{
  "id": "ur-description-artifact-config-ur30-default-kinematics-yaml",
  "name": "Universal Robots ROS 2 description: config/ur30/default kinematics.yaml",
  "summary": "Official pinned robot configuration text for config/ur30/default kinematics.yaml. Inspect the upstream package and adjacent assets before use.",
  "framework": "ur-description",
  "kind": "official_example",
  "source_registry": "official-robot-artifacts-v1",
  "artifact": {
    "kind": "robot_configuration",
    "format": "yaml",
    "role": "Source/configuration reference; not an executable Hub skill",
    "structure": {
      "keys": [
        "forearm",
        "hash",
        "kinematics",
        "pitch",
        "roll",
        "shoulder",
        "upper_arm",
        "wrist_1",
        "wrist_2",
        "wrist_3",
        "x",
        "y",
        "yaw",
        "z"
      ],
      "keys_truncated": false
    }
  },
  "capabilities": [
    "kinematics",
    "robot-configuration",
    "robot-description",
    "ros2",
    "urdf"
  ],
  "robot_types": [
    "arm"
  ],
  "robot_scope": "Labels identify this description/configuration source; they do not establish runtime, controller or physical-robot compatibility.",
  "source": {
    "repository": "https://github.com/UniversalRobots/Universal_Robots_ROS2_Description",
    "commit": "d4042c1f5123c86645cc5dbd650b4f461f697ee9",
    "tag": "rolling",
    "path": "config/ur30/default_kinematics.yaml",
    "url": "https://github.com/UniversalRobots/Universal_Robots_ROS2_Description/blob/d4042c1f5123c86645cc5dbd650b4f461f697ee9/config/ur30/default_kinematics.yaml",
    "raw_url": "https://raw.githubusercontent.com/UniversalRobots/Universal_Robots_ROS2_Description/d4042c1f5123c86645cc5dbd650b4f461f697ee9/config/ur30/default_kinematics.yaml",
    "sha256": "744f2e8e0c1a352aab29061f9c104927444854fe8f5958f0738f98242fce09fe",
    "bytes": 715
  },
  "license": {
    "spdx": "BSD-3-Clause",
    "url": "https://github.com/UniversalRobots/Universal_Robots_ROS2_Description/blob/d4042c1f5123c86645cc5dbd650b4f461f697ee9/LICENSE",
    "sha256": "143077f9f6a8de5a99f78c2c2472801fb53cf240277ef661642f079b9acdfff8",
    "scope": "Selected robot-description/configuration source text only. Preserve upstream notices; meshes, textures, dependencies and trademarks retain their separate licenses. The UR8LONG, UR15, UR18, UR20 and UR30 meshes are separately governed by Universal Robots graphical-documentation terms; BSD-3-Clause here does not license those meshes."
  },
  "access": {
    "mode": "source_reference",
    "hub_prepare": false,
    "instructions": "Inspect this checksum-pinned text in the full upstream checkout. Resolve adjacent definitions/assets and their separate licenses using upstream instructions. The Hub does not load or execute this artifact.",
    "setup_url": "https://github.com/UniversalRobots/Universal_Robots_ROS2_Description/blob/d4042c1f5123c86645cc5dbd650b4f461f697ee9/README.md"
  },
  "requirements": {
    "python": "Not a Python entrypoint; follow the pinned upstream package requirements",
    "packages": [
      "ROS 2 and ur_description from the pinned checkout",
      "Xacro and adjacent robot configuration/mesh resources"
    ],
    "display": "Descriptions and parameters require the matching upstream ROS 2 package. Default kinematics are nominal model data, not robot-specific calibration. Certain meshes have separate Universal Robots graphical-documentation terms.",
    "execution_domain": "configuration",
    "source_imports": []
  },
  "invocation": {
    "entrypoint": "Data/configuration artifact: config/ur30/default_kinematics.yaml; use its upstream loader or package integration after inspection",
    "notes": "This file is not a standalone program. No Xacro expansion, include resolution, model loading, configuration deployment or robot execution was performed."
  },
  "popularity": {
    "metric": "github_stars",
    "repository_stars": 365,
    "checked_at": "2026-10-18",
    "meaning": "Dated repository interest, not artifact use or runtime success."
  },
  "evidence": {
    "level": "source_reviewed",
    "runtime_verification": "not_run",
    "checked_at": "2026-10-18",
    "inspection": "Verified exact source and applicable license SHA-256 bytes. Inspected UTF-8 configuration text and mapping-key shape; YAML semantics and ROS parameter compatibility were not evaluated.",
    "inspection_method": "automated_static",
    "artifact_kind": "robot_configuration"
  },
  "robots": [
    "ur30"
  ]
}