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A URDF Dataset

This repository contains a dataset of URDF Bundles from various sources, presented in the paper "Understanding URDF: A Dataset And Analysis". All the URDF Bundles can be found in the subdirectory urdf_files. Scripts for producing analysis results on the dataset, can be found in the scripts subdirectory.

Robots

namevariantid:sourcetypemanufacturer
2F-140 grippernone{227: 'ros-industrial'}end effectorRobotiq
2F-85 grippernone{38: 'matlab', 92: 'random', 228: 'ros-industrial'}end effectorRobotiq
2FG7 grippernone{100: 'random'}end effectorOnrobot
3F grippernone{2: 'drake', 154: 'ros-industrial'}end effectorRobotiq
AL5Dnone{113: 'robotics-toolbox'}robotic armLynxmotion
ANYmalnone{83: 'random'}quadrupedal robotANYbotics
ANYmal Bnone{54: 'oems'}quadrupedal robotANYbotics
Allegro hand - leftnone{0: 'drake'}end effectorWonik Robotics
Allegro hand - rightnone{1: 'drake'}end effectorWonik Robotics
Atlasnone{10: 'matlab'}humanoid robotBoston Dynamics
BarrettHandnone{84: 'random'}end effectorBarrett Technology
Baxternone{11: 'matlab', 55: 'oems'}dual arm robotRethink Robotics
C2 grippernone{153: 'ros-industrial'}end effectorRobotiq
CR-35iAnone{177: 'ros-industrial'}robotic armFanuc
CR-7iAnone{178: 'ros-industrial'}robotic armFanuc
CR-7iA/Lnone{179: 'ros-industrial'}robotic armFanuc
CRB 15000none{157: 'ros-industrial'}robotic armABB
CRX-10iA/Lnone{180: 'ros-industrial'}robotic armFanuc
Dual Pandanone{63: 'oems'}dual arm robotFranka Emika
EVEr3none{56: 'oems', 88: 'random'}humanoid robotHalodi
Electric grippernone{65: 'oems'}end effectorRethink Robotics
FR3none{64: 'oems'}robotic armFranka Emika
FT 300 sensornone{229: 'ros-industrial'}end effectorRobotiq
Fetchnone{85: 'random', 114: 'robotics-toolbox'}mobile manipulatorFetch Robotics
Fetch Cameranone{116: 'robotics-toolbox'}mobile manipulatorFetch Robotics
Freightnone{115: 'robotics-toolbox'}mobile robotFetch Robotics
Gen3none{28: 'matlab', 134: 'robotics-toolbox'}robotic armKinova Robotics
Gen3 V12none{29: 'matlab'}robotic armKinova Robotics
Gingernone{87: 'random'}humanoid robotPaaila Technology
Huskynone{15: 'matlab'}mobile robotClearpath Robotics
IRB 120none{4: 'matlab'}robotic armABB
IRB 120-3/0.6none{160: 'ros-industrial'}robotic armABB
IRB 1200-5/0.9none{158: 'ros-industrial'}robotic armABB
IRB 1200-7/0.7none{159: 'ros-industrial'}robotic armABB
IRB 120Tnone{5: 'matlab'}robotic armABB
IRB 120T-3/0.6none{161: 'ros-industrial'}robotic armABB
IRB 140none{111: 'robotics-toolbox'}robotic armABB
IRB 140Tnone{112: 'robotics-toolbox'}robotic armABB
IRB 1600none{6: 'matlab'}robotic armABB
IRB 1600-6/1.2none{162: 'ros-industrial'}robotic armABB
IRB 1600-8/1.45none{163: 'ros-industrial'}robotic armABB
IRB 2400none{140: 'ros-industrial'}robotic armABB
IRB 2600none{164: 'ros-industrial'}robotic armABB
IRB 4400L/30none{165: 'ros-industrial'}robotic armABB
IRB 4600-20/2.50none{166: 'ros-industrial'}robotic armABB
IRB 4600-40/2.55none{167: 'ros-industrial'}robotic armABB
IRB 4600-60/2.05none{168: 'ros-industrial'}robotic armABB
IRB 52-7/1.2none{169: 'ros-industrial'}robotic armABB
IRB 52-7/1.45none{170: 'ros-industrial'}robotic armABB
