</restitution>
+ <static_friction>0.400000006</static_friction>
+ </technique_common>
+ </physics_material>
+ <physics_material id="pmat5_0-PhysicsMaterial" name="pmat5_0-PhysicsMaterial">
+ <technique_common>
+ <dynamic_friction>0.5</dynamic_friction>
+ <restitution>0.005</restitution>
+ <static_friction>0.5</static_friction>
+ </technique_common>
+ </physics_material>
+ <physics_material id="pmat6_0-PhysicsMaterial" name="pmat6_0-PhysicsMaterial">
+ <technique_common>
+ <dynamic_friction>0.600000024</dynamic_friction>
+ <restitution>0.006</restitution>
+ <static_friction>0.600000024</static_friction>
+ </technique_common>
+ </physics_material>
+ <physics_material id="pmat7_0-PhysicsMaterial" name="pmat7_0-PhysicsMaterial">
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+ <dynamic_friction>0.699999988</dynamic_friction>
+ <restitution>0.007</restitution>
+ <static_friction>0.699999988</static_friction>
+ </technique_common>
+ </physics_material>
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+ <technique_common>
+ <dynamic_friction>0.800000012</dynamic_friction>
+ <restitution>0.008</restitution>
+ <static_friction>0.800000012</static_friction>
+ </technique_common>
+ </physics_material>
+ <physics_material id="pmat9_0-PhysicsMaterial" name="pmat9_0-PhysicsMaterial">
+ <technique_common>
+ <dynamic_friction>0.900000036</dynamic_friction>
+ <restitution>0.009</restitution>
+ <static_friction>0.900000036</static_friction>
+ </technique_common>
+ </physics_material>
+ <physics_material id="pmat10_0-PhysicsMaterial" name="pmat10_0-PhysicsMaterial">
+ <technique_common>
+ <dynamic_friction>1</dynamic_friction>
+ <restitution>0.01</restitution>
+ <static_friction>1</static_friction>
+ </technique_common>
+ </physics_material>
+ </library_physics_materials>
+ <library_physics_models>
+ <physics_model id="Scene0-PhysicsModel">
+ <rigid_body sid="Actor0-RigidBody" name="UR5-1/Size 1_House_r13_Simple-1">
+ <technique_common>
+ <dynamic>true</dynamic>
+ <mass>0.371770769</mass>
+ <mass_frame>
+ <translate>0.007878017 -0.009855087 0.000001293</translate>
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+ </mass_frame>
+ <inertia>0.01 0.01 0.01</inertia>
+ <instance_physics_material url="#pmat0_0-PhysicsMaterial"/>
+ <shape>
+ <density>1</density>
+ <instance_physics_material url="#pmat0_0-PhysicsMaterial"/>
+ <box>
+ <half_extents>0.0004375 0.000415 0.000397194</half_extents>
+ </box>
+ <translate>0 0 0</translate>
+ <rotate>1 0 0 0</rotate>
+ <extra>
+ <technique profile="PhysX">
+ <group>0</group>
+ <skinWidth>0.000001589</skinWidth>
+ <disable_collision>true</disable_collision>
+ </technique>
+ </extra>
+ </shape>
+ </technique_common>
+ <extra>
+ <technique profile="PhysX">
+ <wakeUpCounter>0.399999976</wakeUpCounter>
+ <linearDamping>0</linearDamping>
+ <angularDamping>0.050000001</angularDamping>
+ <maxAngularVelocity>12.56637001</maxAngularVelocity>
+ <sleepLinearVelocity>0.150000006</sleepLinearVelocity>
+ <sleepAngularVelocity>0.140000001</sleepAngularVelocity>
+ <solverIterationCount>160</solverIterationCount>
+ <disable_gravity>false</disable_gravity>
+ <kinematic>false</kinematic>
+ <pose_sleep_test>false</pose_sleep_test>
+ <filter_sleep_velocity>false</filter_sleep_velocity>
+ <group>0</group>
+ <disable_collision>true</disable_collision>
+ <disable_response>false</disable_response>
+ <lock_com>true</lock_com>
+ </technique>
+ </extra>
+ </rigid_body>
+ <rigid_body sid="Actor1-RigidBody" name="UR5-1/Size 1_Joint lid_r07_Simple-3">
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+ <dynamic>true</dynamic>
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+ <rotate>-0.969602108 -0.173008814 0.173031032 91.76877594</rotate>
