UR16e

Universal Robots · licence BSD-3-Clause · source: github.com/UniversalRobots/Universal_Robots_ROS2_Description @ 22f055da2

What you are looking at is RobotDescription.from_urdf(original).to_urdf_string(): the reference implementation's re-serialisation of the original file, not the original file itself.

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robot.urdf

<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (py backend), content 1c9d15adddb8228e -->
<robot name="ur16e">
  <link name="world" />
  <link name="base_link" />
  <link name="base_link_inertia">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 3.141592653589793" />
      <geometry>
        <mesh filename="package://ur_description/meshes/ur10e/visual/base.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 3.141592653589793" />
      <geometry>
        <mesh filename="package://ur_description/meshes/ur10e/collision/base.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="4.0" />
      <inertia ixx="0.0061063308908" ixy="0.0" ixz="0.0" iyy="0.0061063308908" iyz="0.0" izz="0.01125" />
    </inertial>
  </link>
  <link name="shoulder_link">
    <visual>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 3.141592653589793" />
      <geometry>
        <mesh filename="package://ur_description/meshes/ur10e/visual/shoulder.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 3.141592653589793" />
      <geometry>
        <mesh filename="package://ur_description/meshes/ur10e/collision/shoulder.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 -0.03 -0.016" rpy="1.570796326794897 0.0 0.0" />
      <mass value="7.369" />
      <inertia ixx="0.03351" ixy="2e-05" ixz="-1e-05" iyy="0.03374" iyz="0.00374" izz="0.021" />
    </inertial>
  </link>
  <link name="upper_arm_link">
    <visual>
      <origin xyz="0.0 0.0 0.1762" rpy="1.5707963267948966 0.0 -1.5707963267948966" />
      <geometry>
        <mesh filename="package://ur_description/meshes/ur16e/visual/upperarm.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.1762" rpy="1.5707963267948966 0.0 -1.5707963267948966" />
      <geometry>
        <mesh filename="package://ur_description/meshes/ur16e/collision/upperarm.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.1764 0.0 0.16" rpy="0.0 0.0 0.0" />
      <mass value="10.45" />
      <inertia ixx="0.02796" ixy="-0.0001" ixz="-0.0072" iyy="0.47558" iyz="3e-05" izz="0.47635" />
    </inertial>
  </link>
  <link name="forearm_link">
    <visual>
      <origin xyz="0.0 0.0 0.0393" rpy="1.5707963267948966 0.0 -1.5707963267948966" />
      <geometry>
        <mesh filename="package://ur_description/meshes/ur16e/visual/forearm.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0393" rpy="1.5707963267948966 0.0 -1.5707963267948966" />
      <geometry>
        <mesh filename="package://ur_description/meshes/ur16e/collision/forearm.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.166 0.0 0.065" rpy="0.0 0.0 0.0" />
      <mass value="4.321" />
      <inertia ixx="0.01091" ixy="6e-05" ixz="0.01012" iyy="0.1206" iyz="1e-05" izz="0.11714" />
    </inertial>
  </link>
  <link name="wrist_1_link">
    <visual>
      <origin xyz="0.0 0.0 -0.135" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <mesh filename="package://ur_description/meshes/ur10e/visual/wrist1.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 -0.135" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <mesh filename="package://ur_description/meshes/ur10e/collision/wrist1.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 -0.011 -0.009" rpy="1.570796326794897 0.0 0.0" />
      <mass value="2.18" />
      <inertia ixx="0.00609" ixy="-1e-05" ixz="0.0" iyy="0.00245" iyz="0.00083" izz="0.00579" />
    </inertial>
  </link>
  <link name="wrist_2_link">
    <visual>
      <origin xyz="0.0 0.0 -0.12" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://ur_description/meshes/ur10e/visual/wrist2.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 -0.12" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://ur_description/meshes/ur10e/collision/wrist2.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.012 -0.018" rpy="-1.570796326794897 0.0 0.0" />
