# urdf_files_dataset

**Repository Path**: acelate/urdf_files_dataset

## Basic Information

- **Project Name**: urdf_files_dataset
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: MIT
- **Default Branch**: main
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 4
- **Forks**: 0
- **Created**: 2024-10-25
- **Last Updated**: 2025-02-17

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README



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# A URDF Dataset

This repository contains a dataset of URDF Bundles from various sources, presented in the paper ["Understanding URDF: A Dataset And Analysis"](https://arxiv.org/abs/2308.00514).
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
<table>
<thead>
<tr><th>name</th><th>variant</th><th>id:source</th><th>type</th><th>manufacturer</th></tr>
</thead>
<tbody>
<tr><td>2F-140 gripper</td><td>none</td><td>{227: '<a href="urdf_files/ros-industrial/xacro_generated/robotiq/robotiq_2f_140_gripper_visualization/urdf/robotiq_arg2f_140_model.urdf">ros-industrial</a>'}</td><td>end effector</td><td>Robotiq</td></tr>
<tr><td>2F-85 gripper</td><td>none</td><td>{38: '<a href="urdf_files/matlab/robotiq2F85/urdf/robotiq2F85.urdf">matlab</a>', 92: '<a href="urdf_files/random/robot-assets/robotiq_gripper/robotiq_arg85_description.URDF">random</a>', 228: '<a href="urdf_files/ros-industrial/xacro_generated/robotiq/robotiq_2f_85_gripper_visualization/urdf/robotiq_arg2f_85_model.urdf">ros-industrial</a>'}</td><td>end effector</td><td>Robotiq</td></tr>
<tr><td>2FG7 gripper</td><td>none</td><td>{100: '<a href="urdf_files/random/xacro_generated/juandpenan/onrobot_2fg7_description/urdf/onrobot_2fg7_upload.urdf">random</a>'}</td><td>end effector</td><td>Onrobot</td></tr>
<tr><td>3F gripper</td><td>none</td><td>{2: '<a href="urdf_files/drake/atlas/urdf/robotiq.urdf">drake</a>', 154: '<a href="urdf_files/ros-industrial/robotiq/robotiq_3f_gripper_visualization/cfg/robotiq-3f-gripper_mesh.urdf">ros-industrial</a>'}</td><td>end effector</td><td>Robotiq</td></tr>
<tr><td>AL5D</td><td>none</td><td>{113: '<a href="urdf_files/robotics-toolbox/al5d_description/urdf/al5d_robot.urdf">robotics-toolbox</a>'}</td><td>robotic arm</td><td>Lynxmotion</td></tr>
<tr><td>ANYmal</td><td>none</td><td>{83: '<a href="urdf_files/random/robot-assets/anymal/anymal.urdf">random</a>'}</td><td>quadrupedal robot</td><td>ANYbotics</td></tr>
<tr><td>ANYmal B</td><td>none</td><td>{54: '<a href="urdf_files/oems/anymal_anybotics/anymal_b_simple_description/urdf/anymal.urdf">oems</a>'}</td><td>quadrupedal robot</td><td>ANYbotics</td></tr>
<tr><td>Allegro hand - left</td><td>none</td><td>{0: '<a href="urdf_files/drake/allegro_hand_description/urdf/allegro_hand_description_left.urdf">drake</a>'}</td><td>end effector</td><td>Wonik Robotics</td></tr>
<tr><td>Allegro hand - right</td><td>none</td><td>{1: '<a href="urdf_files/drake/allegro_hand_description/urdf/allegro_hand_description_right.urdf">drake</a>'}</td><td>end effector</td><td>Wonik Robotics</td></tr>
<tr><td>Atlas</td><td>none</td><td>{10: '<a href="urdf_files/matlab/Atlas/urdf/atlas.urdf">matlab</a>'}</td><td>humanoid robot</td><td>Boston Dynamics</td></tr>
<tr><td>BarrettHand</td><td>none</td><td>{84: '<a href="urdf_files/random/robot-assets/barret_hand/bhand_model.URDF">random</a>'}</td><td>end effector</td><td>Barrett Technology</td></tr>
<tr><td>Baxter</td><td>none</td><td>{11: '<a href="urdf_files/matlab/baxter_description/urdf/rethinkBaxter.urdf">matlab</a>', 55: '<a href="urdf_files/oems/baxter_rethink_robotics/baxter_description/urdf/baxter.urdf">oems</a>'}</td><td>dual arm robot</td><td>Rethink Robotics</td></tr>
<tr><td>C2 gripper</td><td>none</td><td>{153: '<a href="urdf_files/ros-industrial/robotiq/robotiq_2f_c2_gripper_visualization/urdf/robotiq_c2_model.urdf">ros-industrial</a>'}</td><td>end effector</td><td>Robotiq</td></tr>
<tr><td>CR-35iA</td><td>none</td><td>{177: '<a href="urdf_files/ros-industrial/xacro_generated/fanuc/fanuc_cr35ia_support/urdf/cr35ia.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Fanuc</td></tr>
<tr><td>CR-7iA</td><td>none</td><td>{178: '<a href="urdf_files/ros-industrial/xacro_generated/fanuc/fanuc_cr7ia_support/urdf/cr7ia.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Fanuc</td></tr>
<tr><td>CR-7iA/L</td><td>none</td><td>{179: '<a href="urdf_files/ros-industrial/xacro_generated/fanuc/fanuc_cr7ia_support/urdf/cr7ial.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Fanuc</td></tr>
<tr><td>CRB 15000</td><td>none</td><td>{157: '<a href="urdf_files/ros-industrial/xacro_generated/abb/abb_crb15000_support/urdf/crb15000_5_95.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>ABB</td></tr>
<tr><td>CRX-10iA/L</td><td>none</td><td>{180: '<a href="urdf_files/ros-industrial/xacro_generated/fanuc/fanuc_crx10ia_support/urdf/crx10ial.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Fanuc</td></tr>
<tr><td>Dual Panda</td><td>none</td><td>{63: '<a href="urdf_files/oems/xacro_generated/franka_emika/franka_description/robots/dual_panda/dual_panda.urdf">oems</a>'}</td><td>dual arm robot</td><td>Franka Emika</td></tr>
<tr><td>EVEr3</td><td>none</td><td>{56: '<a href="urdf_files/oems/eveR3_halodi/eve_r3_description/urdf/eve_r3.urdf">oems</a>', 88: '<a href="urdf_files/random/robot-assets/halodi/eve_r3.urdf">random</a>'}</td><td>humanoid robot</td><td>Halodi</td></tr>
<tr><td>Electric gripper</td><td>none</td><td>{65: '<a href="urdf_files/oems/xacro_generated/grippers_rethink_robotics/rethink_ee_description/urdf/electric_gripper/rethink_electric_gripper.urdf">oems</a>'}</td><td>end effector</td><td>Rethink Robotics</td></tr>
<tr><td>FR3</td><td>none</td><td>{64: '<a href="urdf_files/oems/xacro_generated/franka_emika/franka_description/robots/fr3/fr3.urdf">oems</a>'}</td><td>robotic arm</td><td>Franka Emika</td></tr>
<tr><td>FT 300 sensor</td><td>none</td><td>{229: '<a href="urdf_files/ros-industrial/xacro_generated/robotiq/robotiq_ft_sensor/urdf/example_use_robotiq_ft300.urdf">ros-industrial</a>'}</td><td>end effector</td><td>Robotiq</td></tr>
<tr><td>Fetch</td><td>none</td><td>{85: '<a href="urdf_files/random/robot-assets/fetch/robots/fetch.urdf">random</a>', 114: '<a href="urdf_files/robotics-toolbox/fetch_description/robots/fetch.urdf">robotics-toolbox</a>'}</td><td>mobile manipulator</td><td>Fetch Robotics</td></tr>
<tr><td>Fetch Camera</td><td>none</td><td>{116: '<a href="urdf_files/robotics-toolbox/fetch_description/robots/fetch_camera.urdf">robotics-toolbox</a>'}</td><td>mobile manipulator</td><td>Fetch Robotics</td></tr>
<tr><td>Freight</td><td>none</td><td>{115: '<a href="urdf_files/robotics-toolbox/fetch_description/robots/freight.urdf">robotics-toolbox</a>'}</td><td>mobile robot</td><td>Fetch Robotics</td></tr>
<tr><td>Gen3</td><td>none</td><td>{28: '<a href="urdf_files/matlab/kortex_description/urdf/kinovaGen3.urdf">matlab</a>', 134: '<a href="urdf_files/robotics-toolbox/xacro_generated/kinova_description/urdf/kinovaGen3.urdf">robotics-toolbox</a>'}</td><td>robotic arm</td><td>Kinova Robotics</td></tr>
<tr><td>Gen3 V12</td><td>none</td><td>{29: '<a href="urdf_files/matlab/kortex_v12_description/robots/kinovaGen3V12.urdf">matlab</a>'}</td><td>robotic arm</td><td>Kinova Robotics</td></tr>
<tr><td>Ginger</td><td>none</td><td>{87: '<a href="urdf_files/random/robot-assets/ginger_robot/gingerurdf.urdf">random</a>'}</td><td>humanoid robot</td><td>Paaila Technology</td></tr>
<tr><td>Husky</td><td>none</td><td>{15: '<a href="urdf_files/matlab/husky_description/urdf/clearpathHusky.urdf">matlab</a>'}</td><td>mobile robot</td><td>Clearpath Robotics</td></tr>
<tr><td>IRB 120</td><td>none</td><td>{4: '<a href="urdf_files/matlab/abb_irb120_support/urdf/abbIrb120.urdf">matlab</a>'}</td><td>robotic arm</td><td>ABB</td></tr>
<tr><td>IRB 120-3/0.6</td><td>none</td><td>{160: '<a href="urdf_files/ros-industrial/xacro_generated/abb/abb_irb120_support/urdf/irb120_3_58.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>ABB</td></tr>
<tr><td>IRB 1200-5/0.9</td><td>none</td><td>{158: '<a href="urdf_files/ros-industrial/xacro_generated/abb/abb_irb1200_support/urdf/irb1200_5_90.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>ABB</td></tr>
<tr><td>IRB 1200-7/0.7</td><td>none</td><td>{159: '<a href="urdf_files/ros-industrial/xacro_generated/abb/abb_irb1200_support/urdf/irb1200_7_70.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>ABB</td></tr>
<tr><td>IRB 120T</td><td>none</td><td>{5: '<a href="urdf_files/matlab/abb_irb120_support/urdf/abbIrb120T.urdf">matlab</a>'}</td><td>robotic arm</td><td>ABB</td></tr>
