Universal Robots UR5e

Six-axis collaborative arm for manipulation and industrial workcells.

Robot armsXacroROS 2

Inspect the generated URDF

This source uses Xacro. Generate a URDF with the upstream package and its required arguments, then open the output and meshes in the viewer.

Visualization checks geometry and joint motion. It does not run a physics simulation.

Select ur_type:=ur5e when expanding the shared robot description. Mesh terms differ from the source-code license.

ROS 2 descriptions; choose the branch for your distribution. Rolling is the source snapshot here. Meshes have separate upstream terms.

Keep meshes, includes and license files together. A single URDF or Xacro file may not be enough.

Full repository at the recorded revision. Submodules and external dependencies may need separate installation.

Maintainer / source: UniversalRobots/Universal_Robots_ROS2_Description
Branch at check: rolling
Model path: urdf/ur.urdf.xacro
Revision: 81f7c9fe003c
License context: BSD-3-Clause reported at repository level; inspect asset-specific terms
Source checked: 2026-10-28 · path and resources, not simulator behavior

1. Get the complete package
Use the ZIP above or clone the upstream repository. Follow its installation instructions for your branch and ROS distribution.
2. Resolve the description
Expand Xacro with the documented arguments and dependencies. Keep package paths and mesh files available.
3. Inspect before simulation
Check the link tree and limits, then validate in your chosen simulator. Controllers and physics settings are separate.
Check your URDF