Counting since 20-10-2023

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

name	variant	id:source	type	manufacturer
2F-140 gripper	none	{227: 'ros-industrial'}	end effector	Robotiq
2F-85 gripper	none	{38: 'matlab', 92: 'random', 228: 'ros-industrial'}	end effector	Robotiq
2FG7 gripper	none	{100: 'random'}	end effector	Onrobot
3F gripper	none	{2: 'drake', 154: 'ros-industrial'}	end effector	Robotiq
AL5D	none	{113: 'robotics-toolbox'}	robotic arm	Lynxmotion
ANYmal	none	{83: 'random'}	quadrupedal robot	ANYbotics
ANYmal B	none	{54: 'oems'}	quadrupedal robot	ANYbotics
Allegro hand - left	none	{0: 'drake'}	end effector	Wonik Robotics
Allegro hand - right	none	{1: 'drake'}	end effector	Wonik Robotics
Atlas	none	{10: 'matlab'}	humanoid robot	Boston Dynamics
BarrettHand	none	{84: 'random'}	end effector	Barrett Technology
Baxter	none	{11: 'matlab', 55: 'oems'}	dual arm robot	Rethink Robotics
C2 gripper	none	{153: 'ros-industrial'}	end effector	Robotiq
CR-35iA	none	{177: 'ros-industrial'}	robotic arm	Fanuc
CR-7iA	none	{178: 'ros-industrial'}	robotic arm	Fanuc
CR-7iA/L	none	{179: 'ros-industrial'}	robotic arm	Fanuc
CRB 15000	none	{157: 'ros-industrial'}	robotic arm	ABB
CRX-10iA/L	none	{180: 'ros-industrial'}	robotic arm	Fanuc
Dual Panda	none	{63: 'oems'}	dual arm robot	Franka Emika
EVEr3	none	{56: 'oems', 88: 'random'}	humanoid robot	Halodi
Electric gripper	none	{65: 'oems'}	end effector	Rethink Robotics
FR3	none	{64: 'oems'}	robotic arm	Franka Emika
FT 300 sensor	none	{229: 'ros-industrial'}	end effector	Robotiq
Fetch	none	{85: 'random', 114: 'robotics-toolbox'}	mobile manipulator	Fetch Robotics
Fetch Camera	none	{116: 'robotics-toolbox'}	mobile manipulator	Fetch Robotics
Freight	none	{115: 'robotics-toolbox'}	mobile robot	Fetch Robotics
Gen3	none	{28: 'matlab', 134: 'robotics-toolbox'}	robotic arm	Kinova Robotics
Gen3 V12	none	{29: 'matlab'}	robotic arm	Kinova Robotics
Ginger	none	{87: 'random'}	humanoid robot	Paaila Technology
Husky	none	{15: 'matlab'}	mobile robot	Clearpath Robotics
IRB 120	none	{4: 'matlab'}	robotic arm	ABB
IRB 120-3/0.6	none	{160: 'ros-industrial'}	robotic arm	ABB
IRB 1200-5/0.9	none	{158: 'ros-industrial'}	robotic arm	ABB
IRB 1200-7/0.7	none	{159: 'ros-industrial'}	robotic arm	ABB
IRB 120T	none	{5: 'matlab'}	robotic arm	ABB
IRB 120T-3/0.6	none	{161: 'ros-industrial'}	robotic arm	ABB
IRB 140	none	{111: 'robotics-toolbox'}	robotic arm	ABB
IRB 140T	none	{112: 'robotics-toolbox'}	robotic arm	ABB
IRB 1600	none	{6: 'matlab'}	robotic arm	ABB
IRB 1600-6/1.2	none	{162: 'ros-industrial'}	robotic arm	ABB
IRB 1600-8/1.45	none	{163: 'ros-industrial'}	robotic arm	ABB
IRB 2400	none	{140: 'ros-industrial'}	robotic arm	ABB
IRB 2600	none	{164: 'ros-industrial'}	robotic arm	ABB
IRB 4400L/30	none	{165: 'ros-industrial'}	robotic arm	ABB
