diff --git a/kuka_kr210_support/launch/load_kr210l150.launch b/kuka_kr210_support/launch/load_kr210l150.launch
index 2b7e8f449..f3e2bd78a 100644
--- a/kuka_kr210_support/launch/load_kr210l150.launch
+++ b/kuka_kr210_support/launch/load_kr210l150.launch
@@ -1,3 +1,5 @@
+<?xml version="1.0" ?>
 <launch>
-  <param name="robot_description" command="$(find xacro)/xacro.py '$(find kuka_kr210_support)/urdf/kr210l150.xacro'" />
+  <arg name="variant" default="" />
+  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find kuka_kr210_support)/urdf/kr210l150.xacro' variant:=$(arg variant)" />
 </launch>
diff --git a/kuka_kr210_support/launch/test_kr210l150.launch b/kuka_kr210_support/launch/test_kr210l150.launch
index 2e3a9446d..4ecad8d43 100644
--- a/kuka_kr210_support/launch/test_kr210l150.launch
+++ b/kuka_kr210_support/launch/test_kr210l150.launch
@@ -1,5 +1,7 @@
+<?xml version="1.0" ?>
 <launch>
-  <include file="$(find kuka_kr210_support)/launch/load_kr210l150.launch" />
+  <arg name="variant" default="" />
+  <include file="$(find kuka_kr210_support)/launch/load_kr210l150.launch" pass_all_args="true" />
   <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
     <param name="use_gui" value="true" />
   </node>
diff --git a/kuka_kr210_support/meshes/kr210l150/collision/base_link.stl b/kuka_kr210_support/meshes/kr210l150/collision/base_link.stl
index 571cc6f12..15e7c2d04 100644
Binary files a/kuka_kr210_support/meshes/kr210l150/collision/base_link.stl and b/kuka_kr210_support/meshes/kr210l150/collision/base_link.stl differ
diff --git a/kuka_kr210_support/meshes/kr210l150/collision/link_1.stl b/kuka_kr210_support/meshes/kr210l150/collision/link_1.stl
index 59bcb6b0f..f2297429f 100644
Binary files a/kuka_kr210_support/meshes/kr210l150/collision/link_1.stl and b/kuka_kr210_support/meshes/kr210l150/collision/link_1.stl differ
diff --git a/kuka_kr210_support/meshes/kr210l150/collision/link_2.stl b/kuka_kr210_support/meshes/kr210l150/collision/link_2.stl
index 313564363..6151fe41d 100644
Binary files a/kuka_kr210_support/meshes/kr210l150/collision/link_2.stl and b/kuka_kr210_support/meshes/kr210l150/collision/link_2.stl differ
diff --git a/kuka_kr210_support/meshes/kr210l150/collision/link_3.stl b/kuka_kr210_support/meshes/kr210l150/collision/link_3.stl
index 166b0976f..a7d3ac18b 100644
Binary files a/kuka_kr210_support/meshes/kr210l150/collision/link_3.stl and b/kuka_kr210_support/meshes/kr210l150/collision/link_3.stl differ
diff --git a/kuka_kr210_support/meshes/kr210l150/collision/link_4.stl b/kuka_kr210_support/meshes/kr210l150/collision/link_4.stl
index dfeb11771..116dcbac5 100644
Binary files a/kuka_kr210_support/meshes/kr210l150/collision/link_4.stl and b/kuka_kr210_support/meshes/kr210l150/collision/link_4.stl differ
diff --git a/kuka_kr210_support/meshes/kr210l150/collision/link_5.stl b/kuka_kr210_support/meshes/kr210l150/collision/link_5.stl
index 579124397..2a34e0757 100644
Binary files a/kuka_kr210_support/meshes/kr210l150/collision/link_5.stl and b/kuka_kr210_support/meshes/kr210l150/collision/link_5.stl differ
diff --git a/kuka_kr210_support/meshes/kr210l150/collision/link_6.stl b/kuka_kr210_support/meshes/kr210l150/collision/link_6.stl
index c3525790c..cfaa3baac 100644
Binary files a/kuka_kr210_support/meshes/kr210l150/collision/link_6.stl and b/kuka_kr210_support/meshes/kr210l150/collision/link_6.stl differ
diff --git a/kuka_kr210_support/meshes/kr210l150/visual/base_link.dae b/kuka_kr210_support/meshes/kr210l150/visual/base_link.dae
deleted file mode 100644
index e99f1672f..000000000
--- a/kuka_kr210_support/meshes/kr210l150/visual/base_link.dae
+++ /dev/null
@@ -1,848 +0,0 @@
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-        </contributor>
