From e9a001191eeb3c8e57dc85e4583ba562f5f12356 Mon Sep 17 00:00:00 2001
From: ros-industrial <ros-industrial@rosindustrial-ThinkPad-T61p.(none)>
Date: Tue, 7 Jan 2014 16:45:43 -0600
Subject: [PATCH 1/3] fixed incorrect mesh paths

---
 .../robot_config/urdf/ur5_model.urdf.xacro    | 100 ++++++------------
 1 file changed, 33 insertions(+), 67 deletions(-)

diff --git a/training/ref/demo_manipulation/robot_config/urdf/ur5_model.urdf.xacro b/training/ref/demo_manipulation/robot_config/urdf/ur5_model.urdf.xacro
index 8f6e346a..4ec729ed 100644
--- a/training/ref/demo_manipulation/robot_config/urdf/ur5_model.urdf.xacro
+++ b/training/ref/demo_manipulation/robot_config/urdf/ur5_model.urdf.xacro
@@ -5,8 +5,9 @@
        xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
        xmlns:xacro="http://ros.org/wiki/xacro">
 
-<include filename="$(find ur5_description)/urdf/arm.transmission.xacro" />
-
+  <include filename="$(find ur_description)/urdf/ur5.transmission.xacro" />
+  <include filename="$(find ur_description)/urdf/ur5.gazebo.xacro" />
+  <include filename="$(find ur_description)/urdf/materials.urdf.xacro" />
 <!--
 DH for UR5:
 a = [0.00000, -0.42500, -0.39225,  0.00000,  0.00000,  0.0000]
@@ -52,24 +53,21 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
   <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 -->
-  <property name="shoulder_collision_length" value="0.200" />  <!-- manually measured -->
-  <property name="shoulder_collision_offset" value="0.035" />  <!-- manually measured -->
-  <property name="elbow_collision_length" value="0.200" />     <!-- manually measured -->
-  <property name="elbow_collision_offset" value="0.035" />     <!-- manually measured -->
-
-
-
 <xacro:macro name="ur5_robot" params="prefix">
 
