diff --git a/ur_description/urdf/ur10.urdf.xacro b/ur_description/urdf/ur10.urdf.xacro
index 719edf49b..25453f666 100644
--- a/ur_description/urdf/ur10.urdf.xacro
+++ b/ur_description/urdf/ur10.urdf.xacro
@@ -9,47 +9,6 @@
   <xacro:include filename="$(find ur_description)/urdf/ur.transmission.xacro" />
   <xacro:include filename="$(find ur_description)/urdf/ur.gazebo.xacro" />
 
-  <!-- Inertia parameters -->
-  <xacro:property name="base_mass" value="4.0" />  <!-- This mass might be incorrect -->
-  <xacro:property name="shoulder_mass" value="7.778" />
-  <xacro:property name="upper_arm_mass" value="12.93" />
-  <xacro:property name="forearm_mass" value="3.87" />
-  <xacro:property name="wrist_1_mass" value="1.96" />
-  <xacro:property name="wrist_2_mass" value="1.96" />
-  <xacro:property name="wrist_3_mass" value="0.202" />
-
-  <!-- These parameters are borrowed from the urcontrol.conf file
-       but are not verified for the correct permutation.
-       The permutation was guessed by looking at the UR5 parameters.
-       Serious use of these parameters needs further inspection. -->
-  <xacro:property name="shoulder_cog" value="0.00008 0.00244 -0.037" />
-  <xacro:property name="upper_arm_cog" value="0.00001 0.15061 0.38757" />
-  <xacro:property name="forearm_cog" value="-0.00012 0.06112 0.1984" />
-  <xacro:property name="wrist_1_cog" value="-0.00021 -0.00112 0.02269" />
-  <xacro:property name="wrist_2_cog" value="-0.00021 0.00112 0.002269" />
-  <xacro:property name="wrist_3_cog" value="0 -0.001156 -0.00149" />
-
-  <!-- Kinematic model -->
-  <!-- Properties from urcontrol.conf -->
-  <xacro:property name="ur10_d1" value="0.1273" />
-  <xacro:property name="ur10_a2" value="-0.612" />
-  <xacro:property name="ur10_a3" value="-0.5723" />
-  <xacro:property name="ur10_d4" value="0.163941" />
-  <xacro:property name="ur10_d5" value="0.1157" />
-  <xacro:property name="ur10_d6" value="0.0922" />
-
-  <!-- Arbitrary offsets for shoulder/elbow joints -->
-  <xacro:property name="shoulder_offset" value="0.220941" />  <!-- measured from model -->
-  <xacro:property name="elbow_offset" value="-0.1719" /> <!-- measured from model -->
-
-  <!-- link lengths used in model -->
-  <xacro:property name="shoulder_height" value="${ur10_d1}" />
-  <xacro:property name="upper_arm_length" value="${-ur10_a2}" />
-  <xacro:property name="forearm_length" value="${-ur10_a3}" />
-  <xacro:property name="wrist_1_length" value="${ur10_d4 - elbow_offset - shoulder_offset}" />
-  <xacro:property name="wrist_2_length" value="${ur10_d5}" />
-  <xacro:property name="wrist_3_length" value="${ur10_d6}" />
-
   <xacro:macro name="cylinder_inertial" params="radius length mass *origin">
     <inertial>
       <mass value="${mass}" />
@@ -60,7 +19,6 @@
     </inertial>
   </xacro:macro>
 
-
   <xacro:macro name="ur10_robot" params="prefix joint_limited
 		 shoulder_pan_lower_limit:=${-pi}    shoulder_pan_upper_limit:=${pi}
 		 shoulder_lift_lower_limit:=${-pi}    shoulder_lift_upper_limit:=${pi}
@@ -69,6 +27,47 @@
 		 wrist_2_lower_limit:=${-pi}    wrist_2_upper_limit:=${pi}
 		 wrist_3_lower_limit:=${-pi}    wrist_3_upper_limit:=${pi}">
 