-        <created>2014-08-27T13:26:59Z</created>
-        <modified>2014-08-27T13:26:59Z</modified>
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diff --git a/kuka_kr210_support/meshes/kr210l150/visual/link_1.dae b/kuka_kr210_support/meshes/kr210l150/visual/link_1.dae
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diff --git a/kuka_kr210_support/meshes/kr210l150/visual/link_2.dae b/kuka_kr210_support/meshes/kr210l150/visual/link_2.dae
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23398 23401 23399 23401 23402 23402 23401 23403 23403 23401 23404 23404 23401 23405 23404 23405 23406 23404 23406 23407 23404 23407 23408 23404 23408 23409 23409 23408 23410 23409 23410 23411 23409 23411 23412 23409 23412 23413 23409 23413 23414 23409 23414 23415 23416 23417 23418 23417 23419 23418 23419 23420 23418 23420 23421 23418 23421 23422 23418 23422 23423 23418 23418 23423 23424 23423 23425 23424 23425 23426 23424 23426 23427 23424 23427 23428 23424 23424 23428 23429 23429 23428 23430 23430 23428 23431 23428 23432 23431 23433 23431 23432 23434 23435 23436 23437 23438 23439 23440 23441 23442 23443 23444 23445 23446 23447 23448 23449 23450 23451 23452 23453 23454 23455 23456 23457 23458 23459 23460 23461 23462 23463 23464 23465 23466 23467 23468 23469 23470 23471 23472 23473 23474 23475 23476 23477 23478 23479 23480 23481 23482 23483 23484 23485 23486 23487 23488 23489 23490 23491 23492 23493 23494 23495 23496 23497 23498 23499 23500 23501 23502 23503 23504 23505 23506 23507 23508 23509 23510 23511 23512 23513 23514 23515 23516 23517 23518 23519 23520 23521 23522 23523 23524 23525 23526 23527 23528 23529 23530 23531 23532 23533 23534 23535 23536 23537 23538 23539 23540 23541 23542 23543 23544 23545 23546 23547 23548 23549 23550 23551 23552 23553</p>
-                </triangles>
-            </mesh>
-        </geometry>
-        <geometry id="ID12">
-            <mesh>
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diff --git a/kuka_kr210_support/meshes/kr210l150/visual/link_4.stl b/kuka_kr210_support/meshes/kr210l150/visual/link_4.stl
new file mode 100644
index 000000000..2ebd9d520
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diff --git a/kuka_kr210_support/meshes/kr210l150/visual/link_5.stl b/kuka_kr210_support/meshes/kr210l150/visual/link_5.stl
new file mode 100644
index 000000000..f4c1ab755
Binary files /dev/null and b/kuka_kr210_support/meshes/kr210l150/visual/link_5.stl differ
diff --git a/kuka_kr210_support/meshes/kr210l150/visual/link_6.dae b/kuka_kr210_support/meshes/kr210l150/visual/link_6.dae
deleted file mode 100644
index 3e88abe80..000000000
--- a/kuka_kr210_support/meshes/kr210l150/visual/link_6.dae
+++ /dev/null
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-    <library_materials>
-        <material id="ID5" name="Color_008">
-            <instance_effect url="#ID6" />
-        </material>
-    </library_materials>
-    <library_effects>
-        <effect id="ID6">
-            <profile_COMMON>
-                <technique sid="COMMON">
-                    <lambert>
-                        <diffuse>
-                            <color>0.1176471 0.1176471 0.1176471 1</color>
-                        </diffuse>
-                    </lambert>
-                </technique>
-            </profile_COMMON>
-        </effect>
-    </library_effects>
-    <scene>
-        <instance_visual_scene url="#ID1" />
-    </scene>
-</COLLADA>
diff --git a/kuka_kr210_support/meshes/kr210l150/visual/link_6.stl b/kuka_kr210_support/meshes/kr210l150/visual/link_6.stl
new file mode 100644
index 000000000..63dcb161a
Binary files /dev/null and b/kuka_kr210_support/meshes/kr210l150/visual/link_6.stl differ
diff --git a/kuka_kr210_support/test/roslaunch_test_kr210l150.xml b/kuka_kr210_support/test/roslaunch_test_kr210l150.xml
