Universal Robots UR Series URDF Models — Import into ARMOR for iPhone, iPad & Mac

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UR8 Long 23 files · 2.8 MB The long-reach UR Series arm: a 0.90 m upper arm and 0.72 m forearm, about 43.9 kg in Universal Robots' description. Shares its base, shoulder, and wrist meshes with the UR15. UR15 22 files · 2.5 MB The mid-reach UR Series arm: a 0.65 m upper arm and 0.52 m forearm, about 40.3 kg in the description. Torque limits of 433 N·m at the two shoulder joints. UR18 23 files · 2.9 MB The short-reach UR Series arm: a 0.48 m upper arm and 0.34 m forearm, about 39.0 kg in the description, on the same shoulder, base, and wrist as the UR15. UR30 23 files · 6.5 MB The UR Series arm with the highest joint torque limits here: 738 N·m at the two shoulder joints and 107 N·m at the wrists. A 0.64 m upper arm and 0.50 m forearm, about 63.1 kg in the description. UR10g-1750 23 files · 1.5 MB A g-Series arm with the link lengths and joint torque limits of the UR8 Long, plus a Smart Panel on the wrist. About 44.1 kg in the description. UR17g-1300 23 files · 1.7 MB A g-Series arm with the link lengths and joint torque limits of the UR15, plus a Smart Panel on the wrist. About 40.4 kg in the description. UR18g-950 23 files · 1.7 MB A g-Series arm with the link lengths and joint torque limits of the UR18, plus a Smart Panel on the wrist. About 39.1 kg in the description.

22 files 2.5 MB download

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This entry gathers Universal Robots’ newer arm sizes in one place: the UR Series models UR8 Long, UR15, UR18, and UR30, and the g-Series models UR10g-1750, UR17g-1300, and UR18g-950, which Universal Robots added to its description repository on 22 October 2026. For the UR3e, UR5e, UR10e, UR16e, and UR20, see the UR e-Series entry.

The mechanism

Base, shoulder, upper arm, forearm, and three wrist joints (wrist 1, 2, and 3) form a textbook 6-axis serial arm on every model, with no mimic joints and no closed loops, and every joint an independent actuator. base_link_inertia is a small internal frame that Universal Robots’ description inserts to align the model with the controller’s coordinate convention; it is not a seventh axis. The sizes differ in link lengths, mass, joint limits, and which meshes they use.

Which variant?

Each g-Series arm has the same link lengths and joint torque limits as one UR Series arm: the UR10g-1750 matches the UR8 Long, the UR17g-1300 matches the UR15, and the UR18g-950 matches the UR18. The g-Series variants also add a Smart Panel, an optional accessory on the last wrist link, which Universal Robots’ configuration turns on by default for them. The UR30 is the arm in this group with the highest joint torque limits.

License — read before building on these models

Every mesh in this entry is covered by Universal Robots’ Terms and Conditions for Use of Graphical Documentation, not the open-source BSD license that covers the rest of the repository. The terms allow you to create simulations and visualizations of Universal Robots’ products, and let hobbyists, students, and researchers make models for non-commercial use, but they forbid using the files to build a product that competes with Universal Robots’. Universal Robots states that the terms do not fully comply with the Open Source Definition. Read the license notice above before building on these files.

About these files — read before importing

These files are not URDFs. Universal Robots publishes every model from one shared, parameterized .urdf.xacro template, and model identity comes from which configuration files get loaded, not from a separate file per robot. This gallery entry links directly to the official Universal_Robots_ROS2_Description repository, unmodified, configured per variant. ARMOR expands the macros itself after downloading, so Open in ARMOR gives you a working robot, and nothing here is a pre-baked derivative of Universal Robots’ files.

License & attribution

Source code

BSD-3-Clause

Model & mesh files

Universal Robots Terms and Conditions for Use of Graphical Documentation

Attribution

ur_description (Universal_Robots_ROS2_Description), Universal Robots A/S — the xacro and configuration files are BSD-3-Clause. Every mesh in this entry is Universal Robots' "Graphical Documentation", governed by its Terms and Conditions for Use of Graphical Documentation (version 1.01), which permit simulation, visualization, and path-planning use, including non-commercial hobbyist, student, and research use, but forbid building a competing physical product from the files. Renders and views of these models: © 2023 Universal Robots A/S. Use hereof is subject to Universal Robots A/S' Terms and Conditions for Use of Graphical Documentation.

ARMOR does not host or redistribute this model. Choosing “Open in ARMOR” downloads the files directly from Universal Robots’s own repository, unmodified. Your use of the model is governed by the license above.

Read the full license →

ARMOR is an independent tool published by DCDC LLC. It is not affiliated with, sponsored by, or endorsed by Universal Robots A/S. "Universal Robots" and the model names below are used here only to identify the robots these files describe. Every model is downloaded from Universal Robots' own repository; its meshes are subject to the Terms and Conditions for Use of Graphical Documentation noted above, and its configuration files to the BSD 3-Clause License, which you accept by downloading.

UR Series and g-Series