RmpFlow for UR5e

bogdan_stego · January 18, 2024, 8:38pm

Hello everyone!

How can I get the .yaml .urdf files for the UR5e robot. I need those files for the RmpFlow.

Thanks a lot.

edsonbffilho · January 19, 2024, 10:23am

You can easily find the urdf in github. They should work.

Example:

github.com

Daniella1/urdf_files_dataset/blob/main/urdf_files/ros-industrial/xacro_generated/universal_robots/ur_description/urdf/ur5e.urdf

<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from ur5e.xacro                     | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="ur5e_robot">
  <!--
    Base UR robot series xacro macro.

    NOTE: this is NOT a URDF. It cannot directly be loaded by consumers
    expecting a flattened '.urdf' file. See the top-level '.xacro' for that
    (but note: that .xacro must still be processed by the xacro command).

    For use in '.launch' files: use one of the 'load_urX.launch' convenience
    launch files.

    This file models the base kinematic chain of a UR robot, which then gets
    parameterised by various configuration files to convert it into a UR3(e),
    UR5(e), UR10(e) or UR16e.

This file has been truncated. show original

rthaker · January 24, 2024, 4:16pm

Hi @bogdan_stego - If you have USD then you can use this URDF exporter tool.
https://docs.omniverse.nvidia.com/isaacsim/latest/advanced_tutorials/tutorial_advanced_export_urdf.html

system · February 16, 2024, 11:46am

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RmpFlow for UR5e

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