Add thirdparty experimental Kuka KR120R2500Pro URDF file

The URDF file and its meshes are retrieved from the following URL:

    https://github.com/ros-industrial/kuka_experimental/tree/melodic-devel/kuka_kr120_support

at commit e78bbd15edb2b39c9053ff3b963ef2947e10a531, i.e.,

    https://github.com/ros-industrial/kuka_experimental/tree/e78bbd15edb2b39c9053ff3b963ef2947e10a531/kuka_kr120_support

thirdparty/kuka_kr120_support/urdf/kr120r2500pro.urdf

@@ -0,0 +1,196 @@
+<?xml version="1.0" ?>
+<!-- =================================================================================== -->
+<!-- |    This document was autogenerated by xacro from kr120r2500pro.xacro            | -->
+<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
+<!-- =================================================================================== -->
+<!--Generates a urdf from the macro in kr120r2500pro_macro.xacro -->
+<robot name="kuka_kr120r2500pro" xmlns:xacro="http://wiki.ros.org/xacro">
+  <link name="base_link">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="2"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://kuka_kr120_support/meshes/kr120r2500pro/visual/base_link.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://kuka_kr120_support/meshes/kr120r2500pro/collision/base_link.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_1">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="2"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://kuka_kr120_support/meshes/kr120r2500pro/visual/link_1.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://kuka_kr120_support/meshes/kr120r2500pro/collision/link_1.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_2">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="2"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://kuka_kr120_support/meshes/kr120r2500pro/visual/link_2.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://kuka_kr120_support/meshes/kr120r2500pro/collision/link_2.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_3">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="2"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://kuka_kr120_support/meshes/kr120r2500pro/visual/link_3.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://kuka_kr120_support/meshes/kr120r2500pro/collision/link_3.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_4">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="2"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://kuka_kr120_support/meshes/kr120r2500pro/visual/link_4.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://kuka_kr120_support/meshes/kr120r2500pro/collision/link_4.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_5">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="2"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://kuka_kr120_support/meshes/kr120r2500pro/visual/link_5.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://kuka_kr120_support/meshes/kr120r2500pro/collision/link_5.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="link_6">
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value="2"/>
+      <inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://kuka_kr120_support/meshes/kr120r2500pro/visual/link_6.dae"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <mesh filename="package://kuka_kr120_support/meshes/kr120r2500pro/collision/link_6.stl"/>
+      </geometry>
+    </collision>
+  </link>
+  <link name="tool0"/>
+  <joint name="joint_a1" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0.675"/>
+    <parent link="base_link"/>
+    <child link="link_1"/>
+    <axis xyz="0 0 -1"/>
+    <limit effort="0" lower="-3.22885911619" upper="3.22885911619" velocity="2.72271363311"/>
+  </joint>
+  <joint name="joint_a2" type="revolute">
+    <origin rpy="0 0 0" xyz="0.35 0 0"/>
+    <parent link="link_1"/>
+    <child link="link_2"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="0" lower="-2.70526034059" upper="0.610865238198" velocity="2.72271363311"/>
+  </joint>
+  <joint name="joint_a3" type="revolute">
+    <origin rpy="0 0 0" xyz="1.150 0 0"/>
+    <parent link="link_2"/>
+    <child link="link_3"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="0" lower="-2.26892802759" upper="2.68780704807" velocity="2.72271363311"/>
+  </joint>
+  <joint name="joint_a4" type="revolute">
+    <origin rpy="0 0 0" xyz="1.0 0 -0.041"/>
+    <parent link="link_3"/>
+    <child link="link_4"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="0" lower="-6.10865238198" upper="6.10865238198" velocity="5.75958653158"/>
+  </joint>
+  <joint name="joint_a5" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="link_4"/>
+    <child link="link_5"/>
+    <axis xyz="0 1 0"/>
+    <limit effort="0" lower="-2.26892802759" upper="2.26892802759" velocity="5.75958653158"/>
+  </joint>
+  <joint name="joint_a6" type="revolute">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="link_5"/>
+    <child link="link_6"/>
+    <axis xyz="-1 0 0"/>
+    <limit effort="0" lower="-6.10865238198" upper="6.10865238198" velocity="10.7337748998"/>
+  </joint>
+  <joint name="joint_a6-tool0" type="fixed">
+    <parent link="link_6"/>
+    <child link="tool0"/>
+    <origin rpy="0 1.57079632679 0" xyz="0.215 0 0"/>
+  </joint>
+  <link name="base"/>
+  <joint name="base_link-base" type="fixed">
+    <origin rpy="0 0 0" xyz="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="base"/>
+  </joint>
+</robot>
+