From 8c84b489df8f1db0921e917d493525666de04e30 Mon Sep 17 00:00:00 2001
From: Felix von Drigalski <FvDrigalski@gmail.com>
Date: Thu, 21 Jun 2018 10:37:58 +0900
Subject: [PATCH 1/2] Fix overlapping properties between robot definitions

Uploading a different UR definition used to break the previous definition files by overwriting their link lengths. This commit makes the property names for each robot unique so they are independent of the other robot models.
---
 ur_description/urdf/ur10.urdf.xacro | 72 ++++++++++-----------
 ur_description/urdf/ur3.urdf.xacro  | 72 ++++++++++-----------
 ur_description/urdf/ur5.urdf.xacro  | 98 ++++++++++++++---------------
 3 files changed, 121 insertions(+), 121 deletions(-)

diff --git a/ur_description/urdf/ur10.urdf.xacro b/ur_description/urdf/ur10.urdf.xacro
index 719edf49b..1e37ee515 100644
--- a/ur_description/urdf/ur10.urdf.xacro
+++ b/ur_description/urdf/ur10.urdf.xacro
@@ -10,24 +10,24 @@
   <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" />
+  <xacro:property name="ur10_base_mass" value="4.0" />  <!-- This mass might be incorrect -->
+  <xacro:property name="ur10_shoulder_mass" value="7.778" />
+  <xacro:property name="ur10_upper_arm_mass" value="12.93" />
+  <xacro:property name="ur10_forearm_mass" value="3.87" />
+  <xacro:property name="ur10_wrist_1_mass" value="1.96" />
+  <xacro:property name="ur10_wrist_2_mass" value="1.96" />
+  <xacro:property name="ur10_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" />
+  <xacro:property name="ur10_shoulder_cog" value="0.00008 0.00244 -0.037" />
+  <xacro:property name="ur10_upper_arm_cog" value="0.00001 0.15061 0.38757" />
+  <xacro:property name="ur10_forearm_cog" value="-0.00012 0.06112 0.1984" />
+  <xacro:property name="ur10_wrist_1_cog" value="-0.00021 -0.00112 0.02269" />
+  <xacro:property name="ur10_wrist_2_cog" value="-0.00021 0.00112 0.002269" />
+  <xacro:property name="ur10_wrist_3_cog" value="0 -0.001156 -0.00149" />
 
   <!-- Kinematic model -->
   <!-- Properties from urcontrol.conf -->
@@ -39,16 +39,16 @@
   <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 -->
+  <xacro:property name="ur10_shoulder_offset" value="0.220941" />  <!-- measured from model -->
+  <xacro:property name="ur10_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:property name="ur10_shoulder_height" value="${ur10_d1}" />
+  <xacro:property name="ur10_upper_arm_length" value="${-ur10_a2}" />
+  <xacro:property name="ur10_forearm_length" value="${-ur10_a3}" />
+  <xacro:property name="ur10_wrist_1_length" value="${ur10_d4 - ur10_elbow_offset - ur10_shoulder_offset}" />
+  <xacro:property name="ur10_wrist_2_length" value="${ur10_d5}" />
+  <xacro:property name="ur10_wrist_3_length" value="${ur10_d6}" />
 
   <xacro:macro name="cylinder_inertial" params="radius length mass *origin">
     <inertial>
@@ -83,7 +83,7 @@
           <mesh filename="package://ur_description/meshes/ur10/collision/base.stl"/>
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.075" length="0.038" mass="${base_mass}">
+      <xacro:cylinder_inertial radius="0.075" length="0.038" mass="${ur10_base_mass}">
         <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
@@ -91,7 +91,7 @@
     <joint name="${prefix}shoulder_pan_joint" type="revolute">
       <parent link="${prefix}base_link" />
       <child link = "${prefix}shoulder_link" />
-      <origin xyz="0.0 0.0 ${shoulder_height}" rpy="0.0 0.0 0.0" />
+      <origin xyz="0.0 0.0 ${ur10_shoulder_height}" rpy="0.0 0.0 0.0" />
       <axis xyz="0 0 1" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="330.0" velocity="2.16"/>
@@ -116,7 +116,7 @@
           <mesh filename="package://ur_description/meshes/ur10/collision/shoulder.stl"/>
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.075" length="0.178" mass="${shoulder_mass}">
+      <xacro:cylinder_inertial radius="0.075" length="0.178" mass="${ur10_shoulder_mass}">
         <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
@@ -124,7 +124,7 @@
     <joint name="${prefix}shoulder_lift_joint" type="revolute">
       <parent link="${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" />
+      <origin xyz="0.0 ${ur10_shoulder_offset} 0.0" rpy="0.0 ${pi / 2.0} 0.0" />
       <axis xyz="0 1 0" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="330.0" velocity="2.16"/>
@@ -149,7 +149,7 @@
           <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}">
+      <xacro:cylinder_inertial radius="0.075" length="${-ur10_a2}" mass="${ur10_upper_arm_mass}">
         <origin xyz="0.0 0.0 ${-ur10_a2/2.0}" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
@@ -157,7 +157,7 @@
     <joint name="${prefix}elbow_joint" type="revolute">
       <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" />
+      <origin xyz="0.0 ${ur10_elbow_offset} ${ur10_upper_arm_length}" rpy="0.0 0.0 0.0" />
       <axis xyz="0 1 0" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-pi}" upper="${pi}" effort="150.0" velocity="3.15"/>
@@ -182,7 +182,7 @@
           <mesh filename="package://ur_description/meshes/ur10/collision/forearm.stl"/>
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.075" length="${-ur10_a3}" mass="${forearm_mass}">
+      <xacro:cylinder_inertial radius="0.075" length="${-ur10_a3}" mass="${ur10_forearm_mass}">
         <origin xyz="0.0 0.0 ${-ur10_a3/2.0}" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
@@ -190,7 +190,7 @@
     <joint name="${prefix}wrist_1_joint" type="revolute">
       <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" />
+      <origin xyz="0.0 0.0 ${ur10_forearm_length}" rpy="0.0 ${pi / 2.0} 0.0" />
       <axis xyz="0 1 0" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="3.2"/>
@@ -215,7 +215,7 @@
           <mesh filename="package://ur_description/meshes/ur10/collision/wrist1.stl"/>
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.075" length="0.12" mass="${wrist_1_mass}">
+      <xacro:cylinder_inertial radius="0.075" length="0.12" mass="${ur10_wrist_1_mass}">
         <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
@@ -223,7 +223,7 @@
     <joint name="${prefix}wrist_2_joint" type="revolute">
       <parent link="${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" />
+      <origin xyz="0.0 ${ur10_wrist_1_length} 0.0" rpy="0.0 0.0 0.0" />
       <axis xyz="0 0 1" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="3.2"/>
@@ -248,7 +248,7 @@
           <mesh filename="package://ur_description/meshes/ur10/collision/wrist2.stl"/>
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.075" length="0.12" mass="${wrist_2_mass}">
+      <xacro:cylinder_inertial radius="0.075" length="0.12" mass="${ur10_wrist_2_mass}">
         <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
@@ -256,7 +256,7 @@
     <joint name="${prefix}wrist_3_joint" type="revolute">
       <parent link="${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" />
+      <origin xyz="0.0 0.0 ${ur10_wrist_2_length}" rpy="0.0 0.0 0.0" />
       <axis xyz="0 1 0" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="3.2"/>
@@ -281,7 +281,7 @@
           <mesh filename="package://ur_description/meshes/ur10/collision/wrist3.stl"/>
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.075" length="0.12" mass="${wrist_3_mass}">
+      <xacro:cylinder_inertial radius="0.075" length="0.12" mass="${ur10_wrist_3_mass}">
         <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
@@ -289,7 +289,7 @@
     <joint name="${prefix}ee_fixed_joint" type="fixed">
       <parent link="${prefix}wrist_3_link" />
       <child link = "${prefix}ee_link" />
-      <origin xyz="0.0 ${wrist_3_length} 0.0" rpy="0.0 0.0 ${pi/2.0}" />
+      <origin xyz="0.0 ${ur10_wrist_3_length} 0.0" rpy="0.0 0.0 ${pi/2.0}" />
     </joint>
 
