URDF  ·  Universal Robots  ·  BSD-3-Clause  ·  7 MB

Universal Robots UR5

The original UR5, the CB-series collaborative arm the UR5e replaced: six joints, a 5 kg payload and an 850 mm reach, in the plain URDF that Gepetto's example-robot-data keeps for Pinocchio and Crocoddyl.

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Universal Robots UR5 — URDF model

Where you will meet it

The original CB-series UR5, still the arm a great deal of manipulation code was written for. Its e-Series successor, the UR5e, is here as the MuJoCo Menagerie model. This description carries a mass for every moving link, so it simulates as it is; the tool flange frames are empty, as frames should be.

The first time takes a moment

Opening this model fetches it from the repository Universal Robots keeps it in — the description and the meshes it references, about 7 MB — and keeps it here, so anyone opening it after you gets it straight away. Nothing of yours is uploaded in the process: the simulation itself runs in your tab, on MuJoCo compiled to WebAssembly.

What you can do with it here

  • Simulate it under gravity and contact, write a controller in JavaScript, shove it with the mouse, and run the four repeatable tests that answer with a number rather than an impression.
  • Look inside it: the kinematic tree, every joint and its range, collision geometry against the visual mesh, where the mass actually sits.
  • Convert it to MJCF for MuJoCo, or to USD for Isaac Sim — each direction states what it could not carry across.
  • Download it as a folder — the description, the meshes under meshes/, the licence and a note saying where it came from. Mesh paths are rewritten to point inside the folder, so it opens outside a ROS workspace as well as inside one.
  • Download it as USD for Isaac Sim — one .usda with the meshes written inside it, as described on OpenUSD for robots.
  • Download it as a 3D model — one GLB with every part of the Universal Robots UR5 in place and named as its description names it, for Blender, a render or a web page; or as an STL in millimetres to print. Both are written in your browser, with the licence inside the GLB.
  • Author a movement for it and check the motors it declares can actually perform what you drew.
  • Edit it as URDF — change a joint range, a mass or a shape in a form or in the text, with its meshes brought along, and save the result as your own copy.

Whose model this is

The Universal Robots UR5 model is BSD-3-Clause licensed and was published by Universal Robots in Gepetto/example-robot-data, pinned here at commit 6249cab1cd. This page is a way to open it, not a claim on it — the folder upstream carries the licence text, the changelog and the README its authors wrote:

https://github.com/Gepetto/example-robot-data/tree/6249cab1cdffa4fadb9a53dda964a50d79c5eaaf

If you use the model in your own work, credit that folder rather than this page. If it has changed upstream since we fetched it, the copy here is the one you get — say so in a bug report and it will be re-fetched.

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