This repository contains various robot arm and object URDFs. The URDF models have been obtained from various publicly available resources and we have made sure that the links to the appropriate repositories where we got the models from are also provided. The purpose of this repository to put together many well known and often used models in one place.
URDFs
Robots
| Robot Name | Source |
|---|---|
| Franka Panda | https://github.com/dic-iit/gym-ignition-models |
| UR5/UR10/Kinova | https://github.com/Gepetto/example-robot-data.git |
| KUKA iiwa | https://github.com/kuka-isir/iiwa_description |
| Fetch Robot | https://github.com/openai/roboschool/tree/master/roboschool/models_robot |
| YUMI | https://github.com/OrebroUniversity/yumi |
| Ginger | https://github.com/Rayckey/GingerURDF |
| Anymal | https://github.com/ANYbotics/anymal_b_simple_description |
| Halodi | https://github.com/Halodi/halodi-robot-models |
| R2 and Val | https://github.com/gkjohnson/nasa-urdf-robots |
| Robotiq Gripper | https://github.com/a-price/robotiq_arg85_description |
| Barrett Hand | https://github.com/jhu-lcsr-attic/bhand_model |
Object Assets
Kitchen asset is from https://github.com/code-iai/robot_scenarios_sim/tree/master/models_pkg/models/kitchen
Conversion from xacro to URDF
The repo also contains the code to convert xacro to urdf (obtained from https://github.com/doctorsrn/xacro2urdf).
Run python xacro.py -o ./target.urdf urdf/origin.xacro to start convertion. For example, python xacro.py -o ./test_abb_4600.urdf urdf/irb4600_60_205.xacro in abb_irb4600_support folder. If convert successfully, the test_abb_4600.urdf will be generated. Make sure to keep xacro.py to the same directory as urdf folder.