Mounting the robot

[Kaushik093]

How did you mount the robot on the table? What changes did you make to the original urdf?

[santoshbalaji]

Well there are few files to focus here for that.

ur5_robotiq85_gripper.urdf.xacro - Description for UR5 with gripper (https://github.com/utecrobotics/ur5/blob/master/ur5_description/urdf/ur5_robotiq85_gripper.urdf.xacro)

model.sdf - UR5 base table description (https://github.com/utecrobotics/ur5/blob/master/ur5_gazebo/models/ur5_base/model.sdf)

ur5_setup.world - Simulation world with robot base table from model mentioned above (https://github.com/utecrobotics/ur5/blob/master/ur5_gazebo/worlds/ur5_setup.world)

ur5_setup.launch - line no: 28 where the ur5 urdf is being added to simulation world on specified z axis level which above the ur5_base table (https://github.com/utecrobotics/ur5/blob/master/ur5_gazebo/launch/ur5_setup.launch) line no: 12 specified which world file to use