UR5 (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 7048fc696298256e -->
<robot name="ur5">
  <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/ur5/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/ur5/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="0.00443333156" ixy="0.0" ixz="0.0" iyy="0.00443333156" iyz="0.0" izz="0.0072" />
    </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/ur5/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/ur5/collision/shoulder.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 -0.00193 -0.02561" rpy="0.0 0.0 0.0" />
      <mass value="3.7" />
      <inertia ixx="0.014972358333333331" ixy="0.0" ixz="0.0" iyy="0.014972358333333331" iyz="0.0" izz="0.01040625" />
    </inertial>
  </link>
  <link name="upper_arm_link">
    <visual>
      <origin xyz="0.0 0.0 0.13585" rpy="1.5707963267948966 0.0 -1.5707963267948966" />
      <geometry>
        <mesh filename="package://ur_description/meshes/ur5/visual/upperarm.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.13585" rpy="1.5707963267948966 0.0 -1.5707963267948966" />
      <geometry>
        <mesh filename="package://ur_description/meshes/ur5/collision/upperarm.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.2125 0.0 0.11336" rpy="0.0 1.570796326794897 0.0" />
      <mass value="8.393" />
      <inertia ixx="0.13388583541666665" ixy="0.0" ixz="0.0" iyy="0.13388583541666665" iyz="0.0" izz="0.0151074" />
    </inertial>
  </link>
  <link name="forearm_link">
    <visual>
      <origin xyz="0.0 0.0 0.0165" rpy="1.5707963267948966 0.0 -1.5707963267948966" />
      <geometry>
        <mesh filename="package://ur_description/meshes/ur5/visual/forearm.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 0.0165" rpy="1.5707963267948966 0.0 -1.5707963267948966" />
      <geometry>
        <mesh filename="package://ur_description/meshes/ur5/collision/forearm.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="-0.24225 0.0 0.0265" rpy="0.0 1.570796326794897 0.0" />
      <mass value="2.33" />
      <inertia ixx="0.031216803515624995" ixy="0.0" ixz="0.0" iyy="0.031216803515624995" iyz="0.0" izz="0.004095" />
    </inertial>
  </link>
  <link name="wrist_1_link">
    <visual>
      <origin xyz="0.0 0.0 -0.093" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <mesh filename="package://ur_description/meshes/ur5/visual/wrist1.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 -0.093" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <mesh filename="package://ur_description/meshes/ur5/collision/wrist1.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 -0.01634 -0.0018" rpy="0.0 0.0 0.0" />
      <mass value="1.219" />
      <inertia ixx="0.002013889583333333" ixy="0.0" ixz="0.0" iyy="0.002013889583333333" iyz="0.0" izz="0.0021942" />
    </inertial>
  </link>
  <link name="wrist_2_link">
    <visual>
      <origin xyz="0.0 0.0 -0.095" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://ur_description/meshes/ur5/visual/wrist2.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 -0.095" rpy="0.0 0.0 0.0" />
      <geometry>
        <mesh filename="package://ur_description/meshes/ur5/collision/wrist2.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.01634 -0.0018" rpy="0.0 0.0 0.0" />
      <mass value="1.219" />
      <inertia ixx="0.0018310395833333333" ixy="0.0" ixz="0.0" iyy="0.0018310395833333333" iyz="0.0" izz="0.0021942" />
    </inertial>
  </link>
  <link name="wrist_3_link">
    <visual>
      <origin xyz="0.0 0.0 -0.0818" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <mesh filename="package://ur_description/meshes/ur5/visual/wrist3.dae" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0.0 0.0 -0.0818" rpy="1.5707963267948966 0.0 0.0" />
      <geometry>
        <mesh filename="package://ur_description/meshes/ur5/collision/wrist3.stl" />
      </geometry>
    </collision>
    <inertial>
      <origin xyz="0.0 0.0 -0.001159" rpy="0.0 0.0 0.0" />
      <mass value="0.1879" />
      <inertia ixx="8.062475833333332e-05" ixy="0.0" ixz="0.0" iyy="8.062475833333332e-05" iyz="0.0" izz="0.0001321171875" />
    </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 0.089159" 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="150.0" 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="150.0" 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="-0.425 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="-0.39225 0.0 0.10915" 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="28.0" 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 -0.09465 -1.941303950897609e-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="28.0" 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 0.0823 -1.688001216681175e-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="28.0" 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 7048fc696298256e -->