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+ <inertia>0.01 0.01 0.01</inertia>
+ <instance_physics_material url="#pmat0_0-PhysicsMaterial"/>
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+ <instance_physics_material url="#pmat0_0-PhysicsMaterial"/>
+ <box>
+ <half_extents>0.000256516 0.000387515 0.000387598</half_extents>
+ </box>
+ <translate>0 0 0</translate>
+ <rotate>1 0 0 0</rotate>
+ <extra>
+ <technique profile="PhysX">
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+ <skinWidth>0.000001026</skinWidth>
+ <disable_collision>true</disable_collision>
+ </technique>
+ </extra>
+ </shape>
+ </technique_common>
+ <extra>
+ <technique profile="PhysX">
+ <wakeUpCounter>0.399999976</wakeUpCounter>
+ <linearDamping>0</linearDamping>
+ <angularDamping>0.050000001</angularDamping>
+ <maxAngularVelocity>12.56637001</maxAngularVelocity>
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+ <sleepAngularVelocity>0.140000001</sleepAngularVelocity>
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+ <disable_gravity>false</disable_gravity>
+ <kinematic>false</kinematic>
+ <pose_sleep_test>false</pose_sleep_test>
+ <filter_sleep_velocity>false</filter_sleep_velocity>
+ <group>0</group>
+ <disable_collision>true</disable_collision>
+ <disable_response>false</disable_response>
+ <lock_com>true</lock_com>
+ </technique>
+ </extra>
+ </rigid_body>
+ </physics_model>
+ <physics_model id="Scene0-PhysicsInstance">
+ <instance_physics_model url="#Scene0-PhysicsModel">
+ <instance_rigid_body target="#Actor0-Node" body="Actor0-RigidBody">
+ <technique_common>
+ <angular_velocity>0 0 0</angular_velocity>
+ <velocity>0 0 0</velocity>
+ </technique_common>
+ </instance_rigid_body>
+ <instance_rigid_body target="#Actor1-Node" body="Actor1-RigidBody">
+ <technique_common>
+ <angular_velocity>0 0 0</angular_velocity>
+ <velocity>0 0 0</velocity>
+ </technique_common>
+ </instance_rigid_body>
+ <extra>
+ <technique profile="PhysX">
+ </technique>
+ </extra>
+ </instance_physics_model>
+ </physics_model>
+ </library_physics_models>
+ <library_physics_scenes>
+ <physics_scene id="SceneInstances-Physics">
+ <instance_physics_model url="#Scene0-PhysicsInstance"/>
+ <technique_common>
+ <gravity>0 0 0</gravity>
+ <time_step>0.000781</time_step>
+ </technique_common>
+ </physics_scene>
+ </library_physics_scenes>
+ <scene>
+ <instance_physics_scene url="#SceneInstances-Physics"/>
+ <instance_visual_scene url="#Scene0-Visual"/>
+ </scene>
+</COLLADA>
diff --git a/ur5_description/meshes/Wrist2.dae b/ur5_description/meshes/Wrist2.dae
new file mode 100755
index 0000000000000000000000000000000000000000..22bc82131d4deea61c37af464629121ff1efedba
--- /dev/null
+++ b/ur5_description/meshes/Wrist2.dae
@@ -0,0 +1,9024 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA version="1.4.0" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+ <asset>
+ <contributor>
+ <author>NxuStream2 converter - http://www.ageia.com</author>
+ <authoring_tool>PhysX Rocket, PhysX Viewer, or CreateDynamics</authoring_tool>
+ <comments>questions to: jratcliff@ageia.com</comments>
+ </contributor>
+ <created>2012-03-24T00:29:49.128Z</created>
+ <modified>2012-03-24T00:29:49.128Z</modified>
+ <unit meter="1" name="meter"/>
+ <up_axis>Y_UP</up_axis>
+ </asset>
+ <library_materials>
+ <material id="Material" name="Material">
+ <instance_effect url="#Material-fx"></instance_effect>
+ </material>
+ <material id="SWMaterial-1" name="SWMaterial-1">
+ <instance_effect url="#SWMaterial-fx-1"></instance_effect>
+ </material>
+ <material id="SWMaterial-2" name="SWMaterial-2">
