Universal Robots UR5e Description (MJCF)

Overview

This package contains a simplified robot description (MJCF) of the UR5e developed by Universal Robots. It is derived from the publicly available URDF description.

URDF → MJCF derivation steps

1. Converted the DAE mesh files to OBJ format using Blender.
2. Processed .obj files with 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 and joint damping and armature. Note that these values have not been carefully tuned -- contributions are more than welcome to improve them.
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.