IRB 5400none{141: 'ros-industrial'}robotic armABB
IRB 6600-255/2.55none{171: 'ros-industrial'}robotic armABB
IRB 6640none{142: 'ros-industrial'}robotic armABB
IRB 6640-185/2.8none{143: 'ros-industrial'}robotic armABB
IRB 6650S-125/3.50none{173: 'ros-industrial'}robotic armABB
IRB 6650S-90/3.90none{172: 'ros-industrial'}robotic armABB
IRB 6700-200/2.60none{174: 'ros-industrial'}robotic armABB
IRB 6700-235/2.65none{175: 'ros-industrial'}robotic armABB
IRB 7600-150/3.50none{176: 'ros-industrial'}robotic armABB
Jackalnone{18: 'matlab', 67: 'oems'}mobile robotClearpath Robotics
Jaco J2N4S300none{68: 'oems', 133: 'robotics-toolbox'}robotic armKinova Robotics
Jaco J2N6S200none{19: 'matlab', 69: 'oems'}robotic armKinova Robotics
Jaco J2N6S300none{20: 'matlab', 70: 'oems'}robotic armKinova Robotics
Jaco J2N7S300none{21: 'matlab', 71: 'oems'}robotic armKinova Robotics
Jaco J2S6S200none{73: 'oems'}robotic armKinova Robotics
Jaco J2S6S300none{22: 'matlab', 72: 'oems'}robotic armKinova Robotics
Jaco J2S7S300none{23: 'matlab', 74: 'oems'}robotic armKinova Robotics
Jaco Two Armnone{24: 'matlab', 75: 'oems'}dual arm robotKinova Robotics
KR 10 R1100 sixxnone{218: 'ros-industrial'}robotic armKUKA
KR 10 R1420none{219: 'ros-industrial'}robotic armKUKA
KR 10 R900-2none{217: 'ros-industrial'}robotic armKUKA
KR 120 R2500 pronone{144: 'ros-industrial'}robotic armKUKA
KR 150 R3100-2none{221: 'ros-industrial'}robotic armKUKA
KR 150-2none{220: 'ros-industrial'}robotic armKUKA
KR 16-2none{145: 'ros-industrial'}robotic armKUKA
KR 210 L150none{146: 'ros-industrial'}robotic armKUKA
KR 3 R540none{222: 'ros-industrial'}robotic armKUKA
KR 5 ARCnone{223: 'ros-industrial'}robotic armKUKA
KR 6 R700 sixxnone{224: 'ros-industrial'}robotic armKUKA
KR 6 R900 sixxnone{226: 'ros-industrial'}robotic armKUKA
KR 6 R900-2none{225: 'ros-industrial'}robotic armKUKA
LBR iiwa 14none{17: 'matlab'}robotic armKUKA
LBR iiwa 14 R820none{117: 'robotics-toolbox', 147: 'ros-industrial'}robotic armKUKA
LBR iiwa 7none{16: 'matlab', 90: 'random'}robotic armKUKA
LR Mate 200inone{195: 'ros-industrial'}robotic armFanuc
LR Mate 200iBnone{12: 'matlab', 181: 'ros-industrial'}robotic armFanuc
LR Mate 200iB/3Lnone{182: 'ros-industrial'}robotic armFanuc
LR Mate 200iCnone{183: 'ros-industrial'}robotic armFanuc
LR Mate 200iC/5Fnone{184: 'ros-industrial'}robotic armFanuc
LR Mate 200iC/5Hnone{185: 'ros-industrial'}robotic armFanuc
LR Mate 200iC/5HSnone{186: 'ros-industrial'}robotic armFanuc
LR Mate 200iC/5Lnone{187: 'ros-industrial'}robotic armFanuc
LR Mate 200iDnone{188: 'ros-industrial'}robotic armFanuc
LR Mate 200iD/4Snone{189: 'ros-industrial'}robotic armFanuc
LR Mate 200iD/4SCnone{190: 'ros-industrial'}robotic armFanuc
LR Mate 200iD/4SHnone{191: 'ros-industrial'}robotic armFanuc
LR Mate 200iD/7Hnone{192: 'ros-industrial'}robotic armFanuc
LR Mate 200iD/7Lnone{193: 'ros-industrial'}robotic armFanuc
LR Mate 200iD/7LCnone{194: 'ros-industrial'}robotic armFanuc
LWA 4Dnone{108: 'random'}robotic armSchunk
LWA 4Pnone{97: 'random', 107: 'random'}robotic armSchunk
M-10iAnone{196: 'ros-industrial'}robotic armFanuc
M-10iA/7Lnone{197: 'ros-industrial'}robotic armFanuc
M-16iBnone{13: 'matlab', 198: 'ros-industrial'}robotic armFanuc