new file mode 100644
index 000000000..a56f7923d
--- /dev/null
+++ b/kuka_kr210_support/test/roslaunch_test_kr210l150.xml
@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<launch>
+  <arg name="variant" default="" />
+  <group ns="load_kr210l150__">
+    <include file="$(find kuka_kr210_support)/launch/load_kr210l150.launch" pass_all_args="true"/>
+  </group>
+
+  <group ns="test_kr210l150__">
+    <include file="$(find kuka_kr210_support)/launch/test_kr210l150.launch" pass_all_args="true"/>
+  </group>
+</launch>
diff --git a/kuka_kr210_support/urdf/kr210l150.urdf b/kuka_kr210_support/urdf/kr210l150.urdf
deleted file mode 100644
index 56a478fd2..000000000
--- a/kuka_kr210_support/urdf/kr210l150.urdf
+++ /dev/null
@@ -1,217 +0,0 @@
-<?xml version="1.0" ?>
-<!-- =================================================================================== -->
-<!-- |    This document was autogenerated by xacro from kr210l150.xacro                | -->
-<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
-<!-- =================================================================================== -->
-<!--Generates a urdf from the macro in kr210_macro.xacro -->
-<robot name="kuka_kr210" xmlns:xacro="http://wiki.ros.org/xacro">
-  <link name="base_link">
-    <inertial>
-      <origin rpy="0 0 0" xyz="-0.027804 0.00039112 0.14035"/>
-      <mass value="1572.9"/>
-      <inertia ixx="89.282" ixy="-0.47721" ixz="0.85562" iyy="107.51" iyz="0.0067576" izz="172.02"/>
-    </inertial>
-    <visual>
-      <origin rpy="-1.570796327 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://kuka_kr210_support/meshes/kr210l150/visual/base_link.dae"/>
-      </geometry>
-      <material name="">
-        <color rgba="0.75294 0.75294 0.75294 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="-1.570796327 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://kuka_kr210_support/meshes/kr210l150/collision/base_link.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="link_1">
-    <inertial>
-      <origin rpy="0 0 0" xyz="-0.036811 -0.024697 0.56577"/>
-      <mass value="1385.5"/>
-      <inertia ixx="90.873" ixy="33.809" ixz="17.159" iyy="147.03" iyz="0.063634" izz="168.19"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://kuka_kr210_support/meshes/kr210l150/visual/link_1.dae"/>
-      </geometry>
-      <material name="">
-        <color rgba="0.75294 0.75294 0.75294 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://kuka_kr210_support/meshes/kr210l150/collision/link_1.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="link_2">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0.016923 -0.19196 0.44751"/>
-      <mass value="958.62"/>
-      <inertia ixx="180.42" ixy="-0.83462" ixz="0.32549" iyy="177.68" iyz="-20.82" izz="20.495"/>
-    </inertial>
-    <visual>
-      <origin rpy="-1.570796327 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://kuka_kr210_support/meshes/kr210l150/visual/link_2.dae"/>
-      </geometry>
-      <material name="">
-        <color rgba="0.75294 0.75294 0.75294 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://kuka_kr210_support/meshes/kr210l150/collision/link_2.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="link_3">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0.18842 0.18344 -0.042799"/>
-      <mass value="710.03"/>
-      <inertia ixx="11.887" ixy="-0.12154" ixz="-1.3604" iyy="98.805" iyz="-0.056505" izz="96.251"/>
-    </inertial>
-    <visual>
-      <origin rpy="-1.570796327 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://kuka_kr210_support/meshes/kr210l150/visual/link_3.dae"/>
-      </geometry>
-      <material name="">
