# Universal Robots ROS 2 description: urdf/inc/ur transmissions

Official pinned robot description text for urdf/inc/ur transmissions. Inspect the upstream package and adjacent assets before use.

ID: `ur-description-artifact-urdf-inc-ur-transmissions-xacro`

Record version: `source-85096b2102ef26cb11313956e9ba737f3fae63a0b702108f8cf3253de1cdadf3`

Hub commit: `bc3e9b72c9117bc282abdf8399eb6f1412d09418`

## Access

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.

Hub preparation adapter: **false**. Runtime verification: **not_run**.

Upstream setup: https://github.com/UniversalRobots/Universal_Robots_ROS2_Description/blob/d4042c1f5123c86645cc5dbd650b4f461f697ee9/README.md

## Source and license

- Repository: https://github.com/UniversalRobots/Universal_Robots_ROS2_Description
- Pinned source: https://github.com/UniversalRobots/Universal_Robots_ROS2_Description/blob/d4042c1f5123c86645cc5dbd650b4f461f697ee9/urdf/inc/ur_transmissions.xacro
- Revision: `d4042c1f5123c86645cc5dbd650b4f461f697ee9`
- Path: `urdf/inc/ur_transmissions.xacro`
- Source SHA256: `85096b2102ef26cb11313956e9ba737f3fae63a0b702108f8cf3253de1cdadf3`
- Source bytes: 2669
- Original authors: See pinned upstream source and license notices.
- License: [BSD-3-Clause](https://github.com/UniversalRobots/Universal_Robots_ROS2_Description/blob/d4042c1f5123c86645cc5dbd650b4f461f697ee9/LICENSE)
- License 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.

License SHA256: `143077f9f6a8de5a99f78c2c2472801fb53cf240277ef661642f079b9acdfff8`

## Artifact

```json
{
  "kind": "robot_description",
  "format": "xacro",
  "role": "Source/configuration reference; not an executable Hub skill",
  "structure": {
    "root": "robot",
    "references": [],
    "references_truncated": false
  }
}
```

## Requirements

```json
{
  "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

```json
{
  "entrypoint": "Data/configuration artifact: urdf/inc/ur_transmissions.xacro; 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."
}
```

## Compatibility

```json
[]
```

Missing environment fields remain unknown. Source discovery labels do not establish robot compatibility.

## Evidence

Level: **source_reviewed**. Runtime verification: **not_run**.

Verified exact source and applicable license SHA-256 bytes. Parsed XML syntax and recorded direct file references; includes, Xacro expressions and model dynamics were not evaluated.

Source review and contributor reports do not establish task completion. Preserve upstream attribution and licenses.