| # Universal Robots UR5e Description (MJCF) | |
| > [!IMPORTANT] | |
| > Requires MuJoCo 2.3.3 or later. | |
| ## Changelog | |
| See [CHANGELOG.md](./CHANGELOG.md) for a full history of changes. | |
| ## Overview | |
| This package contains a simplified robot description (MJCF) of the | |
| [UR5e](https://www.universal-robots.com/products/ur5-robot/) developed by | |
| [Universal Robots](https://www.universal-robots.com/). It is derived from the | |
| [publicly available URDF | |
| description](https://github.com/ros-industrial/universal_robot/tree/kinetic-devel/ur_e_description). | |
| <p float="left"> | |
| <img src="ur5e.png" width="400"> | |
| </p> | |
| ### URDF → MJCF derivation steps | |
| 1. Converted the DAE [mesh | |
| files](https://github.com/ros-industrial/universal_robot/tree/kinetic-devel/ur_e_description/meshes/ur5e/visual) | |
| to OBJ format using [Blender](https://www.blender.org/). | |
| 2. Processed `.obj` files with [`obj2mjcf`](https://github.com/kevinzakka/obj2mjcf). | |
| 3. Added `<mujoco> <compiler discardvisual="false"/> </mujoco>` to the URDF's | |
| `<robot>` clause in order to preserve visual geometries. | |
| 4. Loaded the URDF into MuJoCo and saved a corresponding MJCF. | |
| 5. Added a tracking light to the base. | |
| 6. Manually edited the MJCF to extract common properties into the `<default>` section. | |
| 7. Added position-controlled actuators. Max joint torque values were taken from | |
| [here](https://www.universal-robots.com/articles/ur/robot-care-maintenance/max-joint-torques/). | |
| 8. Added home joint configuration as a `keyframe`. | |
| 9. Manually designed collision geometries. | |
| 10. Added `scene.xml` which includes the robot, with a textured ground plane, skybox and haze. | |
| ## License | |
| This model is released under a [BSD-3-Clause License](LICENSE). | |