IRB 4600-20/2.50	none	{166: 'ros-industrial'}	robotic arm	ABB
IRB 4600-40/2.55	none	{167: 'ros-industrial'}	robotic arm	ABB
IRB 4600-60/2.05	none	{168: 'ros-industrial'}	robotic arm	ABB
IRB 52-7/1.2	none	{169: 'ros-industrial'}	robotic arm	ABB
IRB 52-7/1.45	none	{170: 'ros-industrial'}	robotic arm	ABB
IRB 5400	none	{141: 'ros-industrial'}	robotic arm	ABB
IRB 6600-255/2.55	none	{171: 'ros-industrial'}	robotic arm	ABB
IRB 6640	none	{142: 'ros-industrial'}	robotic arm	ABB
IRB 6640-185/2.8	none	{143: 'ros-industrial'}	robotic arm	ABB
IRB 6650S-125/3.50	none	{173: 'ros-industrial'}	robotic arm	ABB
IRB 6650S-90/3.90	none	{172: 'ros-industrial'}	robotic arm	ABB
IRB 6700-200/2.60	none	{174: 'ros-industrial'}	robotic arm	ABB
IRB 6700-235/2.65	none	{175: 'ros-industrial'}	robotic arm	ABB
IRB 7600-150/3.50	none	{176: 'ros-industrial'}	robotic arm	ABB
Jackal	none	{18: 'matlab', 67: 'oems'}	mobile robot	Clearpath Robotics
Jaco J2N4S300	none	{68: 'oems', 133: 'robotics-toolbox'}	robotic arm	Kinova Robotics
Jaco J2N6S200	none	{19: 'matlab', 69: 'oems'}	robotic arm	Kinova Robotics
Jaco J2N6S300	none	{20: 'matlab', 70: 'oems'}	robotic arm	Kinova Robotics
Jaco J2N7S300	none	{21: 'matlab', 71: 'oems'}	robotic arm	Kinova Robotics
Jaco J2S6S200	none	{73: 'oems'}	robotic arm	Kinova Robotics
Jaco J2S6S300	none	{22: 'matlab', 72: 'oems'}	robotic arm	Kinova Robotics
Jaco J2S7S300	none	{23: 'matlab', 74: 'oems'}	robotic arm	Kinova Robotics
Jaco Two Arm	none	{24: 'matlab', 75: 'oems'}	dual arm robot	Kinova Robotics
KR 10 R1100 sixx	none	{218: 'ros-industrial'}	robotic arm	KUKA
KR 10 R1420	none	{219: 'ros-industrial'}	robotic arm	KUKA
KR 10 R900-2	none	{217: 'ros-industrial'}	robotic arm	KUKA
KR 120 R2500 pro	none	{144: 'ros-industrial'}	robotic arm	KUKA
KR 150 R3100-2	none	{221: 'ros-industrial'}	robotic arm	KUKA
KR 150-2	none	{220: 'ros-industrial'}	robotic arm	KUKA
KR 16-2	none	{145: 'ros-industrial'}	robotic arm	KUKA
KR 210 L150	none	{146: 'ros-industrial'}	robotic arm	KUKA
KR 3 R540	none	{222: 'ros-industrial'}	robotic arm	KUKA
KR 5 ARC	none	{223: 'ros-industrial'}	robotic arm	KUKA
KR 6 R700 sixx	none	{224: 'ros-industrial'}	robotic arm	KUKA
KR 6 R900 sixx	none	{226: 'ros-industrial'}	robotic arm	KUKA
KR 6 R900-2	none	{225: 'ros-industrial'}	robotic arm	KUKA
LBR iiwa 14	none	{17: 'matlab'}	robotic arm	KUKA
LBR iiwa 14 R820	none	{117: 'robotics-toolbox', 147: 'ros-industrial'}	robotic arm	KUKA
LBR iiwa 7	none	{16: 'matlab', 90: 'random'}	robotic arm	KUKA
LR Mate 200i	none	{195: 'ros-industrial'}	robotic arm	Fanuc
LR Mate 200iB	none	{12: 'matlab', 181: 'ros-industrial'}	robotic arm	Fanuc
LR Mate 200iB/3L	none	{182: 'ros-industrial'}	robotic arm	Fanuc
LR Mate 200iC	none	{183: 'ros-industrial'}	robotic arm	Fanuc
LR Mate 200iC/5F	none	{184: 'ros-industrial'}	robotic arm	Fanuc
