diff --git a/universal_robot_description/launch/load.launch b/universal_robot_description/launch/load.launch
new file mode 100644
index 0000000000000000000000000000000000000000..bbf729a0d38bffb6ae22687691e6d5c41db50b44
--- /dev/null
+++ b/universal_robot_description/launch/load.launch
@@ -0,0 +1,3 @@
+<launch>
+ <param name="robot_description" command="$(find xacro)/xacro.py '$(find universal_robot_description)/urdf/robot.urdf.xacro'" />
+</launch>
\ No newline at end of file
diff --git a/universal_robot_description/launch/test.launch b/universal_robot_description/launch/test.launch
index 5065037ee1e747de283eeaa7bf59875147b23ad9..dc6e07b83ecf7bb9e2245d0112c2e947f48778e7 100644
--- a/universal_robot_description/launch/test.launch
+++ b/universal_robot_description/launch/test.launch
@@ -1,7 +1,7 @@
<launch>
- <param name="robot_description" textfile="$(find universal_robot_description)/urdf/robot.xml" />
- <param name="use_gui" value="true"/>
- <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node>
- <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
- <node name="rviz" pkg="rviz" type="rviz" args="-d $(find urdf_tutorial)/urdf.vcg" />
+ <include file="$(find universal_robot_description)/launch/load.launch" />
+ <param name="use_gui" value="true"/>
+ <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node>
+ <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
+ <node name="rviz" pkg="rviz" type="rviz" args="-d $(find urdf_tutorial)/urdf.vcg" />
</launch>
diff --git a/universal_robot_description/urdf/robot.urdf.xacro b/universal_robot_description/urdf/robot.urdf.xacro
new file mode 100644
index 0000000000000000000000000000000000000000..95f04c6ff6a8d3e2610618935a32eb8c8d30e089
--- /dev/null
+++ b/universal_robot_description/urdf/robot.urdf.xacro
@@ -0,0 +1,137 @@
+<?xml version="1.0"?>
+<robot name="universal_robot">
+
+ <property name="pi" value="3.14" />
+
+ <property name="shoulder_height" value="0.1" />
+ <property name="shoulder_offset" value="0.1" />
+ <property name="upper_arm_length" value="0.5" />
+ <property name="forearm_length" value="0.5" />
+ <property name="wrist_1_length" value="0.1" />
+ <property name="wrist_2_length" value="0.1" />
+ <property name="wrist_3_length" value="0.1" />
+
+
+ <link name="base_link" />
+
+ <joint name="shoulder_pan_joint" type="revolute">
+ <parent link="base_link" />
+ <child link = "shoulder_link" />
+ <origin xyz="0.0 0.0 ${shoulder_height}" rpy="0.0 0.0 0.0" />
+ <axis xyz="0.0 0.0 1.0" />
+ <limit lower="-${pi}" upper="${pi}" effort="10.0" velocity="1.0"/>
+ </joint>
+
+ <link name="shoulder_link">
+ <visual>
+ <geometry>
+ <cylinder length="${shoulder_height}" radius="0.1"/>
+ </geometry>
+ <origin xyz="0.0 0.0 ${-shoulder_height/2.0}" rpy="0.0 0.0 0.0" />
+ </visual>
+ </link>
+
+ <joint name="shoulder_lift_joint" type="revolute">
+ <parent link="shoulder_link" />
+ <child link = "upper_arm_link" />
+ <origin xyz="0.0 ${shoulder_offset} 0.0" rpy="0.0 0.0 0.0" />
+ <axis xyz="0.0 1.0 0.0" />
+ <limit lower="-${pi}" upper="${pi}" effort="10.0" velocity="1.0"/>
+ </joint>
+
+ <link name="upper_arm_link">
+ <visual>
+ <geometry>
+ <cylinder length="${upper_arm_length}" radius="0.05"/>
+ </geometry>
+ <origin xyz="0.0 0.0 ${upper_arm_length/2.0}" rpy="0.0 0.0 0.0" />
+ </visual>
+ </link>
+
+ <joint name="elbow_joint" type="revolute">
+ <parent link="upper_arm_link" />
+ <child link = "forearm_link" />
+ <origin xyz="0.0 ${-shoulder_offset} ${upper_arm_length}" rpy="0.0 0.0 0.0" />
+ <axis xyz="0.0 -1.0 0.0" />
+ <limit lower="-${pi}" upper="${pi}" effort="10.0" velocity="1.0"/>
+ </joint>
+
+ <link name="forearm_link">