-        <color rgba="0.75294 0.75294 0.75294 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://kuka_kr210_support/meshes/kr210l150/collision/link_3.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="link_4">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0.27146 -0.007326 5.2775E-05"/>
-      <mass value="173.73"/>
-      <inertia ixx="1.8001" ixy="-0.18515" ixz="0.00051232" iyy="5.514" iyz="0.00070469" izz="6.3498"/>
-    </inertial>
-    <visual>
-      <origin rpy="-1.570796327 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://kuka_kr210_support/meshes/kr210l150/visual/link_4.dae"/>
-      </geometry>
-      <material name="">
-        <color rgba="0.75294 0.75294 0.75294 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://kuka_kr210_support/meshes/kr210l150/collision/link_4.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="link_5">
-    <inertial>
-      <origin rpy="0 0 0" xyz="0.04379 0.025984 3.5491E-07"/>
-      <mass value="72.17"/>
-      <inertia ixx="0.3938" ixy="-0.085332" ixz="1.7223E-06" iyy="0.68945" iyz="-7.0292E-06" izz="0.67292"/>
-    </inertial>
-    <visual>
-      <origin rpy="-1.570796327 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://kuka_kr210_support/meshes/kr210l150/visual/link_5.dae"/>
-      </geometry>
-      <material name="">
-        <color rgba="0.75294 0.75294 0.75294 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://kuka_kr210_support/meshes/kr210l150/collision/link_5.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="link_6">
-    <inertial>
-      <origin rpy="0 0 0" xyz="-0.017956 -1.5237E-05 0.00015484"/>
-      <mass value="6.3154"/>
-      <inertia ixx="0.031746" ixy="1.7673E-07" ixz="-6.6558E-06" iyy="0.016686" iyz="1.4304E-07" izz="0.016723"/>
-    </inertial>
-    <visual>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://kuka_kr210_support/meshes/kr210l150/visual/link_6.dae"/>
-      </geometry>
-      <material name="">
-        <color rgba="0.75294 0.75294 0.75294 1"/>
-      </material>
-    </visual>
-    <collision>
-      <origin rpy="0 0 0" xyz="0 0 0"/>
-      <geometry>
-        <mesh filename="package://kuka_kr210_support/meshes/kr210l150/collision/link_6.stl"/>
-      </geometry>
-    </collision>
-  </link>
-  <link name="tool0"/>
-  <joint name="joint_a1" type="revolute">
-    <origin rpy="0 0 0" xyz="-0.00262 0.00097586 0.33099"/>
-    <parent link="base_link"/>
-    <child link="link_1"/>
-    <axis xyz="0 0 1"/>
-    <limit effort="0" lower="-3.228859205" upper="3.228859205" velocity="2.146755039"/>
-  </joint>
-  <joint name="joint_a2" type="revolute">
-    <origin rpy="0 0 0" xyz="0.35277 -0.037476 0.4192"/>
-    <parent link="link_1"/>
-    <child link="link_2"/>
-    <axis xyz="0 1 0"/>
-    <limit effort="0" lower="-0.785398185" upper="1.483529905" velocity="2.007128695"/>
-  </joint>
-  <joint name="joint_a3" type="revolute">
-    <origin rpy="0 0 0" xyz="-9.8483E-05 -0.1475 1.2499"/>
-    <parent link="link_2"/>
-    <child link="link_3"/>
-    <axis xyz="0 1 0"/>
-    <limit effort="0" lower="-3.66519153" upper="1.134464045" velocity="1.954768816"/>
-  </joint>
-  <joint name="joint_a4" type="revolute">
-    <origin rpy="0 0 0" xyz="0.95795 0.184 -0.055059"/>
-    <parent link="link_3"/>
-    <child link="link_4"/>
-    <axis xyz="1 0 0"/>
-    <limit effort="0" lower="-6.10865255" upper="6.10865255" velocity="3.124139447"/>
-  </joint>
-  <joint name="joint_a5" type="revolute">
-    <origin rpy="0 0 0" xyz="0.542 0 0"/>
-    <parent link="link_4"/>
-    <child link="link_5"/>
-    <axis xyz="0 1 0"/>
-    <limit effort="0" lower="-2.181661625" upper="2.181661625" velocity="3.001966396"/>
-  </joint>
-  <joint name="joint_a6" type="revolute">
-    <origin rpy="0 0 0" xyz="0.1925 0 0"/>