+ <instance_effect url="#SWMaterial-fx-2"></instance_effect>
+ </material>
+ <material id="SWMaterial-3" name="SWMaterial-3">
+ <instance_effect url="#SWMaterial-fx-3"></instance_effect>
+ </material>
+ <material id="SWMaterial-4" name="SWMaterial-4">
+ <instance_effect url="#SWMaterial-fx-4"></instance_effect>
+ </material>
+ <material id="SWMaterial-6" name="SWMaterial-6">
+ <instance_effect url="#SWMaterial-fx-6"></instance_effect>
+ </material>
+ </library_materials>
+ <library_effects>
+ <effect id="Material-fx" name="Material">
+ <profile_COMMON>
+ <technique id="Material-fx-COMMON-0" sid="COMMON">
+ <phong>
+ <ambient>
+ <color>0.803922 0.588235 0.92549 1</color>
+ </ambient>
+ <diffuse>
+ <color>0.803922 0.588235 0.92549 1</color>
+ </diffuse>
+ <specular>
+ <color>0.631373 0.631373 0.631373 1</color>
+ </specular>
+ <shininess>
+ <float>1</float>
+ </shininess>
+ <reflective>
+ <color>0 0 0 1</color>
+ </reflective>
+ <transparent>
+ <color>1 1 1 1</color>
+ </transparent>
+ <transparency>
+ <float>0</float>
+ </transparency>
+ </phong>
+ </technique>
+ </profile_COMMON>
+ </effect>
+ <effect id="SWMaterial-fx-1" name="SWMaterial-1">
+ <profile_COMMON>
+ <technique id="Material-fx-COMMON-1" sid="COMMON">
+ <phong>
+ <ambient>
+ <color>0.025098 0.025098 0.025098 1</color>
+ </ambient>
+ <diffuse>
+ <color>0.125490 0.125490 0.125490 1</color>
+ </diffuse>
+ <specular>
+ <color>0.125490 0.125490 0.125490 1</color>
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+ <shininess>
+ <float>0.500000</float>
+ </shininess>
+ <reflective>
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+ </reflective>
+ <transparent opaque="A_ONE">
+ <color>1 1 1 1</color>
+ </transparent>
+ <transparency>
+ <float>1.000000</float>
+ </transparency>
+ </phong>
+ </technique>
+ </profile_COMMON>
+ </effect>
+ <effect id="SWMaterial-fx-2" name="SWMaterial-2">
+ <profile_COMMON>
+ <technique id="Material-fx-COMMON-2" sid="COMMON">
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+ <color>0 0 0 1</color>
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+ <transparent opaque="A_ONE">
+ <color>1 1 1 1</color>
+ </transparent>
+ <transparency>
+ <float>1.000000</float>
+ </transparency>
+ </phong>
+ </technique>
+ </profile_COMMON>
+ </effect>
+ <effect id="SWMaterial-fx-3" name="SWMaterial-3">
+ <profile_COMMON>
+ <technique id="Material-fx-COMMON-3" sid="COMMON">
+ <phong>
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+ <color>0.060784 0.063137 0.066275 1</color>
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+ <color>0.303922 0.315686 0.331373 1</color>
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+ <float>1.000000</float>
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+ </profile_COMMON>
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+ <effect id="SWMaterial-fx-4" name="SWMaterial-4">
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+ <technique id="Material-fx-COMMON-4" sid="COMMON">
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+ <technique id="Material-fx-COMMON-5" sid="COMMON">
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+ <directional>
+ <color>0.100000001 0.100000001 0.100000001</color>
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+ </light>
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+ <static_friction>1</static_friction>
+ </technique_common>
+ </physics_material>
+ </library_physics_materials>
+ <library_physics_models>
+ <physics_model id="Scene0-PhysicsModel">
+ <rigid_body sid="Actor0-RigidBody" name="UR5-1/Size 1_House_r13_Simple-2">
+ <technique_common>
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+ <skinWidth>0.000001589</skinWidth>
