{
  "id": "ur5e",
  "kind": "vendor-xacro",
  "label": "recipe-produced; not an upstream-published standalone model",
  "repository": "https://github.com/UniversalRobots/Universal_Robots_ROS2_Description",
  "commit": "89bbe795f38a7ab00fb66fe8831dfff79dc99edf",
  "package": "ur_description",
  "entrypoint": "urdf/ur.urdf.xacro",
  "command": [
    "xacro",
    "urdf/ur.urdf.xacro",
    "ur_type:=ur5e",
    "name:=ur",
    "safety_limits:=true",
    "safety_pos_margin:=0.15",
    "safety_k_position:=20",
    "tf_prefix:="
  ],
  "configuration": {
    "ur_type": "ur5e",
    "name": "ur",
    "safety_limits": true,
    "safety_pos_margin": 0.15,
    "safety_k_position": 20,
    "tf_prefix": "",
    "kinematics": "config/ur5e/default_kinematics.yaml",
    "kinematics_kind": "generic factory defaults from the description package; not a calibrated robot",
    "launch_recipe": "launch/view_ur.launch.xml ur_type:=ur5e",
    "identity": "UR5e; not UR5, UR20, or another series. Meshes are BSD-3-Clause, not UR Graphical Documentation."
  },
  "runtime": {
    "python": "3.12.3",
    "xacro": "2.1.1",
    "ament_index_python": "1.4.1"
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