M-20iAnone{199: 'ros-industrial'}robotic armFanuc
M-20iA/10Lnone{200: 'ros-industrial'}robotic armFanuc
M-20iB/25none{201: 'ros-industrial'}robotic armFanuc
M-430iA/2Fnone{202: 'ros-industrial'}robotic armFanuc
M-430iA/2Pnone{203: 'ros-industrial'}robotic armFanuc
M-6iBnone{204: 'ros-industrial'}robotic armFanuc
M-6iB/6Snone{205: 'ros-industrial'}robotic armFanuc
M-710iC/45Mnone{207: 'ros-industrial'}robotic armFanuc
M-710iC/50none{206: 'ros-industrial'}robotic armFanuc
M-900iA/260Lnone{208: 'ros-industrial'}robotic armFanuc
M-900iB/700none{209: 'ros-industrial'}robotic armFanuc
Meca500-R3none{30: 'matlab'}robotic armMecademic Robotics
MiR 100none{101: 'random'}mobile robotMobile Industrial Robots
Mico M1N4S200none{25: 'matlab', 76: 'oems'}robotic armKinova Robotics
Mico M1N6S200none{26: 'matlab', 77: 'oems'}robotic armKinova Robotics
Mico M1N6S300none{27: 'matlab', 78: 'oems'}robotic armKinova Robotics
Motoman MH5none{31: 'matlab', 148: 'ros-industrial'}robotic armYaskawa Motoman
Motoman SIA10Dnone{149: 'ros-industrial'}robotic armYaskawa Motoman
Motoman SIA10Fnone{150: 'ros-industrial'}robotic armYaskawa Motoman
Motoman SIA20Dnone{151: 'ros-industrial'}robotic armYaskawa Motoman
Motoman SIA5Dnone{152: 'ros-industrial'}robotic armYaskawa Motoman
Movonone{32: 'matlab'}mobile manipulatorKinova Robotics
OP2none{39: 'matlab'}humanoid robotROBOTIS
Open Manipulatornone{33: 'matlab', 79: 'oems'}robotic armROBOTIS
PG 70none{109: 'random'}end effectorSchunk
PR2none{3: 'drake', 34: 'matlab', 91: 'random', 135: 'robotics-toolbox'}mobile manipulatorWillow Garage
PUMA 560none{118: 'robotics-toolbox'}robotic armUnimation
PW 70none{110: 'random'}end effectorSchunk
Pandanone{14: 'matlab', 62: 'oems', 86: 'random', 123: 'robotics-toolbox'}robotic armFranka Emika
PhantomX Pinchernone{119: 'robotics-toolbox'}robotic armTrossen Robotics
PincherX-100none{124: 'robotics-toolbox'}robotic armTrossen Robotics
PincherX-150none{125: 'robotics-toolbox'}robotic armTrossen Robotics
Pioneer 3-ATnone{7: 'matlab', 57: 'oems'}robotic armAdept Mobile Robots
Pioneer 3-DXnone{8: 'matlab', 58: 'oems'}robotic armAdept Mobile Robots
Pioneer LXnone{9: 'matlab', 59: 'oems'}robotic armAdept Mobile Robots
Pneumatic grippernone{66: 'oems'}end effectorRethink Robotics
QArmnone{35: 'matlab', 60: 'oems'}robotic armQuanser
QBot2enone{36: 'matlab'}mobile robotQuanser
QCarnone{37: 'matlab'}mobile robotQuanser
R-1000iA/80Fnone{210: 'ros-industrial'}robotic armFanuc
R-2000iB/210Fnone{211: 'ros-industrial'}robotic armFanuc
R-2000iC/125Lnone{212: 'ros-industrial'}robotic armFanuc
R-2000iC/165Fnone{213: 'ros-industrial'}robotic armFanuc
R-2000iC/210Fnone{214: 'ros-industrial'}robotic armFanuc
R-2000iC/210Lnone{215: 'ros-industrial'}robotic armFanuc
R-2000iC/270Fnone{216: 'ros-industrial'}robotic armFanuc
RG2 grippernone{102: 'random'}end effectorOnrobot
RG6 grippernone{103: 'random'}end effectorOnrobot
RX 160none{155: 'ros-industrial'}robotic armStaubli
RX 160Lnone{156: 'ros-industrial'}robotic armStaubli
ReactorX-150none{126: 'robotics-toolbox'}robotic armTrossen Robotics
ReactorX-200none{127: 'robotics-toolbox'}robotic armTrossen Robotics
Sawyernone{40: 'matlab'}robotic armRethink Robotics
