Counting since 20-10-2023

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.

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.

"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.

Create a pull request with the URDF Bundle or source.

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

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}
}