      <mass value="2.033" />
      <inertia ixx="0.00389" ixy="-1e-05" ixz="0.0" iyy="0.00219" iyz="-0.00045" izz="0.00363" />
    </inertial>
  </link>
  <link name="wrist_3_link">
    <visual>
      <origin xyz="0.0 0.0 -0.1168" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <mesh filename="package://ur_description/meshes/ur10e/visual/wrist3.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 -0.1168" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <mesh filename="package://ur_description/meshes/ur10e/collision/wrist3.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 -0.044" rpy="0.0 0.0 0.0" />
      <mass value="0.907" />
      <inertia ixx="0.00117" ixy="0.0" ixz="0.0" iyy="0.00118" iyz="0.0" izz="0.00084" />
    </inertial>
  </link>
  <joint name="base_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="world" />
    <child link="base_link" />
  </joint>
  <joint name="base_link-base_link_inertia" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 3.141592653589793" />
    <parent link="base_link" />
    <child link="base_link_inertia" />
  </joint>
  <joint name="shoulder_pan_joint" type="revolute">
    <origin xyz="0.0 0.0 0.1807" rpy="0.0 0.0 0.0" />
    <parent link="base_link_inertia" />
    <child link="shoulder_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="330.0" velocity="2.0943951023931953" lower="-6.283185307179586" upper="6.283185307179586" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="shoulder_lift_joint" type="revolute">
    <origin xyz="0.0 0.0 0.0" rpy="1.570796327 0.0 0.0" />
    <parent link="shoulder_link" />
    <child link="upper_arm_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="330.0" velocity="2.0943951023931953" lower="-6.283185307179586" upper="6.283185307179586" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="elbow_joint" type="revolute">
    <origin xyz="-0.4784 0.0 0.0" rpy="0.0 0.0 0.0" />
    <parent link="upper_arm_link" />
    <child link="forearm_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="150.0" velocity="3.141592653589793" lower="-3.141592653589793" upper="3.141592653589793" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="wrist_1_joint" type="revolute">
    <origin xyz="-0.36 0.0 0.17415" rpy="0.0 0.0 0.0" />
    <parent link="forearm_link" />
    <child link="wrist_1_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="54.0" velocity="3.141592653589793" lower="-6.283185307179586" upper="6.283185307179586" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="wrist_2_joint" type="revolute">
    <origin xyz="0.0 -0.11985 -2.458164590756244e-11" rpy="1.570796327 0.0 0.0" />
    <parent link="wrist_1_link" />
    <child link="wrist_2_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="54.0" velocity="3.141592653589793" lower="-6.283185307179586" upper="6.283185307179586" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="wrist_3_joint" type="revolute">
    <origin xyz="0.0 0.11655 -2.390480459346185e-11" rpy="1.570796326589793 3.141592653589793 3.141592653589793" />
    <parent link="wrist_2_link" />
    <child link="wrist_3_link" />
    <axis xyz="0.0 0.0 1.0" />
    <limit effort="54.0" velocity="3.141592653589793" lower="-6.283185307179586" upper="6.283185307179586" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <link name="ft_frame" />
  <joint name="wrist_3_link-ft_frame" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="3.141592653589793 0.0 0.0" />
    <parent link="wrist_3_link" />
    <child link="ft_frame" />
  </joint>
  <link name="base" />
  <joint name="base_link-base_fixed_joint" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 3.141592653589793" />
    <parent link="base_link" />
    <child link="base" />
  </joint>
  <link name="flange" />
  <joint name="wrist_3-flange" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="0.0 -1.5707963267948966 -1.5707963267948966" />
    <parent link="wrist_3_link" />
    <child link="flange" />
  </joint>
  <link name="tool0" />
  <joint name="flange-tool0" type="fixed">
    <origin xyz="0.0 0.0 0.0" rpy="1.5707963267948966 0.0 1.5707963267948966" />
    <parent link="flange" />
    <child link="tool0" />
  </joint>
</robot>

