.URDFModelica.Documentation.StationaryRobotExample

Information

Package URDFModelica/Examples contains UR10e: an example simulation of a Unified Robot Description Format URDF https://wiki.ros.org/urdf/XML/robot defined stationary robot that shows the functionalities of URDFModelica. The example URDF file is https://github.com/Daniella1/urdf_files_dataset/blob/main/urdf_files/ros-industrial/xacro_generated/universal_robots/ur_description/urdf/ur10e.urdf Copyright Universal Robots 2025 and the package was created using the Python command python ..\urdf_to_package.py -i ur10e.urdf -r H:\URDF_Tutorial -p URDFModelica\Examples -s.

Subpackage URDFModelica/Examples/Ur10e_robot/Links has 11 link models and their 11 parameter records, 7 with collision and visualization. Paths are relative from the library and resources.

Subpackage URDFModelica/Examples/Ur10e_robot/Joints has 10 joint models and their 10 parameter records. Six are revolute (i.e. rotational with limits). The other four joints are fixed connection between two links.

URDFModelica/Examples/Ur10e_robot/Ur10e_robot is the model that connects the links and joints together. Seven rotational flange pairs and one translational flange pair are propagated, frame_a is connected to frame_a of Base_link.

URDFModelica/Examples/Ur10e_robot/Ur10e_robotRun adds a Multibody world and outside inputs for the rotational joints. These are converted to rotational positions. Other types of conversion are possible of course and will not be overwritten, if the Python script is called with the update option -u to update the parameter values only. Ur10e_robotRun is a good candidate for FMU export. Ur10e_robot is rigidly connected to the Multibody World. The two leaves are not connected to anything.

URDFModelica/Examples/Ur10e_robot/Ur10e_robotTest is a quick test to check whether the robot was created correctly. It simply adds some inputs to Ur10e_robotRun.

Package URDFModelica/Examples_Visualization2 contains the same example with DLR Visualization 2 visualizers.