Universal Robots URDF Description Packages
Provider：ROS-Industrial Community
ROS-Industrial URDF and meshes for the UR family: full kinematic chains, joint limits and inertial data, BSD licensed, ready for simulation and real robots.
At a glance
- Readiness
- L2 · Semantic & material ready
- Rationale
- Official URDF and meshes with kinematic chains, joint limits and inertial parameters, drivable from ROS/Gazebo; no semantic or sensor attributes, hence L2.
- Scale
- Full UR family (UR3 / UR5 / UR10 / UR16e) (Covers UR3/UR5/UR10/UR16e and related description packages; checked 2026-10-24.)
- License
- BSD — BSD licensed — commercial use allowed, retain the copyright notice.
- Access
- Open
- Formats
- urdf · stl
- Runtimes
- gazebo · mujoco · other
- Physics properties
- Collision geometryMass / inertiaInertia tensorJoint structure
- Domain
- Solid / Structure
- Published
- 2026-10-24
- Updated
- 2026-10-24
Why it is listed
These description packages are the de-facto reference for Universal Robots arms in ROS, Gazebo and many other simulators.
Readiness assessment
They include visual and collision meshes plus inertial parameters and joint limits, which is exactly the minimum an L2 asset needs.
Practical notes
Because the license is BSD, they are safe to embed in commercial pipelines, unlike many community model collections.
Disclaimer: license and usage terms follow the official source — verify them yourself before use. This site indexes and links only; it does not host or mirror any asset file.
License and usage terms are those of the official source — verify before use. No asset file is hosted or mirrored on this site.