This repository is a comprehensive collection of over 100 URDF (Unified Robot Description Format) models, specifically designed for use with Pybullet. It serves as a valuable resource for researchers, developers, and hobbyists in the field of robotics and simulation.
urdf_dataset.xlsx: Each model in this repository is accompanied by detailed information to facilitate its use and integration. The following table outlines key attributes for each model:
| index | subfolder_name | relative_path | size_x | size_y | size_z | object_name | euler_x | euler_y | euler_z | object_description |
|---|---|---|---|---|---|---|---|---|---|---|
| 0 | black_marker | black_marker/model.urdf | 0.023168 | 0.151316 | 0.022861 | black_marker | 0 | 0 | 0 | a black marker pen |
| 1 | bleach_cleanser | bleach_cleanser/model.urdf | 0.109653 | 0.07443 | 0.257586 | bleach_cleanser | 0 | 0 | 0 | a white bleach cleanser with the "Soft Scrub" brand label on it. The label is blue and green. |
| 2 | blue_cup | blue_cup/model.urdf | 0.087695 | 0.112706 | 0.074358 | blue_cup | 0 | 0 | 0 | A greyish-blue mug. |
| 3 | blue_marker | blue_marker/model.urdf | 0.023173 | 0.15136 | 0.022867 | blue_marker | 0 | 0 | 0 | A marker with a blue cap and a black body. |
| ... | ... | ... | ... | ... | ... | ... | ... | ... | ... | ... |
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subfolder_name: Name of the folder containing the URDF model.
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relative_path: Path to the URDF model file.
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size_x, size_y, size_z: Dimensions of the model in meters.
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object_name: Identical to the subfolder name, for easy reference.
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euler_x, euler_y, euler_z: Suggested orientation for realistic positioning.
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object_description: Detailed annotation of each model.
- Model Visualization: To view and interact with these URDF models, use our provided:
python main.py
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Special thanks to the pybullet-URDF-models project for some of the models included in this repository.
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We continuously strive to update and enhance this collection. Contributions and suggestions are always welcome! 💪💪💪