   <link name="${prefix}base_link" >
     <visual>
       <geometry>
-        <mesh filename="package://ur5_description/meshes/Base.dae" />
+		    <mesh filename="package://ur_description/meshes/ur5/visual/Base.dae" />
       </geometry>
       <origin xyz="0.0 0.0 0.003" rpy="0.0 0.0 ${3.0 * pi / 4.0}" />
     </visual>
+	<collision>
+      <geometry>
+        <mesh filename="package://ur_description/meshes/ur5/collision/Base.dae" />
+      </geometry>
+      <!-- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.009159"/> -->
+    </collision>
     <inertial>
       <mass value="${base_mass}" />
       <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
@@ -80,7 +78,7 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
     <parent link="${prefix}base_link" />
     <child link = "${prefix}shoulder_link" />
     <origin xyz="0.0 0.0 ${shoulder_height}" rpy="0.0 0.0 0.0" />
-    <axis xyz="0.0 0.0 1.0" />
+    <axis xyz="0 0 1" />
     <limit lower="${-0.75 * pi}" upper="${0.75 * pi}" effort="10.0" velocity="${pi}"/>
     <dynamics damping="10" friction="0.1"/>
   </joint>
@@ -88,14 +86,14 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
   <link name="${prefix}shoulder_link">
     <visual>
       <geometry>
-        <mesh filename="package://ur5_description/meshes/Shoulder.dae" />
+        <mesh filename="package://ur_description/meshes/ur5/visual/Shoulder.dae" />
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <cylinder length="${base_collision_length}" radius="${shoulder_radius}"/>
+        <mesh filename="package://ur_description/meshes/ur5/collision/Shoulder.dae" />
       </geometry>
-      <origin xyz="0.0 0.0 ${-shoulder_height + (base_collision_length/2.0)}" rpy="0.0 0.0 0.0" />
+      <!-- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.009159"/> -->
     </collision>
     <inertial>
       <mass value="${shoulder_mass}" />
@@ -108,7 +106,7 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
     <parent link="${prefix}shoulder_link" />
     <child link = "${prefix}upper_arm_link" />
     <origin xyz="0.0 ${shoulder_offset} 0.0" rpy="0.0 ${pi / 2.0} 0.0" />    
-    <axis xyz="0.0 1.0 0.0" />
+    <axis xyz="0 1 0" />
     <limit lower="${-1.0 * pi}" upper="${1.0 * pi}" effort="10.0" velocity="${pi}"/>
     <dynamics damping="10" friction="0.1"/>
   </joint>
@@ -116,15 +114,15 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
   <link name="${prefix}upper_arm_link">
     <visual>
       <geometry>
-        <mesh filename="package://ur5_description/meshes/UpperArm.dae" />
+        <mesh filename="package://ur_description/meshes/ur5/visual/UpperArm.dae" />
       </geometry>
       <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
     </visual>
     <collision>
       <geometry>
-        <cylinder length="${upper_arm_length}" radius="${upper_arm_radius}"/>
+        <mesh filename="package://ur_description/meshes/ur5/collision/UpperArm.dae" />
       </geometry>
-      <origin xyz="0.0 0.0 ${upper_arm_length/2.0}" rpy="0.0 0.0 0.0" />
+<!--       <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.2125"/> -->
     </collision>
     <inertial>
       <mass value="${upper_arm_mass}" />
@@ -137,7 +135,7 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
     <parent link="${prefix}upper_arm_link" />
     <child link = "${prefix}forearm_link" />
     <origin xyz="0.0 ${-elbow_offset} ${upper_arm_length}" rpy="0.0 0.0 0.0" />
-    <axis xyz="0.0 1.0 0.0" />
+    <axis xyz="0 1 0" />
     <limit lower="${-0.2 * pi}" upper="${0.9 * pi}" effort="10.0" velocity="${pi}"/>
     <dynamics damping="10" friction="0.1"/>
   </joint>
@@ -145,14 +143,14 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
   <link name="${prefix}forearm_link">
     <visual>
       <geometry>
-        <mesh filename="package://ur5_description/meshes/Forearm.dae" />
+        <mesh filename="package://ur_description/meshes/ur5/visual/Forearm.dae" />
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <cylinder length="${forearm_length}" radius="${forearm_radius}"/>
+        <mesh filename="package://ur_description/meshes/ur5/collision/Forearm.dae" />
       </geometry>
-      <origin xyz="0.0 0.0 ${forearm_length/2.0}" rpy="0.0 0.0 0.0" />
+<!--       <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.196125"/> -->
     </collision>
     <inertial>
       <mass value="${forearm_mass}" />
@@ -165,7 +163,7 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
     <parent link="${prefix}forearm_link" />
     <child link = "${prefix}wrist_1_link" />
     <origin xyz="0.0 0.0 ${forearm_length}" rpy="0.0 ${pi / 2.0} 0.0" />
-    <axis xyz="0.0 1.0 0.0" />
+    <axis xyz="0 1 0" />
     <limit lower="${-1.0 * pi}" upper="${0.01 * pi}" effort="10.0" velocity="${pi}"/>
     <dynamics damping="10" friction="0.1"/>
   </joint>
@@ -173,15 +171,15 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
   <link name="${prefix}wrist_1_link">
     <visual>
       <geometry>
-        <mesh filename="package://ur5_description/meshes/Wrist1.dae" />
+        <mesh filename="package://ur_description/meshes/ur5/visual/Wrist1.dae" />
       </geometry>
       <origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0.0 ${pi / 2.0} 0.0" />
     </visual>
     <collision>
       <geometry>
-        <cylinder length="${1.6*wrist_1_length}" radius="${wrist_radius}"/>
+        <mesh filename="package://ur_description/meshes/ur5/collision/Wrist1.dae" />
       </geometry>
-      <origin xyz="0.0 ${0.25*wrist_1_length} 0.0" rpy="${-pi/2.0} 0.0 0.0" />
+      <origin rpy="0.0 1.570796325 0.0" xyz="0.0 0.093 0.0"/>
     </collision>
     <inertial>
       <mass value="${wrist_1_mass}" />
@@ -194,7 +192,7 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
     <parent link="${prefix}wrist_1_link" />
     <child link = "${prefix}wrist_2_link" />
     <origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0.0 0.0 0.0" />
-    <axis xyz="0.0 0.0 1.0" />
+    <axis xyz="0 0 1" />
     <limit lower="${-1.0 * pi}" upper="${1.0 * pi}" effort="10.0" velocity="${pi}"/>
     <dynamics damping="10" friction="0.1"/>
   </joint>
@@ -202,15 +200,15 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
   <link name="${prefix}wrist_2_link">
     <visual>
       <geometry>
-        <mesh filename="package://ur5_description/meshes/Wrist2.dae" />
+        <mesh filename="package://ur_description/meshes/ur5/visual/Wrist2.dae" />
       </geometry>
       <origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0.0 0.0 0.0" />
     </visual>
     <collision>
       <geometry>
-        <cylinder length="${1.6*wrist_2_length}" radius="${wrist_radius}"/>
+        <mesh filename="package://ur_description/meshes/ur5/collision/Wrist2.dae" />
       </geometry>
-      <origin xyz="0.0 0.0 ${0.25*wrist_2_length}" rpy="0.0 0.0 0.0" />
+       <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.09465"/> 
     </collision>
     <inertial>
       <mass value="${wrist_2_mass}" />
@@ -223,7 +221,7 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
     <parent link="${prefix}wrist_2_link" />
     <child link = "${prefix}wrist_3_link" />
     <origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0.0 0.0 0.0" />
-    <axis xyz="0.0 1.0 0.0" />
+    <axis xyz="0 1 0" />
     <limit lower="${-1.5 * pi}" upper="${1.5 * pi}" effort="10.0" velocity="${pi}"/>
     <dynamics damping="10" friction="0.1"/>
   </joint>
@@ -231,14 +229,13 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
   <link name="${prefix}wrist_3_link">
     <visual>
       <geometry>
-        <mesh filename="package://ur5_description/meshes/Wrist3.dae" />
+        <mesh filename="package://ur_description/meshes/ur5/visual/Wrist3.dae" />
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <cylinder length="${1.65*wrist_3_length}" radius="${wrist_radius}"/>
+        <mesh filename="package://ur_description/meshes/ur5/collision/Wrist3.dae" />
       </geometry>
-      <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}" />
@@ -254,37 +251,6 @@ center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0,
   </joint>
 