robot.xml

<?xml version="1.0" encoding="UTF-8"?>
<!-- generated by bam_robot_descriptions (mjcf backend), content 1c9d15adddb8228e -->
<mujoco model="ur16e">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <mesh name="visual_base" file="ur_description/meshes/ur10e/visual/base.dae" />
    <mesh name="collision_base" file="ur_description/meshes/ur10e/collision/base.stl" />
    <mesh name="visual_shoulder" file="ur_description/meshes/ur10e/visual/shoulder.dae" />
    <mesh name="collision_shoulder" file="ur_description/meshes/ur10e/collision/shoulder.stl" />
    <mesh name="visual_upperarm" file="ur_description/meshes/ur16e/visual/upperarm.dae" />
    <mesh name="collision_upperarm" file="ur_description/meshes/ur16e/collision/upperarm.stl" />
    <mesh name="visual_forearm" file="ur_description/meshes/ur16e/visual/forearm.dae" />
    <mesh name="collision_forearm" file="ur_description/meshes/ur16e/collision/forearm.stl" />
    <mesh name="visual_wrist1" file="ur_description/meshes/ur10e/visual/wrist1.dae" />
    <mesh name="collision_wrist1" file="ur_description/meshes/ur10e/collision/wrist1.stl" />
    <mesh name="visual_wrist2" file="ur_description/meshes/ur10e/visual/wrist2.dae" />
    <mesh name="collision_wrist2" file="ur_description/meshes/ur10e/collision/wrist2.stl" />
    <mesh name="visual_wrist3" file="ur_description/meshes/ur10e/visual/wrist3.dae" />
    <mesh name="collision_wrist3" file="ur_description/meshes/ur10e/collision/wrist3.stl" />
  </asset>
  <worldbody>
    <body name="base_link">
      <body name="base_link_inertia" quat="6.123233995736766e-17 0.0 0.0 1.0">
        <inertial pos="0.0 0.0 0.0" mass="4.0" fullinertia="0.0061063308908 0.0061063308908 0.01125 0.0 0.0 0.0" />
        <geom name="base_link_inertia_vis_0" type="mesh" mesh="visual_base" quat="6.123233995736766e-17 0.0 0.0 1.0" contype="0" conaffinity="0" group="2" />
        <geom name="base_link_inertia_col_0" type="mesh" mesh="collision_base" quat="6.123233995736766e-17 0.0 0.0 1.0" group="3" />
        <body name="shoulder_link" pos="0.0 0.0 0.1807">
          <joint name="shoulder_pan_joint" type="hinge" axis="0.0 0.0 1.0" range="-6.283185307179586 6.283185307179586" />
          <inertial pos="0.0 -0.03 -0.016" mass="7.369" fullinertia="0.03351 0.021000000000000005 0.03374 9.999999999999992e-06 2.0000000000000005e-05 -0.0037400000000000046" />
          <geom name="shoulder_link_vis_0" type="mesh" mesh="visual_shoulder" quat="6.123233995736766e-17 0.0 0.0 1.0" contype="0" conaffinity="0" group="2" />
          <geom name="shoulder_link_col_0" type="mesh" mesh="collision_shoulder" quat="6.123233995736766e-17 0.0 0.0 1.0" group="3" />
          <body name="upper_arm_link" quat="0.7071067811140325 0.7071067812590626 0.0 0.0">
            <joint name="shoulder_lift_joint" type="hinge" axis="0.0 0.0 1.0" range="-6.283185307179586 6.283185307179586" />
            <inertial pos="-0.1764 0.0 0.16" mass="10.45" fullinertia="0.02796 0.47558 0.47635 -0.0001 -0.0072 3e-05" />
            <geom name="upper_arm_link_vis_0" type="mesh" mesh="visual_upperarm" pos="0.0 0.0 0.1762" quat="0.5000000000000001 0.5 -0.4999999999999999 -0.5" contype="0" conaffinity="0" group="2" />
            <geom name="upper_arm_link_col_0" type="mesh" mesh="collision_upperarm" pos="0.0 0.0 0.1762" quat="0.5000000000000001 0.5 -0.4999999999999999 -0.5" group="3" />
            <body name="forearm_link" pos="-0.4784 0.0 0.0">
              <joint name="elbow_joint" type="hinge" axis="0.0 0.0 1.0" range="-3.141592653589793 3.141592653589793" />
              <inertial pos="-0.166 0.0 0.065" mass="4.321" fullinertia="0.01091 0.1206 0.11714 6e-05 0.01012 1e-05" />
              <geom name="forearm_link_vis_0" type="mesh" mesh="visual_forearm" pos="0.0 0.0 0.0393" quat="0.5000000000000001 0.5 -0.4999999999999999 -0.5" contype="0" conaffinity="0" group="2" />
              <geom name="forearm_link_col_0" type="mesh" mesh="collision_forearm" pos="0.0 0.0 0.0393" quat="0.5000000000000001 0.5 -0.4999999999999999 -0.5" group="3" />
              <body name="wrist_1_link" pos="-0.36 0.0 0.17415">
