Universal Robots UR7e

UR7e variant of the shared Universal Robots ROS 2 description.

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.

Open a local URDF

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

Before you use this model

Select ur_type:=ur7e when generating this variant. The source snapshot includes dedicated ur7e kinematic and joint-limit configuration; confirm distribution support upstream.

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

Get the source package

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

Download upstream ZIP

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

Open model sourceRepository & documentation
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

From source to your workspace

  1. 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. 2. Resolve the description

    Expand Xacro with the documented arguments and dependencies. Keep package paths and mesh files available.

  3. 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

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