+    <!-- Inertia parameters -->
+    <xacro:property name="base_mass" value="4.0" />  <!-- This mass might be incorrect -->
+    <xacro:property name="shoulder_mass" value="7.778" />
+    <xacro:property name="upper_arm_mass" value="12.93" />
+    <xacro:property name="forearm_mass" value="3.87" />
+    <xacro:property name="wrist_1_mass" value="1.96" />
+    <xacro:property name="wrist_2_mass" value="1.96" />
+    <xacro:property name="wrist_3_mass" value="0.202" />
+
+    <!-- These parameters are borrowed from the urcontrol.conf file
+        but are not verified for the correct permutation.
+        The permutation was guessed by looking at the UR5 parameters.
+        Serious use of these parameters needs further inspection. -->
+    <xacro:property name="shoulder_cog" value="0.00008 0.00244 -0.037" />
+    <xacro:property name="upper_arm_cog" value="0.00001 0.15061 0.38757" />
+    <xacro:property name="forearm_cog" value="-0.00012 0.06112 0.1984" />
+    <xacro:property name="wrist_1_cog" value="-0.00021 -0.00112 0.02269" />
+    <xacro:property name="wrist_2_cog" value="-0.00021 0.00112 0.002269" />
+    <xacro:property name="wrist_3_cog" value="0 -0.001156 -0.00149" />
+
+    <!-- Kinematic model -->
+    <!-- Properties from urcontrol.conf -->
+    <xacro:property name="d1" value="0.1273" />
+    <xacro:property name="a2" value="-0.612" />
+    <xacro:property name="a3" value="-0.5723" />
+    <xacro:property name="d4" value="0.163941" />
+    <xacro:property name="d5" value="0.1157" />
+    <xacro:property name="d6" value="0.0922" />
+
+    <!-- Arbitrary offsets for shoulder/elbow joints -->
+    <xacro:property name="shoulder_offset" value="0.220941" />  <!-- measured from model -->
+    <xacro:property name="elbow_offset" value="-0.1719" /> <!-- measured from model -->
+
+    <!-- link lengths used in model -->
+    <xacro:property name="shoulder_height" value="${d1}" />
+    <xacro:property name="upper_arm_length" value="${-a2}" />
+    <xacro:property name="forearm_length" value="${-a3}" />
+    <xacro:property name="wrist_1_length" value="${d4 - elbow_offset - shoulder_offset}" />
+    <xacro:property name="wrist_2_length" value="${d5}" />
+    <xacro:property name="wrist_3_length" value="${d6}" />
+
     <link name="${prefix}base_link" >
       <visual>
         <geometry>
@@ -149,8 +148,8 @@
           <mesh filename="package://ur_description/meshes/ur10/collision/upperarm.stl"/>
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.075" length="${-ur10_a2}" mass="${upper_arm_mass}">
-        <origin xyz="0.0 0.0 ${-ur10_a2/2.0}" rpy="0 0 0" />
+      <xacro:cylinder_inertial radius="0.075" length="${-a2}" mass="${upper_arm_mass}">
+        <origin xyz="0.0 0.0 ${-a2/2.0}" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
 
@@ -182,8 +181,8 @@
           <mesh filename="package://ur_description/meshes/ur10/collision/forearm.stl"/>
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.075" length="${-ur10_a3}" mass="${forearm_mass}">
-        <origin xyz="0.0 0.0 ${-ur10_a3/2.0}" rpy="0 0 0" />
+      <xacro:cylinder_inertial radius="0.075" length="${-a3}" mass="${forearm_mass}">
+        <origin xyz="0.0 0.0 ${-a3/2.0}" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
 
diff --git a/ur_description/urdf/ur3.urdf.xacro b/ur_description/urdf/ur3.urdf.xacro
index d1d1b19a8..1450df2cd 100644
--- a/ur_description/urdf/ur3.urdf.xacro
+++ b/ur_description/urdf/ur3.urdf.xacro
@@ -8,48 +8,7 @@
   <xacro:include filename="$(find ur_description)/urdf/ur.transmission.xacro" />
   <xacro:include filename="$(find ur_description)/urdf/ur.gazebo.xacro" />
 
