diff --git a/ur_description/urdf/ur10_joint_limited_robot.urdf b/ur_description/urdf/ur10_joint_limited_robot.urdf
index b2c3bba13460bf9df4ff38e3e269b1cb9af7965b..1d1fa3188359ca4cc2eed1a365cbe9bad3860ffd 100644
--- a/ur_description/urdf/ur10_joint_limited_robot.urdf
+++ b/ur_description/urdf/ur10_joint_limited_robot.urdf
@@ -32,6 +32,9 @@
       <geometry>
         <mesh filename="package://ur_description/meshes/ur10/visual/Base.dae"/>
       </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
     </visual>
     <collision>
       <geometry>
@@ -57,6 +60,9 @@
       <geometry>
         <mesh filename="package://ur_description/meshes/ur10/visual/Shoulder.dae"/>
       </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
     </visual>
     <collision>
       <geometry>
@@ -82,6 +88,9 @@
       <geometry>
         <mesh filename="package://ur_description/meshes/ur10/visual/UpperArm.dae"/>
       </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
     </visual>
     <collision>
       <geometry>
@@ -107,6 +116,9 @@
       <geometry>
         <mesh filename="package://ur_description/meshes/ur10/visual/Forearm.dae"/>
       </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
     </visual>
     <collision>
       <geometry>
@@ -132,6 +144,9 @@
       <geometry>
         <mesh filename="package://ur_description/meshes/ur10/visual/Wrist1.dae"/>
       </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
     </visual>
     <collision>
       <geometry>
@@ -157,6 +172,9 @@
       <geometry>
         <mesh filename="package://ur_description/meshes/ur10/visual/Wrist2.dae"/>
       </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
     </visual>
     <collision>
       <geometry>
@@ -182,6 +200,9 @@
       <geometry>
         <mesh filename="package://ur_description/meshes/ur10/visual/Wrist3.dae"/>
       </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
     </visual>
     <collision>
       <geometry>
diff --git a/ur_description/urdf/ur10_robot.urdf b/ur_description/urdf/ur10_robot.urdf
index 7287ffb392d41d51d5a23cd4b6acf9c40c1eedf0..89dac29fcb1128bfb3c1cd28a58b0a806de09256 100644
--- a/ur_description/urdf/ur10_robot.urdf
+++ b/ur_description/urdf/ur10_robot.urdf
@@ -32,6 +32,9 @@
       <geometry>
         <mesh filename="package://ur_description/meshes/ur10/visual/Base.dae"/>
       </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
     </visual>
     <collision>
       <geometry>
@@ -57,6 +60,9 @@
       <geometry>
         <mesh filename="package://ur_description/meshes/ur10/visual/Shoulder.dae"/>
       </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
     </visual>
     <collision>
       <geometry>
@@ -82,6 +88,9 @@
       <geometry>
         <mesh filename="package://ur_description/meshes/ur10/visual/UpperArm.dae"/>
       </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
     </visual>
     <collision>
       <geometry>
@@ -107,6 +116,9 @@
       <geometry>
         <mesh filename="package://ur_description/meshes/ur10/visual/Forearm.dae"/>
       </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
     </visual>
     <collision>
       <geometry>
@@ -132,6 +144,9 @@
       <geometry>
         <mesh filename="package://ur_description/meshes/ur10/visual/Wrist1.dae"/>
       </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
     </visual>
     <collision>
       <geometry>
@@ -157,6 +172,9 @@
       <geometry>
         <mesh filename="package://ur_description/meshes/ur10/visual/Wrist2.dae"/>
       </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
     </visual>
     <collision>
       <geometry>
@@ -182,6 +200,9 @@
       <geometry>
         <mesh filename="package://ur_description/meshes/ur10/visual/Wrist3.dae"/>
       </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
     </visual>
     <collision>
       <geometry>
diff --git a/ur_description/urdf/ur5_joint_limited_robot.urdf b/ur_description/urdf/ur5_joint_limited_robot.urdf
index 671e2f8e431243fb7f2e7c125d28364fa189c0a1..3ac04a6b137afe2299174bb7d0a3eacc7ff1df97 100644
--- a/ur_description/urdf/ur5_joint_limited_robot.urdf
+++ b/ur_description/urdf/ur5_joint_limited_robot.urdf
@@ -32,6 +32,9 @@
       <geometry>
         <mesh filename="package://ur_description/meshes/ur5/visual/Base.dae"/>
       </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
     </visual>
     <collision>
       <geometry>
@@ -57,6 +60,9 @@
       <geometry>
         <mesh filename="package://ur_description/meshes/ur5/visual/Shoulder.dae"/>
       </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
     </visual>
     <collision>
       <geometry>
@@ -82,6 +88,9 @@
       <geometry>
         <mesh filename="package://ur_description/meshes/ur5/visual/UpperArm.dae"/>
       </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
     </visual>
     <collision>
       <geometry>
@@ -107,6 +116,9 @@
       <geometry>
         <mesh filename="package://ur_description/meshes/ur5/visual/Forearm.dae"/>
       </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
     </visual>
     <collision>
       <geometry>
@@ -132,6 +144,9 @@
       <geometry>
         <mesh filename="package://ur_description/meshes/ur5/visual/Wrist1.dae"/>
       </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
     </visual>
     <collision>
       <geometry>
@@ -157,6 +172,9 @@
       <geometry>
         <mesh filename="package://ur_description/meshes/ur5/visual/Wrist2.dae"/>
       </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
     </visual>
     <collision>
       <geometry>
@@ -182,6 +200,9 @@
       <geometry>
         <mesh filename="package://ur_description/meshes/ur5/visual/Wrist3.dae"/>
       </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
     </visual>
     <collision>
       <geometry>
diff --git a/ur_description/urdf/ur5_robot.urdf b/ur_description/urdf/ur5_robot.urdf
index d516f3dfbe701d1e3e168357f760be6054298f38..9f8f87fab49a838aebcc759c0994ca96fda78391 100644
--- a/ur_description/urdf/ur5_robot.urdf
+++ b/ur_description/urdf/ur5_robot.urdf
@@ -32,6 +32,9 @@
       <geometry>
         <mesh filename="package://ur_description/meshes/ur5/visual/Base.dae"/>
       </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
     </visual>
     <collision>
       <geometry>
@@ -57,6 +60,9 @@
       <geometry>
         <mesh filename="package://ur_description/meshes/ur5/visual/Shoulder.dae"/>
       </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
     </visual>
     <collision>
       <geometry>
@@ -82,6 +88,9 @@
       <geometry>
         <mesh filename="package://ur_description/meshes/ur5/visual/UpperArm.dae"/>
       </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
     </visual>
     <collision>
       <geometry>
@@ -107,6 +116,9 @@
       <geometry>
         <mesh filename="package://ur_description/meshes/ur5/visual/Forearm.dae"/>
       </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
     </visual>
     <collision>
       <geometry>
@@ -132,6 +144,9 @@
       <geometry>
         <mesh filename="package://ur_description/meshes/ur5/visual/Wrist1.dae"/>
       </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
     </visual>
     <collision>
       <geometry>
@@ -157,6 +172,9 @@
       <geometry>
         <mesh filename="package://ur_description/meshes/ur5/visual/Wrist2.dae"/>
       </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
     </visual>
     <collision>
       <geometry>
@@ -182,6 +200,9 @@
       <geometry>
         <mesh filename="package://ur_description/meshes/ur5/visual/Wrist3.dae"/>
       </geometry>
+      <material name="LightGrey">
+        <color rgba="0.7 0.7 0.7 1.0"/>
+      </material>
     </visual>
     <collision>
       <geometry>