<tr><td>IRB 120T-3/0.6</td><td>none</td><td>{161: '<a href="urdf_files/ros-industrial/xacro_generated/abb/abb_irb120_support/urdf/irb120t_3_58.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>ABB</td></tr>
<tr><td>IRB 140</td><td>none</td><td>{111: '<a href="urdf_files/robotics-toolbox/abb_irb140/urdf/irb140.urdf">robotics-toolbox</a>'}</td><td>robotic arm</td><td>ABB</td></tr>
<tr><td>IRB 140T</td><td>none</td><td>{112: '<a href="urdf_files/robotics-toolbox/abb_irb140/urdf/irb140QT.urdf">robotics-toolbox</a>'}</td><td>robotic arm</td><td>ABB</td></tr>
<tr><td>IRB 1600</td><td>none</td><td>{6: '<a href="urdf_files/matlab/abb_irb1600_support/urdf/abbIrb1600.urdf">matlab</a>'}</td><td>robotic arm</td><td>ABB</td></tr>
<tr><td>IRB 1600-6/1.2</td><td>none</td><td>{162: '<a href="urdf_files/ros-industrial/xacro_generated/abb/abb_irb1600_support/urdf/irb1600_6_12.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>ABB</td></tr>
<tr><td>IRB 1600-8/1.45</td><td>none</td><td>{163: '<a href="urdf_files/ros-industrial/xacro_generated/abb/abb_irb1600_support/urdf/irb1600_8_145.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>ABB</td></tr>
<tr><td>IRB 2400</td><td>none</td><td>{140: '<a href="urdf_files/ros-industrial/abb/abb_irb2400_support/urdf/irb2400.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>ABB</td></tr>
<tr><td>IRB 2600</td><td>none</td><td>{164: '<a href="urdf_files/ros-industrial/xacro_generated/abb/abb_irb2600_support/urdf/irb2600_12_165.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>ABB</td></tr>
<tr><td>IRB 4400L/30</td><td>none</td><td>{165: '<a href="urdf_files/ros-industrial/xacro_generated/abb/abb_irb4400_support/urdf/irb4400l_30_243.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>ABB</td></tr>
<tr><td>IRB 4600-20/2.50</td><td>none</td><td>{166: '<a href="urdf_files/ros-industrial/xacro_generated/abb/abb_irb4600_support/urdf/irb4600_20_250.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>ABB</td></tr>
<tr><td>IRB 4600-40/2.55</td><td>none</td><td>{167: '<a href="urdf_files/ros-industrial/xacro_generated/abb/abb_irb4600_support/urdf/irb4600_40_255.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>ABB</td></tr>
<tr><td>IRB 4600-60/2.05</td><td>none</td><td>{168: '<a href="urdf_files/ros-industrial/xacro_generated/abb/abb_irb4600_support/urdf/irb4600_60_205.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>ABB</td></tr>
<tr><td>IRB 52-7/1.2</td><td>none</td><td>{169: '<a href="urdf_files/ros-industrial/xacro_generated/abb/abb_irb52_support/urdf/irb52_7_120.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>ABB</td></tr>
<tr><td>IRB 52-7/1.45</td><td>none</td><td>{170: '<a href="urdf_files/ros-industrial/xacro_generated/abb/abb_irb52_support/urdf/irb52_7_145.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>ABB</td></tr>
<tr><td>IRB 5400</td><td>none</td><td>{141: '<a href="urdf_files/ros-industrial/abb/abb_irb5400_support/urdf/irb5400.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>ABB</td></tr>
<tr><td>IRB 6600-255/2.55</td><td>none</td><td>{171: '<a href="urdf_files/ros-industrial/xacro_generated/abb/abb_irb6600_support/urdf/irb6600_225_255.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>ABB</td></tr>
<tr><td>IRB 6640</td><td>none</td><td>{142: '<a href="urdf_files/ros-industrial/abb/abb_irb6600_support/urdf/irb6640.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>ABB</td></tr>
<tr><td>IRB 6640-185/2.8</td><td>none</td><td>{143: '<a href="urdf_files/ros-industrial/abb/abb_irb6640_support/urdf/irb6640_185_280.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>ABB</td></tr>
<tr><td>IRB 6650S-125/3.50</td><td>none</td><td>{173: '<a href="urdf_files/ros-industrial/xacro_generated/abb/abb_irb6650s_support/urdf/irb6650s_125_350.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>ABB</td></tr>
<tr><td>IRB 6650S-90/3.90</td><td>none</td><td>{172: '<a href="urdf_files/ros-industrial/xacro_generated/abb/abb_irb6650s_support/urdf/irb6650s_90_390.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>ABB</td></tr>
<tr><td>IRB 6700-200/2.60</td><td>none</td><td>{174: '<a href="urdf_files/ros-industrial/xacro_generated/abb/abb_irb6700_support/urdf/irb6700_200_260.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>ABB</td></tr>
<tr><td>IRB 6700-235/2.65</td><td>none</td><td>{175: '<a href="urdf_files/ros-industrial/xacro_generated/abb/abb_irb6700_support/urdf/irb6700_235_265.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>ABB</td></tr>
<tr><td>IRB 7600-150/3.50</td><td>none</td><td>{176: '<a href="urdf_files/ros-industrial/xacro_generated/abb/abb_irb7600_support/urdf/irb7600_150_350.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>ABB</td></tr>
<tr><td>Jackal</td><td>none</td><td>{18: '<a href="urdf_files/matlab/jackal_description/urdf/clearpathJackal.urdf">matlab</a>', 67: '<a href="urdf_files/oems/xacro_generated/jackal_clearpath_robotics/jackal_description/urdf/jackal.urdf">oems</a>'}</td><td>mobile robot</td><td>Clearpath Robotics</td></tr>
<tr><td>Jaco J2N4S300</td><td>none</td><td>{68: '<a href="urdf_files/oems/xacro_generated/kinova_robotics/kinova_description/urdf/j2n4s300_standalone.urdf">oems</a>', 133: '<a href="urdf_files/robotics-toolbox/xacro_generated/kinova_description/urdf/j2n4s300.urdf">robotics-toolbox</a>'}</td><td>robotic arm</td><td>Kinova Robotics</td></tr>
<tr><td>Jaco J2N6S200</td><td>none</td><td>{19: '<a href="urdf_files/matlab/kinova_description/urdf/kinovaJacoJ2N6S200.urdf">matlab</a>', 69: '<a href="urdf_files/oems/xacro_generated/kinova_robotics/kinova_description/urdf/j2n6s200_standalone.urdf">oems</a>'}</td><td>robotic arm</td><td>Kinova Robotics</td></tr>
<tr><td>Jaco J2N6S300</td><td>none</td><td>{20: '<a href="urdf_files/matlab/kinova_description/urdf/kinovaJacoJ2N6S300.urdf">matlab</a>', 70: '<a href="urdf_files/oems/xacro_generated/kinova_robotics/kinova_description/urdf/j2n6s300_standalone.urdf">oems</a>'}</td><td>robotic arm</td><td>Kinova Robotics</td></tr>
<tr><td>Jaco J2N7S300</td><td>none</td><td>{21: '<a href="urdf_files/matlab/kinova_description/urdf/kinovaJacoJ2N7S300.urdf">matlab</a>', 71: '<a href="urdf_files/oems/xacro_generated/kinova_robotics/kinova_description/urdf/j2n7s300_standalone.urdf">oems</a>'}</td><td>robotic arm</td><td>Kinova Robotics</td></tr>
<tr><td>Jaco J2S6S200</td><td>none</td><td>{73: '<a href="urdf_files/oems/xacro_generated/kinova_robotics/kinova_description/urdf/j2s6s200_standalone.urdf">oems</a>'}</td><td>robotic arm</td><td>Kinova Robotics</td></tr>
<tr><td>Jaco J2S6S300</td><td>none</td><td>{22: '<a href="urdf_files/matlab/kinova_description/urdf/kinovaJacoJ2S6S300.urdf">matlab</a>', 72: '<a href="urdf_files/oems/xacro_generated/kinova_robotics/kinova_description/urdf/j2s6s300_standalone.urdf">oems</a>'}</td><td>robotic arm</td><td>Kinova Robotics</td></tr>
<tr><td>Jaco J2S7S300</td><td>none</td><td>{23: '<a href="urdf_files/matlab/kinova_description/urdf/kinovaJacoJ2S7S300.urdf">matlab</a>', 74: '<a href="urdf_files/oems/xacro_generated/kinova_robotics/kinova_description/urdf/j2s7s300_standalone.urdf">oems</a>'}</td><td>robotic arm</td><td>Kinova Robotics</td></tr>
<tr><td>Jaco Two Arm</td><td>none</td><td>{24: '<a href="urdf_files/matlab/kinova_description/urdf/kinovaJacoTwoArmExample.urdf">matlab</a>', 75: '<a href="urdf_files/oems/xacro_generated/kinova_robotics/kinova_description/urdf/two_arm_robot_example_standalone.urdf">oems</a>'}</td><td>dual arm robot</td><td>Kinova Robotics</td></tr>
<tr><td>KR 10 R1100 sixx</td><td>none</td><td>{218: '<a href="urdf_files/ros-industrial/xacro_generated/kuka/kuka_kr10_support/urdf/kr10r1100sixx.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>KUKA</td></tr>
<tr><td>KR 10 R1420</td><td>none</td><td>{219: '<a href="urdf_files/ros-industrial/xacro_generated/kuka/kuka_kr10_support/urdf/kr10r1420.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>KUKA</td></tr>
<tr><td>KR 10 R900-2</td><td>none</td><td>{217: '<a href="urdf_files/ros-industrial/xacro_generated/kuka/kuka_kr10_support/urdf/kr10r900_2.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>KUKA</td></tr>
<tr><td>KR 120 R2500 pro</td><td>none</td><td>{144: '<a href="urdf_files/ros-industrial/kuka/kuka_kr120_support/urdf/kr120r2500pro.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>KUKA</td></tr>
<tr><td>KR 150 R3100-2</td><td>none</td><td>{221: '<a href="urdf_files/ros-industrial/xacro_generated/kuka/kuka_kr150_support/urdf/kr150r3100_2.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>KUKA</td></tr>
<tr><td>KR 150-2</td><td>none</td><td>{220: '<a href="urdf_files/ros-industrial/xacro_generated/kuka/kuka_kr150_support/urdf/kr150_2.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>KUKA</td></tr>