     <link name="${prefix}ee_link">
@@ -319,7 +319,7 @@
     <!-- Frame coincident with all-zeros TCP on UR controller -->
     <link name="${prefix}tool0"/>
     <joint name="${prefix}wrist_3_link-tool0_fixed_joint" type="fixed">
-      <origin xyz="0 ${wrist_3_length} 0" rpy="${pi/-2.0} 0 0"/>
+      <origin xyz="0 ${ur10_wrist_3_length} 0" rpy="${pi/-2.0} 0 0"/>
       <parent link="${prefix}wrist_3_link"/>
       <child link="${prefix}tool0"/>
     </joint>
diff --git a/ur_description/urdf/ur3.urdf.xacro b/ur_description/urdf/ur3.urdf.xacro
index d1d1b19a8..28f845f14 100644
--- a/ur_description/urdf/ur3.urdf.xacro
+++ b/ur_description/urdf/ur3.urdf.xacro
@@ -9,24 +9,24 @@
   <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" />
+  <xacro:property name="ur3_base_mass" value="2.0" />  <!-- This mass might be incorrect -->
+  <xacro:property name="ur3_shoulder_mass" value="2.0" />
+  <xacro:property name="ur3_upper_arm_mass" value="3.42" />
+  <xacro:property name="ur3_forearm_mass" value="1.26" />
+  <xacro:property name="ur3_wrist_1_mass" value="0.8" />
+  <xacro:property name="ur3_wrist_2_mass" value="0.8" />
+  <xacro:property name="ur3_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" />
+  <xacro:property name="ur3_shoulder_cog" value="0.0 -0.02 0.0" />
+  <xacro:property name="ur3_upper_arm_cog" value="0.13 0.0 0.1157" />
+  <xacro:property name="ur3_forearm_cog" value="0.05 0.0 0.0238" />
+  <xacro:property name="ur3_wrist_1_cog" value="0.0 0.0 0.01" />
+  <xacro:property name="ur3_wrist_2_cog" value="0.0 0.0 0.01" />
+  <xacro:property name="ur3_wrist_3_cog" value="0.0 0.0 -0.02" />
 
   <!-- Kinematic model -->
   <!-- Properties from urcontrol.conf -->
@@ -38,16 +38,16 @@
   <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 -->
+  <xacro:property name="ur3_shoulder_offset" value="0.1198" />  <!-- measured from model -->
+  <xacro:property name="ur3_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:property name="ur3_shoulder_height" value="${ur3_d1}" />
+  <xacro:property name="ur3_upper_arm_length" value="${-ur3_a2}" />
+  <xacro:property name="ur3_forearm_length" value="${-ur3_a3}" />
+  <xacro:property name="ur3_wrist_1_length" value="${ur3_d4 - ur3_elbow_offset - ur3_shoulder_offset}" />
+  <xacro:property name="ur3_wrist_2_length" value="${ur3_d5}" />
+  <xacro:property name="ur3_wrist_3_length" value="${ur3_d6}" />
 