LR Mate 200iC/5H	none	{185: 'ros-industrial'}	robotic arm	Fanuc
LR Mate 200iC/5HS	none	{186: 'ros-industrial'}	robotic arm	Fanuc
LR Mate 200iC/5L	none	{187: 'ros-industrial'}	robotic arm	Fanuc
LR Mate 200iD	none	{188: 'ros-industrial'}	robotic arm	Fanuc
LR Mate 200iD/4S	none	{189: 'ros-industrial'}	robotic arm	Fanuc
LR Mate 200iD/4SC	none	{190: 'ros-industrial'}	robotic arm	Fanuc
LR Mate 200iD/4SH	none	{191: 'ros-industrial'}	robotic arm	Fanuc
LR Mate 200iD/7H	none	{192: 'ros-industrial'}	robotic arm	Fanuc
LR Mate 200iD/7L	none	{193: 'ros-industrial'}	robotic arm	Fanuc
LR Mate 200iD/7LC	none	{194: 'ros-industrial'}	robotic arm	Fanuc
LWA 4D	none	{108: 'random'}	robotic arm	Schunk
LWA 4P	none	{97: 'random', 107: 'random'}	robotic arm	Schunk
M-10iA	none	{196: 'ros-industrial'}	robotic arm	Fanuc
M-10iA/7L	none	{197: 'ros-industrial'}	robotic arm	Fanuc
M-16iB	none	{13: 'matlab', 198: 'ros-industrial'}	robotic arm	Fanuc
M-20iA	none	{199: 'ros-industrial'}	robotic arm	Fanuc
M-20iA/10L	none	{200: 'ros-industrial'}	robotic arm	Fanuc
M-20iB/25	none	{201: 'ros-industrial'}	robotic arm	Fanuc
M-430iA/2F	none	{202: 'ros-industrial'}	robotic arm	Fanuc
M-430iA/2P	none	{203: 'ros-industrial'}	robotic arm	Fanuc
M-6iB	none	{204: 'ros-industrial'}	robotic arm	Fanuc
M-6iB/6S	none	{205: 'ros-industrial'}	robotic arm	Fanuc
M-710iC/45M	none	{207: 'ros-industrial'}	robotic arm	Fanuc
M-710iC/50	none	{206: 'ros-industrial'}	robotic arm	Fanuc
M-900iA/260L	none	{208: 'ros-industrial'}	robotic arm	Fanuc
M-900iB/700	none	{209: 'ros-industrial'}	robotic arm	Fanuc
Meca500-R3	none	{30: 'matlab'}	robotic arm	Mecademic Robotics
MiR 100	none	{101: 'random'}	mobile robot	Mobile Industrial Robots
Mico M1N4S200	none	{25: 'matlab', 76: 'oems'}	robotic arm	Kinova Robotics
Mico M1N6S200	none	{26: 'matlab', 77: 'oems'}	robotic arm	Kinova Robotics
Mico M1N6S300	none	{27: 'matlab', 78: 'oems'}	robotic arm	Kinova Robotics
Motoman MH5	none	{31: 'matlab', 148: 'ros-industrial'}	robotic arm	Yaskawa Motoman
Motoman SIA10D	none	{149: 'ros-industrial'}	robotic arm	Yaskawa Motoman
Motoman SIA10F	none	{150: 'ros-industrial'}	robotic arm	Yaskawa Motoman
Motoman SIA20D	none	{151: 'ros-industrial'}	robotic arm	Yaskawa Motoman
Motoman SIA5D	none	{152: 'ros-industrial'}	robotic arm	Yaskawa Motoman
Movo	none	{32: 'matlab'}	mobile manipulator	Kinova Robotics
OP2	none	{39: 'matlab'}	humanoid robot	ROBOTIS
Open Manipulator	none	{33: 'matlab', 79: 'oems'}	robotic arm	ROBOTIS
PG 70	none	{109: 'random'}	end effector	Schunk
PR2	none	{3: 'drake', 34: 'matlab', 91: 'random', 135: 'robotics-toolbox'}	mobile manipulator	Willow Garage
PUMA 560	none	{118: 'robotics-toolbox'}	robotic arm	Unimation
PW 70	none	{110: 'random'}	end effector	Schunk
Panda	none	{14: 'matlab', 62: 'oems', 86: 'random', 123: 'robotics-toolbox'}	robotic arm	Franka Emika