Spotnone{61: 'oems', 98: 'random'}quadrupedal robotBoston Dynamics
Spot Armnone{99: 'random'}robotic armBoston Dynamics
TX-60none{235: 'ros-industrial'}robotic armStaubli
TX-60Lnone{236: 'ros-industrial'}robotic armStaubli
TX-90none{237: 'ros-industrial'}robotic armStaubli
TX-90Lnone{238: 'ros-industrial'}robotic armStaubli
TX-90XLnone{239: 'ros-industrial'}robotic armStaubli
TX2-60none{230: 'ros-industrial'}robotic armStaubli
TX2-60Lnone{231: 'ros-industrial'}robotic armStaubli
TX2-90none{232: 'ros-industrial'}robotic armStaubli
TX2-90Lnone{233: 'ros-industrial'}robotic armStaubli
TX2-90XLnone{234: 'ros-industrial'}robotic armStaubli
Turtlebot 2none{44: 'matlab'}mobile robotClearpath Robotics
Turtlebot 3 Burgernone{41: 'matlab', 80: 'oems'}mobile robotROBOTIS
Turtlebot 3 Wafflenone{42: 'matlab', 81: 'oems'}mobile robotROBOTIS
Turtlebot 3 Waffle Pinone{43: 'matlab', 82: 'oems'}mobile robotROBOTIS
Turtlebot Armnone{120: 'robotics-toolbox'}robotic armTrossen Robotics
UR10none{47: 'matlab', 93: 'random', 138: 'robotics-toolbox', 242: 'ros-industrial'}robotic armUniversal Robots
UR10enone{50: 'matlab', 245: 'ros-industrial'}robotic armUniversal Robots
UR16enone{51: 'matlab', 246: 'ros-industrial'}robotic armUniversal Robots
UR3none{45: 'matlab', 136: 'robotics-toolbox', 240: 'ros-industrial'}robotic armUniversal Robots
UR3enone{48: 'matlab', 243: 'ros-industrial'}robotic armUniversal Robots
UR5none{46: 'matlab', 137: 'robotics-toolbox', 241: 'ros-industrial'}robotic armUniversal Robots
UR5enone{49: 'matlab', 244: 'ros-industrial'}robotic armUniversal Robots
VG10 grippernone{104: 'random'}end effectorOnrobot
VGC10 gripper - 1 cup modelnone{105: 'random'}end effectorOnrobot
VGC10 gripper - 4 cups modelnone{106: 'random'}end effectorOnrobot
Valkyrienone{52: 'matlab'}humanoid robotNASA
ViperX-300none{128: 'robotics-toolbox'}robotic armTrossen Robotics
ViperX-300snone{129: 'robotics-toolbox'}robotic armTrossen Robotics
WidowX-200none{130: 'robotics-toolbox'}robotic armTrossen Robotics
WidowX-250none{131: 'robotics-toolbox'}robotic armTrossen Robotics
WidowX-250snone{132: 'robotics-toolbox'}robotic armTrossen Robotics
YuMinone{53: 'matlab', 96: 'random', 139: 'robotics-toolbox'}dual arm robotABB
imu testnone{94: 'random', 121: 'robotics-toolbox'}unknownunknown
test benchnone{95: 'random', 122: 'robotics-toolbox'}unknownunknown
unknownnone{89: 'random'}unknownunknown
Atlasconvex hull{247: 'drake'}humanoid robotBoston Dynamics
Atlasminimal contact{248: 'drake'}humanoid robotBoston Dynamics
3F gripperarticulated{249: 'drake', 321: ':ros-industrial'}end effectorRobotiq
3F grippertendons{250: 'drake'}end effectorRobotiq
LBR iiwa 14spheres collision{251: 'drake'}robotic armKUKA
Dual LBR iiwa 14polytope collision{252: 'drake'}dual arm robotKUKA
LBR iiwa 14no collision{253: 'drake'}robotic armKUKA
LBR iiwa 14polytope collision{254: 'drake'}robotic armKUKA
LBR iiwa 14primitive collision{255: 'drake'}robotic armKUKA
LBR iiwa 14spheres dense collision{256: 'drake'}robotic armKUKA
LBR iiwa 14spheres dense elbow collision{257: 'drake'}robotic armKUKA
LBR iiwa 14planar spheres dense elbow collision{258: 'drake'}robotic armKUKA
