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Universal Robots UR5e Description (MJCF)

Requires MuJoCo 2.3.3 or later.

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. Max joint torque values were taken from here.
  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.