-    <parent link="link_5"/>
-    <child link="link_6"/>
-    <axis xyz="1 0 0"/>
-    <limit effort="0" lower="-6.10865255" upper="6.10865255" velocity="3.822271167"/>
-  </joint>
-  <joint name="link_6-tool0" type="fixed">
-    <parent link="link_6"/>
-    <child link="tool0"/>
-    <origin rpy="0 0 0" xyz="0.0375 0 -0.00023924"/>
-  </joint>
-  <link name="Link1"/>
-  <joint name="Link1-link_1" type="fixed">
-    <parent link="link_1"/>
-    <child link="Link1"/>
-    <origin rpy="0 0 0" xyz="0 0 0"/>
-  </joint>
-</robot>
-
diff --git a/kuka_kr210_support/urdf/kr210l150.xacro b/kuka_kr210_support/urdf/kr210l150.xacro
index 3dc7d1e08..01a1bfc16 100644
--- a/kuka_kr210_support/urdf/kr210l150.xacro
+++ b/kuka_kr210_support/urdf/kr210l150.xacro
@@ -1,5 +1,5 @@
 <?xml version="1.0" ?>
-<robot name="kuka_kr210" xmlns:xacro="http://wiki.ros.org/xacro">
+<robot name="kuka_kr210l150" xmlns:xacro="http://wiki.ros.org/xacro">
   <xacro:include filename="$(find kuka_kr210_support)/urdf/kr210l150_macro.xacro"/>
   <xacro:kuka_kr210l150 prefix=""/>
 </robot>
diff --git a/kuka_kr210_support/urdf/kr210l150_macro.xacro b/kuka_kr210_support/urdf/kr210l150_macro.xacro
index 3d4a9f194..3b20d3bbc 100644
--- a/kuka_kr210_support/urdf/kr210l150_macro.xacro
+++ b/kuka_kr210_support/urdf/kr210l150_macro.xacro
@@ -1,47 +1,35 @@
 <?xml version="1.0"?>
 <robot xmlns:xacro="http://wiki.ros.org/xacro">
-  <property name="pi" value="3.141592654"/>
-  <!--degrees to radians-->
-  <property name="deg" value="0.017453293"/>
+  <xacro:include filename="$(find kuka_resources)/urdf/common_materials.xacro"/>
 
+  <!-- for the KR210 L150, use ""; for the KR210 L150-2, use "_2" -->
+  <xacro:arg name="variant" default="" />
+  <xacro:property name="variant" value="$(arg variant)"/>
+  
   <xacro:macro name="kuka_kr210l150" params="prefix">
     <!-- links -->
     <link name="${prefix}base_link">
-      <inertial>
-        <origin xyz="-0.027804 0.00039112 0.14035" rpy="0 0 0"/>
-        <mass value="1572.9"/>
-        <inertia ixx="89.282" ixy="-0.47721" ixz="0.85562" iyy="107.51" iyz="0.0067576" izz="172.02"/>
-      </inertial>
       <visual>
-        <origin xyz="0 0 0" rpy="${-pi/2} 0 0"/>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr210_support/meshes/kr210l150/visual/base_link.dae"/>
+          <mesh filename="package://kuka_kr210_support/meshes/kr210l150/visual/base_link.stl"/>
         </geometry>
-        <material name="">
-          <color rgba="0.75294 0.75294 0.75294 1"/>
-        </material>
+	<xacro:material_kuka_pedestal />
       </visual>
       <collision>
-        <origin xyz="0 0 0" rpy="${-pi/2} 0 0"/>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
           <mesh filename="package://kuka_kr210_support/meshes/kr210l150/collision/base_link.stl"/>
         </geometry>
       </collision>
     </link>
     <link name="${prefix}link_1">
-      <inertial>
-        <origin xyz="-0.036811 -0.024697 0.56577" rpy="0 0 0"/>
-        <mass value="1385.5"/>
-        <inertia ixx="90.873" ixy="33.809" ixz="17.159" iyy="147.03" iyz="0.063634" izz="168.19"/>
-      </inertial>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr210_support/meshes/kr210l150/visual/link_1.dae"/>
+          <mesh filename="package://kuka_kr210_support/meshes/kr210l150/visual/link_1.stl"/>
         </geometry>
-        <material name="">
-          <color rgba="0.75294 0.75294 0.75294 1"/>
-        </material>
+	<xacro:material_kuka_orange />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
@@ -51,19 +39,12 @@
       </collision>
     </link>
     <link name="${prefix}link_2">
-      <inertial>
-        <origin xyz="0.016923 -0.19196 0.44751" rpy="0 0 0"/>
-        <mass value="958.62"/>