+ <disable_collision>true</disable_collision>
+ </technique>
+ </extra>
+ </shape>
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+ <kinematic>false</kinematic>
+ <pose_sleep_test>false</pose_sleep_test>
+ <filter_sleep_velocity>false</filter_sleep_velocity>
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+ <technique profile="PhysX">
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+ <disable_collision>true</disable_collision>
+ </technique>
+ </extra>
+ </shape>
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+ <filter_sleep_velocity>false</filter_sleep_velocity>
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+ </technique>
+ </extra>
+ </rigid_body>
+ </physics_model>
+ <physics_model id="Scene0-PhysicsInstance">
+ <instance_physics_model url="#Scene0-PhysicsModel">
+ <instance_rigid_body target="#Actor0-Node" body="Actor0-RigidBody">
+ <technique_common>
+ <angular_velocity>0 0 0</angular_velocity>
+ <velocity>0 0 0</velocity>
+ </technique_common>
+ </instance_rigid_body>
+ <instance_rigid_body target="#Actor1-Node" body="Actor1-RigidBody">
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+ <angular_velocity>0 0 0</angular_velocity>
+ <velocity>0 0 0</velocity>
+ </technique_common>
+ </instance_rigid_body>
+ <extra>
+ <technique profile="PhysX">
+ </technique>
+ </extra>
+ </instance_physics_model>
+ </physics_model>
+ </library_physics_models>
+ <library_physics_scenes>
+ <physics_scene id="SceneInstances-Physics">
+ <instance_physics_model url="#Scene0-PhysicsInstance"/>
+ <technique_common>
+ <gravity>0 0 0</gravity>
+ <time_step>0.000781</time_step>
+ </technique_common>
+ </physics_scene>
+ </library_physics_scenes>
+ <scene>
+ <instance_physics_scene url="#SceneInstances-Physics"/>
+ <instance_visual_scene url="#Scene0-Visual"/>
+ </scene>
+</COLLADA>
diff --git a/ur5_description/meshes/Wrist3.dae b/ur5_description/meshes/Wrist3.dae
new file mode 100755
index 0000000000000000000000000000000000000000..d10a891c686edce7469339f3581e09c966eb7937
--- /dev/null
+++ b/ur5_description/meshes/Wrist3.dae
@@ -0,0 +1,1259 @@
+<?xml version="1.0" encoding="utf-8"?>
+<COLLADA version="1.4.0" xmlns="http://www.collada.org/2005/11/COLLADASchema">
+ <asset>
+ <contributor>
+ <author>NxuStream2 converter - http://www.ageia.com</author>
+ <authoring_tool>PhysX Rocket, PhysX Viewer, or CreateDynamics</authoring_tool>
+ <comments>questions to: jratcliff@ageia.com</comments>
+ </contributor>
+ <created>2012-03-23T22:59:52.993Z</created>
+ <modified>2012-03-23T22:59:52.993Z</modified>
+ <unit meter="1" name="meter"/>
+ <up_axis>Y_UP</up_axis>
+ </asset>
+ <library_materials>
+ <material id="Material" name="Material">
+ <instance_effect url="#Material-fx"></instance_effect>
+ </material>
+ <material id="SWMaterial-0" name="SWMaterial-0">
+ <instance_effect url="#SWMaterial-fx-0"></instance_effect>
+ </material>
+ <material id="SWMaterial-1" name="SWMaterial-1">
+ <instance_effect url="#SWMaterial-fx-1"></instance_effect>
+ </material>
+ </library_materials>
+ <library_effects>
+ <effect id="Material-fx" name="Material">
+ <profile_COMMON>
+ <technique id="Material-fx-COMMON-0" sid="COMMON">
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+ <ambient>
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+ </specular>
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+ </shininess>
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+ </reflective>
+ <transparent>
+ <color>1 1 1 1</color>
+ </transparent>
+ <transparency>
+ <float>0</float>
+ </transparency>
+ </phong>
+ </technique>
+ </profile_COMMON>
+ </effect>
+ <effect id="SWMaterial-fx-0" name="SWMaterial-0">
+ <profile_COMMON>
