UR3 (official)

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 a039bd82be8124a9 -->
<robot name="ur3">
  <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/ur3/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/ur3/collision/base.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
      <mass value="2.0" />
      <inertia ixx="0.0030531654454" ixy="0.0" ixz="0.0" iyy="0.0030531654454" iyz="0.0" izz="0.005625" />
    </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/ur3/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/ur3/collision/shoulder.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 -0.02" rpy="0.0 0.0 0.0" />
      <mass value="2.0" />
      <inertia ixx="0.008093166666666665" ixy="0.0" ixz="0.0" iyy="0.008093166666666665" iyz="0.0" izz="0.005625" />
    </inertial>
  </link>
  <link name="upper_arm_link">
    <visual>
      <origin xyz="0.0 0.0 0.1198" rpy="1.5707963267948966 0.0 -1.5707963267948966" />
      <geometry>
        <mesh filename="package://ur_description/meshes/ur3/visual/upperarm.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.1198" rpy="1.5707963267948966 0.0 -1.5707963267948966" />
      <geometry>
        <mesh filename="package://ur_description/meshes/ur3/collision/upperarm.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.11365 0.0 0.1157" rpy="0.0 1.570796326794897 0.0" />
      <mass value="3.42" />
      <inertia ixx="0.021728491912499998" ixy="0.0" ixz="0.0" iyy="0.021728491912499998" iyz="0.0" izz="0.00961875" />
    </inertial>
  </link>
  <link name="forearm_link">
    <visual>
      <origin xyz="0.0 0.0 0.0275" rpy="1.5707963267948966 0.0 -1.5707963267948966" />
      <geometry>
        <mesh filename="package://ur_description/meshes/ur3/visual/forearm.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0275" rpy="1.5707963267948966 0.0 -1.5707963267948966" />
      <geometry>
        <mesh filename="package://ur_description/meshes/ur3/collision/forearm.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.16325 0.0 0.0238" rpy="0.0 1.570796326794897 0.0" />
      <mass value="1.26" />
      <inertia ixx="0.0065468090625" ixy="0.0" ixz="0.0" iyy="0.0065468090625" iyz="0.0" izz="0.00354375" />
    </inertial>
  </link>
  <link name="wrist_1_link">
    <visual>
      <origin xyz="0.0 0.0 -0.085" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <mesh filename="package://ur_description/meshes/ur3/visual/wrist1.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 -0.085" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <mesh filename="package://ur_description/meshes/ur3/collision/wrist1.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 -0.01 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.8" />
      <inertia ixx="0.0016106414999999998" ixy="0.0" ixz="0.0" iyy="0.0016106414999999998" iyz="0.0" izz="0.00225" />
    </inertial>
  </link>
  <link name="wrist_2_link">
    <visual>
      <origin xyz="0.0 0.0 -0.083" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://ur_description/meshes/ur3/visual/wrist2.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 -0.083" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://ur_description/meshes/ur3/collision/wrist2.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.01 0.0" rpy="0.0 0.0 0.0" />
      <mass value="0.8" />
      <inertia ixx="0.0015721739999999998" ixy="0.0" ixz="0.0" iyy="0.0015721739999999998" iyz="0.0" izz="0.00225" />
    </inertial>
  </link>
  <link name="wrist_3_link">
    <visual>
      <origin xyz="0.0 -0.00255 -0.082" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <mesh filename="package://ur_description/meshes/ur3/visual/wrist3.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 -0.00255 -0.082" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <mesh filename="package://ur_description/meshes/ur3/collision/wrist3.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 -0.02" rpy="0.0 0.0 0.0" />
      <mass value="0.35" />
      <inertia ixx="0.00013626666666666665" ixy="0.0" ixz="0.0" iyy="0.00013626666666666665" iyz="0.0" izz="0.0001792" />
    </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 0.1519" 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="56.0" velocity="3.141592653589793" 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="56.0" velocity="3.141592653589793" lower="-6.283185307179586" upper="6.283185307179586" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="elbow_joint" type="revolute">
    <origin xyz="-0.24365 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="28.0" 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="-0.21325 0.0 0.11235" 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="12.0" velocity="6.283185307179586" 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 -0.08535 -1.750557762378351e-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="12.0" velocity="6.283185307179586" lower="-6.283185307179586" upper="6.283185307179586" />