<tr><td>KR 16-2</td><td>none</td><td>{145: '<a href="urdf_files/ros-industrial/kuka/kuka_kr16_support/urdf/kr16_2.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>KUKA</td></tr>
<tr><td>KR 210 L150</td><td>none</td><td>{146: '<a href="urdf_files/ros-industrial/kuka/kuka_kr210_support/urdf/kr210l150.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>KUKA</td></tr>
<tr><td>KR 3 R540</td><td>none</td><td>{222: '<a href="urdf_files/ros-industrial/xacro_generated/kuka/kuka_kr3_support/urdf/kr3r540.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>KUKA</td></tr>
<tr><td>KR 5 ARC</td><td>none</td><td>{223: '<a href="urdf_files/ros-industrial/xacro_generated/kuka/kuka_kr5_support/urdf/kr5_arc.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>KUKA</td></tr>
<tr><td>KR 6 R700 sixx</td><td>none</td><td>{224: '<a href="urdf_files/ros-industrial/xacro_generated/kuka/kuka_kr6_support/urdf/kr6r700sixx.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>KUKA</td></tr>
<tr><td>KR 6 R900 sixx</td><td>none</td><td>{226: '<a href="urdf_files/ros-industrial/xacro_generated/kuka/kuka_kr6_support/urdf/kr6r900sixx.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>KUKA</td></tr>
<tr><td>KR 6 R900-2</td><td>none</td><td>{225: '<a href="urdf_files/ros-industrial/xacro_generated/kuka/kuka_kr6_support/urdf/kr6r900_2.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>KUKA</td></tr>
<tr><td>LBR iiwa 14</td><td>none</td><td>{17: '<a href="urdf_files/matlab/iiwa_description/urdf/kukaIiwa14.urdf">matlab</a>'}</td><td>robotic arm</td><td>KUKA</td></tr>
<tr><td>LBR iiwa 14 R820</td><td>none</td><td>{117: '<a href="urdf_files/robotics-toolbox/kuka_description/kuka_lbr_iiwa/urdf/lbr_iiwa_14_r820.urdf">robotics-toolbox</a>', 147: '<a href="urdf_files/ros-industrial/kuka/kuka_lbr_iiwa_support/urdf/lbr_iiwa_14_r820.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>KUKA</td></tr>
<tr><td>LBR iiwa 7</td><td>none</td><td>{16: '<a href="urdf_files/matlab/iiwa_description/urdf/kukaIiwa7.urdf">matlab</a>', 90: '<a href="urdf_files/random/robot-assets/kuka_iiwa/model.urdf">random</a>'}</td><td>robotic arm</td><td>KUKA</td></tr>
<tr><td>LR Mate 200i</td><td>none</td><td>{195: '<a href="urdf_files/ros-industrial/xacro_generated/fanuc/fanuc_lrmate200i_support/urdf/lrmate200i.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Fanuc</td></tr>
<tr><td>LR Mate 200iB</td><td>none</td><td>{12: '<a href="urdf_files/matlab/fanuc_lrmate200ib_support/urdf/fanucLRMate200ib.urdf">matlab</a>', 181: '<a href="urdf_files/ros-industrial/xacro_generated/fanuc/fanuc_lrmate200ib_support/urdf/lrmate200ib.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Fanuc</td></tr>
<tr><td>LR Mate 200iB/3L</td><td>none</td><td>{182: '<a href="urdf_files/ros-industrial/xacro_generated/fanuc/fanuc_lrmate200ib_support/urdf/lrmate200ib3l.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Fanuc</td></tr>
<tr><td>LR Mate 200iC</td><td>none</td><td>{183: '<a href="urdf_files/ros-industrial/xacro_generated/fanuc/fanuc_lrmate200ic_support/urdf/lrmate200ic.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Fanuc</td></tr>
<tr><td>LR Mate 200iC/5F</td><td>none</td><td>{184: '<a href="urdf_files/ros-industrial/xacro_generated/fanuc/fanuc_lrmate200ic_support/urdf/lrmate200ic5f.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Fanuc</td></tr>
<tr><td>LR Mate 200iC/5H</td><td>none</td><td>{185: '<a href="urdf_files/ros-industrial/xacro_generated/fanuc/fanuc_lrmate200ic_support/urdf/lrmate200ic5h.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Fanuc</td></tr>
<tr><td>LR Mate 200iC/5HS</td><td>none</td><td>{186: '<a href="urdf_files/ros-industrial/xacro_generated/fanuc/fanuc_lrmate200ic_support/urdf/lrmate200ic5hs.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Fanuc</td></tr>
<tr><td>LR Mate 200iC/5L</td><td>none</td><td>{187: '<a href="urdf_files/ros-industrial/xacro_generated/fanuc/fanuc_lrmate200ic_support/urdf/lrmate200ic5l.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Fanuc</td></tr>
<tr><td>LR Mate 200iD</td><td>none</td><td>{188: '<a href="urdf_files/ros-industrial/xacro_generated/fanuc/fanuc_lrmate200id_support/urdf/lrmate200id.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Fanuc</td></tr>
<tr><td>LR Mate 200iD/4S</td><td>none</td><td>{189: '<a href="urdf_files/ros-industrial/xacro_generated/fanuc/fanuc_lrmate200id_support/urdf/lrmate200id4s.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Fanuc</td></tr>
<tr><td>LR Mate 200iD/4SC</td><td>none</td><td>{190: '<a href="urdf_files/ros-industrial/xacro_generated/fanuc/fanuc_lrmate200id_support/urdf/lrmate200id4sc.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Fanuc</td></tr>
<tr><td>LR Mate 200iD/4SH</td><td>none</td><td>{191: '<a href="urdf_files/ros-industrial/xacro_generated/fanuc/fanuc_lrmate200id_support/urdf/lrmate200id4sh.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Fanuc</td></tr>
<tr><td>LR Mate 200iD/7H</td><td>none</td><td>{192: '<a href="urdf_files/ros-industrial/xacro_generated/fanuc/fanuc_lrmate200id_support/urdf/lrmate200id7h.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Fanuc</td></tr>
<tr><td>LR Mate 200iD/7L</td><td>none</td><td>{193: '<a href="urdf_files/ros-industrial/xacro_generated/fanuc/fanuc_lrmate200id_support/urdf/lrmate200id7l.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Fanuc</td></tr>
<tr><td>LR Mate 200iD/7LC</td><td>none</td><td>{194: '<a href="urdf_files/ros-industrial/xacro_generated/fanuc/fanuc_lrmate200id_support/urdf/lrmate200id7lc.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Fanuc</td></tr>
<tr><td>LWA 4D</td><td>none</td><td>{108: '<a href="urdf_files/random/xacro_generated/schunk_modular_robotics/schunk_description/urdf/schunk_lwa4d.urdf">random</a>'}</td><td>robotic arm</td><td>Schunk</td></tr>
<tr><td>LWA 4P</td><td>none</td><td>{97: '<a href="urdf_files/random/schunk_lwa4p/robot.urdf">random</a>', 107: '<a href="urdf_files/random/xacro_generated/schunk_modular_robotics/schunk_description/urdf/schunk_lwa4p.urdf">random</a>'}</td><td>robotic arm</td><td>Schunk</td></tr>
<tr><td>M-10iA</td><td>none</td><td>{196: '<a href="urdf_files/ros-industrial/xacro_generated/fanuc/fanuc_m10ia_support/urdf/m10ia.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Fanuc</td></tr>
<tr><td>M-10iA/7L</td><td>none</td><td>{197: '<a href="urdf_files/ros-industrial/xacro_generated/fanuc/fanuc_m10ia_support/urdf/m10ia7l.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Fanuc</td></tr>
<tr><td>M-16iB</td><td>none</td><td>{13: '<a href="urdf_files/matlab/fanuc_m16ib_support/urdf/fanucM16ib.urdf">matlab</a>', 198: '<a href="urdf_files/ros-industrial/xacro_generated/fanuc/fanuc_m16ib_support/urdf/m16ib20.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Fanuc</td></tr>
<tr><td>M-20iA</td><td>none</td><td>{199: '<a href="urdf_files/ros-industrial/xacro_generated/fanuc/fanuc_m20ia_support/urdf/m20ia.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Fanuc</td></tr>
<tr><td>M-20iA/10L</td><td>none</td><td>{200: '<a href="urdf_files/ros-industrial/xacro_generated/fanuc/fanuc_m20ia_support/urdf/m20ia10l.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Fanuc</td></tr>
<tr><td>M-20iB/25</td><td>none</td><td>{201: '<a href="urdf_files/ros-industrial/xacro_generated/fanuc/fanuc_m20ib_support/urdf/m20ib25.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Fanuc</td></tr>
<tr><td>M-430iA/2F</td><td>none</td><td>{202: '<a href="urdf_files/ros-industrial/xacro_generated/fanuc/fanuc_m430ia_support/urdf/m430ia2f.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Fanuc</td></tr>
<tr><td>M-430iA/2P</td><td>none</td><td>{203: '<a href="urdf_files/ros-industrial/xacro_generated/fanuc/fanuc_m430ia_support/urdf/m430ia2p.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Fanuc</td></tr>
<tr><td>M-6iB</td><td>none</td><td>{204: '<a href="urdf_files/ros-industrial/xacro_generated/fanuc/fanuc_m6ib_support/urdf/m6ib.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Fanuc</td></tr>
<tr><td>M-6iB/6S</td><td>none</td><td>{205: '<a href="urdf_files/ros-industrial/xacro_generated/fanuc/fanuc_m6ib_support/urdf/m6ib6s.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Fanuc</td></tr>
<tr><td>M-710iC/45M</td><td>none</td><td>{207: '<a href="urdf_files/ros-industrial/xacro_generated/fanuc/fanuc_m710ic_support/urdf/m710ic45m.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Fanuc</td></tr>
<tr><td>M-710iC/50</td><td>none</td><td>{206: '<a href="urdf_files/ros-industrial/xacro_generated/fanuc/fanuc_m710ic_support/urdf/m710ic50.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Fanuc</td></tr>