-  <!-- Inertia parameters -->
-  <xacro:property name="base_mass" value="2.0" />  <!-- This mass might be incorrect -->
-  <xacro:property name="shoulder_mass" value="2.0" />
-  <xacro:property name="upper_arm_mass" value="3.42" />
-  <xacro:property name="forearm_mass" value="1.26" />
-  <xacro:property name="wrist_1_mass" value="0.8" />
-  <xacro:property name="wrist_2_mass" value="0.8" />
-  <xacro:property name="wrist_3_mass" value="0.35" />
-
-  <!-- These parameters are borrowed from the urcontrol.conf file
-       but are not verified for the correct permutation.
-       The permutation was guessed by looking at the UR5 parameters.
-       Serious use of these parameters needs further inspection. -->
-  <xacro:property name="shoulder_cog" value="0.0 -0.02 0.0" />
-  <xacro:property name="upper_arm_cog" value="0.13 0.0 0.1157" />
-  <xacro:property name="forearm_cog" value="0.05 0.0 0.0238" />
-  <xacro:property name="wrist_1_cog" value="0.0 0.0 0.01" />
-  <xacro:property name="wrist_2_cog" value="0.0 0.0 0.01" />
-  <xacro:property name="wrist_3_cog" value="0.0 0.0 -0.02" />
-
-  <!-- Kinematic model -->
-  <!-- Properties from urcontrol.conf -->
-  <xacro:property name="ur3_d1" value="0.1519" />
-  <xacro:property name="ur3_a2" value="-0.24365" />
-  <xacro:property name="ur3_a3" value="-0.21325" />
-  <xacro:property name="ur3_d4" value="0.11235" />
-  <xacro:property name="ur3_d5" value="0.08535" />
-  <xacro:property name="ur3_d6" value="0.0819" />
-
-  <!-- Arbitrary offsets for shoulder/elbow joints -->
-  <xacro:property name="shoulder_offset" value="0.1198" />  <!-- measured from model -->
-  <xacro:property name="elbow_offset" value="-0.0925" /> <!-- measured from model -->
-
-  <!-- link lengths used in model -->
-  <xacro:property name="shoulder_height" value="${ur3_d1}" />
-  <xacro:property name="upper_arm_length" value="${-ur3_a2}" />
-  <xacro:property name="forearm_length" value="${-ur3_a3}" />
-  <xacro:property name="wrist_1_length" value="${ur3_d4 - elbow_offset - shoulder_offset}" />
-  <xacro:property name="wrist_2_length" value="${ur3_d5}" />
-  <xacro:property name="wrist_3_length" value="${ur3_d6}" />
-
-  <xacro:macro name="cylinder_inertial" params="radius length mass *origin">
+   <xacro:macro name="cylinder_inertial" params="radius length mass *origin">
     <inertial>
       <mass value="${mass}" />
       <xacro:insert_block name="origin" />
@@ -59,7 +18,6 @@
     </inertial>
   </xacro:macro>
 
-
   <xacro:macro name="ur3_robot" params="prefix joint_limited
      shoulder_pan_lower_limit:=${-pi}    shoulder_pan_upper_limit:=${pi}
      shoulder_lift_lower_limit:=${-pi}    shoulder_lift_upper_limit:=${pi}
@@ -68,6 +26,47 @@
      wrist_2_lower_limit:=${-pi}    wrist_2_upper_limit:=${pi}
      wrist_3_lower_limit:=${-pi}    wrist_3_upper_limit:=${pi}">
 