-        <inertia ixx="180.42" ixy="-0.83462" ixz="0.32549" iyy="177.68" iyz="-20.82" izz="20.495"/>
-      </inertial>
       <visual>
-        <origin xyz="0 0 0" rpy="${-pi/2} 0 0"/>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr210_support/meshes/kr210l150/visual/link_2.dae"/>
+          <mesh filename="package://kuka_kr210_support/meshes/kr210l150/visual/link_2.stl"/>
         </geometry>
-        <material name="">
-          <color rgba="0.75294 0.75294 0.75294 1"/>
-        </material>
+	<xacro:material_kuka_orange />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
@@ -73,19 +54,12 @@
       </collision>
     </link>
     <link name="${prefix}link_3">
-      <inertial>
-        <origin xyz="0.18842 0.18344 -0.042799" rpy="0 0 0"/>
-        <mass value="710.03"/>
-        <inertia ixx="11.887" ixy="-0.12154" ixz="-1.3604" iyy="98.805" iyz="-0.056505" izz="96.251"/>
-      </inertial>
       <visual>
-        <origin xyz="0 0 0" rpy="${-pi/2} 0 0"/>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr210_support/meshes/kr210l150/visual/link_3.dae"/>
+          <mesh filename="package://kuka_kr210_support/meshes/kr210l150/visual/link_3.stl"/>
         </geometry>
-        <material name="">
-          <color rgba="0.75294 0.75294 0.75294 1"/>
-        </material>
+	<xacro:material_kuka_orange />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
@@ -95,19 +69,12 @@
       </collision>
     </link>
     <link name="${prefix}link_4">
-      <inertial>
-        <origin xyz="0.27146 -0.007326 5.2775E-05" rpy="0 0 0"/>
-        <mass value="173.73"/>
-        <inertia ixx="1.8001" ixy="-0.18515" ixz="0.00051232" iyy="5.514" iyz="0.00070469" izz="6.3498"/>
-      </inertial>
       <visual>
-        <origin xyz="0 0 0" rpy="${-pi/2} 0 0"/>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr210_support/meshes/kr210l150/visual/link_4.dae"/>
+          <mesh filename="package://kuka_kr210_support/meshes/kr210l150/visual/link_4.stl"/>
         </geometry>
-        <material name="">
-          <color rgba="0.75294 0.75294 0.75294 1"/>
-        </material>
+	<xacro:material_kuka_orange />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
@@ -117,19 +84,12 @@
       </collision>
     </link>
     <link name="${prefix}link_5">
-      <inertial>
-        <origin xyz="0.04379 0.025984 3.5491E-07" rpy="0 0 0"/>
-        <mass value="72.17"/>
-        <inertia ixx="0.3938" ixy="-0.085332" ixz="1.7223E-06" iyy="0.68945" iyz="-7.0292E-06" izz="0.67292"/>
-      </inertial>
       <visual>
-        <origin xyz="0 0 0" rpy="${-pi/2} 0 0"/>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr210_support/meshes/kr210l150/visual/link_5.dae"/>
+          <mesh filename="package://kuka_kr210_support/meshes/kr210l150/visual/link_5.stl"/>
         </geometry>
-        <material name="">
-          <color rgba="0.75294 0.75294 0.75294 1"/>
-        </material>
+	<xacro:material_kuka_orange />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
@@ -139,19 +99,12 @@
       </collision>
     </link>
     <link name="${prefix}link_6">
-      <inertial>
-        <origin xyz="-0.017956 -1.5237E-05 0.00015484" rpy="0 0 0"/>
-        <mass value="6.3154"/>
-        <inertia ixx="0.031746" ixy="1.7673E-07" ixz="-6.6558E-06" iyy="0.016686" iyz="1.4304E-07" izz="0.016723"/>
-      </inertial>
       <visual>
         <origin xyz="0 0 0" rpy="0 0 0"/>
         <geometry>
-          <mesh filename="package://kuka_kr210_support/meshes/kr210l150/visual/link_6.dae"/>
+          <mesh filename="package://kuka_kr210_support/meshes/kr210l150/visual/link_6.stl"/>
         </geometry>
-        <material name="">
-          <color rgba="0.75294 0.75294 0.75294 1"/>
-        </material>