   <xacro:macro name="cylinder_inertial" params="radius length mass *origin">
     <inertial>
@@ -82,7 +82,7 @@
           <mesh filename="package://ur_description/meshes/ur3/collision/base.stl"/>
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.075" length="0.038" mass="${base_mass}">
+      <xacro:cylinder_inertial radius="0.075" length="0.038" mass="${ur3_base_mass}">
         <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
@@ -90,7 +90,7 @@
     <joint name="${prefix}shoulder_pan_joint" type="revolute">
       <parent link="${prefix}base_link" />
       <child link = "${prefix}shoulder_link" />
-      <origin xyz="0.0 0.0 ${shoulder_height}" rpy="0.0 0.0 0.0" />
+      <origin xyz="0.0 0.0 ${ur3_shoulder_height}" rpy="0.0 0.0 0.0" />
       <axis xyz="0 0 1" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="330.0" velocity="2.16"/>
@@ -115,7 +115,7 @@
           <mesh filename="package://ur_description/meshes/ur3/collision/shoulder.stl"/>
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.075" length="0.178" mass="${shoulder_mass}">
+      <xacro:cylinder_inertial radius="0.075" length="0.178" mass="${ur3_shoulder_mass}">
         <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
@@ -123,7 +123,7 @@
     <joint name="${prefix}shoulder_lift_joint" type="revolute">
       <parent link="${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" />
+      <origin xyz="0.0 ${ur3_shoulder_offset} 0.0" rpy="0.0 ${pi / 2.0} 0.0" />
       <axis xyz="0 1 0" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="330.0" velocity="2.16"/>
@@ -148,7 +148,7 @@
           <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}">
+      <xacro:cylinder_inertial radius="0.075" length="${-ur3_a2}" mass="${ur3_upper_arm_mass}">
         <origin xyz="0.0 0.0 ${-ur3_a2/2.0}" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
@@ -156,7 +156,7 @@
     <joint name="${prefix}elbow_joint" type="revolute">
       <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" />
+      <origin xyz="0.0 ${ur3_elbow_offset} ${ur3_upper_arm_length}" rpy="0.0 0.0 0.0" />
       <axis xyz="0 1 0" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-pi}" upper="${pi}" effort="150.0" velocity="3.15"/>
@@ -181,7 +181,7 @@
           <mesh filename="package://ur_description/meshes/ur3/collision/forearm.stl"/>
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.075" length="${-ur3_a3}" mass="${forearm_mass}">
+      <xacro:cylinder_inertial radius="0.075" length="${-ur3_a3}" mass="${ur3_forearm_mass}">
         <origin xyz="0.0 0.0 ${-ur3_a3/2.0}" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
@@ -189,7 +189,7 @@
     <joint name="${prefix}wrist_1_joint" type="revolute">
       <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" />
+      <origin xyz="0.0 0.0 ${ur3_forearm_length}" rpy="0.0 ${pi / 2.0} 0.0" />
       <axis xyz="0 1 0" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="3.2"/>
@@ -214,7 +214,7 @@
           <mesh filename="package://ur_description/meshes/ur3/collision/wrist1.stl"/>
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.075" length="0.12" mass="${wrist_1_mass}">
+      <xacro:cylinder_inertial radius="0.075" length="0.12" mass="${ur3_wrist_1_mass}">
         <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
@@ -222,7 +222,7 @@
     <joint name="${prefix}wrist_2_joint" type="revolute">
       <parent link="${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" />
+      <origin xyz="0.0 ${ur3_wrist_1_length} 0.0" rpy="0.0 0.0 0.0" />
       <axis xyz="0 0 1" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="3.2"/>
@@ -247,7 +247,7 @@
           <mesh filename="package://ur_description/meshes/ur3/collision/wrist2.stl"/>
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.075" length="0.12" mass="${wrist_2_mass}">
+      <xacro:cylinder_inertial radius="0.075" length="0.12" mass="${ur3_wrist_2_mass}">
         <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
@@ -255,7 +255,7 @@
     <joint name="${prefix}wrist_3_joint" type="revolute">
       <parent link="${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" />
+      <origin xyz="0.0 0.0 ${ur3_wrist_2_length}" rpy="0.0 0.0 0.0" />
       <axis xyz="0 1 0" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="3.2"/>
@@ -280,7 +280,7 @@
           <mesh filename="package://ur_description/meshes/ur3/collision/wrist3.stl"/>
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.075" length="0.12" mass="${wrist_3_mass}">
+      <xacro:cylinder_inertial radius="0.075" length="0.12" mass="${ur3_wrist_3_mass}">
         <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
@@ -288,7 +288,7 @@
     <joint name="${prefix}ee_fixed_joint" type="fixed">
       <parent link="${prefix}wrist_3_link" />
       <child link = "${prefix}ee_link" />
-      <origin xyz="0.0 ${wrist_3_length} 0.0" rpy="0.0 0.0 ${pi/2.0}" />
+      <origin xyz="0.0 ${ur3_wrist_3_length} 0.0" rpy="0.0 0.0 ${pi/2.0}" />
     </joint>
 
     <link name="${prefix}ee_link">
@@ -318,7 +318,7 @@
     <!-- Frame coincident with all-zeros TCP on UR controller -->
     <link name="${prefix}tool0"/>
     <joint name="${prefix}wrist_3_link-tool0_fixed_joint" type="fixed">
-      <origin xyz="0 ${wrist_3_length} 0" rpy="${pi/-2.0} 0 0"/>
+      <origin xyz="0 ${ur3_wrist_3_length} 0" rpy="${pi/-2.0} 0 0"/>
       <parent link="${prefix}wrist_3_link"/>
       <child link="${prefix}tool0"/>
     </joint>
diff --git a/ur_description/urdf/ur5.urdf.xacro b/ur_description/urdf/ur5.urdf.xacro
index 313c151ba..1bc709522 100644
--- a/ur_description/urdf/ur5.urdf.xacro
+++ b/ur_description/urdf/ur5.urdf.xacro
@@ -5,20 +5,20 @@
   <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="ur5_base_mass" value="4.0" />  <!-- This mass might be incorrect -->
+  <xacro:property name="ur5_shoulder_mass" value="3.7000" />
+  <xacro:property name="ur5_upper_arm_mass" value="8.3930" />
+  <xacro:property name="ur5_forearm_mass" value="2.2750" />
+  <xacro:property name="ur5_wrist_1_mass" value="1.2190" />
+  <xacro:property name="ur5_wrist_2_mass" value="1.2190" />
+  <xacro:property name="ur5_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" />
+  <xacro:property name="ur5_shoulder_cog" value="0.0 0.00193 -0.02561" />
+  <xacro:property name="ur5_upper_arm_cog" value="0.0 -0.024201 0.2125" />
+  <xacro:property name="ur5_forearm_cog" value="0.0 0.0265 0.11993" />
+  <xacro:property name="ur5_wrist_1_cog" value="0.0 0.110949 0.01634" />
+  <xacro:property name="ur5_wrist_2_cog" value="0.0 0.0018 0.11099" />
+  <xacro:property name="ur5_wrist_3_cog" value="0.0 0.001159 0.0" />
 
   <!-- Kinematic model -->
   <!-- Properties from urcontrol.conf -->
@@ -40,30 +40,30 @@
   <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 -->
+  <xacro:property name="ur5_shoulder_offset" value="0.13585" />  <!-- measured from model -->
+  <xacro:property name="ur5_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="ur5_shoulder_height" value="${ur5_d1}" />
+  <xacro:property name="ur5_upper_arm_length" value="${-ur5_a2}" />
+  <xacro:property name="ur5_forearm_length" value="${-ur5_a3}" />
+  <xacro:property name="ur5_wrist_1_length" value="${ur5_d4 - ur5_elbow_offset - ur5_shoulder_offset}" />
+  <xacro:property name="ur5_wrist_2_length" value="${ur5_d5}" />
+  <xacro:property name="ur5_wrist_3_length" value="${ur5_d6}" />
+  <!--property name="ur5_shoulder_height" value="0.089159" /-->
+  <!--property name="ur5_shoulder_offset" value="0.13585" /-->  <!-- ur5_shoulder_offset - ur5_elbow_offset + ur5_wrist_1_length = 0.10915 -->
+  <!--property name="ur5_upper_arm_length" value="0.42500" /-->
+  <!--property name="ur5_elbow_offset" value="0.1197" /-->       <!-- CAD measured -->
+  <!--property name="ur5_forearm_length" value="0.39225" /-->
+  <!--property name="ur5_wrist_1_length" value="0.093" /-->     <!-- CAD measured -->
+  <!--property name="ur5_wrist_2_length" value="0.09465" /-->   <!-- In CAD this distance is 0.930, but in the spec it is 0.09465 -->
+  <!--property name="ur5_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:property name="ur5_shoulder_radius" value="0.060" />   <!-- manually measured -->
+  <xacro:property name="ur5_upper_arm_radius" value="0.054" />  <!-- manually measured -->
+  <xacro:property name="ur5_elbow_radius" value="0.060" />      <!-- manually measured -->
+  <xacro:property name="ur5_forearm_radius" value="0.040" />    <!-- manually measured -->
+  <xacro:property name="ur5_wrist_radius" value="0.045" />      <!-- manually measured -->
 