+    <!-- Inertia parameters -->
+    <xacro:property name="base_mass" value="2.0" />  <!-- This mass might be incorrect -->
+    <xacro:property name="shoulder_mass" value="2.0" />
+    <xacro:property name="upper_arm_mass" value="3.42" />
+    <xacro:property name="forearm_mass" value="1.26" />
+    <xacro:property name="wrist_1_mass" value="0.8" />
+    <xacro:property name="wrist_2_mass" value="0.8" />
+    <xacro:property name="wrist_3_mass" value="0.35" />
+
+    <!-- These parameters are borrowed from the urcontrol.conf file
+        but are not verified for the correct permutation.
+        The permutation was guessed by looking at the UR5 parameters.
+        Serious use of these parameters needs further inspection. -->
+    <xacro:property name="shoulder_cog" value="0.0 -0.02 0.0" />
+    <xacro:property name="upper_arm_cog" value="0.13 0.0 0.1157" />
+    <xacro:property name="forearm_cog" value="0.05 0.0 0.0238" />
+    <xacro:property name="wrist_1_cog" value="0.0 0.0 0.01" />
+    <xacro:property name="wrist_2_cog" value="0.0 0.0 0.01" />
+    <xacro:property name="wrist_3_cog" value="0.0 0.0 -0.02" />
+
+    <!-- Kinematic model -->
+    <!-- Properties from urcontrol.conf -->
+    <xacro:property name="d1" value="0.1519" />
+    <xacro:property name="a2" value="-0.24365" />
+    <xacro:property name="a3" value="-0.21325" />
+    <xacro:property name="d4" value="0.11235" />
+    <xacro:property name="d5" value="0.08535" />
+    <xacro:property name="d6" value="0.0819" />
+
+    <!-- Arbitrary offsets for shoulder/elbow joints -->
+    <xacro:property name="shoulder_offset" value="0.1198" />  <!-- measured from model -->
+    <xacro:property name="elbow_offset" value="-0.0925" /> <!-- measured from model -->
+
+    <!-- link lengths used in model -->
+    <xacro:property name="shoulder_height" value="${d1}" />
+    <xacro:property name="upper_arm_length" value="${-a2}" />
+    <xacro:property name="forearm_length" value="${-a3}" />
+    <xacro:property name="wrist_1_length" value="${d4 - elbow_offset - shoulder_offset}" />
+    <xacro:property name="wrist_2_length" value="${d5}" />
+    <xacro:property name="wrist_3_length" value="${d6}" />
+
     <link name="${prefix}base_link" >
       <visual>
         <geometry>
@@ -148,8 +147,8 @@
           <mesh filename="package://ur_description/meshes/ur3/collision/upperarm.stl"/>
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.075" length="${-ur3_a2}" mass="${upper_arm_mass}">
-        <origin xyz="0.0 0.0 ${-ur3_a2/2.0}" rpy="0 0 0" />
+      <xacro:cylinder_inertial radius="0.075" length="${-a2}" mass="${upper_arm_mass}">
+        <origin xyz="0.0 0.0 ${-a2/2.0}" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
 
@@ -181,8 +180,8 @@
           <mesh filename="package://ur_description/meshes/ur3/collision/forearm.stl"/>
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.075" length="${-ur3_a3}" mass="${forearm_mass}">
-        <origin xyz="0.0 0.0 ${-ur3_a3/2.0}" rpy="0 0 0" />
+      <xacro:cylinder_inertial radius="0.075" length="${-a3}" mass="${forearm_mass}">
+        <origin xyz="0.0 0.0 ${-a3/2.0}" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
 
diff --git a/ur_description/urdf/ur5.urdf.xacro b/ur_description/urdf/ur5.urdf.xacro
index 313c151ba..b201db72c 100644
--- a/ur_description/urdf/ur5.urdf.xacro
+++ b/ur_description/urdf/ur5.urdf.xacro
@@ -4,67 +4,6 @@
   <xacro:include filename="$(find ur_description)/urdf/ur.transmission.xacro" />
   <xacro:include filename="$(find ur_description)/urdf/ur.gazebo.xacro" />
 
