Awesome

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.