<mujoco model="ur5">
  <compiler angle="radian" autolimits="true" meshdir="assets/" inertiafromgeom="false" balanceinertia="false" />
  <asset>
    <mesh name="visual_base" file="ur_description/meshes/ur5/visual/base.dae" />
    <mesh name="collision_base" file="ur_description/meshes/ur5/collision/base.stl" />
    <mesh name="visual_shoulder" file="ur_description/meshes/ur5/visual/shoulder.dae" />
    <mesh name="collision_shoulder" file="ur_description/meshes/ur5/collision/shoulder.stl" />
    <mesh name="visual_upperarm" file="ur_description/meshes/ur5/visual/upperarm.dae" />
    <mesh name="collision_upperarm" file="ur_description/meshes/ur5/collision/upperarm.stl" />
    <mesh name="visual_forearm" file="ur_description/meshes/ur5/visual/forearm.dae" />
    <mesh name="collision_forearm" file="ur_description/meshes/ur5/collision/forearm.stl" />
    <mesh name="visual_wrist1" file="ur_description/meshes/ur5/visual/wrist1.dae" />
    <mesh name="collision_wrist1" file="ur_description/meshes/ur5/collision/wrist1.stl" />
    <mesh name="visual_wrist2" file="ur_description/meshes/ur5/visual/wrist2.dae" />
    <mesh name="collision_wrist2" file="ur_description/meshes/ur5/collision/wrist2.stl" />
    <mesh name="visual_wrist3" file="ur_description/meshes/ur5/visual/wrist3.dae" />
    <mesh name="collision_wrist3" file="ur_description/meshes/ur5/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="0.00443333156 0.00443333156 0.0072 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 0.089159">
          <joint name="shoulder_pan_joint" type="hinge" axis="0.0 0.0 1.0" range="-6.283185307179586 6.283185307179586" />
          <inertial pos="0.0 -0.00193 -0.02561" mass="3.7" fullinertia="0.014972358333333331 0.014972358333333331 0.01040625 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="-0.2125 0.0 0.11336" mass="8.393" fullinertia="0.0151074 0.13388583541666665 0.13388583541666665 0.0 4.547513999437662e-17 0.0" />
            <geom name="upper_arm_link_vis_0" type="mesh" mesh="visual_upperarm" pos="0.0 0.0 0.13585" 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 0.13585" quat="0.5000000000000001 0.5 -0.4999999999999999 -0.5" group="3" />
            <body name="forearm_link" pos="-0.425 0.0 0.0">
              <joint name="elbow_joint" type="hinge" axis="0.0 0.0 1.0" range="-3.141592653589793 3.141592653589793" />
              <inertial pos="-0.24225 0.0 0.0265" mass="2.33" fullinertia="0.004095 0.031216803515624995 0.031216803515624995 0.0 1.0383768799836874e-17 0.0" />
              <geom name="forearm_link_vis_0" type="mesh" mesh="visual_forearm" pos="0.0 0.0 0.0165" 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 0.0165" quat="0.5000000000000001 0.5 -0.4999999999999999 -0.5" group="3" />
              <body name="wrist_1_link" pos="-0.39225 0.0 0.10915">
                <joint name="wrist_1_joint" type="hinge" axis="0.0 0.0 1.0" range="-6.283185307179586 6.283185307179586" />
                <inertial pos="0.0 -0.01634 -0.0018" mass="1.219" fullinertia="0.002013889583333333 0.002013889583333333 0.0021942 0.0 0.0 0.0" />
                <geom name="wrist_1_link_vis_0" type="mesh" mesh="visual_wrist1" pos="0.0 0.0 -0.093" 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 -0.093" quat="0.7071067811865476 0.7071067811865475 0.0 0.0" group="3" />
                <body name="wrist_2_link" pos="0.0 -0.09465 -1.941303950897609e-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 0.01634 -0.0018" mass="1.219" fullinertia="0.0018310395833333333 0.0018310395833333333 0.0021942 0.0 0.0 0.0" />
                  <geom name="wrist_2_link_vis_0" type="mesh" mesh="visual_wrist2" pos="0.0 0.0 -0.095" contype="0" conaffinity="0" group="2" />
                  <geom name="wrist_2_link_col_0" type="mesh" mesh="collision_wrist2" pos="0.0 0.0 -0.095" group="3" />
                  <body name="wrist_3_link" pos="0.0 0.0823 -1.688001216681175e-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 -0.001159" mass="0.1879" fullinertia="8.062475833333332e-05 8.062475833333332e-05 0.0001321171875 0.0 0.0 0.0" />
                    <geom name="wrist_3_link_vis_0" type="mesh" mesh="visual_wrist3" pos="0.0 0.0 -0.0818" 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 -0.0818" 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: 6.9 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 · 3.5e-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.