<?xml version="1.0" encoding="utf-8"?>

<robot name="ur5">
  <link name="base_link">
    <visual>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur5/visual/Base.dae"/>
      </geometry>
    </visual>
  </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="150.0" lower="-3.14159265" upper="3.14159265" velocity="3.15"/>
  </joint>
  <link name="shoulder_link">
    <visual>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur5/visual/Shoulder.dae"/>
      </geometry>
    </visual>
  </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="150.0" lower="-3.14159265" upper="3.14159265" velocity="3.15"/>
  </joint>
  <link name="upper_arm_link">
    <visual>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur5/visual/UpperArm.dae"/>
      </geometry>
    </visual>
  </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="150.0" lower="-3.14159265" upper="3.14159265" velocity="3.15"/>
  </joint>
  <link name="forearm_link">
    <visual>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur5/visual/Forearm.dae"/>
      </geometry>
    </visual>
  </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="28.0" lower="-3.14159265" upper="3.14159265" velocity="3.2"/>
  </joint>
  <link name="wrist_1_link">
    <visual>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur5/visual/Wrist1.dae"/>
      </geometry>
    </visual>
  </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="28.0" lower="-3.14159265" upper="3.14159265" velocity="3.2"/>
  </joint>
  <link name="wrist_2_link">
    <visual>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur5/visual/Wrist2.dae"/>
      </geometry>
    </visual>
  </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="28.0" lower="-3.14159265" upper="3.14159265" velocity="3.2"/>
  </joint>
  <link name="wrist_3_link">
    <visual>
      <geometry>
        <mesh filename="package://ur_description/meshes/ur5/visual/Wrist3.dae"/>
      </geometry>
    </visual>
  </link>
</robot>