   <xacro:macro name="cylinder_inertial" params="radius length mass *origin">
     <inertial>
@@ -98,7 +98,7 @@
           <mesh filename="package://ur_description/meshes/ur5/collision/base.stl" />
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.06" length="0.05" mass="${base_mass}">
+      <xacro:cylinder_inertial radius="0.06" length="0.05" mass="${ur5_base_mass}">
         <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
@@ -106,7 +106,7 @@
     <joint name="${prefix}shoulder_pan_joint" type="revolute">
       <parent link="${prefix}base_link" />
       <child link = "${prefix}shoulder_link" />
-      <origin xyz="0.0 0.0 ${shoulder_height}" rpy="0.0 0.0 0.0" />
+      <origin xyz="0.0 0.0 ${ur5_shoulder_height}" rpy="0.0 0.0 0.0" />
       <axis xyz="0 0 1" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="150.0" velocity="3.15"/>
@@ -131,7 +131,7 @@
           <mesh filename="package://ur_description/meshes/ur5/collision/shoulder.stl" />
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.06" length="0.15" mass="${shoulder_mass}">
+      <xacro:cylinder_inertial radius="0.06" length="0.15" mass="${ur5_shoulder_mass}">
         <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
@@ -139,7 +139,7 @@
     <joint name="${prefix}shoulder_lift_joint" type="revolute">
       <parent link="${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" />
+      <origin xyz="0.0 ${ur5_shoulder_offset} 0.0" rpy="0.0 ${pi / 2.0} 0.0" />
       <axis xyz="0 1 0" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="150.0" velocity="3.15"/>
@@ -164,7 +164,7 @@
           <mesh filename="package://ur_description/meshes/ur5/collision/upperarm.stl" />
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.06" length="0.56" mass="${upper_arm_mass}">
+      <xacro:cylinder_inertial radius="0.06" length="0.56" mass="${ur5_upper_arm_mass}">
         <origin xyz="0.0 0.0 0.28" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
@@ -172,7 +172,7 @@
     <joint name="${prefix}elbow_joint" type="revolute">
       <parent link="${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" />
+      <origin xyz="0.0 ${ur5_elbow_offset} ${ur5_upper_arm_length}" rpy="0.0 0.0 0.0" />
       <axis xyz="0 1 0" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-pi}" upper="${pi}" effort="150.0" velocity="3.15"/>
@@ -197,7 +197,7 @@
           <mesh filename="package://ur_description/meshes/ur5/collision/forearm.stl" />
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.06" length="0.5" mass="${forearm_mass}">
+      <xacro:cylinder_inertial radius="0.06" length="0.5" mass="${ur5_forearm_mass}">
         <origin xyz="0.0 0.0 0.25" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
@@ -205,7 +205,7 @@
     <joint name="${prefix}wrist_1_joint" type="revolute">
       <parent link="${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" />
+      <origin xyz="0.0 0.0 ${ur5_forearm_length}" rpy="0.0 ${pi / 2.0} 0.0" />
       <axis xyz="0 1 0" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="28.0" velocity="3.2"/>
@@ -230,7 +230,7 @@
           <mesh filename="package://ur_description/meshes/ur5/collision/wrist1.stl" />
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.6" length="0.12" mass="${wrist_1_mass}">
+      <xacro:cylinder_inertial radius="0.6" length="0.12" mass="${ur5_wrist_1_mass}">
         <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
@@ -238,7 +238,7 @@
     <joint name="${prefix}wrist_2_joint" type="revolute">
       <parent link="${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" />
+      <origin xyz="0.0 ${ur5_wrist_1_length} 0.0" rpy="0.0 0.0 0.0" />
       <axis xyz="0 0 1" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="28.0" velocity="3.2"/>
@@ -263,7 +263,7 @@
           <mesh filename="package://ur_description/meshes/ur5/collision/wrist2.stl" />
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.6" length="0.12" mass="${wrist_2_mass}">
+      <xacro:cylinder_inertial radius="0.6" length="0.12" mass="${ur5_wrist_2_mass}">
         <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
@@ -271,7 +271,7 @@
     <joint name="${prefix}wrist_3_joint" type="revolute">
       <parent link="${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" />
+      <origin xyz="0.0 0.0 ${ur5_wrist_2_length}" rpy="0.0 0.0 0.0" />
       <axis xyz="0 1 0" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="28.0" velocity="3.2"/>
@@ -296,7 +296,7 @@
           <mesh filename="package://ur_description/meshes/ur5/collision/wrist3.stl" />
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.6" length="0.12" mass="${wrist_3_mass}">
+      <xacro:cylinder_inertial radius="0.6" length="0.12" mass="${ur5_wrist_3_mass}">
         <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
@@ -304,7 +304,7 @@
     <joint name="${prefix}ee_fixed_joint" type="fixed">
       <parent link="${prefix}wrist_3_link" />
       <child link = "${prefix}ee_link" />
-      <origin xyz="0.0 ${wrist_3_length} 0.0" rpy="0.0 0.0 ${pi/2.0}" />
+      <origin xyz="0.0 ${ur5_wrist_3_length} 0.0" rpy="0.0 0.0 ${pi/2.0}" />
     </joint>
 
     <link name="${prefix}ee_link">
@@ -334,7 +334,7 @@
     <!-- Frame coincident with all-zeros TCP on UR controller -->
     <link name="${prefix}tool0"/>
     <joint name="${prefix}wrist_3_link-tool0_fixed_joint" type="fixed">
-      <origin xyz="0 ${wrist_3_length} 0" rpy="${pi/-2.0} 0 0"/>
+      <origin xyz="0 ${ur5_wrist_3_length} 0" rpy="${pi/-2.0} 0 0"/>
       <parent link="${prefix}wrist_3_link"/>
       <child link="${prefix}tool0"/>
     </joint>

From 2847afab7c2a5b87e031211bf9d5b9ab85a8370e Mon Sep 17 00:00:00 2001
From: Felix von Drigalski <FvDrigalski@gmail.com>
Date: Tue, 26 Jun 2018 11:06:33 +0900
Subject: [PATCH 2/2] Move robot-specific parameters inside macro