   <link name="${prefix}ee_link" />
-  
-
-
-  <!-- Extra links for collision model -->
-  <!-- Somehow don't work with gazebo TODO: fix this
-  <joint name="${prefix}shoulder_collision_joint" type="fixed">
-    <parent link="${prefix}upper_arm_link" />
-    <child link = "${prefix}shoulder_collision_link" />
-  </joint>
-  <link name="${prefix}shoulder_collision_link">
-    <collision>
-      <geometry>
-        <cylinder length="${shoulder_collision_length}" radius="${shoulder_radius}"/>
-      </geometry>
-      <origin xyz="0.0 ${-shoulder_collision_offset} 0.0" rpy="${-pi / 2.0} 0.0 0.0" />
-    </collision>
-  </link>
-
-  <joint name="${prefix}elbow_collision_joint" type="fixed">
-    <parent link="${prefix}upper_arm_link" />
-    <child link = "${prefix}elbow_collision_link" />
-  </joint>
-  <link name="${prefix}elbow_collision_link">
-    <collision>
-      <geometry>
-        <cylinder length="${elbow_collision_length}" radius="${elbow_radius}"/>
-      </geometry>
-      <origin xyz="0.0 ${-elbow_collision_offset} ${upper_arm_length}" rpy="${pi / 2.0} 0.0 0.0" />
-    </collision>
-  </link>
-  -->
 
   <xacro:ur_arm_transmission name="${prefix}" />
 

From 71051dacaa195c6d6640715c63dcc69c0f138959 Mon Sep 17 00:00:00 2001
From: ros-industrial <ros-industrial@rosindustrial-ThinkPad-T61p.(none)>
Date: Tue, 7 Jan 2014 16:46:21 -0600
Subject: [PATCH 2/3] removed include of deprecated gazebo file

---
 .../ref/demo_manipulation/robot_config/urdf/ur5_workspace.xacro  | 1 -
 1 file changed, 1 deletion(-)

diff --git a/training/ref/demo_manipulation/robot_config/urdf/ur5_workspace.xacro b/training/ref/demo_manipulation/robot_config/urdf/ur5_workspace.xacro
index 6b5c4933..ba9d9bff 100644
--- a/training/ref/demo_manipulation/robot_config/urdf/ur5_workspace.xacro
+++ b/training/ref/demo_manipulation/robot_config/urdf/ur5_workspace.xacro
@@ -1,7 +1,6 @@
 <?xml version="1.0" ?>
 <robot name="ur5_workspace" xmlns:xacro="http://ros.org/wiki/xacro">
 	<include filename="$(find robot_config)/urdf/vacuum_gripper_macro.xacro"/>
-	<include filename="$(find ur5_description)/urdf/gazebo.urdf.xacro" />
   	<include filename="$(find robot_config)/urdf/ur5_model.urdf.xacro" />	
 	<include filename="$(find robot_config)/urdf/workspace_components.xacro"/>
 	<include filename="$(find robot_config)/urdf/kinect_sensor_macro.xacro"/>

From d67870f9182be445ac6d7daa11ae6b5272d84965 Mon Sep 17 00:00:00 2001
From: ros-industrial <ros-industrial@rosindustrial-ThinkPad-T61p.(none)>
Date: Tue, 7 Jan 2014 16:46:44 -0600
Subject: [PATCH 3/3] regenerated urdf from new xacro

---
 .../robot_config/urdf/ur5_workspace.urdf      | 114 ++++++------------
 1 file changed, 38 insertions(+), 76 deletions(-)

diff --git a/training/ref/demo_manipulation/robot_config/urdf/ur5_workspace.urdf b/training/ref/demo_manipulation/robot_config/urdf/ur5_workspace.urdf
index 0bef3b75..a2349506 100644
--- a/training/ref/demo_manipulation/robot_config/urdf/ur5_workspace.urdf
+++ b/training/ref/demo_manipulation/robot_config/urdf/ur5_workspace.urdf
@@ -1,29 +1,15 @@
 <?xml version="1.0" ?>
 <!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from urdf/ur5_workspace.xacro       | -->
+<!-- |    This document was autogenerated by xacro from ur5_workspace.xacro            | -->
 <!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
 <!-- =================================================================================== -->
 <robot name="ur5_workspace" 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">
-  <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>
+  <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>
   <material name="yellow_transparent">
     <color rgba="0 1 1 0.4"/>
   </material>
@@ -42,10 +28,16 @@
   <link name="base_link">
     <visual>
       <geometry>
-        <mesh filename="package://ur5_description/meshes/Base.dae"/>
+        <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"/>
@@ -55,21 +47,21 @@
     <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 0.0 1.0"/>
+    <axis xyz="0 0 1"/>
     <limit effort="10.0" lower="-2.3561944875" upper="2.3561944875" velocity="3.14159265"/>
     <dynamics damping="10" friction="0.1"/>
   </joint>
   <link name="shoulder_link">
     <visual>
       <geometry>
-        <mesh filename="package://ur5_description/meshes/Shoulder.dae"/>
+        <mesh filename="package://ur_description/meshes/ur5/visual/Shoulder.dae"/>
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <cylinder length="0.16" radius="0.06"/>
+        <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"/>
+      <!-- <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 -0.009159"/> -->
     </collision>
     <inertial>
       <mass value="3.7"/>
@@ -81,22 +73,22 @@
     <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="0.0 1.0 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://ur5_description/meshes/UpperArm.dae"/>
+        <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>
-        <cylinder length="0.425" radius="0.054"/>
+        <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"/>
+      <!--       <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.2125"/> -->
     </collision>
     <inertial>
       <mass value="8.393"/>
@@ -108,21 +100,21 @@
     <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="0.0 1.0 0.0"/>
+    <axis xyz="0 1 0"/>
     <limit effort="10.0" lower="-0.62831853" upper="2.827433385" velocity="3.14159265"/>
     <dynamics damping="10" friction="0.1"/>
   </joint>
   <link name="forearm_link">
     <visual>
       <geometry>
-        <mesh filename="package://ur5_description/meshes/Forearm.dae"/>
+        <mesh filename="package://ur_description/meshes/ur5/visual/Forearm.dae"/>
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <cylinder length="0.39225" radius="0.04"/>
+        <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"/>
+      <!--       <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.196125"/> -->
     </collision>
     <inertial>
       <mass value="2.275"/>
@@ -134,22 +126,22 @@
     <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="0.0 1.0 0.0"/>
+    <axis xyz="0 1 0"/>
     <limit effort="10.0" lower="-3.14159265" upper="0.0314159265" velocity="3.14159265"/>
     <dynamics damping="10" friction="0.1"/>
   </joint>
   <link name="wrist_1_link">
     <visual>
       <geometry>
-        <mesh filename="package://ur5_description/meshes/Wrist1.dae"/>
+        <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>
-        <cylinder length="0.1488" radius="0.045"/>
+        <mesh filename="package://ur_description/meshes/ur5/collision/Wrist1.dae"/>
       </geometry>
-      <origin rpy="-1.570796325 0.0 0.0" xyz="0.0 0.02325 0.0"/>
+      <origin rpy="0.0 1.570796325 0.0" xyz="0.0 0.093 0.0"/>
     </collision>
     <inertial>
       <mass value="1.219"/>
@@ -161,22 +153,22 @@
     <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 0.0 1.0"/>
+    <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://ur5_description/meshes/Wrist2.dae"/>
+        <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>
-        <cylinder length="0.15144" radius="0.045"/>
+        <mesh filename="package://ur_description/meshes/ur5/collision/Wrist2.dae"/>
       </geometry>
-      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0236625"/>
+      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.09465"/>
     </collision>
     <inertial>
       <mass value="1.219"/>
@@ -188,21 +180,20 @@
     <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="0.0 1.0 0.0"/>
+    <axis xyz="0 1 0"/>
     <limit effort="10.0" lower="-4.712388975" upper="4.712388975" velocity="3.14159265"/>
     <dynamics damping="10" friction="0.1"/>
   </joint>
   <link name="wrist_3_link">
     <visual>
       <geometry>
-        <mesh filename="package://ur5_description/meshes/Wrist3.dae"/>
+        <mesh filename="package://ur_description/meshes/ur5/visual/Wrist3.dae"/>
       </geometry>
     </visual>
     <collision>
       <geometry>
-        <cylinder length="0.135795" radius="0.045"/>
+        <mesh filename="package://ur_description/meshes/ur5/collision/Wrist3.dae"/>
       </geometry>
-      <origin rpy="-1.570796325 0.0 0.0" xyz="0.0 0.012345 0.0"/>
     </collision>
     <inertial>
       <mass value="0.1879"/>
@@ -216,36 +207,7 @@
     <origin rpy="0.0 0.0 1.570796325" xyz="0.0 0.0823 0.0"/>
   </joint>
   <link name="ee_link"/>
-  <transmission name="shoulder_pan_trans" type="pr2_mechanism_model/SimpleTransmission">
-    <actuator name="shoulder_pan_motor"/>
-    <joint name="shoulder_pan_joint"/>
-    <mechanicalReduction>1</mechanicalReduction>
-  </transmission>
-  <transmission name="shoulder_lift_trans" type="pr2_mechanism_model/SimpleTransmission">
-    <actuator name="shoulder_lift_motor"/>
-    <joint name="shoulder_lift_joint"/>
-    <mechanicalReduction>1</mechanicalReduction>
-  </transmission>
-  <transmission name="elbow_trans" type="pr2_mechanism_model/SimpleTransmission">
-    <actuator name="elbow_motor"/>
-    <joint name="elbow_joint"/>
-    <mechanicalReduction>1</mechanicalReduction>
-  </transmission>
-  <transmission name="wrist_1_trans" type="pr2_mechanism_model/SimpleTransmission">
-    <actuator name="wrist_1_motor"/>
-    <joint name="wrist_1_joint"/>
-    <mechanicalReduction>1</mechanicalReduction>
-  </transmission>
-  <transmission name="wrist_2_trans" type="pr2_mechanism_model/SimpleTransmission">
-    <actuator name="wrist_2_motor"/>
-    <joint name="wrist_2_joint"/>
-    <mechanicalReduction>1</mechanicalReduction>
-  </transmission>
-  <transmission name="wrist_3_trans" type="pr2_mechanism_model/SimpleTransmission">
-    <actuator name="wrist_3_motor"/>
-    <joint name="wrist_3_joint"/>
-    <mechanicalReduction>1</mechanicalReduction>
-  </transmission>
+  <xacro:ur_arm_transmission name=""/>
   <gazebo reference="universal_robot">
     <material>Gazebo/Blue</material>
   </gazebo>