<tr><td>M-900iA/260L</td><td>none</td><td>{208: '<a href="urdf_files/ros-industrial/xacro_generated/fanuc/fanuc_m900ia_support/urdf/m900ia260l.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Fanuc</td></tr>
<tr><td>M-900iB/700</td><td>none</td><td>{209: '<a href="urdf_files/ros-industrial/xacro_generated/fanuc/fanuc_m900ib_support/urdf/m900ib700.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Fanuc</td></tr>
<tr><td>Meca500-R3</td><td>none</td><td>{30: '<a href="urdf_files/matlab/mecademic_description/urdf/meca500r3.urdf">matlab</a>'}</td><td>robotic arm</td><td>Mecademic Robotics</td></tr>
<tr><td>MiR 100</td><td>none</td><td>{101: '<a href="urdf_files/random/xacro_generated/mir_description/urdf/mir.urdf">random</a>'}</td><td>mobile robot</td><td>Mobile Industrial Robots</td></tr>
<tr><td>Mico M1N4S200</td><td>none</td><td>{25: '<a href="urdf_files/matlab/kinova_description/urdf/kinovaMicoM1N4S200.urdf">matlab</a>', 76: '<a href="urdf_files/oems/xacro_generated/kinova_robotics/kinova_description/urdf/m1n4s200_standalone.urdf">oems</a>'}</td><td>robotic arm</td><td>Kinova Robotics</td></tr>
<tr><td>Mico M1N6S200</td><td>none</td><td>{26: '<a href="urdf_files/matlab/kinova_description/urdf/kinovaMicoM1N6S200.urdf">matlab</a>', 77: '<a href="urdf_files/oems/xacro_generated/kinova_robotics/kinova_description/urdf/m1n6s200_standalone.urdf">oems</a>'}</td><td>robotic arm</td><td>Kinova Robotics</td></tr>
<tr><td>Mico M1N6S300</td><td>none</td><td>{27: '<a href="urdf_files/matlab/kinova_description/urdf/kinovaMicoM1N6S300.urdf">matlab</a>', 78: '<a href="urdf_files/oems/xacro_generated/kinova_robotics/kinova_description/urdf/m1n6s300_standalone.urdf">oems</a>'}</td><td>robotic arm</td><td>Kinova Robotics</td></tr>
<tr><td>Motoman MH5</td><td>none</td><td>{31: '<a href="urdf_files/matlab/motoman_mh5_support/urdf/yaskawaMotomanMH5.urdf">matlab</a>', 148: '<a href="urdf_files/ros-industrial/motoman/motoman_mh5_support/urdf/mh5.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Yaskawa Motoman</td></tr>
<tr><td>Motoman SIA10D</td><td>none</td><td>{149: '<a href="urdf_files/ros-industrial/motoman/motoman_sia10d_support/urdf/sia10d.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Yaskawa Motoman</td></tr>
<tr><td>Motoman SIA10F</td><td>none</td><td>{150: '<a href="urdf_files/ros-industrial/motoman/motoman_sia10f_support/urdf/sia10f.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Yaskawa Motoman</td></tr>
<tr><td>Motoman SIA20D</td><td>none</td><td>{151: '<a href="urdf_files/ros-industrial/motoman/motoman_sia20d_support/urdf/sia20d.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Yaskawa Motoman</td></tr>
<tr><td>Motoman SIA5D</td><td>none</td><td>{152: '<a href="urdf_files/ros-industrial/motoman/motoman_sia5d_support/urdf/sia5d.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Yaskawa Motoman</td></tr>
<tr><td>Movo</td><td>none</td><td>{32: '<a href="urdf_files/matlab/movo_description/urdf/kinovaMovo.urdf">matlab</a>'}</td><td>mobile manipulator</td><td>Kinova Robotics</td></tr>
<tr><td>OP2</td><td>none</td><td>{39: '<a href="urdf_files/matlab/robotis_op_description/robots/robotisOP2.urdf">matlab</a>'}</td><td>humanoid robot</td><td>ROBOTIS</td></tr>
<tr><td>Open Manipulator</td><td>none</td><td>{33: '<a href="urdf_files/matlab/open_manipulator_description/urdf/robotisOpenManipulator.urdf">matlab</a>', 79: '<a href="urdf_files/oems/xacro_generated/open-manipulator_robotis/open_manipulator_description/urdf/open_manipulator.urdf">oems</a>'}</td><td>robotic arm</td><td>ROBOTIS</td></tr>
<tr><td>PG 70</td><td>none</td><td>{109: '<a href="urdf_files/random/xacro_generated/schunk_modular_robotics/schunk_description/urdf/schunk_pg70.urdf">random</a>'}</td><td>end effector</td><td>Schunk</td></tr>
<tr><td>PR2</td><td>none</td><td>{3: '<a href="urdf_files/drake/pr2/pr2_description/urdf/pr2_simplified.urdf">drake</a>', 34: '<a href="urdf_files/matlab/pr2_description/robots/willowgaragePR2.urdf">matlab</a>', 91: '<a href="urdf_files/random/robot-assets/pr2/pr2.urdf">random</a>', 135: '<a href="urdf_files/robotics-toolbox/xacro_generated/pr2_description/robots/pr2.urdf">robotics-toolbox</a>'}</td><td>mobile manipulator</td><td>Willow Garage</td></tr>
<tr><td>PUMA 560</td><td>none</td><td>{118: '<a href="urdf_files/robotics-toolbox/puma560_description/urdf/puma560_robot.urdf">robotics-toolbox</a>'}</td><td>robotic arm</td><td>Unimation</td></tr>
<tr><td>PW 70</td><td>none</td><td>{110: '<a href="urdf_files/random/xacro_generated/schunk_modular_robotics/schunk_description/urdf/schunk_pw70.urdf">random</a>'}</td><td>end effector</td><td>Schunk</td></tr>
<tr><td>Panda</td><td>none</td><td>{14: '<a href="urdf_files/matlab/franka_description/robots/frankaEmikaPanda.urdf">matlab</a>', 62: '<a href="urdf_files/oems/xacro_generated/franka_emika/franka_description/robots/panda/panda.urdf">oems</a>', 86: '<a href="urdf_files/random/robot-assets/franka_panda/panda.urdf">random</a>', 123: '<a href="urdf_files/robotics-toolbox/xacro_generated/franka_description/robots/panda.urdf">robotics-toolbox</a>'}</td><td>robotic arm</td><td>Franka Emika</td></tr>
<tr><td>PhantomX Pincher</td><td>none</td><td>{119: '<a href="urdf_files/robotics-toolbox/pxpincher/urdf/pincher_arm.urdf">robotics-toolbox</a>'}</td><td>robotic arm</td><td>Trossen Robotics</td></tr>
<tr><td>PincherX-100</td><td>none</td><td>{124: '<a href="urdf_files/robotics-toolbox/xacro_generated/interbotix_descriptions/urdf/px100.urdf">robotics-toolbox</a>'}</td><td>robotic arm</td><td>Trossen Robotics</td></tr>
<tr><td>PincherX-150</td><td>none</td><td>{125: '<a href="urdf_files/robotics-toolbox/xacro_generated/interbotix_descriptions/urdf/px150.urdf">robotics-toolbox</a>'}</td><td>robotic arm</td><td>Trossen Robotics</td></tr>
<tr><td>Pioneer 3-AT</td><td>none</td><td>{7: '<a href="urdf_files/matlab/amr_robots_description/urdf/amrPioneer3AT.urdf">matlab</a>', 57: '<a href="urdf_files/oems/pioneer_adept_mobile_robots/description/urdf/pioneer3at.urdf">oems</a>'}</td><td>robotic arm</td><td>Adept Mobile Robots</td></tr>
<tr><td>Pioneer 3-DX</td><td>none</td><td>{8: '<a href="urdf_files/matlab/amr_robots_description/urdf/amrPioneer3DX.urdf">matlab</a>', 58: '<a href="urdf_files/oems/pioneer_adept_mobile_robots/description/urdf/pioneer3dx.urdf">oems</a>'}</td><td>robotic arm</td><td>Adept Mobile Robots</td></tr>
<tr><td>Pioneer LX</td><td>none</td><td>{9: '<a href="urdf_files/matlab/amr_robots_description/urdf/amrPioneerLX.urdf">matlab</a>', 59: '<a href="urdf_files/oems/pioneer_adept_mobile_robots/description/urdf/pioneer-lx.urdf">oems</a>'}</td><td>robotic arm</td><td>Adept Mobile Robots</td></tr>
<tr><td>Pneumatic gripper</td><td>none</td><td>{66: '<a href="urdf_files/oems/xacro_generated/grippers_rethink_robotics/rethink_ee_description/urdf/pneumatic_gripper/rethink_pneumatic_gripper.urdf">oems</a>'}</td><td>end effector</td><td>Rethink Robotics</td></tr>
<tr><td>QArm</td><td>none</td><td>{35: '<a href="urdf_files/matlab/qarm_description/urdf/quanserQArm.urdf">matlab</a>', 60: '<a href="urdf_files/oems/qarm_quanser/qarm_description/urdf/QARM.urdf">oems</a>'}</td><td>robotic arm</td><td>Quanser</td></tr>
<tr><td>QBot2e</td><td>none</td><td>{36: '<a href="urdf_files/matlab/quanser_description/urdf/quanserQBot2e.urdf">matlab</a>'}</td><td>mobile robot</td><td>Quanser</td></tr>
<tr><td>QCar</td><td>none</td><td>{37: '<a href="urdf_files/matlab/quanser_description/urdf/quanserQCar.urdf">matlab</a>'}</td><td>mobile robot</td><td>Quanser</td></tr>
<tr><td>R-1000iA/80F</td><td>none</td><td>{210: '<a href="urdf_files/ros-industrial/xacro_generated/fanuc/fanuc_r1000ia_support/urdf/r1000ia80f.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Fanuc</td></tr>
<tr><td>R-2000iB/210F</td><td>none</td><td>{211: '<a href="urdf_files/ros-industrial/xacro_generated/fanuc/fanuc_r2000ib_support/urdf/r2000ib210f.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Fanuc</td></tr>
<tr><td>R-2000iC/125L</td><td>none</td><td>{212: '<a href="urdf_files/ros-industrial/xacro_generated/fanuc/fanuc_r2000ic_support/urdf/r2000ic125l.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Fanuc</td></tr>
<tr><td>R-2000iC/165F</td><td>none</td><td>{213: '<a href="urdf_files/ros-industrial/xacro_generated/fanuc/fanuc_r2000ic_support/urdf/r2000ic165f.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Fanuc</td></tr>
<tr><td>R-2000iC/210F</td><td>none</td><td>{214: '<a href="urdf_files/ros-industrial/xacro_generated/fanuc/fanuc_r2000ic_support/urdf/r2000ic210f.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Fanuc</td></tr>
