UR3e

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 7536834c806c5244 -->
<robot name="ur3e">
  <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/ur3e/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/ur3e/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/ur3e/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/ur3e/collision/shoulder.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 -0.02" rpy="1.570796326794897 0.0 0.0" />
      <mass value="1.98" />
      <inertia ixx="0.0027657" ixy="9.6e-06" ixz="-1.49e-05" iyy="0.0021501" iyz="0.0001873" izz="0.0025626" />
    </inertial>
  </link>
  <link name="upper_arm_link">
    <visual>
      <origin xyz="0.0 0.0 0.12" rpy="1.5707963267948966 0.0 -1.5707963267948966" />
      <geometry>
        <mesh filename="package://ur_description/meshes/ur3e/visual/upperarm.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.12" rpy="1.5707963267948966 0.0 -1.5707963267948966" />
      <geometry>
        <mesh filename="package://ur_description/meshes/ur3e/collision/upperarm.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.11355 0.0 0.1157" rpy="0.0 0.0 0.0" />
      <mass value="3.4445" />
      <inertia ixx="0.0042623" ixy="-4.09e-05" ixz="-0.001496" iyy="0.0460284" iyz="-1.29e-05" izz="0.0448947" />
    </inertial>
  </link>
  <link name="forearm_link">
    <visual>
      <origin xyz="0.0 0.0 0.027" rpy="1.5707963267948966 0.0 -1.5707963267948966" />
      <geometry>
        <mesh filename="package://ur_description/meshes/ur3e/visual/forearm.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.027" rpy="1.5707963267948966 0.0 -1.5707963267948966" />
      <geometry>
        <mesh filename="package://ur_description/meshes/ur3e/collision/forearm.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.1632 0.0 0.0238" rpy="0.0 0.0 0.0" />
      <mass value="1.437" />
      <inertia ixx="0.0010511" ixy="0.0" ixz="-3.31e-05" iyy="0.0113396" iyz="2.2e-06" izz="0.0110895" />
    </inertial>
  </link>
  <link name="wrist_1_link">
    <visual>
      <origin xyz="0.0 0.0 -0.104" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <mesh filename="package://ur_description/meshes/ur3e/visual/wrist1.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 -0.104" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <mesh filename="package://ur_description/meshes/ur3e/collision/wrist1.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 -0.01 0.0" rpy="1.570796326794897 0.0 0.0" />
      <mass value="0.871" />
      <inertia ixx="0.0008174" ixy="-5e-07" ixz="2.1e-06" iyy="0.0006844" iyz="6.17e-05" izz="0.0005497" />
    </inertial>
  </link>
  <link name="wrist_2_link">
    <visual>
      <origin xyz="0.0 0.0 -0.08535" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://ur_description/meshes/ur3e/visual/wrist2.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 -0.08535" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://ur_description/meshes/ur3e/collision/wrist2.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.01 0.0" rpy="-1.570796326794897 0.0 0.0" />
      <mass value="0.805" />
      <inertia ixx="0.0006059" ixy="-6e-07" ixz="-6e-07" iyy="0.0005837" iyz="-2.71e-05" izz="0.0003831" />
    </inertial>
  </link>
  <link name="wrist_3_link">
    <visual>
      <origin xyz="0.0 0.0 -0.0921" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <mesh filename="package://ur_description/meshes/ur3e/visual/wrist3.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 -0.0921" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <mesh filename="package://ur_description/meshes/ur3e/collision/wrist3.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 -0.02" rpy="0.0 0.0 0.0" />
      <mass value="0.261" />
      <inertia ixx="0.000108" ixy="-1e-07" ixz="-1e-07" iyy="0.0001086" iyz="-2e-07" izz="0.0001371" />
    </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 0.15185" 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="54.0" 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="54.0" 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="-0.24355 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="-0.2132 0.0 0.13105" 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="9.0" 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="9.0" 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 0.0921 -1.8890025766262e-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="9.0" 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 7536834c806c5244 -->