+	<xacro:material_kuka_ral_silver_gray />
       </visual>
       <collision>
         <origin xyz="0 0 0" rpy="0 0 0"/>
@@ -165,51 +118,61 @@
 
     <!-- joints -->
     <joint name="${prefix}joint_a1" type="revolute">
-      <origin xyz="-0.00262 0.00097586 0.33099" rpy="0 0 0"/>
+      <origin xyz="0 0 0.75" rpy="0 0 0"/>
       <parent link="${prefix}base_link"/>
       <child link="${prefix}link_1"/>
-      <axis xyz="0 0 1"/>
-      <limit lower="${-185*deg}" upper="${185*deg}" effort="0" velocity="${123*deg}"/>
+      <axis xyz="0 0 -1"/>
+      <limit lower="${radians(-185)}" upper="${radians(185)}" effort="0" velocity="${radians(86)}"/>
     </joint>
     <joint name="${prefix}joint_a2" type="revolute">
-      <origin xyz="0.35277 -0.037476 0.4192" rpy="0 0 0"/>
+      <origin xyz="0.35 0 0" rpy="0 0 0"/>
       <parent link="${prefix}link_1"/>
       <child link="${prefix}link_2"/>
       <axis xyz="0 1 0"/>
-      <limit lower="${-45*deg}" upper="${85*deg}" effort="0" velocity="${115*deg}"/>
+      <limit lower="${radians(-61)}" upper="${radians(90)}" effort="0" velocity="${radians(84)}"/>
     </joint>
     <joint name="${prefix}joint_a3" type="revolute">
-      <origin xyz="-9.8483E-05 -0.1475 1.2499" rpy="0 0 0"/>
+      <xacro:if value="${variant == ''}">
+	<origin xyz="0 0 1.25" rpy="0 ${radians(90)} 0"/>
+      </xacro:if>
+      <xacro:if value="${variant == '_2'}">
+	<origin xyz="0 0 1.25" rpy="0 0 0"/>
+      </xacro:if>
       <parent link="${prefix}link_2"/>
       <child link="${prefix}link_3"/>
       <axis xyz="0 1 0"/>
-      <limit lower="${-210*deg}" upper="${(155-90)*deg}" effort="0" velocity="${112*deg}"/>
+      <xacro:if value="${variant == ''}">
+	<limit lower="${radians(-209)}" upper="${radians(65)}" effort="0" velocity="${radians(81)}"/>
+      </xacro:if>
+      <xacro:if value="${variant == '_2'}">
+	<limit lower="${radians(-119)}" upper="${radians(155)}" effort="0" velocity="${radians(81)}"/>
+      </xacro:if>
     </joint>
     <joint name="${prefix}joint_a4" type="revolute">
-      <origin xyz="0.95795 0.184 -0.055059" rpy="0 0 0"/>
+      <origin xyz="0.055 0 0" rpy="0 0 0"/>
       <parent link="${prefix}link_3"/>
       <child link="${prefix}link_4"/>
-      <axis xyz="1 0 0"/>
-      <limit lower="${-350*deg}" upper="${350*deg}" effort="0" velocity="${179*deg}"/>
+      <axis xyz="0 0 1"/>
+      <limit lower="${radians(-350)}" upper="${radians(350)}" effort="0" velocity="${radians(100)}"/>
     </joint>
     <joint name="${prefix}joint_a5" type="revolute">
-      <origin xyz="0.542 0 0" rpy="0 0 0"/>
+      <origin xyz="0 0 1.5" rpy="0 0 0"/>
       <parent link="${prefix}link_4"/>
       <child link="${prefix}link_5"/>
       <axis xyz="0 1 0"/>
-      <limit lower="${-125*deg}" upper="${125*deg}" effort="0" velocity="${172*deg}"/>
+      <limit lower="${radians(-125)}" upper="${radians(125)}" effort="0" velocity="${radians(110)}"/>
     </joint>
     <joint name="${prefix}joint_a6" type="revolute">
-      <origin xyz="0.1925 0 0" rpy="0 0 0"/>
+      <origin xyz="0 0 0.23" rpy="0 0 0"/>
       <parent link="${prefix}link_5"/>
       <child link="${prefix}link_6"/>
-      <axis xyz="1 0 0"/>
-      <limit lower="${-350*deg}" upper="${350*deg}" effort="0" velocity="${219*deg}"/>
+      <axis xyz="0 0 1"/>
+      <limit lower="${radians(-350)}" upper="${radians(350)}" effort="0" velocity="${radians(184)}"/>
     </joint>
     <joint name="${prefix}link_6-tool0" type="fixed">
       <parent link="${prefix}link_6"/>
       <child link="${prefix}tool0"/>
-      <origin xyz="0.0375 0 -0.00023924" rpy="0 0 0"/>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
     </joint>
 
     <!-- rename 'Link1' to 'link_1', maintain bw-compatibility -->