Turtlebot 3 Wafflefor Open Manipulator{259: 'matlab', 263: ':oems'}mobile robotROBOTIS
Turtlebot 3 Waffle Pifor Open Manipulator{260: 'matlab', 264: ':oems'}mobile robotROBOTIS
Pioneer LXDevil{261: 'oems'}robotic armAdept Mobile Robots
Open Manipulatorrobot{262: 'oems'}robotic armROBOTIS
Turtlebot 3 Burgerfor autorace 2020{265: 'oems'}mobile robotROBOTIS
Turtlebot 3 Burgerfor autorace{266: 'oems'}mobile robotROBOTIS
R2-D2b{267: 'random'}humanoid robotStar Wars Character
R2-D2b control{268: 'random'}humanoid robotStar Wars Character
R2-D2b dynamics{269: 'random'}humanoid robotStar Wars Character
R2-D2b sim upperbody control{270: 'random'}humanoid robotStar Wars Character
R2-D2b sim upperbody dynamics{271: 'random'}humanoid robotStar Wars Character
R2-D2c1{272: 'random'}humanoid robotStar Wars Character
R2-D2c1 control{273: 'random'}humanoid robotStar Wars Character
R2-D2c1 dynamics{274: 'random'}humanoid robotStar Wars Character
R2-D2c5{275: 'random'}humanoid robotStar Wars Character
R2-D2c5 control{276: 'random'}humanoid robotStar Wars Character
R2-D2c5 dynamics{277: 'random'}humanoid robotStar Wars Character
R2-D2c6{278: 'random'}humanoid robotStar Wars Character
R2-D2c6 control{279: 'random'}humanoid robotStar Wars Character
R2-D2c6 dynamics{280: 'random'}humanoid robotStar Wars Character
R2-D2c6 valve{281: 'random'}humanoid robotStar Wars Character
R2-D2c sim full control{282: 'random'}humanoid robotStar Wars Character
R2-D2c sim full dynamics{283: 'random'}humanoid robotStar Wars Character
R2-D2c sim legs control{284: 'random'}humanoid robotStar Wars Character
R2-D2c sim legs dynamics{285: 'random'}humanoid robotStar Wars Character
R2-D2c sim upperbody control{286: 'random'}humanoid robotStar Wars Character
R2-D2c sim upperbody dynamics{287: 'random'}humanoid robotStar Wars Character
R2-D2left forearm{288: 'random'}humanoid robotStar Wars Character
R2-D2left gripper{289: 'random'}humanoid robotStar Wars Character
UR5joint limited{290: 'random'}robotic armUniversal Robots
Valkyrieforearm left{291: 'random', 306: ':robotics-toolbox'}humanoid robotNASA
Valkyrieforearm right{292: 'random', 307: ':robotics-toolbox'}humanoid robotNASA
ValkyrieA{293: 'random', 308: ':robotics-toolbox'}humanoid robotNASA
ValkyrieA arm mass sims{294: 'random', 309: ':robotics-toolbox'}humanoid robotNASA
ValkyrieB{295: 'random', 310: ':robotics-toolbox'}humanoid robotNASA
ValkyrieB arm mass sims{296: 'random', 311: ':robotics-toolbox'}humanoid robotNASA
ValkyrieC{297: 'random', 312: ':robotics-toolbox'}humanoid robotNASA
ValkyrieC arm mass sims{298: 'random', 313: ':robotics-toolbox'}humanoid robotNASA
ValkyrieD{299: 'random', 314: ':robotics-toolbox'}humanoid robotNASA
ValkyrieD arm mass sims{300: 'random', 315: ':robotics-toolbox'}humanoid robotNASA
Valkyriesim{301: 'random', 316: ':robotics-toolbox'}humanoid robotNASA
Valkyriesim angled legj1s{302: 'random', 317: ':robotics-toolbox'}humanoid robotNASA
Valkyriesim arm mass sims{303: 'random', 318: ':robotics-toolbox'}humanoid robotNASA
Valkyriesim gazebo sync{304: 'random', 319: ':robotics-toolbox'}humanoid robotNASA
LWA 4Pextended{305: 'random'}robotic armSchunk
PandaFrankie{320: 'robotics-toolbox'}robotic armFranka Emika