-  <!-- Inertia parameters -->
-  <xacro:property name="base_mass" value="4.0" />  <!-- This mass might be incorrect -->
-  <xacro:property name="shoulder_mass" value="3.7000" />
-  <xacro:property name="upper_arm_mass" value="8.3930" />
-  <xacro:property name="forearm_mass" value="2.2750" />
-  <xacro:property name="wrist_1_mass" value="1.2190" />
-  <xacro:property name="wrist_2_mass" value="1.2190" />
-  <xacro:property name="wrist_3_mass" value="0.1879" />
-
-  <xacro:property name="shoulder_cog" value="0.0 0.00193 -0.02561" />
-  <xacro:property name="upper_arm_cog" value="0.0 -0.024201 0.2125" />
-  <xacro:property name="forearm_cog" value="0.0 0.0265 0.11993" />
-  <xacro:property name="wrist_1_cog" value="0.0 0.110949 0.01634" />
-  <xacro:property name="wrist_2_cog" value="0.0 0.0018 0.11099" />
-  <xacro:property name="wrist_3_cog" value="0.0 0.001159 0.0" />
-
-  <!-- Kinematic model -->
-  <!-- Properties from urcontrol.conf -->
-  <!--
-    DH for UR5:
-    a = [0.00000, -0.42500, -0.39225,  0.00000,  0.00000,  0.0000]
-    d = [0.089159,  0.00000,  0.00000,  0.10915,  0.09465,  0.0823]
-    alpha = [ 1.570796327, 0, 0, 1.570796327, -1.570796327, 0 ]
-    q_home_offset = [0, -1.570796327, 0, -1.570796327, 0, 0]
-    joint_direction = [-1, -1, 1, 1, 1, 1]
-    mass = [3.7000, 8.3930, 2.2750, 1.2190, 1.2190, 0.1879]
-    center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0, 0.0265], [0, -0.0018, 0.01634], [0, 0.0018,0.01634], [0, 0, -0.001159] ]
-  -->
-  <xacro:property name="ur5_d1" value="0.089159" />
-  <xacro:property name="ur5_a2" value="-0.42500" />
-  <xacro:property name="ur5_a3" value="-0.39225" />
-  <xacro:property name="ur5_d4" value="0.10915" />
-  <xacro:property name="ur5_d5" value="0.09465" />
-  <xacro:property name="ur5_d6" value="0.0823" />
-
-  <!-- Arbitrary offsets for shoulder/elbow joints -->
-  <xacro:property name="shoulder_offset" value="0.13585" />  <!-- measured from model -->
-  <xacro:property name="elbow_offset" value="-0.1197" /> <!-- measured from model -->
-
-  <!-- link lengths used in model -->
-  <xacro:property name="shoulder_height" value="${ur5_d1}" />
-  <xacro:property name="upper_arm_length" value="${-ur5_a2}" />
-  <xacro:property name="forearm_length" value="${-ur5_a3}" />
-  <xacro:property name="wrist_1_length" value="${ur5_d4 - elbow_offset - shoulder_offset}" />
-  <xacro:property name="wrist_2_length" value="${ur5_d5}" />
-  <xacro:property name="wrist_3_length" value="${ur5_d6}" />
-  <!--property name="shoulder_height" value="0.089159" /-->
-  <!--property name="shoulder_offset" value="0.13585" /-->  <!-- shoulder_offset - elbow_offset + wrist_1_length = 0.10915 -->
-  <!--property name="upper_arm_length" value="0.42500" /-->
-  <!--property name="elbow_offset" value="0.1197" /-->       <!-- CAD measured -->
-  <!--property name="forearm_length" value="0.39225" /-->
-  <!--property name="wrist_1_length" value="0.093" /-->     <!-- CAD measured -->
-  <!--property name="wrist_2_length" value="0.09465" /-->   <!-- In CAD this distance is 0.930, but in the spec it is 0.09465 -->
-  <!--property name="wrist_3_length" value="0.0823" /-->
-
-  <xacro:property name="shoulder_radius" value="0.060" />   <!-- manually measured -->
-  <xacro:property name="upper_arm_radius" value="0.054" />  <!-- manually measured -->
-  <xacro:property name="elbow_radius" value="0.060" />      <!-- manually measured -->
-  <xacro:property name="forearm_radius" value="0.040" />    <!-- manually measured -->
-  <xacro:property name="wrist_radius" value="0.045" />      <!-- manually measured -->
-
   <xacro:macro name="cylinder_inertial" params="radius length mass *origin">
     <inertial>
       <mass value="${mass}" />
@@ -75,7 +14,6 @@
     </inertial>
   </xacro:macro>
 
-
   <xacro:macro name="ur5_robot" params="prefix joint_limited
      shoulder_pan_lower_limit:=${-pi}    shoulder_pan_upper_limit:=${pi}
      shoulder_lift_lower_limit:=${-pi}    shoulder_lift_upper_limit:=${pi}
@@ -84,6 +22,68 @@
      wrist_2_lower_limit:=${-pi}    wrist_2_upper_limit:=${pi}
      wrist_3_lower_limit:=${-pi}    wrist_3_upper_limit:=${pi}">
 