<tr><td>R-2000iC/210L</td><td>none</td><td>{215: '<a href="urdf_files/ros-industrial/xacro_generated/fanuc/fanuc_r2000ic_support/urdf/r2000ic210l.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Fanuc</td></tr>
<tr><td>R-2000iC/270F</td><td>none</td><td>{216: '<a href="urdf_files/ros-industrial/xacro_generated/fanuc/fanuc_r2000ic_support/urdf/r2000ic270f.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Fanuc</td></tr>
<tr><td>RG2 gripper</td><td>none</td><td>{102: '<a href="urdf_files/random/xacro_generated/osaka_university_onrobot/onrobot_rg2_visualization/urdf/onrobot_rg2_model.urdf">random</a>'}</td><td>end effector</td><td>Onrobot</td></tr>
<tr><td>RG6 gripper</td><td>none</td><td>{103: '<a href="urdf_files/random/xacro_generated/osaka_university_onrobot/onrobot_rg6_visualization/urdf/onrobot_rg6_model.urdf">random</a>'}</td><td>end effector</td><td>Onrobot</td></tr>
<tr><td>RX 160</td><td>none</td><td>{155: '<a href="urdf_files/ros-industrial/staubli/staubli_rx160_support/urdf/rx160.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Staubli</td></tr>
<tr><td>RX 160L</td><td>none</td><td>{156: '<a href="urdf_files/ros-industrial/staubli/staubli_rx160_support/urdf/rx160l.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Staubli</td></tr>
<tr><td>ReactorX-150</td><td>none</td><td>{126: '<a href="urdf_files/robotics-toolbox/xacro_generated/interbotix_descriptions/urdf/rx150.urdf">robotics-toolbox</a>'}</td><td>robotic arm</td><td>Trossen Robotics</td></tr>
<tr><td>ReactorX-200</td><td>none</td><td>{127: '<a href="urdf_files/robotics-toolbox/xacro_generated/interbotix_descriptions/urdf/rx200.urdf">robotics-toolbox</a>'}</td><td>robotic arm</td><td>Trossen Robotics</td></tr>
<tr><td>Sawyer</td><td>none</td><td>{40: '<a href="urdf_files/matlab/sawyer_description/urdf/rethinkSawyer.urdf">matlab</a>'}</td><td>robotic arm</td><td>Rethink Robotics</td></tr>
<tr><td>Spot</td><td>none</td><td>{61: '<a href="urdf_files/oems/spot_boston_dynamics/spot_base_urdf/model.urdf">oems</a>', 98: '<a href="urdf_files/random/spot_ros/spot_description/urdf/spot.urdf">random</a>'}</td><td>quadrupedal robot</td><td>Boston Dynamics</td></tr>
<tr><td>Spot Arm</td><td>none</td><td>{99: '<a href="urdf_files/random/spot_ros/spot_description/urdf/spot_arm.urdf">random</a>'}</td><td>robotic arm</td><td>Boston Dynamics</td></tr>
<tr><td>TX-60</td><td>none</td><td>{235: '<a href="urdf_files/ros-industrial/xacro_generated/staubli/staubli_tx60_support/urdf/tx60.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Staubli</td></tr>
<tr><td>TX-60L</td><td>none</td><td>{236: '<a href="urdf_files/ros-industrial/xacro_generated/staubli/staubli_tx60_support/urdf/tx60l.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Staubli</td></tr>
<tr><td>TX-90</td><td>none</td><td>{237: '<a href="urdf_files/ros-industrial/xacro_generated/staubli/staubli_tx90_support/urdf/tx90.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Staubli</td></tr>
<tr><td>TX-90L</td><td>none</td><td>{238: '<a href="urdf_files/ros-industrial/xacro_generated/staubli/staubli_tx90_support/urdf/tx90l.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Staubli</td></tr>
<tr><td>TX-90XL</td><td>none</td><td>{239: '<a href="urdf_files/ros-industrial/xacro_generated/staubli/staubli_tx90_support/urdf/tx90xl.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Staubli</td></tr>
<tr><td>TX2-60</td><td>none</td><td>{230: '<a href="urdf_files/ros-industrial/xacro_generated/staubli/staubli_tx2_60_support/urdf/tx2_60.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Staubli</td></tr>
<tr><td>TX2-60L</td><td>none</td><td>{231: '<a href="urdf_files/ros-industrial/xacro_generated/staubli/staubli_tx2_60_support/urdf/tx2_60l.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Staubli</td></tr>
<tr><td>TX2-90</td><td>none</td><td>{232: '<a href="urdf_files/ros-industrial/xacro_generated/staubli/staubli_tx2_90_support/urdf/tx2_90.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Staubli</td></tr>
<tr><td>TX2-90L</td><td>none</td><td>{233: '<a href="urdf_files/ros-industrial/xacro_generated/staubli/staubli_tx2_90_support/urdf/tx2_90l.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Staubli</td></tr>
<tr><td>TX2-90XL</td><td>none</td><td>{234: '<a href="urdf_files/ros-industrial/xacro_generated/staubli/staubli_tx2_90_support/urdf/tx2_90xl.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Staubli</td></tr>
<tr><td>Turtlebot 2</td><td>none</td><td>{44: '<a href="urdf_files/matlab/turtlebot_description/robots/clearpathTurtleBot2.urdf">matlab</a>'}</td><td>mobile robot</td><td>Clearpath Robotics</td></tr>
<tr><td>Turtlebot 3 Burger</td><td>none</td><td>{41: '<a href="urdf_files/matlab/turtlebot3_description/urdf/robotisTurtleBot3Burger.urdf">matlab</a>', 80: '<a href="urdf_files/oems/xacro_generated/turtlebot3_robotis/turtlebot3_description/urdf/turtlebot3_burger.urdf">oems</a>'}</td><td>mobile robot</td><td>ROBOTIS</td></tr>
<tr><td>Turtlebot 3 Waffle</td><td>none</td><td>{42: '<a href="urdf_files/matlab/turtlebot3_description/urdf/robotisTurtleBot3Waffle.urdf">matlab</a>', 81: '<a href="urdf_files/oems/xacro_generated/turtlebot3_robotis/turtlebot3_description/urdf/turtlebot3_waffle.urdf">oems</a>'}</td><td>mobile robot</td><td>ROBOTIS</td></tr>
<tr><td>Turtlebot 3 Waffle Pi</td><td>none</td><td>{43: '<a href="urdf_files/matlab/turtlebot3_description/urdf/robotisTurtleBot3WafflePi.urdf">matlab</a>', 82: '<a href="urdf_files/oems/xacro_generated/turtlebot3_robotis/turtlebot3_description/urdf/turtlebot3_waffle_pi.urdf">oems</a>'}</td><td>mobile robot</td><td>ROBOTIS</td></tr>
<tr><td>Turtlebot Arm</td><td>none</td><td>{120: '<a href="urdf_files/robotics-toolbox/pxpincher/urdf/turtlebot_arm.urdf">robotics-toolbox</a>'}</td><td>robotic arm</td><td>Trossen Robotics</td></tr>
<tr><td>UR10</td><td>none</td><td>{47: '<a href="urdf_files/matlab/ur_description/urdf/universalUR10.urdf">matlab</a>', 93: '<a href="urdf_files/random/robot-assets/ur10/ur10_robot.urdf">random</a>', 138: '<a href="urdf_files/robotics-toolbox/xacro_generated/ur_description/urdf/ur10.urdf">robotics-toolbox</a>', 242: '<a href="urdf_files/ros-industrial/xacro_generated/universal_robots/ur_description/urdf/ur10.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Universal Robots</td></tr>
<tr><td>UR10e</td><td>none</td><td>{50: '<a href="urdf_files/matlab/ur_e_description/urdf/universalUR10e.urdf">matlab</a>', 245: '<a href="urdf_files/ros-industrial/xacro_generated/universal_robots/ur_description/urdf/ur10e.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Universal Robots</td></tr>
<tr><td>UR16e</td><td>none</td><td>{51: '<a href="urdf_files/matlab/ur_e_description/urdf/universalUR16e.urdf">matlab</a>', 246: '<a href="urdf_files/ros-industrial/xacro_generated/universal_robots/ur_description/urdf/ur16e.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Universal Robots</td></tr>
<tr><td>UR3</td><td>none</td><td>{45: '<a href="urdf_files/matlab/ur_description/urdf/universalUR3.urdf">matlab</a>', 136: '<a href="urdf_files/robotics-toolbox/xacro_generated/ur_description/urdf/ur3.urdf">robotics-toolbox</a>', 240: '<a href="urdf_files/ros-industrial/xacro_generated/universal_robots/ur_description/urdf/ur3.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Universal Robots</td></tr>
<tr><td>UR3e</td><td>none</td><td>{48: '<a href="urdf_files/matlab/ur_e_description/urdf/universalUR3e.urdf">matlab</a>', 243: '<a href="urdf_files/ros-industrial/xacro_generated/universal_robots/ur_description/urdf/ur3e.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Universal Robots</td></tr>
<tr><td>UR5</td><td>none</td><td>{46: '<a href="urdf_files/matlab/ur_description/urdf/universalUR5.urdf">matlab</a>', 137: '<a href="urdf_files/robotics-toolbox/xacro_generated/ur_description/urdf/ur5.urdf">robotics-toolbox</a>', 241: '<a href="urdf_files/ros-industrial/xacro_generated/universal_robots/ur_description/urdf/ur5.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Universal Robots</td></tr>
<tr><td>UR5e</td><td>none</td><td>{49: '<a href="urdf_files/matlab/ur_e_description/urdf/universalUR5e.urdf">matlab</a>', 244: '<a href="urdf_files/ros-industrial/xacro_generated/universal_robots/ur_description/urdf/ur5e.urdf">ros-industrial</a>'}</td><td>robotic arm</td><td>Universal Robots</td></tr>
<tr><td>VG10 gripper</td><td>none</td><td>{104: '<a href="urdf_files/random/xacro_generated/osaka_university_onrobot/onrobot_vg10_visualization/urdf/onrobot_vg10_model.urdf">random</a>'}</td><td>end effector</td><td>Onrobot</td></tr>
<tr><td>VGC10 gripper - 1 cup model</td><td>none</td><td>{105: '<a href="urdf_files/random/xacro_generated/osaka_university_onrobot/onrobot_vgc10_visualization/urdf/onrobot_vgc10_1cup_model.urdf">random</a>'}</td><td>end effector</td><td>Onrobot</td></tr>