This is the cleaner solution for what the previous commit was meant to solve
---
 ur_description/urdf/ur10.urdf.xacro | 117 +++++++++++----------
 ur_description/urdf/ur3.urdf.xacro  | 119 +++++++++++----------
 ur_description/urdf/ur5.urdf.xacro  | 154 ++++++++++++++--------------
 3 files changed, 194 insertions(+), 196 deletions(-)

diff --git a/ur_description/urdf/ur10.urdf.xacro b/ur_description/urdf/ur10.urdf.xacro
index 1e37ee515..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="ur10_base_mass" value="4.0" />  <!-- This mass might be incorrect -->
-  <xacro:property name="ur10_shoulder_mass" value="7.778" />
-  <xacro:property name="ur10_upper_arm_mass" value="12.93" />
-  <xacro:property name="ur10_forearm_mass" value="3.87" />
-  <xacro:property name="ur10_wrist_1_mass" value="1.96" />
-  <xacro:property name="ur10_wrist_2_mass" value="1.96" />
-  <xacro:property name="ur10_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="ur10_shoulder_cog" value="0.00008 0.00244 -0.037" />
-  <xacro:property name="ur10_upper_arm_cog" value="0.00001 0.15061 0.38757" />
-  <xacro:property name="ur10_forearm_cog" value="-0.00012 0.06112 0.1984" />
-  <xacro:property name="ur10_wrist_1_cog" value="-0.00021 -0.00112 0.02269" />
-  <xacro:property name="ur10_wrist_2_cog" value="-0.00021 0.00112 0.002269" />
-  <xacro:property name="ur10_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="ur10_shoulder_offset" value="0.220941" />  <!-- measured from model -->
-  <xacro:property name="ur10_elbow_offset" value="-0.1719" /> <!-- measured from model -->
-
-  <!-- link lengths used in model -->
-  <xacro:property name="ur10_shoulder_height" value="${ur10_d1}" />
-  <xacro:property name="ur10_upper_arm_length" value="${-ur10_a2}" />
-  <xacro:property name="ur10_forearm_length" value="${-ur10_a3}" />
-  <xacro:property name="ur10_wrist_1_length" value="${ur10_d4 - ur10_elbow_offset - ur10_shoulder_offset}" />
-  <xacro:property name="ur10_wrist_2_length" value="${ur10_d5}" />
-  <xacro:property name="ur10_wrist_3_length" value="${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="${prefix}base_link" >
       <visual>
         <geometry>
@@ -83,7 +82,7 @@
           <mesh filename="package://ur_description/meshes/ur10/collision/base.stl"/>
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.075" length="0.038" mass="${ur10_base_mass}">
+      <xacro:cylinder_inertial radius="0.075" length="0.038" mass="${base_mass}">
         <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
@@ -91,7 +90,7 @@
     <joint name="${prefix}shoulder_pan_joint" type="revolute">
       <parent link="${prefix}base_link" />
       <child link = "${prefix}shoulder_link" />
-      <origin xyz="0.0 0.0 ${ur10_shoulder_height}" rpy="0.0 0.0 0.0" />
+      <origin xyz="0.0 0.0 ${shoulder_height}" rpy="0.0 0.0 0.0" />
       <axis xyz="0 0 1" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="330.0" velocity="2.16"/>
@@ -116,7 +115,7 @@
           <mesh filename="package://ur_description/meshes/ur10/collision/shoulder.stl"/>
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.075" length="0.178" mass="${ur10_shoulder_mass}">
+      <xacro:cylinder_inertial radius="0.075" length="0.178" mass="${shoulder_mass}">
         <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
@@ -124,7 +123,7 @@
     <joint name="${prefix}shoulder_lift_joint" type="revolute">
       <parent link="${prefix}shoulder_link" />
       <child link = "${prefix}upper_arm_link" />
-      <origin xyz="0.0 ${ur10_shoulder_offset} 0.0" rpy="0.0 ${pi / 2.0} 0.0" />
+      <origin xyz="0.0 ${shoulder_offset} 0.0" rpy="0.0 ${pi / 2.0} 0.0" />
       <axis xyz="0 1 0" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="330.0" velocity="2.16"/>
@@ -149,15 +148,15 @@
           <mesh filename="package://ur_description/meshes/ur10/collision/upperarm.stl"/>
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.075" length="${-ur10_a2}" mass="${ur10_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>
 
     <joint name="${prefix}elbow_joint" type="revolute">
       <parent link="${prefix}upper_arm_link" />
       <child link = "${prefix}forearm_link" />
-      <origin xyz="0.0 ${ur10_elbow_offset} ${ur10_upper_arm_length}" rpy="0.0 0.0 0.0" />
+      <origin xyz="0.0 ${elbow_offset} ${upper_arm_length}" rpy="0.0 0.0 0.0" />
       <axis xyz="0 1 0" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-pi}" upper="${pi}" effort="150.0" velocity="3.15"/>
@@ -182,15 +181,15 @@
           <mesh filename="package://ur_description/meshes/ur10/collision/forearm.stl"/>
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.075" length="${-ur10_a3}" mass="${ur10_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>
 
     <joint name="${prefix}wrist_1_joint" type="revolute">
       <parent link="${prefix}forearm_link" />
       <child link = "${prefix}wrist_1_link" />
-      <origin xyz="0.0 0.0 ${ur10_forearm_length}" rpy="0.0 ${pi / 2.0} 0.0" />
+      <origin xyz="0.0 0.0 ${forearm_length}" rpy="0.0 ${pi / 2.0} 0.0" />
       <axis xyz="0 1 0" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="3.2"/>
@@ -215,7 +214,7 @@
           <mesh filename="package://ur_description/meshes/ur10/collision/wrist1.stl"/>
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.075" length="0.12" mass="${ur10_wrist_1_mass}">
+      <xacro:cylinder_inertial radius="0.075" length="0.12" mass="${wrist_1_mass}">
         <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
@@ -223,7 +222,7 @@
     <joint name="${prefix}wrist_2_joint" type="revolute">
       <parent link="${prefix}wrist_1_link" />
       <child link = "${prefix}wrist_2_link" />
-      <origin xyz="0.0 ${ur10_wrist_1_length} 0.0" rpy="0.0 0.0 0.0" />
+      <origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0.0 0.0 0.0" />
       <axis xyz="0 0 1" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="3.2"/>
@@ -248,7 +247,7 @@
           <mesh filename="package://ur_description/meshes/ur10/collision/wrist2.stl"/>
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.075" length="0.12" mass="${ur10_wrist_2_mass}">
+      <xacro:cylinder_inertial radius="0.075" length="0.12" mass="${wrist_2_mass}">
         <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
@@ -256,7 +255,7 @@
     <joint name="${prefix}wrist_3_joint" type="revolute">
       <parent link="${prefix}wrist_2_link" />
       <child link = "${prefix}wrist_3_link" />
-      <origin xyz="0.0 0.0 ${ur10_wrist_2_length}" rpy="0.0 0.0 0.0" />
+      <origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0.0 0.0 0.0" />
       <axis xyz="0 1 0" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="3.2"/>
@@ -281,7 +280,7 @@
           <mesh filename="package://ur_description/meshes/ur10/collision/wrist3.stl"/>
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.075" length="0.12" mass="${ur10_wrist_3_mass}">
+      <xacro:cylinder_inertial radius="0.075" length="0.12" mass="${wrist_3_mass}">
         <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
@@ -289,7 +288,7 @@
     <joint name="${prefix}ee_fixed_joint" type="fixed">
       <parent link="${prefix}wrist_3_link" />
       <child link = "${prefix}ee_link" />
-      <origin xyz="0.0 ${ur10_wrist_3_length} 0.0" rpy="0.0 0.0 ${pi/2.0}" />
+      <origin xyz="0.0 ${wrist_3_length} 0.0" rpy="0.0 0.0 ${pi/2.0}" />
     </joint>
 