Source and Meta Information

Source and meta information files describe the source of the URDF Collection, a link to the source origin, name of the robot, manufacturer, and whether or not the file was manually xacro generated.

Obtaining Analysis Results

From URDF dataset paper

Table/Figure Script (.py) Results CSV
Table II table_ii_sources_n_robots table_ii_sources_n_robots
Table III Manual process table_iii_iv_manufacturer_urdf_search
Table IV Manual process table_iii_iv_manufacturer_urdf_search
Table VI table_vi_xacro_sources table_vi_xacro_sources
Table VII table_vii_urdf_parsing_errors table_vii_parsing_errors
Table VIII table_viii_ix_multiply_defined_robots table_viii_multiply_defined_robots
Table IX table_viii_ix_multiply_defined_robots table_ix_multiply_defined_robots_feature_differences
Table X table_x_xi_fdupes table_x_fdupes_filetypes
Table XI table_x_xi_fdupes table_xi_fdupes_robots
Table XII table_xii_xiii_joints_links table_xii_avg_links_joints
Table XIII table_xii_xiii_joints_links table_xiii_world_flange_links_joints
Table XV table_xv_urdf_parsers table_xv_urdf_parsers
Figure 4 fig_4_types_sources fig_4_types_sources
Figure 6 fig_6_manufacturers_sources fig_6_manufacturers_n_source_information
Figure 8 fig_8_cad_types_sources fig_8_cad_mesh_information.csv
Contact information contact_information -

Creating the dataset

"variant" is defined using the urdf file names to describe the type of URDF variant. An example of how a URDF variant is defined, drake/atlas/urdf has both 'atlas_convex_hull.urdf' and 'atlas_minimal_contact.urdf', and as this is the exact same physical robot, but with modifications to the urdf file, we have defined them as URDF variants of the robot. If there are robots such as ros-industrial/xacro_generated/abb/abb_irb52_support/urdf/ 'irb52_7_120.urdf' and 'irb52_7_145.urdf', we do not define them as different variants, as they are original robots with different characteristics, and have nothing to do with their urdf implementation.

Contributing

Create a pull request with the URDF Bundle or source.

Other

We are not sure if the names of the following robots are correct:

  • Frankie from robotics-toolbox
  • ViperX-300S from robotics-toolbox
  • Jaco Jxxxxxxx from robotics-toolbox, matlab, oems
  • Kinova Gen3 V12 from matlab

URDF Dataset Paper and Citation Info

Check out the preprint on arXiv, and the published paper.

If the dataset helped you in your research, please cite

@ARTICLE{URDFDataset,
  author={Tola, Daniella and Corke, Peter},
  journal={IEEE Robotics and Automation Letters}, 
  title={Understanding URDF: A Dataset and Analysis}, 
  year={2024},
  volume={9},
  number={5},
  pages={4479-4486},
  doi={10.1109/LRA.2024.3381482}
}