<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from ur5_robot.urdf.xacro           | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="ur5" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:xacro="http://ros.org/wiki/xacro">
  <!-- common stuff -->
  <!--gazebo>
    <controller:gazebo_ros_controller_manager name="gazebo_ros_controller_manager" plugin="libgazebo_ros_controller_manager.so">
      <alwaysOn>true</alwaysOn>
      <updateRate>1000.0</updateRate>
      <interface:audio name="gazebo_ros_controller_manager_dummy_iface"/>
    </controller:gazebo_ros_controller_manager>
    <controller:gazebo_ros_power_monitor name="gazebo_ros_power_monitor_controller" plugin="libgazebo_ros_power_monitor.so">
      <alwaysOn>true</alwaysOn>
      <updateRate>1.0</updateRate>
      <timeout>5</timeout>
      <interface:audio name="power_monitor_dummy_interface"/>
      <powerStateTopic>power_state</powerStateTopic>
      <powerStateRate>10.0</powerStateRate>
      <fullChargeCapacity>87.78</fullChargeCapacity>
      <dischargeRate>-474</dischargeRate>
      <chargeRate>525</chargeRate>
      <dischargeVoltage>15.52</dischargeVoltage>
      <chargeVoltage>16.41</chargeVoltage>
    </controller:gazebo_ros_power_monitor>
  </gazebo-->
  <!-- ur5 -->
  <material name="UR/Blue">
    <color rgba="0.0 0.0 0.8 1.0"/>
  </material>
  <material name="UR/Grey">
    <color rgba="0.7 0.7 0.7 1.0"/>
  </material>
  <!-- arm -->
  <link name="base_link">
    <visual>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur5/visual/Base.dae"/>
      </geometry>
      <origin rpy="0.0 0.0 2.3561944875" xyz="0.0 0.0 0.003"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur5/collision/Base.dae"/>
      </geometry>
      <!-- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.009159"/> -->
    </collision>
    <inertial>
      <mass value="4.0"/>
      <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 rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.089159"/>
    <axis xyz="0 0 1"/>
    <limit effort="10.0" lower="-3.14159265" upper="3.14159265" velocity="3.14159265"/>
    <dynamics damping="10" friction="0.1"/>
  </joint>
  <link name="shoulder_link">
    <visual>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur5/visual/Shoulder.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur5/collision/Shoulder.dae"/>
      </geometry>
      <!-- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.009159"/> -->
    </collision>
    <inertial>
      <mass value="3.7"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.00193 -0.02561"/>
    </inertial>
  </link>
  <joint name="shoulder_lift_joint" type="revolute">
    <parent link="shoulder_link"/>
    <child link="upper_arm_link"/>
    <origin rpy="0.0 1.570796325 0.0" xyz="0.0 0.13585 0.0"/>
    <axis xyz="0 1 0"/>
    <limit effort="10.0" lower="-3.14159265" upper="3.14159265" velocity="3.14159265"/>
    <dynamics damping="10" friction="0.1"/>
  </joint>
  <link name="upper_arm_link">
    <visual>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur5/visual/UpperArm.dae"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur5/collision/UpperArm.dae"/>
      </geometry>
      <!--       <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.2125"/> -->
    </collision>
    <inertial>
      <mass value="8.393"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.024201 0.2125"/>
    </inertial>
  </link>
  <joint name="elbow_joint" type="revolute">
    <parent link="upper_arm_link"/>
    <child link="forearm_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 -0.1197 0.425"/>
    <axis xyz="0 1 0"/>
    <limit effort="10.0" lower="-3.14159265" upper="3.14159265" velocity="3.14159265"/>
    <dynamics damping="10" friction="0.1"/>
  </joint>
  <link name="forearm_link">
    <visual>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur5/visual/Forearm.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur5/collision/Forearm.dae"/>
      </geometry>
      <!--       <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.196125"/> -->
    </collision>
    <inertial>
      <mass value="2.275"/>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0265 0.11993"/>
      <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 rpy="0.0 1.570796325 0.0" xyz="0.0 0.0 0.39225"/>
    <axis xyz="0 1 0"/>
    <limit effort="10.0" lower="-3.14159265" upper="0.7853981625" velocity="3.14159265"/>
    <dynamics damping="10" friction="0.1"/>
  </joint>
  <link name="wrist_1_link">
    <visual>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur5/visual/Wrist1.dae"/>
      </geometry>
      <origin rpy="0.0 1.570796325 0.0" xyz="0.0 0.093 0.0"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur5/collision/Wrist1.dae"/>
      </geometry>
      <origin rpy="0.0 1.570796325 0.0" xyz="0.0 0.093 0.0"/>
    </collision>
    <inertial>
      <mass value="1.219"/>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.110949 0.01634"/>
      <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 rpy="0.0 0.0 0.0" xyz="0.0 0.093 0.0"/>
    <axis xyz="0 0 1"/>
    <limit effort="10.0" lower="-3.14159265" upper="3.14159265" velocity="3.14159265"/>
    <dynamics damping="10" friction="0.1"/>
  </joint>
  <link name="wrist_2_link">
    <visual>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur5/visual/Wrist2.dae"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.09465"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur5/collision/Wrist2.dae"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.09465"/>
    </collision>
    <inertial>
      <mass value="1.219"/>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0018 0.11099"/>
      <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 rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.09465"/>
    <axis xyz="0 1 0"/>
    <limit effort="10.0" lower="-3.14159265" upper="3.14159265" velocity="3.14159265"/>
    <dynamics damping="10" friction="0.1"/>
  </joint>
  <link name="wrist_3_link">
    <visual>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur5/visual/Wrist3.dae"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur5/collision/Wrist3.dae"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.1879"/>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.001159 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 rpy="0.0 0.0 1.570796325" xyz="0.0 0.0823 0.0"/>
  </joint>
  <link name="ee_link"/>
  <xacro:ur_arm_transmission name=""/>
  <!--gazebo reference="universal_robot">
    <material>Gazebo/Blue</material>
  </gazebo-->
</robot>