     <link name="${prefix}ee_link">
@@ -319,7 +318,7 @@
     <!-- Frame coincident with all-zeros TCP on UR controller -->
     <link name="${prefix}tool0"/>
     <joint name="${prefix}wrist_3_link-tool0_fixed_joint" type="fixed">
-      <origin xyz="0 ${ur10_wrist_3_length} 0" rpy="${pi/-2.0} 0 0"/>
+      <origin xyz="0 ${wrist_3_length} 0" rpy="${pi/-2.0} 0 0"/>
       <parent link="${prefix}wrist_3_link"/>
       <child link="${prefix}tool0"/>
     </joint>
diff --git a/ur_description/urdf/ur3.urdf.xacro b/ur_description/urdf/ur3.urdf.xacro
index 28f845f14..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="ur3_base_mass" value="2.0" />  <!-- This mass might be incorrect -->
-  <xacro:property name="ur3_shoulder_mass" value="2.0" />
-  <xacro:property name="ur3_upper_arm_mass" value="3.42" />
-  <xacro:property name="ur3_forearm_mass" value="1.26" />
-  <xacro:property name="ur3_wrist_1_mass" value="0.8" />
-  <xacro:property name="ur3_wrist_2_mass" value="0.8" />
-  <xacro:property name="ur3_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="ur3_shoulder_cog" value="0.0 -0.02 0.0" />
-  <xacro:property name="ur3_upper_arm_cog" value="0.13 0.0 0.1157" />
-  <xacro:property name="ur3_forearm_cog" value="0.05 0.0 0.0238" />
-  <xacro:property name="ur3_wrist_1_cog" value="0.0 0.0 0.01" />
-  <xacro:property name="ur3_wrist_2_cog" value="0.0 0.0 0.01" />
-  <xacro:property name="ur3_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="ur3_shoulder_offset" value="0.1198" />  <!-- measured from model -->
-  <xacro:property name="ur3_elbow_offset" value="-0.0925" /> <!-- measured from model -->
-
-  <!-- link lengths used in model -->
-  <xacro:property name="ur3_shoulder_height" value="${ur3_d1}" />
-  <xacro:property name="ur3_upper_arm_length" value="${-ur3_a2}" />
-  <xacro:property name="ur3_forearm_length" value="${-ur3_a3}" />
-  <xacro:property name="ur3_wrist_1_length" value="${ur3_d4 - ur3_elbow_offset - ur3_shoulder_offset}" />
-  <xacro:property name="ur3_wrist_2_length" value="${ur3_d5}" />
-  <xacro:property name="ur3_wrist_3_length" value="${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="${prefix}base_link" >
       <visual>
         <geometry>
@@ -82,7 +81,7 @@
           <mesh filename="package://ur_description/meshes/ur3/collision/base.stl"/>
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.075" length="0.038" mass="${ur3_base_mass}">
+      <xacro:cylinder_inertial radius="0.075" length="0.038" mass="${base_mass}">
         <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
@@ -90,7 +89,7 @@
     <joint name="${prefix}shoulder_pan_joint" type="revolute">
       <parent link="${prefix}base_link" />
       <child link = "${prefix}shoulder_link" />
-      <origin xyz="0.0 0.0 ${ur3_shoulder_height}" rpy="0.0 0.0 0.0" />
+      <origin xyz="0.0 0.0 ${shoulder_height}" rpy="0.0 0.0 0.0" />
       <axis xyz="0 0 1" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="330.0" velocity="2.16"/>
@@ -115,7 +114,7 @@
           <mesh filename="package://ur_description/meshes/ur3/collision/shoulder.stl"/>
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.075" length="0.178" mass="${ur3_shoulder_mass}">
+      <xacro:cylinder_inertial radius="0.075" length="0.178" mass="${shoulder_mass}">
         <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
@@ -123,7 +122,7 @@
     <joint name="${prefix}shoulder_lift_joint" type="revolute">
       <parent link="${prefix}shoulder_link" />
       <child link = "${prefix}upper_arm_link" />
-      <origin xyz="0.0 ${ur3_shoulder_offset} 0.0" rpy="0.0 ${pi / 2.0} 0.0" />
+      <origin xyz="0.0 ${shoulder_offset} 0.0" rpy="0.0 ${pi / 2.0} 0.0" />
       <axis xyz="0 1 0" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="330.0" velocity="2.16"/>
@@ -148,15 +147,15 @@
           <mesh filename="package://ur_description/meshes/ur3/collision/upperarm.stl"/>
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.075" length="${-ur3_a2}" mass="${ur3_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>
 
     <joint name="${prefix}elbow_joint" type="revolute">
       <parent link="${prefix}upper_arm_link" />
       <child link = "${prefix}forearm_link" />
-      <origin xyz="0.0 ${ur3_elbow_offset} ${ur3_upper_arm_length}" rpy="0.0 0.0 0.0" />
+      <origin xyz="0.0 ${elbow_offset} ${upper_arm_length}" rpy="0.0 0.0 0.0" />
       <axis xyz="0 1 0" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-pi}" upper="${pi}" effort="150.0" velocity="3.15"/>
@@ -181,15 +180,15 @@
           <mesh filename="package://ur_description/meshes/ur3/collision/forearm.stl"/>
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.075" length="${-ur3_a3}" mass="${ur3_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>
 