+    <!-- Inertia parameters -->
+    <xacro:property name="base_mass" value="4.0" />  <!-- This mass might be incorrect -->
+    <xacro:property name="shoulder_mass" value="3.7000" />
+    <xacro:property name="upper_arm_mass" value="8.3930" />
+    <xacro:property name="forearm_mass" value="2.2750" />
+    <xacro:property name="wrist_1_mass" value="1.2190" />
+    <xacro:property name="wrist_2_mass" value="1.2190" />
+    <xacro:property name="wrist_3_mass" value="0.1879" />
+
+    <xacro:property name="shoulder_cog" value="0.0 0.00193 -0.02561" />
+    <xacro:property name="upper_arm_cog" value="0.0 -0.024201 0.2125" />
+    <xacro:property name="forearm_cog" value="0.0 0.0265 0.11993" />
+    <xacro:property name="wrist_1_cog" value="0.0 0.110949 0.01634" />
+    <xacro:property name="wrist_2_cog" value="0.0 0.0018 0.11099" />
+    <xacro:property name="wrist_3_cog" value="0.0 0.001159 0.0" />
+
+    <!-- Kinematic model -->
+    <!-- Properties from urcontrol.conf -->
+    <!--
+      DH for UR5:
+      a = [0.00000, -0.42500, -0.39225,  0.00000,  0.00000,  0.0000]
+      d = [0.089159,  0.00000,  0.00000,  0.10915,  0.09465,  0.0823]
+      alpha = [ 1.570796327, 0, 0, 1.570796327, -1.570796327, 0 ]
+      q_home_offset = [0, -1.570796327, 0, -1.570796327, 0, 0]
+      joint_direction = [-1, -1, 1, 1, 1, 1]
+      mass = [3.7000, 8.3930, 2.2750, 1.2190, 1.2190, 0.1879]
+      center_of_mass = [ [0, -0.02561, 0.00193], [0.2125, 0, 0.11336], [0.11993, 0.0, 0.0265], [0, -0.0018, 0.01634], [0, 0.0018,0.01634], [0, 0, -0.001159] ]
+    -->
+    <xacro:property name="d1" value="0.089159" />
+    <xacro:property name="a2" value="-0.42500" />
+    <xacro:property name="a3" value="-0.39225" />
+    <xacro:property name="d4" value="0.10915" />
+    <xacro:property name="d5" value="0.09465" />
+    <xacro:property name="d6" value="0.0823" />
+
+    <!-- Arbitrary offsets for shoulder/elbow joints -->
+    <xacro:property name="shoulder_offset" value="0.13585" />  <!-- measured from model -->
+    <xacro:property name="elbow_offset" value="-0.1197" /> <!-- measured from model -->
+
+    <!-- link lengths used in model -->
+    <xacro:property name="shoulder_height" value="${d1}" />
+    <xacro:property name="upper_arm_length" value="${-a2}" />
+    <xacro:property name="forearm_length" value="${-a3}" />
+    <xacro:property name="wrist_1_length" value="${d4 - elbow_offset - shoulder_offset}" />
+    <xacro:property name="wrist_2_length" value="${d5}" />
+    <xacro:property name="wrist_3_length" value="${d6}" />
+    <!--property name="shoulder_height" value="0.089159" /-->
+    <!--property name="shoulder_offset" value="0.13585" /-->  <!-- shoulder_offset - elbow_offset + wrist_1_length = 0.10915 -->
+    <!--property name="upper_arm_length" value="0.42500" /-->
+    <!--property name="elbow_offset" value="0.1197" /-->       <!-- CAD measured -->
+    <!--property name="forearm_length" value="0.39225" /-->
+    <!--property name="wrist_1_length" value="0.093" /-->     <!-- CAD measured -->
+    <!--property name="wrist_2_length" value="0.09465" /-->   <!-- In CAD this distance is 0.930, but in the spec it is 0.09465 -->
+    <!--property name="wrist_3_length" value="0.0823" /-->
+
+    <xacro:property name="shoulder_radius" value="0.060" />   <!-- manually measured -->
+    <xacro:property name="upper_arm_radius" value="0.054" />  <!-- manually measured -->
+    <xacro:property name="elbow_radius" value="0.060" />      <!-- manually measured -->
+    <xacro:property name="forearm_radius" value="0.040" />    <!-- manually measured -->
+    <xacro:property name="wrist_radius" value="0.045" />      <!-- manually measured -->
+
+
     <link name="${prefix}base_link" >
       <visual>
         <geometry>