<tr><td>VGC10 gripper - 4 cups model</td><td>none</td><td>{106: '<a href="urdf_files/random/xacro_generated/osaka_university_onrobot/onrobot_vgc10_visualization/urdf/onrobot_vgc10_4cups_model.urdf">random</a>'}</td><td>end effector</td><td>Onrobot</td></tr>
<tr><td>Valkyrie</td><td>none</td><td>{52: '<a href="urdf_files/matlab/valkyrie/urdf/urdf/valkyrie.urdf">matlab</a>'}</td><td>humanoid robot</td><td>NASA</td></tr>
<tr><td>ViperX-300</td><td>none</td><td>{128: '<a href="urdf_files/robotics-toolbox/xacro_generated/interbotix_descriptions/urdf/vx300.urdf">robotics-toolbox</a>'}</td><td>robotic arm</td><td>Trossen Robotics</td></tr>
<tr><td>ViperX-300s</td><td>none</td><td>{129: '<a href="urdf_files/robotics-toolbox/xacro_generated/interbotix_descriptions/urdf/vx300s.urdf">robotics-toolbox</a>'}</td><td>robotic arm</td><td>Trossen Robotics</td></tr>
<tr><td>WidowX-200</td><td>none</td><td>{130: '<a href="urdf_files/robotics-toolbox/xacro_generated/interbotix_descriptions/urdf/wx200.urdf">robotics-toolbox</a>'}</td><td>robotic arm</td><td>Trossen Robotics</td></tr>
<tr><td>WidowX-250</td><td>none</td><td>{131: '<a href="urdf_files/robotics-toolbox/xacro_generated/interbotix_descriptions/urdf/wx250.urdf">robotics-toolbox</a>'}</td><td>robotic arm</td><td>Trossen Robotics</td></tr>
<tr><td>WidowX-250s</td><td>none</td><td>{132: '<a href="urdf_files/robotics-toolbox/xacro_generated/interbotix_descriptions/urdf/wx250s.urdf">robotics-toolbox</a>'}</td><td>robotic arm</td><td>Trossen Robotics</td></tr>
<tr><td>YuMi</td><td>none</td><td>{53: '<a href="urdf_files/matlab/yumi_description/urdf/abbYuMi.urdf">matlab</a>', 96: '<a href="urdf_files/random/robot-assets/yumi/yumi.urdf">random</a>', 139: '<a href="urdf_files/robotics-toolbox/yumi_description/urdf/yumi.urdf">robotics-toolbox</a>'}</td><td>dual arm robot</td><td>ABB</td></tr>
<tr><td>imu test</td><td>none</td><td>{94: '<a href="urdf_files/random/robot-assets/val_description/model/robots/imu_test.urdf">random</a>', 121: '<a href="urdf_files/robotics-toolbox/val_description/model/robots/imu_test.urdf">robotics-toolbox</a>'}</td><td>unknown</td><td>unknown</td></tr>
<tr><td>test bench</td><td>none</td><td>{95: '<a href="urdf_files/random/robot-assets/val_description/model/robots/test_bench.urdf">random</a>', 122: '<a href="urdf_files/robotics-toolbox/val_description/model/robots/test_bench.urdf">robotics-toolbox</a>'}</td><td>unknown</td><td>unknown</td></tr>
<tr><td>unknown</td><td>none</td><td>{89: '<a href="urdf_files/random/robot-assets/kinova/kinova.urdf">random</a>'}</td><td>unknown</td><td>unknown</td></tr>
<tr><td>Atlas</td><td>convex hull</td><td>{247: '<a href="urdf_files/drake/atlas/urdf/atlas_convex_hull.urdf">drake</a>'}</td><td>humanoid robot</td><td>Boston Dynamics</td></tr>
<tr><td>Atlas</td><td>minimal contact</td><td>{248: '<a href="urdf_files/drake/atlas/urdf/atlas_minimal_contact.urdf">drake</a>'}</td><td>humanoid robot</td><td>Boston Dynamics</td></tr>
<tr><td>3F gripper</td><td>articulated</td><td>{249: '<a href="urdf_files/drake/atlas/urdf/robotiq_simple.urdf">drake</a>', 321: ':<a href="urdf_files/ros-industrial/robotiq/robotiq_3f_gripper_visualization/cfg/robotiq-3f-gripper_articulated.urdf">ros-industrial</a>'}</td><td>end effector</td><td>Robotiq</td></tr>
<tr><td>3F gripper</td><td>tendons</td><td>{250: '<a href="urdf_files/drake/atlas/urdf/robotiq_tendons.urdf">drake</a>'}</td><td>end effector</td><td>Robotiq</td></tr>
<tr><td>LBR iiwa 14</td><td>spheres collision</td><td>{251: '<a href="urdf_files/drake/iiwa_description/urdf/iiwa14_spheres_collision.urdf">drake</a>'}</td><td>robotic arm</td><td>KUKA</td></tr>
<tr><td>Dual LBR iiwa 14</td><td>polytope collision</td><td>{252: '<a href="urdf_files/drake/iiwa_description/urdf/dual_iiwa14_polytope_collision.urdf">drake</a>'}</td><td>dual arm robot</td><td>KUKA</td></tr>
<tr><td>LBR iiwa 14</td><td>no collision</td><td>{253: '<a href="urdf_files/drake/iiwa_description/urdf/iiwa14_no_collision.urdf">drake</a>'}</td><td>robotic arm</td><td>KUKA</td></tr>
<tr><td>LBR iiwa 14</td><td>polytope collision</td><td>{254: '<a href="urdf_files/drake/iiwa_description/urdf/iiwa14_polytope_collision.urdf">drake</a>'}</td><td>robotic arm</td><td>KUKA</td></tr>
<tr><td>LBR iiwa 14</td><td>primitive collision</td><td>{255: '<a href="urdf_files/drake/iiwa_description/urdf/iiwa14_primitive_collision.urdf">drake</a>'}</td><td>robotic arm</td><td>KUKA</td></tr>
<tr><td>LBR iiwa 14</td><td>spheres dense collision</td><td>{256: '<a href="urdf_files/drake/iiwa_description/urdf/iiwa14_spheres_dense_collision.urdf">drake</a>'}</td><td>robotic arm</td><td>KUKA</td></tr>
<tr><td>LBR iiwa 14</td><td>spheres dense elbow collision</td><td>{257: '<a href="urdf_files/drake/iiwa_description/urdf/iiwa14_spheres_dense_elbow_collision.urdf">drake</a>'}</td><td>robotic arm</td><td>KUKA</td></tr>
<tr><td>LBR iiwa 14</td><td>planar spheres dense elbow collision</td><td>{258: '<a href="urdf_files/drake/iiwa_description/urdf/planar_iiwa14_spheres_dense_elbow_collision.urdf">drake</a>'}</td><td>robotic arm</td><td>KUKA</td></tr>
<tr><td>Turtlebot 3 Waffle</td><td>for Open Manipulator</td><td>{259: '<a href="urdf_files/matlab/turtlebot3_description/urdf/robotisTurtleBot3WaffleForOpenManipulator.urdf">matlab</a>', 263: ':<a href="urdf_files/oems/xacro_generated/turtlebot3_robotis/turtlebot3_description/urdf/turtlebot3_waffle_for_open_manipulator.urdf">oems</a>'}</td><td>mobile robot</td><td>ROBOTIS</td></tr>
<tr><td>Turtlebot 3 Waffle Pi</td><td>for Open Manipulator</td><td>{260: '<a href="urdf_files/matlab/turtlebot3_description/urdf/robotisTurtleBot3WafflePiForOpenManipulator.urdf">matlab</a>', 264: ':<a href="urdf_files/oems/xacro_generated/turtlebot3_robotis/turtlebot3_description/urdf/turtlebot3_waffle_pi_for_open_manipulator.urdf">oems</a>'}</td><td>mobile robot</td><td>ROBOTIS</td></tr>
<tr><td>Pioneer LX</td><td>Devil</td><td>{261: '<a href="urdf_files/oems/pioneer_adept_mobile_robots/description/urdf/pioneer-lx-devil.urdf">oems</a>'}</td><td>robotic arm</td><td>Adept Mobile Robots</td></tr>
<tr><td>Open Manipulator</td><td>robot</td><td>{262: '<a href="urdf_files/oems/xacro_generated/open-manipulator_robotis/open_manipulator_description/urdf/open_manipulator_robot.urdf">oems</a>'}</td><td>robotic arm</td><td>ROBOTIS</td></tr>
<tr><td>Turtlebot 3 Burger</td><td>for autorace 2020</td><td>{265: '<a href="urdf_files/oems/xacro_generated/turtlebot3_robotis/turtlebot3_description/urdf/turtlebot3_burger_for_autorace_2020.urdf">oems</a>'}</td><td>mobile robot</td><td>ROBOTIS</td></tr>
<tr><td>Turtlebot 3 Burger</td><td>for autorace</td><td>{266: '<a href="urdf_files/oems/xacro_generated/turtlebot3_robotis/turtlebot3_description/urdf/turtlebot3_burger_for_autorace.urdf">oems</a>'}</td><td>mobile robot</td><td>ROBOTIS</td></tr>
<tr><td>R2-D2</td><td>b</td><td>{267: '<a href="urdf_files/random/robot-assets/r2_description/robots/r2b.urdf">random</a>'}</td><td>humanoid robot</td><td>Star Wars Character</td></tr>
<tr><td>R2-D2</td><td>b control</td><td>{268: '<a href="urdf_files/random/robot-assets/r2_description/robots/r2b_control.urdf">random</a>'}</td><td>humanoid robot</td><td>Star Wars Character</td></tr>
<tr><td>R2-D2</td><td>b dynamics</td><td>{269: '<a href="urdf_files/random/robot-assets/r2_description/robots/r2b_dynamics.urdf">random</a>'}</td><td>humanoid robot</td><td>Star Wars Character</td></tr>
<tr><td>R2-D2</td><td>b sim upperbody control</td><td>{270: '<a href="urdf_files/random/robot-assets/r2_description/robots/r2b_sim_upperbody_control.urdf.urdf">random</a>'}</td><td>humanoid robot</td><td>Star Wars Character</td></tr>
<tr><td>R2-D2</td><td>b sim upperbody dynamics</td><td>{271: '<a href="urdf_files/random/robot-assets/r2_description/robots/r2b_sim_upperbody_dynamics.urdf.urdf">random</a>'}</td><td>humanoid robot</td><td>Star Wars Character</td></tr>
<tr><td>R2-D2</td><td>c1</td><td>{272: '<a href="urdf_files/random/robot-assets/r2_description/robots/r2c1.urdf">random</a>'}</td><td>humanoid robot</td><td>Star Wars Character</td></tr>
<tr><td>R2-D2</td><td>c1 control</td><td>{273: '<a href="urdf_files/random/robot-assets/r2_description/robots/r2c1_control.urdf">random</a>'}</td><td>humanoid robot</td><td>Star Wars Character</td></tr>
<tr><td>R2-D2</td><td>c1 dynamics</td><td>{274: '<a href="urdf_files/random/robot-assets/r2_description/robots/r2c1_dynamics.urdf">random</a>'}</td><td>humanoid robot</td><td>Star Wars Character</td></tr>
