UR15

[elenamvazquez]

Hi!
Does anyone have the UR15 in their Robots library?
Thanks!

[LoyWeiWin]

Should be in the universal robot lib

[elenamvazquez]

It is not there unfortunately. How can I add it?

[elenamvazquez]

It is not, unfortunately.

[juliodiarte]

Hej again, @LoyWeiWin we cant find the UR15 in the lib. Any idea where to ask? Thanks in advance for the help.

[visose]

You can generate it using an LLM, try the following:
Clone this repo, install Codex or Claude Cowork, open the repo folder it in the agent, prompt something like:

Create and validate UR15.xml and UR15.3dm robot library files using the libraries branch examples, repo wiki, official UR15 kinematics, and Rhino3dm package for the 3DM.

[visose]

I checked the .3dm, it aproximated the geometry using spheres and cylinders because it couldnt download it from the official UR website (requires to log in). If you download it and place it somewhere in the same folder it might be able to create it properly.

(or you can ask it to find the geometry from a third party site but you need to validate it and check their license)

[visose]

This one looks like it managed to to use proper meshes, also not tested:
UR15.zip

[juliodiarte]

Thanks for your help! We are working on it now and I will share the updates soon.

[juliodiarte]

We used Claude codex and the step file from UR to generate the UR15 mesh and splited the arm into the parts to define the kinetics. We then got the 3dm and xml files. Here goes attached in case anyone needs them.

UR15.zip

[visose]

@juliodiarte your meshes seem to have some issues. The ones I posted above are cleaner and have more than 3 times less vertices. Is there an issue with that file?