+ <visual>
+ <geometry>
+ <cylinder length="${forearm_length}" radius="0.05"/>
+ </geometry>
+ <origin xyz="0.0 0.0 ${forearm_length/2.0}" rpy="0.0 0.0 0.0" />
+ </visual>
+ </link>
+
+ <joint name="wrist_1_joint" type="revolute">
+ <parent link="forearm_link" />
+ <child link = "wrist_1_link" />
+ <origin xyz="0.0 0.0 ${forearm_length}" rpy="0.0 0.0 0.0" />
+ <axis xyz="0.0 1.0 0.0" />
+ <limit lower="-${pi}" upper="${pi}" effort="10.0" velocity="1.0"/>
+ </joint>
+
+ <link name="wrist_1_link">
+ <visual>
+ <geometry>
+ <cylinder length="${wrist_1_length}" radius="0.05"/>
+ </geometry>
+ <origin xyz="0.0 ${wrist_1_length/2.0} 0.0" rpy="-${pi/2.0} 0.0 0.0" />
+ </visual>
+ </link>
+
+ <joint name="wrist_2_joint" type="revolute">
+ <parent link="wrist_1_link" />
+ <child link = "wrist_2_link" />
+ <origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0.0 0.0 0.0" />
+ <axis xyz="0.0 0.0 1.0" />
+ <limit lower="-${pi}" upper="${pi}" effort="10.0" velocity="1.0"/>
+ </joint>
+
+ <link name="wrist_2_link">
+ <visual>
+ <geometry>
+ <cylinder length="${wrist_2_length}" radius="0.05"/>
+ </geometry>
+ <origin xyz="0.0 0.0 ${wrist_2_length/2.0}" rpy="0.0 0.0 0.0" />
+ </visual>
+ </link>
+
+ <joint name="wrist_3_joint" type="revolute">
+ <parent link="wrist_2_link" />
+ <child link = "wrist_3_link" />
+ <origin xyz="0.0 0.0 ${wrist_3_length}" rpy="0.0 0.0 0.0" />
+ <axis xyz="0.0 1.0 0.0" />
+ <limit lower="-${pi}" upper="${pi}" effort="10.0" velocity="1.0"/>
+ </joint>
+
+ <link name="wrist_3_link">
+ <visual>
+ <geometry>
+ <cylinder length="${wrist_3_length}" radius="0.05"/>
+ </geometry>
+ <origin xyz="0.0 ${wrist_3_length/2.0} 0.0" rpy="${-pi/2.0} 0.0 0.0" />
+ </visual>
+ </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">
+ <visual>
+ <geometry>
+ <cylinder length="0.01" radius="0.06"/>
+ </geometry>
+ <origin xyz="0.0 0.0 0.0" rpy="0.0 ${-pi/2.0} 0.0" />
+ </visual>
+ </link>
+
+</robot>
+
+
+
diff --git a/universal_robot_description/urdf/robot.xml b/universal_robot_description/urdf/robot.xml
deleted file mode 100644
index f819ebff0a357fb1c5b0861d15316908a357ad6f..0000000000000000000000000000000000000000
--- a/universal_robot_description/urdf/robot.xml
+++ /dev/null
@@ -1,54 +0,0 @@
-<?xml version="1.0"?>
-<robot name="universal_robot">
- <link name="base_link" />
-
- <joint name="shoulder_pan_joint" type="revolute">
- <parent link="base_link" />
- <child link = "shoulder_link" />
- <origin xyz="0.0 0.0 0.10" rpy="0.0 0.0 0.0" />
- <axis xyz="0.0 0.0 1.0" />
- <limit lower="-3.14" upper="3.14" effort="10.0" velocity="1.0"/>
- </joint>
-
- <link name="shoulder_link">
- <visual>
- <geometry>
- <cylinder length="0.20" radius="0.1"/>
- </geometry>
- </visual>
- </link>
-
- <joint name="shoulder_lift_joint" type="revolute">
- <parent link="shoulder_link" />
- <child link = "upper_arm_link" />
- <axis xyz="0.0 1.0 0.0" />
- <limit lower="-3.14" upper="3.14" effort="10.0" velocity="1.0"/>
- </joint>
-
- <link name="upper_arm_link">
- <visual>
- <geometry>
- <cylinder length="0.50" radius="0.05"/>
- </geometry>
- <origin xyz="0.0 0.20 0.25" rpy="0.0 0.0 0.0" />
- </visual>
- </link>
-
- <joint name="elbow_joint" type="revolute">
- <parent link="upper_arm_link" />
- <child link = "forearm_link" />
- <origin xyz="0.0 0.0 0.50" rpy="0.0 0.0 0.0" />
- <axis xyz="0.0 -1.0 0.0" />
- <limit lower="-3.14" upper="3.14" effort="10.0" velocity="1.0"/>
- </joint>
-
- <link name="forearm_link">
- <visual>
- <geometry>
- <cylinder length="0.50" radius="0.05"/>
- </geometry>
- <origin xyz="0.0 0.0 0.25" rpy="0.0 0.0 0.0" />
- </visual>
- </link>
-
-</robot>
\ No newline at end of file