<tr><td>R2-D2</td><td>c5</td><td>{275: '<a href="urdf_files/random/robot-assets/r2_description/robots/r2c5.urdf">random</a>'}</td><td>humanoid robot</td><td>Star Wars Character</td></tr>
<tr><td>R2-D2</td><td>c5 control</td><td>{276: '<a href="urdf_files/random/robot-assets/r2_description/robots/r2c5_control.urdf">random</a>'}</td><td>humanoid robot</td><td>Star Wars Character</td></tr>
<tr><td>R2-D2</td><td>c5 dynamics</td><td>{277: '<a href="urdf_files/random/robot-assets/r2_description/robots/r2c5_dynamics.urdf">random</a>'}</td><td>humanoid robot</td><td>Star Wars Character</td></tr>
<tr><td>R2-D2</td><td>c6</td><td>{278: '<a href="urdf_files/random/robot-assets/r2_description/robots/r2c6.urdf">random</a>'}</td><td>humanoid robot</td><td>Star Wars Character</td></tr>
<tr><td>R2-D2</td><td>c6 control</td><td>{279: '<a href="urdf_files/random/robot-assets/r2_description/robots/r2c6_control.urdf">random</a>'}</td><td>humanoid robot</td><td>Star Wars Character</td></tr>
<tr><td>R2-D2</td><td>c6 dynamics</td><td>{280: '<a href="urdf_files/random/robot-assets/r2_description/robots/r2c6_dynamics.urdf">random</a>'}</td><td>humanoid robot</td><td>Star Wars Character</td></tr>
<tr><td>R2-D2</td><td>c6 valve</td><td>{281: '<a href="urdf_files/random/robot-assets/r2_description/robots/r2c6_valve.urdf">random</a>'}</td><td>humanoid robot</td><td>Star Wars Character</td></tr>
<tr><td>R2-D2</td><td>c sim full control</td><td>{282: '<a href="urdf_files/random/robot-assets/r2_description/robots/r2c_sim_full_control.urdf.urdf">random</a>'}</td><td>humanoid robot</td><td>Star Wars Character</td></tr>
<tr><td>R2-D2</td><td>c sim full dynamics</td><td>{283: '<a href="urdf_files/random/robot-assets/r2_description/robots/r2c_sim_full_dynamics.urdf.urdf">random</a>'}</td><td>humanoid robot</td><td>Star Wars Character</td></tr>
<tr><td>R2-D2</td><td>c sim legs control</td><td>{284: '<a href="urdf_files/random/robot-assets/r2_description/robots/r2c_sim_legs_control.urdf.urdf">random</a>'}</td><td>humanoid robot</td><td>Star Wars Character</td></tr>
<tr><td>R2-D2</td><td>c sim legs dynamics</td><td>{285: '<a href="urdf_files/random/robot-assets/r2_description/robots/r2c_sim_legs_dynamics.urdf.urdf">random</a>'}</td><td>humanoid robot</td><td>Star Wars Character</td></tr>
<tr><td>R2-D2</td><td>c sim upperbody control</td><td>{286: '<a href="urdf_files/random/robot-assets/r2_description/robots/r2c_sim_upperbody_control.urdf.urdf">random</a>'}</td><td>humanoid robot</td><td>Star Wars Character</td></tr>
<tr><td>R2-D2</td><td>c sim upperbody dynamics</td><td>{287: '<a href="urdf_files/random/robot-assets/r2_description/robots/r2c_sim_upperbody_dynamics.urdf.urdf">random</a>'}</td><td>humanoid robot</td><td>Star Wars Character</td></tr>
<tr><td>R2-D2</td><td>left forearm</td><td>{288: '<a href="urdf_files/random/robot-assets/r2_description/robots/r2_left_forearm.urdf">random</a>'}</td><td>humanoid robot</td><td>Star Wars Character</td></tr>
<tr><td>R2-D2</td><td>left gripper</td><td>{289: '<a href="urdf_files/random/robot-assets/r2_description/robots/r2_left_gripper.urdf">random</a>'}</td><td>humanoid robot</td><td>Star Wars Character</td></tr>
<tr><td>UR5</td><td>joint limited</td><td>{290: '<a href="urdf_files/random/robot-assets/ur5/ur5_gripper.urdf">random</a>'}</td><td>robotic arm</td><td>Universal Robots</td></tr>
<tr><td>Valkyrie</td><td>forearm left</td><td>{291: '<a href="urdf_files/random/robot-assets/val_description/model/robots/forearm_left.urdf">random</a>', 306: ':<a href="urdf_files/robotics-toolbox/val_description/model/robots/forearm_left.urdf">robotics-toolbox</a>'}</td><td>humanoid robot</td><td>NASA</td></tr>
<tr><td>Valkyrie</td><td>forearm right</td><td>{292: '<a href="urdf_files/random/robot-assets/val_description/model/robots/forearm_right.urdf">random</a>', 307: ':<a href="urdf_files/robotics-toolbox/val_description/model/robots/forearm_right.urdf">robotics-toolbox</a>'}</td><td>humanoid robot</td><td>NASA</td></tr>
<tr><td>Valkyrie</td><td>A</td><td>{293: '<a href="urdf_files/random/robot-assets/val_description/model/robots/valkyrie_A.urdf">random</a>', 308: ':<a href="urdf_files/robotics-toolbox/val_description/model/robots/valkyrie_A.urdf">robotics-toolbox</a>'}</td><td>humanoid robot</td><td>NASA</td></tr>
<tr><td>Valkyrie</td><td>A arm mass sims</td><td>{294: '<a href="urdf_files/random/robot-assets/val_description/model/robots/valkyrie_A_arm_mass_sims.urdf">random</a>', 309: ':<a href="urdf_files/robotics-toolbox/val_description/model/robots/valkyrie_A_arm_mass_sims.urdf">robotics-toolbox</a>'}</td><td>humanoid robot</td><td>NASA</td></tr>
<tr><td>Valkyrie</td><td>B</td><td>{295: '<a href="urdf_files/random/robot-assets/val_description/model/robots/valkyrie_B.urdf">random</a>', 310: ':<a href="urdf_files/robotics-toolbox/val_description/model/robots/valkyrie_B.urdf">robotics-toolbox</a>'}</td><td>humanoid robot</td><td>NASA</td></tr>
<tr><td>Valkyrie</td><td>B arm mass sims</td><td>{296: '<a href="urdf_files/random/robot-assets/val_description/model/robots/valkyrie_B_arm_mass_sims.urdf">random</a>', 311: ':<a href="urdf_files/robotics-toolbox/val_description/model/robots/valkyrie_B_arm_mass_sims.urdf">robotics-toolbox</a>'}</td><td>humanoid robot</td><td>NASA</td></tr>
<tr><td>Valkyrie</td><td>C</td><td>{297: '<a href="urdf_files/random/robot-assets/val_description/model/robots/valkyrie_C.urdf">random</a>', 312: ':<a href="urdf_files/robotics-toolbox/val_description/model/robots/valkyrie_C.urdf">robotics-toolbox</a>'}</td><td>humanoid robot</td><td>NASA</td></tr>
<tr><td>Valkyrie</td><td>C arm mass sims</td><td>{298: '<a href="urdf_files/random/robot-assets/val_description/model/robots/valkyrie_C_arm_mass_sims.urdf">random</a>', 313: ':<a href="urdf_files/robotics-toolbox/val_description/model/robots/valkyrie_C_arm_mass_sims.urdf">robotics-toolbox</a>'}</td><td>humanoid robot</td><td>NASA</td></tr>
<tr><td>Valkyrie</td><td>D</td><td>{299: '<a href="urdf_files/random/robot-assets/val_description/model/robots/valkyrie_D.urdf">random</a>', 314: ':<a href="urdf_files/robotics-toolbox/val_description/model/robots/valkyrie_D.urdf">robotics-toolbox</a>'}</td><td>humanoid robot</td><td>NASA</td></tr>
<tr><td>Valkyrie</td><td>D arm mass sims</td><td>{300: '<a href="urdf_files/random/robot-assets/val_description/model/robots/valkyrie_D_arm_mass_sims.urdf">random</a>', 315: ':<a href="urdf_files/robotics-toolbox/val_description/model/robots/valkyrie_D_arm_mass_sims.urdf">robotics-toolbox</a>'}</td><td>humanoid robot</td><td>NASA</td></tr>
<tr><td>Valkyrie</td><td>sim</td><td>{301: '<a href="urdf_files/random/robot-assets/val_description/model/robots/valkyrie_sim.urdf">random</a>', 316: ':<a href="urdf_files/robotics-toolbox/val_description/model/robots/valkyrie_sim.urdf">robotics-toolbox</a>'}</td><td>humanoid robot</td><td>NASA</td></tr>
<tr><td>Valkyrie</td><td>sim angled legj1s</td><td>{302: '<a href="urdf_files/random/robot-assets/val_description/model/robots/valkyrie_sim_angled_legj1s.urdf">random</a>', 317: ':<a href="urdf_files/robotics-toolbox/val_description/model/robots/valkyrie_sim_angled_legj1s.urdf">robotics-toolbox</a>'}</td><td>humanoid robot</td><td>NASA</td></tr>
<tr><td>Valkyrie</td><td>sim arm mass sims</td><td>{303: '<a href="urdf_files/random/robot-assets/val_description/model/robots/valkyrie_sim_arm_mass_sims.urdf">random</a>', 318: ':<a href="urdf_files/robotics-toolbox/val_description/model/robots/valkyrie_sim_arm_mass_sims.urdf">robotics-toolbox</a>'}</td><td>humanoid robot</td><td>NASA</td></tr>
<tr><td>Valkyrie</td><td>sim gazebo sync</td><td>{304: '<a href="urdf_files/random/robot-assets/val_description/model/robots/valkyrie_sim_gazebo_sync.urdf">random</a>', 319: ':<a href="urdf_files/robotics-toolbox/val_description/model/robots/valkyrie_sim_gazebo_sync.urdf">robotics-toolbox</a>'}</td><td>humanoid robot</td><td>NASA</td></tr>
<tr><td>LWA 4P</td><td>extended</td><td>{305: '<a href="urdf_files/random/xacro_generated/schunk_modular_robotics/schunk_description/urdf/schunk_lwa4p_extended.urdf">random</a>'}</td><td>robotic arm</td><td>Schunk</td></tr>
<tr><td>Panda</td><td>Frankie</td><td>{320: '<a href="urdf_files/robotics-toolbox/xacro_generated/franka_description/robots/frankie.urdf">robotics-toolbox</a>'}</td><td>robotic arm</td><td>Franka Emika</td></tr>
</tbody>
</table>



### 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>
    <tr>
        <td><b>Table/Figure</b></td>
        <td><b>Script (.py)</b></td>
        <td><b>Results CSV</b></td>
    </tr>
    <tr>
        <td>Table II</td>
        <td><tt><a href="scripts/paper_results/table_ii_sources_n_robots.py">table_ii_sources_n_robots</a></tt></td>
