Universal Robots UR5

Built by:   Universal Robots
Licence:    BSD-3-Clause
Source:     https://github.com/Gepetto/example-robot-data/tree/6249cab1cdffa4fadb9a53dda964a50d79c5eaaf
Commit:     6249cab1cdffa4fadb9a53dda964a50d79c5eaaf
Collection: Gepetto/example-robot-data
Packaged:   2026-10-07 by urdfbase.com/models/universal-robots-ur5/

This folder holds the model written as MJCF, with mesh paths rewritten to
meshes/ so they resolve wherever the folder is opened. The original files, with
the paths their authors wrote, are at the source above.

What did not survive the conversion:
  - link "world" only anchors the robot to the fixed world, and MJCF's worldbody already carries that name, so it is gone and base_link attaches to the world directly
  - joint "shoulder_pan_joint" has a velocity limit of 3.15, which MJCF does not store on the joint — enforce it in the controller
  - joint "shoulder_lift_joint" has a velocity limit of 3.15, which MJCF does not store on the joint — enforce it in the controller
  - joint "elbow_joint" has a velocity limit of 3.15, which MJCF does not store on the joint — enforce it in the controller
  - joint "wrist_1_joint" has a velocity limit of 3.2, which MJCF does not store on the joint — enforce it in the controller
  - joint "wrist_2_joint" has a velocity limit of 3.2, which MJCF does not store on the joint — enforce it in the controller
  - joint "wrist_3_joint" has a velocity limit of 3.2, which MJCF does not store on the joint — enforce it in the controller

The robot belongs to the people who built it. Credit the source, not this site.