PhantomX Pincher	none	{119: 'robotics-toolbox'}	robotic arm	Trossen Robotics
PincherX-100	none	{124: 'robotics-toolbox'}	robotic arm	Trossen Robotics
PincherX-150	none	{125: 'robotics-toolbox'}	robotic arm	Trossen Robotics
Pioneer 3-AT	none	{7: 'matlab', 57: 'oems'}	robotic arm	Adept Mobile Robots
Pioneer 3-DX	none	{8: 'matlab', 58: 'oems'}	robotic arm	Adept Mobile Robots
Pioneer LX	none	{9: 'matlab', 59: 'oems'}	robotic arm	Adept Mobile Robots
Pneumatic gripper	none	{66: 'oems'}	end effector	Rethink Robotics
QArm	none	{35: 'matlab', 60: 'oems'}	robotic arm	Quanser
QBot2e	none	{36: 'matlab'}	mobile robot	Quanser
QCar	none	{37: 'matlab'}	mobile robot	Quanser
R-1000iA/80F	none	{210: 'ros-industrial'}	robotic arm	Fanuc
R-2000iB/210F	none	{211: 'ros-industrial'}	robotic arm	Fanuc
R-2000iC/125L	none	{212: 'ros-industrial'}	robotic arm	Fanuc
R-2000iC/165F	none	{213: 'ros-industrial'}	robotic arm	Fanuc
R-2000iC/210F	none	{214: 'ros-industrial'}	robotic arm	Fanuc
R-2000iC/210L	none	{215: 'ros-industrial'}	robotic arm	Fanuc
R-2000iC/270F	none	{216: 'ros-industrial'}	robotic arm	Fanuc
RG2 gripper	none	{102: 'random'}	end effector	Onrobot
RG6 gripper	none	{103: 'random'}	end effector	Onrobot
RX 160	none	{155: 'ros-industrial'}	robotic arm	Staubli
RX 160L	none	{156: 'ros-industrial'}	robotic arm	Staubli
ReactorX-150	none	{126: 'robotics-toolbox'}	robotic arm	Trossen Robotics
ReactorX-200	none	{127: 'robotics-toolbox'}	robotic arm	Trossen Robotics
Sawyer	none	{40: 'matlab'}	robotic arm	Rethink Robotics
Spot	none	{61: 'oems', 98: 'random'}	quadrupedal robot	Boston Dynamics
Spot Arm	none	{99: 'random'}	robotic arm	Boston Dynamics
TX-60	none	{235: 'ros-industrial'}	robotic arm	Staubli
TX-60L	none	{236: 'ros-industrial'}	robotic arm	Staubli
TX-90	none	{237: 'ros-industrial'}	robotic arm	Staubli
TX-90L	none	{238: 'ros-industrial'}	robotic arm	Staubli
TX-90XL	none	{239: 'ros-industrial'}	robotic arm	Staubli
TX2-60	none	{230: 'ros-industrial'}	robotic arm	Staubli
TX2-60L	none	{231: 'ros-industrial'}	robotic arm	Staubli
TX2-90	none	{232: 'ros-industrial'}	robotic arm	Staubli
TX2-90L	none	{233: 'ros-industrial'}	robotic arm	Staubli
TX2-90XL	none	{234: 'ros-industrial'}	robotic arm	Staubli
Turtlebot 2	none	{44: 'matlab'}	mobile robot	Clearpath Robotics
Turtlebot 3 Burger	none	{41: 'matlab', 80: 'oems'}	mobile robot	ROBOTIS
Turtlebot 3 Waffle	none	{42: 'matlab', 81: 'oems'}	mobile robot	ROBOTIS
Turtlebot 3 Waffle Pi	none	{43: 'matlab', 82: 'oems'}	mobile robot	ROBOTIS
Turtlebot Arm	none	{120: 'robotics-toolbox'}	robotic arm	Trossen Robotics
UR10	none	{47: 'matlab', 93: 'random', 138: 'robotics-toolbox', 242: 'ros-industrial'}	robotic arm	Universal Robots
UR10e	none	{50: 'matlab', 245: 'ros-industrial'}	robotic arm	Universal Robots