        <td><em><a href="https://github.com/Daniella1/urdf_dataset_results_material/blob/main/csv_files_for_tables/table_ii_sources_n_robots.csv">table_ii_sources_n_robots</em></td>
    </tr>
    <tr>
        <td>Table III</td>
        <td><tt>Manual process</a></tt></td>
        <td><em><a href="https://github.com/Daniella1/urdf_dataset_results_material/blob/main/csv_files_for_tables/table_iii_iv_manufacturer_urdf_search.csv">table_iii_iv_manufacturer_urdf_search</em></td>
    </tr>
    <tr>
        <td>Table IV</td>
        <td><tt>Manual process</a></tt></td>
        <td><em><a href="https://github.com/Daniella1/urdf_dataset_results_material/blob/main/csv_files_for_tables/table_iii_iv_manufacturer_urdf_search.csv">table_iii_iv_manufacturer_urdf_search</em></td>
    </tr>
    <tr>
        <td>Table VI</td>
        <td><tt><a href="scripts/paper_results/table_vi_xacro_sources.py">table_vi_xacro_sources</a></tt></td>
        <td><em><a href="https://github.com/Daniella1/urdf_dataset_results_material/blob/main/csv_files_for_tables/table_vi_xacro_sources.csv">table_vi_xacro_sources</em></td>
    </tr>
    <tr>
        <td>Table VII</td>
        <td><tt><a href="scripts/paper_results/table_vii_urdf_parsing_errors.py">table_vii_urdf_parsing_errors</a></tt></td>
        <td><em><a href="https://github.com/Daniella1/urdf_dataset_results_material/blob/main/csv_files_for_tables/table_vii_parsing_errors.csv">table_vii_parsing_errors</em></td>
    </tr>
    <tr>
        <td>Table VIII</td>
        <td><tt><a href="scripts/paper_results/table_viii_ix_multiply_defined_robots.py">table_viii_ix_multiply_defined_robots</a></tt></td>
        <td><em><a href="https://github.com/Daniella1/urdf_dataset_results_material/blob/main/csv_files_for_tables/table_viii_multiply_defined_robots.csv">table_viii_multiply_defined_robots</em></td>
    </tr>
    <tr>
        <td>Table IX</td>
        <td><tt><a href="scripts/paper_results/table_viii_ix_multiply_defined_robots.py">table_viii_ix_multiply_defined_robots</a></tt></td>
        <td><em><a href="https://github.com/Daniella1/urdf_dataset_results_material/blob/main/csv_files_for_tables/table_ix_multiply_defined_robots_feature_differences.csv">table_ix_multiply_defined_robots_feature_differences</em></td>
    </tr>
    <tr>
        <td>Table X</td>
        <td><tt><a href="scripts/paper_results/table_x_xi_fdupes.py">table_x_xi_fdupes</a></tt></td>
        <td><em><a href="https://github.com/Daniella1/urdf_dataset_results_material/blob/main/csv_files_for_tables/table_x_fdupes_filetypes.csv">table_x_fdupes_filetypes</em></td>
    </tr>
    <tr>
        <td>Table XI</td>
        <td><tt><a href="scripts/paper_results/table_x_xi_fdupes.py">table_x_xi_fdupes</a></tt></td>
        <td><em><a href="https://github.com/Daniella1/urdf_dataset_results_material/blob/main/csv_files_for_tables/table_xi_fdupes_robots.csv">table_xi_fdupes_robots</em></td>
    </tr>
    <tr>
        <td>Table XII</td>
        <td><tt><a href="scripts/paper_results/table_xii_xiii_joints_links.py">table_xii_xiii_joints_links</a></tt></td>
        <td><em><a href="https://github.com/Daniella1/urdf_dataset_results_material/blob/main/csv_files_for_tables/table_xii_avg_links_joints.csv">table_xii_avg_links_joints</em></td>
    </tr>
    <tr>
        <td>Table XIII</td>
        <td><tt><a href="scripts/paper_results/table_xii_xiii_joints_links.py">table_xii_xiii_joints_links</a></tt></td>
        <td><em><a href="https://github.com/Daniella1/urdf_dataset_results_material/blob/main/csv_files_for_tables/table_xiii_world_flange_links_joints.csv">table_xiii_world_flange_links_joints</em></td>
    </tr>
    <tr>
        <td>Table XV</td>
        <td><tt><a href="scripts/paper_results/table_xv_urdf_parsers.py">table_xv_urdf_parsers</a></tt></td>
        <td><em><a href="https://github.com/Daniella1/urdf_dataset_results_material/blob/main/csv_files_for_tables/table_xv_urdf_parsers.csv">table_xv_urdf_parsers</em></td>
    </tr>
    <tr>
        <td>Figure 4</td>
        <td><tt><a href="scripts/paper_results/fig_4_types_sources.py">fig_4_types_sources</a></tt></td>
        <td><em><a href="https://github.com/Daniella1/urdf_dataset_results_material/blob/main/csv_files_for_charts/fig_4_types_sources.csv">fig_4_types_sources</em></td>
    </tr>
    <tr>
        <td>Figure 6</td>
        <td><tt><a href="scripts/paper_results/fig_6_manufacturers_sources.py">fig_6_manufacturers_sources</a></tt></td>
        <td><em><a href="https://github.com/Daniella1/urdf_dataset_results_material/blob/main/csv_files_for_charts/fig_6_manufacturers_n_source_information.csv">fig_6_manufacturers_n_source_information</em></td>
    </tr>
    <tr>
        <td>Figure 8</td>
        <td><tt><a href="scripts/paper_results/fig_8_cad_types_sources.py">fig_8_cad_types_sources</a></tt></td>
        <td><em><a href="https://github.com/Daniella1/urdf_dataset_results_material/blob/main/csv_files_for_charts/fig_8_cad_mesh_information.csv">fig_8_cad_mesh_information.csv</em></td>
    </tr>
    <tr>
        <td>Contact information</td>
        <td><tt><a href="scripts/paper_results/contact_information.py">contact_information</a></tt></td>
        <td><em>-</em></td>
    </tr>
</table>


<!--#### Other
The following table shows the information, which scripts to generate the information, and the resulting CSV file that contains the results.

<table>
    <tr>
        <td><b>Information</b></td>
        <td><b>Script (.py)</b></td>
        <td><b>Results CSV</b></td>
    </tr>
    <tr>
        <td>Sources and URDF files</td>
        <td><tt><a href="scripts/other/extract_dataset_information.py">extract_dataset_information</a></tt></td>
        <td><em>dataset_sources_n_robots</em></td>
    </tr>
    <tr>
        <td>Robot types</td>
        <td><tt><a href="scripts/other/extract_dataset_information.py">extract_dataset_information</a></tt></td>
        <td><em>types_information</em></td>
    </tr>
    <tr>
        <td>Manufacturers</td>
        <td><tt><a href="scripts/other/extract_dataset_information.py">extract_dataset_information</a></tt></td>
        <td><em>manufacturers_information</em></td>
    </tr>
    <tr>
        <td>Common folder structures</td>
        <td>Manual process</td>
        <td><em>folder_structure_information</em></td>
    </tr>
    <tr>
        <td>Multiply defined robots</td>
        <td><tt><a href="scripts/other/extract_multiply_defined_robots_information.py">extract_multiply_defined_robots_information</a></tt></td>
        <td><em>extract_multiply_defined_robots_information</em></td>
    </tr>
    <tr>
        <td>Identical files</td>
        <td><tt><a href="scripts/extract_fdupe_information.py">extract_fdupe_information</a></tt></td>
        <td><em>fdupe_duplicates_res_EXT</em></td>
    </tr>
    <tr>
        <td>URDF parsing errors</td>
        <td><tt><a href="scripts/extract_ROS_parsing_issues.py">extract_ROS_parsing_issues</a></tt></td>
        <td><em>ros_parsing_errors</em></td>
    </tr>
    <tr>
        <td>URDF parsing warnings</td>
        <td><tt><a href="scripts/extract_ROS_parsing_issues.py">extract_ROS_parsing_issues</a></tt></td>
        <td><em>ros_parsing_warnings</em></td>
    </tr>
    <tr>
        <td>CAD file types</td>
        <td><tt><a href="scripts/extract_cad_information.py">extract_cad_information</a></tt></td>
        <td><em>mesh_analysis_results_SOURCE</em></td>
    </tr>
    <tr>
        <td>Joint and link count</td>
        <td><tt><a href="scripts/get_model_structure_information.py">get_model_structure_information</a></tt></td>
        <td><em>robot_type_model_information</em></td>
    </tr>
    <tr>
        <td>Word count in names of joints and links</td>
        <td><tt><a href="scripts/get_model_structure_information.py">get_model_structure_information</a></tt></td>
        <td><em>source_model_name_information</em></td>
    </tr>
</table> -->


## 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.

<!-- "URDF Variants" are defined by a robot with various features, e.g. the same robot but with extended or different features, this could be the payload, workspace, force, etc.
An example of this is the
If there are robots such as ros-industrial/xacro_generated/abb/abb_irb52_support/urdf/ 'irb52_7_120.urdf' and 'irb52_7_145.urdf' they are defined as robot: 'irb52 7' with the modifications '120' and '145'.

Would the drake/allegro_hand_description/urdf/ be a modification or variation -->

### 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](https://arxiv.org/abs/2308.00514), and the [published paper](https://ieeexplore.ieee.org/abstract/document/10478618).

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}
}
```