+ <technique id="Material-fx-COMMON-1" sid="COMMON">
+ <phong>
+ <ambient>
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+ </ambient>
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+ <disable_gravity>false</disable_gravity>
+ <kinematic>false</kinematic>
+ <pose_sleep_test>false</pose_sleep_test>
+ <filter_sleep_velocity>false</filter_sleep_velocity>
+ <group>0</group>
+ <disable_collision>true</disable_collision>
+ <disable_response>false</disable_response>
+ <lock_com>true</lock_com>
+ </technique>
+ </extra>
+ </rigid_body>
+ </physics_model>
+ <physics_model id="Scene0-PhysicsInstance">
+ <instance_physics_model url="#Scene0-PhysicsModel">
+ <instance_rigid_body target="#Actor0-Node" body="Actor0-RigidBody">
+ <technique_common>
+ <angular_velocity>0 0 0</angular_velocity>
+ <velocity>0 0 0</velocity>
+ </technique_common>
+ </instance_rigid_body>
+ <extra>
+ <technique profile="PhysX">
+ </technique>
+ </extra>
+ </instance_physics_model>
+ </physics_model>
+ </library_physics_models>
+ <library_physics_scenes>
+ <physics_scene id="SceneInstances-Physics">
+ <instance_physics_model url="#Scene0-PhysicsInstance"/>
+ <technique_common>
+ <gravity>0 0 0</gravity>
+ <time_step>0.000781</time_step>
+ </technique_common>
+ </physics_scene>
+ </library_physics_scenes>
+ <scene>
+ <instance_physics_scene url="#SceneInstances-Physics"/>
+ <instance_visual_scene url="#Scene0-Visual"/>
+ </scene>
+</COLLADA>
diff --git a/ur5_description/urdf/robot.urdf.xacro b/ur5_description/urdf/robot.urdf.xacro
index c38c0aef4d643db240c4124ad4bd8d97acbef426..50e3b1cf0811429a1e9e84b9ef26d04445adf709 100644
--- a/ur5_description/urdf/robot.urdf.xacro
+++ b/ur5_description/urdf/robot.urdf.xacro
@@ -31,19 +31,19 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
<!-- Kinematic model -->
<property name="shoulder_height" value="0.089159" />
- <property name="shoulder_offset" value="0.13915" /> <!-- shoulder_offset - elbow_offset + wrrist_1_offset = 0.10915 -->
+ <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="0.130" /> <!-- CAD measured -->
+ <property name="elbow_offset" value="0.1197" /> <!-- CAD measured -->
<property name="forearm_length" value="0.39225" />
- <property name="wrist_1_length" value="0.100" /> <!-- CAD measured -->
- <property name="wrist_2_length" value="0.09465" />
+ <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="0.038" /> <!-- manually measured -->
- <property name="wrist_radius" value="0.035" /> <!-- 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 -->
@@ -56,6 +56,12 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
<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 ${3.0 * pi / 4.0}" />
+ </visual>
<inertial>
<mass value="${base_mass}" />
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
@@ -74,15 +80,14 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
<link name="shoulder_link">
<visual>
<geometry>
- <cylinder length="${base_collision_length}" radius="${shoulder_radius}"/>
+ <mesh filename="package://ur5_description/meshes/Shoulder.dae" />
</geometry>
- <origin xyz="0.0 0.0 ${base_collision_length / 2.0 - shoulder_height}" rpy="0.0 0.0 0.0" />
</visual>
<collision>
<geometry>
- <cylinder length="${shoulder_height}" radius="${shoulder_radius}"/>
+ <cylinder length="${base_collision_length}" radius="${shoulder_radius}"/>
</geometry>
- <origin xyz="0.0 0.0 ${-shoulder_height/2.0}" rpy="0.0 0.0 0.0" />
+ <origin xyz="0.0 0.0 ${-shoulder_height + (base_collision_length/2.0)}" rpy="0.0 0.0 0.0" />
</collision>
<inertial>
<mass value="${shoulder_mass}" />
@@ -103,7 +108,7 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
<link name="upper_arm_link">
<visual>