UR16e	none	{51: 'matlab', 246: 'ros-industrial'}	robotic arm	Universal Robots
UR3	none	{45: 'matlab', 136: 'robotics-toolbox', 240: 'ros-industrial'}	robotic arm	Universal Robots
UR3e	none	{48: 'matlab', 243: 'ros-industrial'}	robotic arm	Universal Robots
UR5	none	{46: 'matlab', 137: 'robotics-toolbox', 241: 'ros-industrial'}	robotic arm	Universal Robots
UR5e	none	{49: 'matlab', 244: 'ros-industrial'}	robotic arm	Universal Robots
VG10 gripper	none	{104: 'random'}	end effector	Onrobot
VGC10 gripper - 1 cup model	none	{105: 'random'}	end effector	Onrobot
VGC10 gripper - 4 cups model	none	{106: 'random'}	end effector	Onrobot
Valkyrie	none	{52: 'matlab'}	humanoid robot	NASA
ViperX-300	none	{128: 'robotics-toolbox'}	robotic arm	Trossen Robotics
ViperX-300s	none	{129: 'robotics-toolbox'}	robotic arm	Trossen Robotics
WidowX-200	none	{130: 'robotics-toolbox'}	robotic arm	Trossen Robotics
WidowX-250	none	{131: 'robotics-toolbox'}	robotic arm	Trossen Robotics
WidowX-250s	none	{132: 'robotics-toolbox'}	robotic arm	Trossen Robotics
YuMi	none	{53: 'matlab', 96: 'random', 139: 'robotics-toolbox'}	dual arm robot	ABB
imu test	none	{94: 'random', 121: 'robotics-toolbox'}	unknown	unknown
test bench	none	{95: 'random', 122: 'robotics-toolbox'}	unknown	unknown
unknown	none	{89: 'random'}	unknown	unknown
Atlas	convex hull	{247: 'drake'}	humanoid robot	Boston Dynamics
Atlas	minimal contact	{248: 'drake'}	humanoid robot	Boston Dynamics
3F gripper	articulated	{249: 'drake', 321: ':ros-industrial'}	end effector	Robotiq
3F gripper	tendons	{250: 'drake'}	end effector	Robotiq
LBR iiwa 14	spheres collision	{251: 'drake'}	robotic arm	KUKA
Dual LBR iiwa 14	polytope collision	{252: 'drake'}	dual arm robot	KUKA
LBR iiwa 14	no collision	{253: 'drake'}	robotic arm	KUKA
LBR iiwa 14	polytope collision	{254: 'drake'}	robotic arm	KUKA
LBR iiwa 14	primitive collision	{255: 'drake'}	robotic arm	KUKA
LBR iiwa 14	spheres dense collision	{256: 'drake'}	robotic arm	KUKA
LBR iiwa 14	spheres dense elbow collision	{257: 'drake'}	robotic arm	KUKA
LBR iiwa 14	planar spheres dense elbow collision	{258: 'drake'}	robotic arm	KUKA
Turtlebot 3 Waffle	for Open Manipulator	{259: 'matlab', 263: ':oems'}	mobile robot	ROBOTIS
Turtlebot 3 Waffle Pi	for Open Manipulator	{260: 'matlab', 264: ':oems'}	mobile robot	ROBOTIS
Pioneer LX	Devil	{261: 'oems'}	robotic arm	Adept Mobile Robots
Open Manipulator	robot	{262: 'oems'}	robotic arm	ROBOTIS
Turtlebot 3 Burger	for autorace 2020	{265: 'oems'}	mobile robot	ROBOTIS
Turtlebot 3 Burger	for autorace	{266: 'oems'}	mobile robot	ROBOTIS
R2-D2	b	{267: 'random'}	humanoid robot	Star Wars Character
R2-D2	b control	{268: 'random'}	humanoid robot	Star Wars Character
R2-D2	b dynamics	{269: 'random'}	humanoid robot	Star Wars Character
