<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from ur10_robot.urdf.xacro          | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="ur10" xmlns:xacro="http://www.ros.org/wiki/xacro">
  <!-- common stuff -->
  <gazebo>
    <plugin filename="libgazebo_ros_control.so" name="ros_control">
      <!--robotNamespace>/</robotNamespace-->
      <!--robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType-->
    </plugin>
    <!--
    <plugin name="gazebo_ros_power_monitor_controller" filename="libgazebo_ros_power_monitor.so">
      <alwaysOn>true</alwaysOn>
      <updateRate>1.0</updateRate>
      <timeout>5</timeout>
      <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>
    </plugin>
-->
  </gazebo>
  <!-- ur10 -->
  <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/ur10/visual/Base.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <origin rpy="1.570796325 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <material name="UR/Blue"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur10/collision/Base.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <origin rpy="1.570796325 0.0 0.0" xyz="0.0 0.0 0.0"/>
    </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 0.1273"/>
    <axis xyz="0.0 0.0 1.0"/>
    <limit effort="330.0" lower="-6.2831853" upper="6.2831853" velocity="2.16"/>
    <dynamics damping="10" friction="0.1"/>
  </joint>
  <link name="shoulder_link">
    <visual>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur10/visual/Shoulder.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <origin rpy="1.570796325 0.0 0.0" xyz="0.0 0.0 -0.127"/>
      <!-- -0.127 ????  -->
      <material name="UR/Grey"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur10/collision/Shoulder.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <origin rpy="1.570796325 0.0 0.0" xyz="0.0 0.0 -0.127"/>
      <!-- -0.127 ????  -->
    </collision>
    <inertial>
      <mass value="7.778"/>
      <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="0.00008 0.00244 -0.037"/>
    </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 0.220941 0.0"/>
    <axis xyz="0.0 1.0 0.0"/>
    <limit effort="330.0" lower="-6.2831853" upper="6.2831853" velocity="2.16"/>
    <dynamics damping="10" friction="0.1"/>
  </joint>
  <link name="upper_arm_link">
    <visual>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur10/visual/UpperArm.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <origin rpy="1.570796325 0.0 0.0" xyz="0.0 -0.221 -0.127"/>
      <!-- new offset-->
      <material name="UR/Blue"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur10/collision/UpperArm.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <origin rpy="1.570796325 0.0 0.0" xyz="0.0 -0.221 -0.127"/>
      <!-- new offset-->
    </collision>
    <inertial>
      <mass value="12.93"/>
      <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="0.00001 0.15061 0.38757"/>
    </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 -0.1719 0.612"/>
    <axis xyz="0.0 1.0 0.0"/>
    <limit effort="150.0" lower="-6.2831853" upper="6.2831853" velocity="3.15"/>
    <dynamics damping="10" friction="0.1"/>
  </joint>
  <link name="forearm_link">
    <visual>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur10/visual/Forearm.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <origin rpy="1.570796325 0.0 0.0" xyz="0.0 -0.049 -0.739"/>
      <!-- new offset -->
      <material name="UR/Grey"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur10/collision/Forearm.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <origin rpy="1.570796325 0.0 0.0" xyz="0.0 -0.049 -0.739"/>
      <!-- new offset -->
    </collision>
    <inertial>
      <mass value="3.87"/>
      <origin rpy="0.0 0.0 0.0" xyz="-0.00012 0.06112 0.1984"/>
      <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 0.5723"/>
    <axis xyz="0.0 1.0 0.0"/>
    <limit effort="54.0" lower="-6.2831853" upper="6.2831853" velocity="3.2"/>
    <dynamics damping="10" friction="0.1"/>
  </joint>
  <link name="wrist_1_link">
    <visual>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur10/visual/Wrist1.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <origin rpy="1.570796325 0 0.0" xyz="0.0 -0.049 -1.312"/>
      <!-- new offset -->