<geometry>
- <mesh filename="package://ur5_description/meshes/UpperArm.dae" />
+ <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>
@@ -132,9 +137,8 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
<link name="forearm_link">
<visual>
<geometry>
- <cylinder length="${forearm_length}" radius="${forearm_radius}"/>
+ <mesh filename="package://ur5_description/meshes/Forearm.dae" />
</geometry>
- <origin xyz="0.0 0.0 ${forearm_length/2.0}" rpy="0.0 0.0 0.0" />
</visual>
<collision>
<geometry>
@@ -161,15 +165,15 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
<link name="wrist_1_link">
<visual>
<geometry>
- <cylinder length="${wrist_1_length}" radius="${wrist_radius}"/>
+ <mesh filename="package://ur5_description/meshes/Wrist1.dae" />
</geometry>
- <origin xyz="0.0 ${wrist_1_length/2.0} 0.0" rpy="${-pi/2.0} 0.0 0.0" />
+ <origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0.0 ${pi / 2.0} 0.0" />
</visual>
<collision>
<geometry>
- <cylinder length="${wrist_1_length}" radius="${wrist_radius}"/>
+ <cylinder length="${1.6*wrist_1_length}" radius="${wrist_radius}"/>
</geometry>
- <origin xyz="0.0 ${wrist_1_length/2.0} 0.0" rpy="${-pi/2.0} 0.0 0.0" />
+ <origin xyz="0.0 ${0.25*wrist_1_length} 0.0" rpy="${-pi/2.0} 0.0 0.0" />
</collision>
<inertial>
<mass value="${wrist_1_mass}" />
@@ -190,15 +194,15 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
<link name="wrist_2_link">
<visual>
<geometry>
- <cylinder length="${wrist_2_length}" radius="${wrist_radius}"/>
+ <mesh filename="package://ur5_description/meshes/Wrist2.dae" />
</geometry>
- <origin xyz="0.0 0.0 ${wrist_2_length/2.0}" rpy="0.0 0.0 0.0" />
+ <origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0.0 0.0 0.0" />
</visual>
<collision>
<geometry>
- <cylinder length="${wrist_2_length}" radius="${wrist_radius}"/>
+ <cylinder length="${1.6*wrist_2_length}" radius="${wrist_radius}"/>
</geometry>
- <origin xyz="0.0 0.0 ${wrist_2_length/2.0}" rpy="0.0 0.0 0.0" />
+ <origin xyz="0.0 0.0 ${0.25*wrist_2_length}" rpy="0.0 0.0 0.0" />
</collision>
<inertial>
<mass value="${wrist_2_mass}" />
@@ -210,7 +214,7 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
<joint name="wrist_3_joint" type="revolute">
<parent link="wrist_2_link" />
<child link = "wrist_3_link" />
- <origin xyz="0.0 0.0 ${wrist_3_length}" rpy="0.0 0.0 0.0" />
+ <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"/>
@@ -219,15 +223,14 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
<link name="wrist_3_link">
<visual>
<geometry>
- <cylinder length="${wrist_3_length}" radius="${wrist_radius}"/>
+ <mesh filename="package://ur5_description/meshes/Wrist3.dae" />
</geometry>
- <origin xyz="0.0 ${wrist_3_length/2.0} 0.0" rpy="${-pi/2.0} 0.0 0.0" />
</visual>
<collision>
<geometry>
- <cylinder length="${wrist_3_length}" radius="${wrist_radius}"/>
+ <cylinder length="${1.65*wrist_3_length}" radius="${wrist_radius}"/>
</geometry>
- <origin xyz="0.0 ${wrist_3_length/2.0} 0.0" rpy="${-pi/2.0} 0.0 0.0" />
+ <origin xyz="0.0 ${0.15 * wrist_3_length} 0.0" rpy="${-pi/2.0} 0.0 0.0" />
</collision>
<inertial>
<mass value="${wrist_3_mass}" />
@@ -242,20 +245,7 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
<origin xyz="0.0 ${wrist_3_length} 0.0" rpy="0.0 0.0 ${pi/2.0}" />
</joint>
- <link name="ee_link">
- <visual>
- <geometry>
- <cylinder length="0.01" radius="${wrist_radius * 1.25}"/>
- </geometry>
- <origin xyz="0.0 0.0 0.0" rpy="0.0 ${-pi/2.0} 0.0" />
- </visual>
- <collision>
- <geometry>
- <cylinder length="0.01" radius="${wrist_radius * 1.25}"/>
- </geometry>
- <origin xyz="0.0 0.0 0.0" rpy="0.0 ${-pi/2.0} 0.0" />
- </collision>
- </link>
+ <link name="ee_link" />