                <joint name="wrist_1_joint" type="hinge" axis="0.0 0.0 1.0" range="-6.283185307179586 6.283185307179586" />
                <inertial pos="0.0 -0.011 -0.009" mass="2.18" fullinertia="0.00609 0.005790000000000001 0.0024499999999999995 3.8285686989269494e-21 -1e-05 -0.0008299999999999987" />
                <geom name="wrist_1_link_vis_0" type="mesh" mesh="visual_wrist1" pos="0.0 0.0 -0.135" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" contype="0" conaffinity="0" group="2" />
                <geom name="wrist_1_link_col_0" type="mesh" mesh="collision_wrist1" pos="0.0 0.0 -0.135" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
                <body name="wrist_2_link" pos="0.0 -0.11985 -2.458164590756244e-11" quat="0.7071067811140325 0.7071067812590626 0.0 0.0">
                  <joint name="wrist_2_joint" type="hinge" axis="0.0 0.0 1.0" range="-6.283185307179586 6.283185307179586" />
                  <inertial pos="0.0 0.012 -0.018" mass="2.033" fullinertia="0.00389 0.0036300000000000004 0.0021899999999999997 3.8285686989269494e-21 1e-05 0.00044999999999999945" />
                  <geom name="wrist_2_link_vis_0" type="mesh" mesh="visual_wrist2" pos="0.0 0.0 -0.12" contype="0" conaffinity="0" group="2" />
                  <geom name="wrist_2_link_col_0" type="mesh" mesh="collision_wrist2" pos="0.0 0.0 -0.12" group="3" />
                  <body name="wrist_3_link" pos="0.0 0.11655 -2.390480459346185e-11" quat="0.7071067811140325 -0.7071067812590626 8.659560562354933e-17 8.880527684815676e-27">
                    <joint name="wrist_3_joint" type="hinge" axis="0.0 0.0 1.0" range="-6.283185307179586 6.283185307179586" />
                    <inertial pos="0.0 0.0 -0.044" mass="0.907" fullinertia="0.00117 0.00118 0.00084 0.0 0.0 0.0" />
                    <geom name="wrist_3_link_vis_0" type="mesh" mesh="visual_wrist3" pos="0.0 0.0 -0.1168" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" contype="0" conaffinity="0" group="2" />
                    <geom name="wrist_3_link_col_0" type="mesh" mesh="collision_wrist3" pos="0.0 0.0 -0.1168" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
                    <body name="ft_frame" quat="6.123233995736766e-17 1.0 0.0 0.0" />
                    <body name="flange" quat="0.5000000000000001 -0.4999999999999999 -0.5 -0.5">
                      <body name="tool0" quat="0.5000000000000001 0.5 0.4999999999999999 0.5" />
                    </body>
                  </body>
                </body>
              </body>
            </body>
          </body>
        </body>
      </body>
      <body name="base" quat="6.123233995736766e-17 0.0 0.0 1.0" />
    </body>
  </worldbody>
  <contact>
    <exclude body1="base_link" body2="base_link_inertia" />
    <exclude body1="base_link_inertia" body2="shoulder_link" />
    <exclude body1="shoulder_link" body2="upper_arm_link" />
    <exclude body1="upper_arm_link" body2="forearm_link" />
    <exclude body1="forearm_link" body2="wrist_1_link" />
    <exclude body1="wrist_1_link" body2="wrist_2_link" />
    <exclude body1="wrist_2_link" body2="wrist_3_link" />
    <exclude body1="wrist_3_link" body2="ft_frame" />
    <exclude body1="base_link" body2="base" />
    <exclude body1="wrist_3_link" body2="flange" />
    <exclude body1="flange" body2="tool0" />
  </contact>
</mujoco>

Import report

Counts

Links	13
Joints	12
Moving joints	6
Visuals	7
Collisions	7
Materials	0

Meshes

Formats: dae, stl.
Asset size: 10.4 MB.

Dropped on import

Nothing dropped: every tag in the original is carried.

Forward-kinematics check

Forward kinematics of 13 link frames at 20 random joint positions within limits, original URDF against robot.urdf, computed by pinocchio 3.8.0. Worst difference: 0.0e+00 m · 3.5e-16 rad.

MuJoCo

robot.xml compiles in MuJoCo with its meshes (nq = 6).

Source & licence

Repository	https://github.com/UniversalRobots/Universal_Robots_ROS2_Description
Commit	`22f055da2fa7e2158254426107d1f257fd56aebb`
Original file	`urdf/ur.urdf.xacro`
Licence	BSD-3-Clause · the upstream LICENSE file
Files	robot.urdf · robot.xml

Meshes are copied verbatim from the repository at the pinned commit and keep their upstream licence.