      <material name="UR/Blue"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur10/collision/Wrist1.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <origin rpy="1.570796325 0 0.0" xyz="0.0 -0.049 -1.312"/>
      <!-- new offset -->
    </collision>
    <inertial>
      <mass value="1.96"/>
      <origin rpy="0.0 0.0 0.0" xyz="-0.00021 -0.00112 0.02269"/>
      <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 0.1149 0.0"/>
    <axis xyz="0.0 0.0 1.0"/>
    <limit effort="54.0" lower="-6.2831853" upper="6.2831853" velocity="3.2"/>
    <dynamics damping="10" friction="0.1"/>
  </joint>
  <link name="wrist_2_link">
    <visual>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur10/visual/Wrist2.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <origin rpy="1.570796325 0.0 0.0" xyz="0.0 -0.164 -1.312"/>
      <!-- new offset -->
      <material name="UR/Grey"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur10/collision/Wrist2.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <origin rpy="1.570796325 0.0 0.0" xyz="0.0 -0.164 -1.312"/>
      <!-- new offset -->
    </collision>
    <inertial>
      <mass value="1.96"/>
      <origin rpy="0.0 0.0 0.0" xyz="-0.00021 0.00112 0.002269"/>
      <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 0.1157"/>
    <axis xyz="0.0 1.0 0.0"/>
    <limit effort="54.0" lower="-6.2831853" upper="6.2831853" velocity="3.2"/>
    <dynamics damping="10" friction="0.1"/>
  </joint>
  <link name="wrist_3_link">
    <visual>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur10/visual/Wrist3.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <origin rpy="1.570796325 0.0 0" xyz="0.0 -0.164 -1.427"/>
      <!-- new offset -->
      <material name="UR/Blue"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur10/collision/Wrist3.dae" scale="0.001 0.001 0.001"/>
      </geometry>
      <origin rpy="1.570796325 0.0 0" xyz="0.0 -0.164 -1.427"/>
      <!-- new offset -->
    </collision>
    <inertial>
      <mass value="0.202"/>
      <origin rpy="0.0 0.0 0.0" xyz="0 -0.001156 -0.00149"/>
      <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 0.0922 0.0"/>
  </joint>
  <link name="ee_link"/>
  <transmission name="shoulder_pan_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="shoulder_pan_joint"/>
    <actuator name="shoulder_pan_motor">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="shoulder_lift_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="shoulder_lift_joint"/>
    <actuator name="shoulder_lift_motor">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="elbow_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="elbow_joint"/>
    <actuator name="elbow_motor">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="wrist_1_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="wrist_1_joint"/>
    <actuator name="wrist_1_motor">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="wrist_2_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="wrist_2_joint"/>
    <actuator name="wrist_2_motor">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="wrist_3_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="wrist_3_joint"/>
    <actuator name="wrist_3_motor">
      <hardwareInterface>EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <gazebo reference="base_link">
    <material value="Gazebo/Grey"/>
    <turnGravityOff>false</turnGravityOff>
  </gazebo>
  <gazebo reference="shoulder_pan_link">
    <material value="Gazebo/Blue "/>
    <turnGravityOff>false</turnGravityOff>
  </gazebo>
  <gazebo reference="shoulder_lift_link">
    <material value="Gazebo/Grey"/>
    <turnGravityOff>false</turnGravityOff>
  </gazebo>
  <gazebo reference="elbow_link">
    <material value="Gazebo/Blue "/>
    <turnGravityOff>false</turnGravityOff>
  </gazebo>
  <gazebo reference="wrist_1_link">
    <material value="Gazebo/Grey"/>
    <turnGravityOff>false</turnGravityOff>
  </gazebo>
  <gazebo reference="wrist_2_link">
    <material value="Gazebo/Blue "/>
    <turnGravityOff>false</turnGravityOff>
  </gazebo>
  <gazebo reference="wrist_3_link">
    <material value="Gazebo/Grey"/>
    <turnGravityOff>false</turnGravityOff>
  </gazebo>
  <!-- grounding link (needed for MoveIt! compatability -->
  <link name="world">
  </link>
  <joint name="world_joint" type="fixed">
    <parent link="world"/>
    <child link="base_link"/>
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
  </joint>
</robot>