R2-D2	b sim upperbody control	{270: 'random'}	humanoid robot	Star Wars Character
R2-D2	b sim upperbody dynamics	{271: 'random'}	humanoid robot	Star Wars Character
R2-D2	c1	{272: 'random'}	humanoid robot	Star Wars Character
R2-D2	c1 control	{273: 'random'}	humanoid robot	Star Wars Character
R2-D2	c1 dynamics	{274: 'random'}	humanoid robot	Star Wars Character
R2-D2	c5	{275: 'random'}	humanoid robot	Star Wars Character
R2-D2	c5 control	{276: 'random'}	humanoid robot	Star Wars Character
R2-D2	c5 dynamics	{277: 'random'}	humanoid robot	Star Wars Character
R2-D2	c6	{278: 'random'}	humanoid robot	Star Wars Character
R2-D2	c6 control	{279: 'random'}	humanoid robot	Star Wars Character
R2-D2	c6 dynamics	{280: 'random'}	humanoid robot	Star Wars Character
R2-D2	c6 valve	{281: 'random'}	humanoid robot	Star Wars Character
R2-D2	c sim full control	{282: 'random'}	humanoid robot	Star Wars Character
R2-D2	c sim full dynamics	{283: 'random'}	humanoid robot	Star Wars Character
R2-D2	c sim legs control	{284: 'random'}	humanoid robot	Star Wars Character
R2-D2	c sim legs dynamics	{285: 'random'}	humanoid robot	Star Wars Character
R2-D2	c sim upperbody control	{286: 'random'}	humanoid robot	Star Wars Character
R2-D2	c sim upperbody dynamics	{287: 'random'}	humanoid robot	Star Wars Character
R2-D2	left forearm	{288: 'random'}	humanoid robot	Star Wars Character
R2-D2	left gripper	{289: 'random'}	humanoid robot	Star Wars Character
UR5	joint limited	{290: 'random'}	robotic arm	Universal Robots
Valkyrie	forearm left	{291: 'random', 306: ':robotics-toolbox'}	humanoid robot	NASA
Valkyrie	forearm right	{292: 'random', 307: ':robotics-toolbox'}	humanoid robot	NASA
Valkyrie	A	{293: 'random', 308: ':robotics-toolbox'}	humanoid robot	NASA
Valkyrie	A arm mass sims	{294: 'random', 309: ':robotics-toolbox'}	humanoid robot	NASA
Valkyrie	B	{295: 'random', 310: ':robotics-toolbox'}	humanoid robot	NASA
Valkyrie	B arm mass sims	{296: 'random', 311: ':robotics-toolbox'}	humanoid robot	NASA
Valkyrie	C	{297: 'random', 312: ':robotics-toolbox'}	humanoid robot	NASA
Valkyrie	C arm mass sims	{298: 'random', 313: ':robotics-toolbox'}	humanoid robot	NASA
Valkyrie	D	{299: 'random', 314: ':robotics-toolbox'}	humanoid robot	NASA
Valkyrie	D arm mass sims	{300: 'random', 315: ':robotics-toolbox'}	humanoid robot	NASA
Valkyrie	sim	{301: 'random', 316: ':robotics-toolbox'}	humanoid robot	NASA
Valkyrie	sim angled legj1s	{302: 'random', 317: ':robotics-toolbox'}	humanoid robot	NASA
Valkyrie	sim arm mass sims	{303: 'random', 318: ':robotics-toolbox'}	humanoid robot	NASA
Valkyrie	sim gazebo sync	{304: 'random', 319: ':robotics-toolbox'}	humanoid robot	NASA
LWA 4P	extended	{305: 'random'}	robotic arm	Schunk
Panda	Frankie	{320: 'robotics-toolbox'}	robotic arm	Franka 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}
}