<?xml version="1.0"?>
<robot name="ur" xmlns:xacro="http://wiki.ros.org/xacro">
  <xacro:arg name="name" default="ur"/>
  <xacro:include filename="$(find ur_simulation_gz)/urdf/ur_gz.urdf.xacro" />
  <link name="maloni_payload">
    <inertial>
      <mass value="0.08"/>
      <inertia ixx="0.000048" ixy="0" ixz="0" iyy="0.000048" iyz="0" izz="0.000048"/>
    </inertial>
    <visual>
      <geometry><box size="0.06 0.06 0.06"/></geometry>
      <material name="orange"><color rgba="1.0 0.38 0.05 1.0"/></material>
    </visual>
    <collision><geometry><box size="0.06 0.06 0.06"/></geometry></collision>
  </link>
  <joint name="maloni_payload_fixture" type="fixed">
    <parent link="tool0"/>
    <child link="maloni_payload"/>
    <origin xyz="0 0 0.04"/>
  </joint>
</robot>