    <dynamics damping="0.0" friction="0.0" />
  </joint>
  <joint name="wrist_3_joint" type="continuous">
    <origin xyz="0.0 0.0819 -1.679797079540562e-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="12.0" velocity="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 a039bd82be8124a9 -->
<mujoco model="ur3">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <mesh name="visual_base" file="ur_description/meshes/ur3/visual/base.dae" />
    <mesh name="collision_base" file="ur_description/meshes/ur3/collision/base.stl" />
    <mesh name="visual_shoulder" file="ur_description/meshes/ur3/visual/shoulder.dae" />
    <mesh name="collision_shoulder" file="ur_description/meshes/ur3/collision/shoulder.stl" />
    <mesh name="visual_upperarm" file="ur_description/meshes/ur3/visual/upperarm.dae" />
    <mesh name="collision_upperarm" file="ur_description/meshes/ur3/collision/upperarm.stl" />
    <mesh name="visual_forearm" file="ur_description/meshes/ur3/visual/forearm.dae" />
    <mesh name="collision_forearm" file="ur_description/meshes/ur3/collision/forearm.stl" />
    <mesh name="visual_wrist1" file="ur_description/meshes/ur3/visual/wrist1.dae" />
    <mesh name="collision_wrist1" file="ur_description/meshes/ur3/collision/wrist1.stl" />
    <mesh name="visual_wrist2" file="ur_description/meshes/ur3/visual/wrist2.dae" />
    <mesh name="collision_wrist2" file="ur_description/meshes/ur3/collision/wrist2.stl" />
    <mesh name="visual_wrist3" file="ur_description/meshes/ur3/visual/wrist3.dae" />
    <mesh name="collision_wrist3" file="ur_description/meshes/ur3/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="2.0" fullinertia="0.0030531654454 0.0030531654454 0.005625 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 0.1519">
          <joint name="shoulder_pan_joint" type="hinge" axis="0.0 0.0 1.0" range="-6.283185307179586 6.283185307179586" />
          <inertial pos="0.0 0.0 -0.02" mass="2.0" fullinertia="0.008093166666666665 0.008093166666666665 0.005625 0.0 0.0 0.0" />
          <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="-0.11365 0.0 0.1157" mass="3.42" fullinertia="0.00961875 0.021728491912499998 0.021728491912499998 0.0 4.636297883828126e-18 0.0" />
            <geom name="upper_arm_link_vis_0" type="mesh" mesh="visual_upperarm" pos="0.0 0.0 0.1198" 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 0.1198" quat="0.5000000000000001 0.5 -0.4999999999999999 -0.5" group="3" />
            <body name="forearm_link" pos="-0.24365 0.0 0.0">
              <joint name="elbow_joint" type="hinge" axis="0.0 0.0 1.0" range="-3.141592653589793 3.141592653589793" />
              <inertial pos="-0.16325 0.0 0.0238" mass="1.26" fullinertia="0.00354375 0.0065468090625 0.0065468090625 0.0 1.1497417927716407e-18 0.0" />
              <geom name="forearm_link_vis_0" type="mesh" mesh="visual_forearm" pos="0.0 0.0 0.0275" 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 0.0275" quat="0.5000000000000001 0.5 -0.4999999999999999 -0.5" group="3" />
              <body name="wrist_1_link" pos="-0.21325 0.0 0.11235">
                <joint name="wrist_1_joint" type="hinge" axis="0.0 0.0 1.0" range="-6.283185307179586 6.283185307179586" />
                <inertial pos="0.0 -0.01 0.0" mass="0.8" fullinertia="0.0016106414999999998 0.0016106414999999998 0.00225 0.0 0.0 0.0" />
                <geom name="wrist_1_link_vis_0" type="mesh" mesh="visual_wrist1" pos="0.0 0.0 -0.085" 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 -0.085" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
                <body name="wrist_2_link" pos="0.0 -0.08535 -1.750557762378351e-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 0.01 0.0" mass="0.8" fullinertia="0.0015721739999999998 0.0015721739999999998 0.00225 0.0 0.0 0.0" />
                  <geom name="wrist_2_link_vis_0" type="mesh" mesh="visual_wrist2" pos="0.0 0.0 -0.083" contype="0" conaffinity="0" group="2" />
                  <geom name="wrist_2_link_col_0" type="mesh" mesh="collision_wrist2" pos="0.0 0.0 -0.083" group="3" />
                  <body name="wrist_3_link" pos="0.0 0.0819 -1.679797079540562e-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" limited="false" />
                    <inertial pos="0.0 0.0 -0.02" mass="0.35" fullinertia="0.00013626666666666665 0.00013626666666666665 0.0001792 0.0 0.0 0.0" />
                    <geom name="wrist_3_link_vis_0" type="mesh" mesh="visual_wrist3" pos="0.0 -0.00255 -0.082" 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 -0.00255 -0.082" 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: 8.9 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 · 3.4e-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.