     <joint name="${prefix}wrist_1_joint" type="revolute">
       <parent link="${prefix}forearm_link" />
       <child link = "${prefix}wrist_1_link" />
-      <origin xyz="0.0 0.0 ${ur3_forearm_length}" rpy="0.0 ${pi / 2.0} 0.0" />
+      <origin xyz="0.0 0.0 ${forearm_length}" rpy="0.0 ${pi / 2.0} 0.0" />
       <axis xyz="0 1 0" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="3.2"/>
@@ -214,7 +213,7 @@
           <mesh filename="package://ur_description/meshes/ur3/collision/wrist1.stl"/>
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.075" length="0.12" mass="${ur3_wrist_1_mass}">
+      <xacro:cylinder_inertial radius="0.075" length="0.12" mass="${wrist_1_mass}">
         <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
@@ -222,7 +221,7 @@
     <joint name="${prefix}wrist_2_joint" type="revolute">
       <parent link="${prefix}wrist_1_link" />
       <child link = "${prefix}wrist_2_link" />
-      <origin xyz="0.0 ${ur3_wrist_1_length} 0.0" rpy="0.0 0.0 0.0" />
+      <origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0.0 0.0 0.0" />
       <axis xyz="0 0 1" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="3.2"/>
@@ -247,7 +246,7 @@
           <mesh filename="package://ur_description/meshes/ur3/collision/wrist2.stl"/>
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.075" length="0.12" mass="${ur3_wrist_2_mass}">
+      <xacro:cylinder_inertial radius="0.075" length="0.12" mass="${wrist_2_mass}">
         <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
@@ -255,7 +254,7 @@
     <joint name="${prefix}wrist_3_joint" type="revolute">
       <parent link="${prefix}wrist_2_link" />
       <child link = "${prefix}wrist_3_link" />
-      <origin xyz="0.0 0.0 ${ur3_wrist_2_length}" rpy="0.0 0.0 0.0" />
+      <origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0.0 0.0 0.0" />
       <axis xyz="0 1 0" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="54.0" velocity="3.2"/>
@@ -280,7 +279,7 @@
           <mesh filename="package://ur_description/meshes/ur3/collision/wrist3.stl"/>
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.075" length="0.12" mass="${ur3_wrist_3_mass}">
+      <xacro:cylinder_inertial radius="0.075" length="0.12" mass="${wrist_3_mass}">
         <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
@@ -288,7 +287,7 @@
     <joint name="${prefix}ee_fixed_joint" type="fixed">
       <parent link="${prefix}wrist_3_link" />
       <child link = "${prefix}ee_link" />
-      <origin xyz="0.0 ${ur3_wrist_3_length} 0.0" rpy="0.0 0.0 ${pi/2.0}" />
+      <origin xyz="0.0 ${wrist_3_length} 0.0" rpy="0.0 0.0 ${pi/2.0}" />
     </joint>
 
