Portable URDF assets for robot planning, simulation, and visualization.
67 URDF variants · 10 robot vendors · 783 GLB meshes · 405 optional STL meshes
Model catalog · Asset layout · Before / after viewer · GLB conversion report · 工具使用说明
All URDFs now reference GLB meshes in their model directories. Visual and collision resources use format subdirectories such as Visual/glb/, Visual/stl/, Collision/glb/ and Collision/stl/; cameras and tools use meshes/glb/ and meshes/stl/. DAE files and the duplicate top-level GLB tree have been removed. GLBs occupy 311.2 MiB; retained STL alternatives occupy 245.3 MiB. Copy a model directory, or export only its GLB runtime resources using the workflow.
| AE AIR10-1210 | Franka Panda | Universal Robots UR5e |
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Previews use the supplied materials and zero joint positions. Meshes retain their original model coordinates and units.
| Category | URDF variants | Directory convention |
|---|---|---|
| Industrial robots and arm/hand variants | 56 | RobotModel/<Vendor>/<Model>/ |
| RealSense cameras and plug variants | 10 | CameraModel/RealSense/<Model>/ |
| Robotiq 2F85 gripper | 1 | ToolModel/Robotiq2F85/ |
The complete catalog links every URDF and lists its link and actuated-joint counts. Mimic joints are excluded from the actuated-joint count.
Pass the URDF path to your robotics application. Keep the URDF and its mesh directories together when copying a model.
RobotModel/UniversalRobots/UR5e/UR5e.urdf
CameraModel/RealSense/RealSense_D405/RealSense_D405_and_plug.urdf
ToolModel/Robotiq2F85/Robotiq2F85.urdf
All resource references are relative to the URDF directory and point to glb/ subdirectories. Existing Visual and Collision capitalization is retained; format directory names are lowercase. STL alternatives are optional and are not referenced by the default URDFs. Compose robot/tool/camera assemblies in the consuming project.
The September 2026 optimization reduced mesh data from 1,256.9 MiB to 618.5 MiB (50.8%), and triangle count from 20,608,370 to 10,407,054 (49.5%).
- Simplified 161 dense meshes with measured geometry checks.
- Cleaned 5,015 additional zero-area triangles across 71 meshes.
- Preserved material groups and added smooth normals with 30° hard edges to processed DAE surfaces.
- Retained original geometry when simplification failed the acceptance checks.
| D415: 425,160 → 20,000 triangles | AE Link2: 330,132 → 33,012 triangles |
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Use the interactive comparison for original/optimized views, or the report for per-file counts and measured limits. Statistics cover mesh files, excluding Git history and documentation.
Basic checks require Python 3.10+ and no third-party packages:
python3 scripts/validate_assets.py --meshes --layout --json /tmp/assets-validation.json
python3 -m unittest discover -s tests -vGeometry audit, simplification, and rendering use the optional mesh dependencies; simplification/rendering also require Blender. See the workflow for commands, backup behavior, and acceptance thresholds.
The supplied models are not all ready for dynamic simulation: the validator reports missing inertial data and zero effort/velocity limits separately. Review these parameters for your application. Geometric sampling is not a certified collision clearance bound.
- