<commit_before><?xml version="1.0"?>

<robot xmlns:xacro="http://ros.org/wiki/xacro" name="extras">

  <xacro:include filename="$(find robotiq_force_torque_sensor)/urdf/robotiq_fts300.urdf.xacro" />
  <xacro:include filename="$(find robotiq_s_model_control)/urdf/s_model_open.urdf.xacro" />


  <!-- CHANGE BELOW VALUES DURING INTEGRATION -->
  <!-- MUST CHANGE TO UR5, UR3 or UR10 depending on needs -->
  <xacro:include filename="$(find ur_description)/urdf/ur5.urdf.xacro" />
  
  <xacro:arg name="ur3_enabled" default="false"/>
  <xacro:arg name="ur5_enabled" default="true"/>
  <xacro:arg name="ur10_enabled" default="false"/>
  <xacro:property name="ur_origin">
   <origin xyz="0.28 0 0.0065" rpy="0.0 0.0 -1.57" />
  </xacro:property>

  <xacro:arg name="ft_300_enabled" default="true"/>
  <xacro:arg name="ft_300_parent" default="ur5_arm_tool0"/> 
  <xacro:arg name="ft_300_prefix" default="UR_1_"/>

  <xacro:arg name="s_model_enabled" default="true"/>
  <xacro:arg name="s_model_parent" default="$(arg ft_300_prefix)fts_toolside"/>
  <xacro:arg name="s_model_prefix" default="UR_1_"/>

  <xacro:property name="arch_origin">
    <origin xyz="-0.32 0.0 0.0" rpy="0.0 0.0 0.0" />
  </xacro:property>

  <!-- CHANGE ABOVE VALUES DURING INTEGRATION -->



    <xacro:if value="$(arg ft_300_enabled)">
      <!-- Spawn FT Sensor -->
      <xacro:robotiq_fts300 prefix="$(arg ft_300_prefix)" parent="$(arg ft_300_parent)" />
    </xacro:if>

    <xacro:if value="$(arg s_model_enabled)">
      <!-- Spawn S model Gripper -->
      <xacro:s_model_open prefix="$(arg s_model_prefix)" parent="$(arg s_model_parent)"/>
    </xacro:if>

    <xacro:if value="$(arg ur3_enabled)">
      <!-- Spawn arm -->
      <xacro:ur3_robot prefix="ur3_arm_" joint_limited="true"/>
      <!-- Join arm -->
      <joint name="ur3_arm_base" type="fixed">
        <parent link="top_plate_link" />
        <child link="ur3_arm_base_link" />
        <xacro:insert_block name="ur_origin" />
      </joint>
    </xacro:if>


    <xacro:if value="$(arg ur5_enabled)">
      <!-- Spawn arm -->
      <xacro:ur5_robot prefix="ur5_arm_" joint_limited="true"/>
      <!-- Join arm -->
      <joint name="ur5_arm_base" type="fixed">
        <parent link="top_plate_link" />
        <child link="ur5_arm_base_link" />
        <xacro:insert_block name="ur_origin" />
      </joint>
    </xacro:if>

    <xacro:if value="$(arg ur10_enabled)">
      <!-- Spawn arm -->
      <xacro:ur10_robot prefix="ur10_arm_" joint_limited="true"/>
      <!-- Join arm -->
      <joint name="ur10_arm_base" type="fixed">
        <parent link="top_plate_link" />
        <child link="ur10_arm_base_link" />
        <xacro:insert_block name="ur_origin" />
      </joint>
    </xacro:if>

    <!-- Spawn the sensor arch link -->
      <link name="sensor_arch_mount_link">
             <visual>
                 <geometry>
                     <mesh filename="package://husky_description/meshes/integration_arch.dae" />
                 </geometry>
             </visual>
             <collision>
                 <geometry><commit_msg>generalized ur loading<commit_after><?xml version="1.0"?>

<robot xmlns:xacro="http://ros.org/wiki/xacro" name="extras">

  <xacro:include filename="$(find robotiq_force_torque_sensor)/urdf/robotiq_fts300.urdf.xacro" />
  <xacro:include filename="$(find robotiq_s_model_control)/urdf/s_model_open.urdf.xacro" />


  <!-- CHANGE BELOW VALUES DURING INTEGRATION -->
  <!-- MUST CHANGE TO UR5, UR3 or UR10 depending on needs -->
  <xacro:include filename="$(find ur_description)/urdf/ur5.urdf.xacro" />
  
  <xacro:arg name="ur3_enabled" default="false"/>
  <xacro:arg name="ur5_enabled" default="true"/>
  <xacro:arg name="ur10_enabled" default="false"/>
  <xacro:property name="ur_origin">
   <origin xyz="0.28 0 0.0065" rpy="0.0 0.0 -1.57" />
  </xacro:property>

  <xacro:arg name="ft_300_enabled" default="true"/>
  <xacro:arg name="ft_300_parent" default="ur_arm_tool0"/> 
  <xacro:arg name="ft_300_prefix" default="UR_1_"/>

  <xacro:arg name="s_model_enabled" default="true"/>
  <xacro:arg name="s_model_parent" default="$(arg ft_300_prefix)fts_toolside"/>
  <xacro:arg name="s_model_prefix" default="UR_1_"/>

  <xacro:property name="arch_origin">
    <origin xyz="-0.32 0.0 0.0" rpy="0.0 0.0 0.0" />
  </xacro:property>

  <!-- CHANGE ABOVE VALUES DURING INTEGRATION -->



    <xacro:if value="$(arg ft_300_enabled)">
      <!-- Spawn FT Sensor -->
      <xacro:robotiq_fts300 prefix="$(arg ft_300_prefix)" parent="$(arg ft_300_parent)" />
    </xacro:if>

    <xacro:if value="$(arg s_model_enabled)">
      <!-- Spawn S model Gripper -->
      <xacro:s_model_open prefix="$(arg s_model_prefix)" parent="$(arg s_model_parent)"/>
    </xacro:if>

    <xacro:if value="$(arg ur3_enabled)">
      <!-- Spawn arm -->
      <xacro:ur3_robot prefix="ur_arm_" joint_limited="true"/>
    </xacro:if>
    <xacro:if value="$(arg ur5_enabled)">
      <!-- Spawn arm -->
      <xacro:ur5_robot prefix="ur_arm_" joint_limited="true"/>
    </xacro:if>
    <xacro:if value="$(arg ur10_enabled)">
      <!-- Spawn arm -->
      <xacro:ur10_robot prefix="ur_arm_" joint_limited="true"/>
    </xacro:if>


      <!-- Join arm -->
      <joint name="ur_arm_base" type="fixed">
        <parent link="top_plate_link" />
        <child link="ur_arm_base_link" />
        <xacro:insert_block name="ur_origin" />
      </joint>


    <!-- Spawn the sensor arch link -->
      <link name="sensor_arch_mount_link">
             <visual>
                 <geometry>
                     <mesh filename="package://husky_description/meshes/integration_arch.dae" />
                 </geometry>
             </visual>
             <collision>
                 <geometry>
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