<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from ur5e_robot.urdf.xacro          | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="ur5e" xmlns:xacro="http://ros.org/wiki/xacro">
  <link name="base_link">
    <visual>
      <geometry>
        <mesh filename="../meshes/ur5e/visual/base.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <mesh filename="../meshes/ur5e/collision/base.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="4.0"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072"/>
    </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 0.163"/>
    <axis xyz="0 0 1"/>
    <limit effort="150.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="shoulder_link">
    <visual>
      <geometry>
        <mesh filename="../meshes/ur5e/visual/shoulder.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <mesh filename="../meshes/ur5e/collision/shoulder.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="3.7"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.0"/>
      <inertia ixx="0.010267495893" ixy="0.0" ixz="0.0" iyy="0.010267495893" iyz="0.0" izz="0.00666"/>
    </inertial>
  </link>
  <joint name="shoulder_lift_joint" type="revolute">
    <parent link="shoulder_link"/>
    <child link="upper_arm_link"/>
    <origin rpy="0.0 1.57079632679 0.0" xyz="0.0 0.138 0.0"/>
    <axis xyz="0 1 0"/>
    <limit effort="150.0" lower="-6.28318530718" upper="6.28318530718" velocity="3.14"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="upper_arm_link">
    <visual>
      <geometry>
        <mesh filename="../meshes/ur5e/visual/upperarm.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <mesh filename="../meshes/ur5e/collision/upperarm.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="8.393"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.2125"/>
      <inertia ixx="0.133885781862" ixy="0.0" ixz="0.0" iyy="0.133885781862" iyz="0.0" izz="0.0151074"/>
    </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 -0.131 0.425"/>
    <axis xyz="0 1 0"/>
    <limit effort="150.0" lower="-3.14159265359" upper="3.14159265359" velocity="3.14"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="forearm_link">
    <visual>
      <geometry>
        <mesh filename="../meshes/ur5e/visual/forearm.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <mesh filename="../meshes/ur5e/collision/forearm.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="2.275"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.196"/>
      <inertia ixx="0.0311796208615" ixy="0.0" ixz="0.0" iyy="0.0311796208615" iyz="0.0" izz="0.004095"/>
    </inertial>
  </link>
  <joint name="wrist_1_joint" type="revolute">
    <parent link="forearm_link"/>
    <child link="wrist_1_link"/>
    <origin rpy="0.0 1.57079632679 0.0" xyz="0.0 0.0 0.392"/>
    <axis xyz="0 1 0"/>
    <limit effort="28.0" lower="-6.28318530718" upper="6.28318530718" velocity="6.28"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="wrist_1_link">
    <visual>
      <geometry>
        <mesh filename="../meshes/ur5e/visual/wrist1.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <mesh filename="../meshes/ur5e/collision/wrist1.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.219"/>
      <origin rpy="0 0 0" xyz="0.0 0.127 0.0"/>
      <inertia ixx="0.00255989897604" ixy="0.0" ixz="0.0" iyy="0.00255989897604" iyz="0.0" izz="0.0021942"/>
    </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 0.127 0.0"/>
    <axis xyz="0 0 1"/>
    <limit effort="28.0" lower="-6.28318530718" upper="6.28318530718" velocity="6.28"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="wrist_2_link">
    <visual>
      <geometry>
        <mesh filename="../meshes/ur5e/visual/wrist2.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <mesh filename="../meshes/ur5e/collision/wrist2.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1.219"/>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.1"/>
      <inertia ixx="0.00255989897604" ixy="0.0" ixz="0.0" iyy="0.00255989897604" iyz="0.0" izz="0.0021942"/>
    </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 0.1"/>
    <axis xyz="0 1 0"/>
    <limit effort="28.0" lower="-6.28318530718" upper="6.28318530718" velocity="6.28"/>
    <dynamics damping="0.0" friction="0.0"/>
  </joint>
  <link name="wrist_3_link">
    <visual>
      <geometry>
        <mesh filename="../meshes/ur5e/visual/wrist3.dae"/>
      </geometry>
      <material name="LightGrey">
        <color rgba="0.7 0.7 0.7 1.0"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <mesh filename="../meshes/ur5e/collision/wrist3.stl" scale="1.0 1.0 1.0"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.1879"/>
      <origin rpy="1.57079632679 0 0" xyz="0.0 0.0771 0.0"/>
      <inertia ixx="9.89041005217e-05" ixy="0.0" ixz="0.0" iyy="9.89041005217e-05" iyz="0.0" izz="0.0001321171875"/>
    </inertial>
  </link>
  <joint name="ee_fixed_joint" type="fixed">
    <parent link="wrist_3_link"/>
    <child link="ee_link"/>
    <origin rpy="0.0 0.0 1.57079632679" xyz="0.0 0.1 0.0"/>
  </joint>
  <link name="ee_link">
    <collision>
      <geometry>
        <box size="0.01 0.01 0.01"/>
      </geometry>
      <origin rpy="0 0 0" xyz="-0.01 0 0"/>
    </collision>
  </link>
  <!-- ROS base_link to UR 'Base' Coordinates transform -->
  <link name="base"/>
  <joint name="base_link-base_fixed_joint" type="fixed">
    <!-- NOTE: this rotation is only needed as long as base_link itself is
                 not corrected wrt the real robot (ie: rotated over 180
                 degrees)
      -->
    <origin rpy="0 0 -3.14159265359" xyz="0 0 0"/>
    <parent link="base_link"/>
    <child link="base"/>
  </joint>
  <!-- Frame coincident with all-zeros TCP on UR controller -->
  <link name="tool0"/>
  <joint name="wrist_3_link-tool0_fixed_joint" type="fixed">
    <origin rpy="-1.57079632679 0 0" xyz="0 0.1 0"/>
    <parent link="wrist_3_link"/>
    <child link="tool0"/>
  </joint>
  <link name="world"/>
  <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>

  <!-- peh -->
  <link name="peg">
    <visual>
      <geometry>
        <cylinder length="0.15" radius="0.015"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.15" radius="0.015"/>
      </geometry>
    </collision>
  </link>
  <joint name="peg_fixed_joint" type="fixed">
    <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.075"/>
    <parent link="tool0"/>
    <child link="peg"/>
  </joint>

</robot>