<mujoco model="ur3e">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <mesh name="visual_base" file="ur_description/meshes/ur3e/visual/base.dae" />
    <mesh name="collision_base" file="ur_description/meshes/ur3e/collision/base.stl" />
    <mesh name="visual_shoulder" file="ur_description/meshes/ur3e/visual/shoulder.dae" />
    <mesh name="collision_shoulder" file="ur_description/meshes/ur3e/collision/shoulder.stl" />
    <mesh name="visual_upperarm" file="ur_description/meshes/ur3e/visual/upperarm.dae" />
    <mesh name="collision_upperarm" file="ur_description/meshes/ur3e/collision/upperarm.stl" />
    <mesh name="visual_forearm" file="ur_description/meshes/ur3e/visual/forearm.dae" />
    <mesh name="collision_forearm" file="ur_description/meshes/ur3e/collision/forearm.stl" />
    <mesh name="visual_wrist1" file="ur_description/meshes/ur3e/visual/wrist1.dae" />
    <mesh name="collision_wrist1" file="ur_description/meshes/ur3e/collision/wrist1.stl" />
    <mesh name="visual_wrist2" file="ur_description/meshes/ur3e/visual/wrist2.dae" />
    <mesh name="collision_wrist2" file="ur_description/meshes/ur3e/collision/wrist2.stl" />
    <mesh name="visual_wrist3" file="ur_description/meshes/ur3e/visual/wrist3.dae" />
    <mesh name="collision_wrist3" file="ur_description/meshes/ur3e/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 0.15185">
          <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="1.98" fullinertia="0.0027657 0.0025626 0.0021501 1.4899999999999996e-05 9.600000000000005e-06 -0.00018729999999999984" />
          <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="-0.11355 0.0 0.1157" mass="3.4445" fullinertia="0.0042623 0.0460284 0.0448947 -4.09e-05 -0.001496 -1.29e-05" />
            <geom name="upper_arm_link_vis_0" type="mesh" mesh="visual_upperarm" pos="0.0 0.0 0.12" 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 0.12" quat="0.5000000000000001 0.5 -0.4999999999999999 -0.5" group="3" />
            <body name="forearm_link" pos="-0.24355 0.0 0.0">
              <joint name="elbow_joint" type="hinge" axis="0.0 0.0 1.0" range="-3.141592653589793 3.141592653589793" />
              <inertial pos="-0.1632 0.0 0.0238" mass="1.437" fullinertia="0.0010511 0.0113396 0.0110895 0.0 -3.31e-05 2.2e-06" />
              <geom name="forearm_link_vis_0" type="mesh" mesh="visual_forearm" pos="0.0 0.0 0.027" 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 0.027" quat="0.5000000000000001 0.5 -0.4999999999999999 -0.5" group="3" />
              <body name="wrist_1_link" pos="-0.2132 0.0 0.13105">
                <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="0.871" fullinertia="0.0008174 0.0005497 0.0006844 -2.1e-06 -5.000000000000008e-07 -6.170000000000005e-05" />
                <geom name="wrist_1_link_vis_0" type="mesh" mesh="visual_wrist1" pos="0.0 0.0 -0.104" 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 -0.104" 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="0.805" fullinertia="0.0006059 0.0003831 0.0005837 -5.999999999999998e-07 6.000000000000002e-07 2.710000000000008e-05" />
                  <geom name="wrist_2_link_vis_0" type="mesh" mesh="visual_wrist2" pos="0.0 0.0 -0.08535" contype="0" conaffinity="0" group="2" />
                  <geom name="wrist_2_link_col_0" type="mesh" mesh="collision_wrist2" pos="0.0 0.0 -0.08535" group="3" />
                  <body name="wrist_3_link" pos="0.0 0.0921 -1.8890025766262e-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="0.261" fullinertia="0.000108 0.0001086 0.0001371 -1e-07 -1e-07 -2e-07" />
                    <geom name="wrist_3_link_vis_0" type="mesh" mesh="visual_wrist3" pos="0.0 0.0 -0.0921" 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 -0.0921" 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: 10.6 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.