     <link name="${prefix}ee_link">
@@ -318,7 +317,7 @@
     <!-- Frame coincident with all-zeros TCP on UR controller -->
     <link name="${prefix}tool0"/>
     <joint name="${prefix}wrist_3_link-tool0_fixed_joint" type="fixed">
-      <origin xyz="0 ${ur3_wrist_3_length} 0" rpy="${pi/-2.0} 0 0"/>
+      <origin xyz="0 ${wrist_3_length} 0" rpy="${pi/-2.0} 0 0"/>
       <parent link="${prefix}wrist_3_link"/>
       <child link="${prefix}tool0"/>
     </joint>
diff --git a/ur_description/urdf/ur5.urdf.xacro b/ur_description/urdf/ur5.urdf.xacro
index 1bc709522..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="ur5_base_mass" value="4.0" />  <!-- This mass might be incorrect -->
-  <xacro:property name="ur5_shoulder_mass" value="3.7000" />
-  <xacro:property name="ur5_upper_arm_mass" value="8.3930" />
-  <xacro:property name="ur5_forearm_mass" value="2.2750" />
-  <xacro:property name="ur5_wrist_1_mass" value="1.2190" />
-  <xacro:property name="ur5_wrist_2_mass" value="1.2190" />
-  <xacro:property name="ur5_wrist_3_mass" value="0.1879" />
-
-  <xacro:property name="ur5_shoulder_cog" value="0.0 0.00193 -0.02561" />
-  <xacro:property name="ur5_upper_arm_cog" value="0.0 -0.024201 0.2125" />
-  <xacro:property name="ur5_forearm_cog" value="0.0 0.0265 0.11993" />
-  <xacro:property name="ur5_wrist_1_cog" value="0.0 0.110949 0.01634" />
-  <xacro:property name="ur5_wrist_2_cog" value="0.0 0.0018 0.11099" />
-  <xacro:property name="ur5_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="ur5_shoulder_offset" value="0.13585" />  <!-- measured from model -->
-  <xacro:property name="ur5_elbow_offset" value="-0.1197" /> <!-- measured from model -->
-
-  <!-- link lengths used in model -->
-  <xacro:property name="ur5_shoulder_height" value="${ur5_d1}" />
-  <xacro:property name="ur5_upper_arm_length" value="${-ur5_a2}" />
-  <xacro:property name="ur5_forearm_length" value="${-ur5_a3}" />
-  <xacro:property name="ur5_wrist_1_length" value="${ur5_d4 - ur5_elbow_offset - ur5_shoulder_offset}" />
-  <xacro:property name="ur5_wrist_2_length" value="${ur5_d5}" />
-  <xacro:property name="ur5_wrist_3_length" value="${ur5_d6}" />
-  <!--property name="ur5_shoulder_height" value="0.089159" /-->
-  <!--property name="ur5_shoulder_offset" value="0.13585" /-->  <!-- ur5_shoulder_offset - ur5_elbow_offset + ur5_wrist_1_length = 0.10915 -->
-  <!--property name="ur5_upper_arm_length" value="0.42500" /-->
-  <!--property name="ur5_elbow_offset" value="0.1197" /-->       <!-- CAD measured -->
-  <!--property name="ur5_forearm_length" value="0.39225" /-->
-  <!--property name="ur5_wrist_1_length" value="0.093" /-->     <!-- CAD measured -->
-  <!--property name="ur5_wrist_2_length" value="0.09465" /-->   <!-- In CAD this distance is 0.930, but in the spec it is 0.09465 -->
-  <!--property name="ur5_wrist_3_length" value="0.0823" /-->
-
-  <xacro:property name="ur5_shoulder_radius" value="0.060" />   <!-- manually measured -->
-  <xacro:property name="ur5_upper_arm_radius" value="0.054" />  <!-- manually measured -->
-  <xacro:property name="ur5_elbow_radius" value="0.060" />      <!-- manually measured -->
-  <xacro:property name="ur5_forearm_radius" value="0.040" />    <!-- manually measured -->
-  <xacro:property name="ur5_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="${prefix}base_link" >
       <visual>
         <geometry>
@@ -98,7 +98,7 @@
           <mesh filename="package://ur_description/meshes/ur5/collision/base.stl" />
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.06" length="0.05" mass="${ur5_base_mass}">
+      <xacro:cylinder_inertial radius="0.06" length="0.05" mass="${base_mass}">
         <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
@@ -106,7 +106,7 @@
     <joint name="${prefix}shoulder_pan_joint" type="revolute">
       <parent link="${prefix}base_link" />
       <child link = "${prefix}shoulder_link" />
-      <origin xyz="0.0 0.0 ${ur5_shoulder_height}" rpy="0.0 0.0 0.0" />
+      <origin xyz="0.0 0.0 ${shoulder_height}" rpy="0.0 0.0 0.0" />
       <axis xyz="0 0 1" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="150.0" velocity="3.15"/>
@@ -131,7 +131,7 @@
           <mesh filename="package://ur_description/meshes/ur5/collision/shoulder.stl" />
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.06" length="0.15" mass="${ur5_shoulder_mass}">
+      <xacro:cylinder_inertial radius="0.06" length="0.15" mass="${shoulder_mass}">
         <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
@@ -139,7 +139,7 @@
     <joint name="${prefix}shoulder_lift_joint" type="revolute">
       <parent link="${prefix}shoulder_link" />
       <child link = "${prefix}upper_arm_link" />
-      <origin xyz="0.0 ${ur5_shoulder_offset} 0.0" rpy="0.0 ${pi / 2.0} 0.0" />
+      <origin xyz="0.0 ${shoulder_offset} 0.0" rpy="0.0 ${pi / 2.0} 0.0" />
       <axis xyz="0 1 0" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="150.0" velocity="3.15"/>
@@ -164,7 +164,7 @@
           <mesh filename="package://ur_description/meshes/ur5/collision/upperarm.stl" />
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.06" length="0.56" mass="${ur5_upper_arm_mass}">
+      <xacro:cylinder_inertial radius="0.06" length="0.56" mass="${upper_arm_mass}">
         <origin xyz="0.0 0.0 0.28" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
@@ -172,7 +172,7 @@
     <joint name="${prefix}elbow_joint" type="revolute">
       <parent link="${prefix}upper_arm_link" />
       <child link = "${prefix}forearm_link" />
-      <origin xyz="0.0 ${ur5_elbow_offset} ${ur5_upper_arm_length}" rpy="0.0 0.0 0.0" />
+      <origin xyz="0.0 ${elbow_offset} ${upper_arm_length}" rpy="0.0 0.0 0.0" />
       <axis xyz="0 1 0" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-pi}" upper="${pi}" effort="150.0" velocity="3.15"/>
@@ -197,7 +197,7 @@
           <mesh filename="package://ur_description/meshes/ur5/collision/forearm.stl" />
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.06" length="0.5" mass="${ur5_forearm_mass}">
+      <xacro:cylinder_inertial radius="0.06" length="0.5" mass="${forearm_mass}">
         <origin xyz="0.0 0.0 0.25" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
@@ -205,7 +205,7 @@
     <joint name="${prefix}wrist_1_joint" type="revolute">
       <parent link="${prefix}forearm_link" />
       <child link = "${prefix}wrist_1_link" />
-      <origin xyz="0.0 0.0 ${ur5_forearm_length}" rpy="0.0 ${pi / 2.0} 0.0" />
+      <origin xyz="0.0 0.0 ${forearm_length}" rpy="0.0 ${pi / 2.0} 0.0" />
       <axis xyz="0 1 0" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="28.0" velocity="3.2"/>
@@ -230,7 +230,7 @@
           <mesh filename="package://ur_description/meshes/ur5/collision/wrist1.stl" />
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.6" length="0.12" mass="${ur5_wrist_1_mass}">
+      <xacro:cylinder_inertial radius="0.6" length="0.12" mass="${wrist_1_mass}">
         <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
@@ -238,7 +238,7 @@
     <joint name="${prefix}wrist_2_joint" type="revolute">
       <parent link="${prefix}wrist_1_link" />
       <child link = "${prefix}wrist_2_link" />
-      <origin xyz="0.0 ${ur5_wrist_1_length} 0.0" rpy="0.0 0.0 0.0" />
+      <origin xyz="0.0 ${wrist_1_length} 0.0" rpy="0.0 0.0 0.0" />
       <axis xyz="0 0 1" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="28.0" velocity="3.2"/>
@@ -263,7 +263,7 @@
           <mesh filename="package://ur_description/meshes/ur5/collision/wrist2.stl" />
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.6" length="0.12" mass="${ur5_wrist_2_mass}">
+      <xacro:cylinder_inertial radius="0.6" length="0.12" mass="${wrist_2_mass}">
         <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
@@ -271,7 +271,7 @@
     <joint name="${prefix}wrist_3_joint" type="revolute">
       <parent link="${prefix}wrist_2_link" />
       <child link = "${prefix}wrist_3_link" />
-      <origin xyz="0.0 0.0 ${ur5_wrist_2_length}" rpy="0.0 0.0 0.0" />
+      <origin xyz="0.0 0.0 ${wrist_2_length}" rpy="0.0 0.0 0.0" />
       <axis xyz="0 1 0" />
       <xacro:unless value="${joint_limited}">
         <limit lower="${-2.0 * pi}" upper="${2.0 * pi}" effort="28.0" velocity="3.2"/>
@@ -296,7 +296,7 @@
           <mesh filename="package://ur_description/meshes/ur5/collision/wrist3.stl" />
         </geometry>
       </collision>
-      <xacro:cylinder_inertial radius="0.6" length="0.12" mass="${ur5_wrist_3_mass}">
+      <xacro:cylinder_inertial radius="0.6" length="0.12" mass="${wrist_3_mass}">
         <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
       </xacro:cylinder_inertial>
     </link>
@@ -304,7 +304,7 @@
     <joint name="${prefix}ee_fixed_joint" type="fixed">
       <parent link="${prefix}wrist_3_link" />
       <child link = "${prefix}ee_link" />
-      <origin xyz="0.0 ${ur5_wrist_3_length} 0.0" rpy="0.0 0.0 ${pi/2.0}" />
+      <origin xyz="0.0 ${wrist_3_length} 0.0" rpy="0.0 0.0 ${pi/2.0}" />
     </joint>
 
     <link name="${prefix}ee_link">
@@ -334,7 +334,7 @@
     <!-- Frame coincident with all-zeros TCP on UR controller -->
     <link name="${prefix}tool0"/>
     <joint name="${prefix}wrist_3_link-tool0_fixed_joint" type="fixed">
-      <origin xyz="0 ${ur5_wrist_3_length} 0" rpy="${pi/-2.0} 0 0"/>
+      <origin xyz="0 ${wrist_3_length} 0" rpy="${pi/-2.0} 0 0"/>
       <parent link="${prefix}wrist_3_link"/>
       <child link="${prefix}tool0"/>
     </joint>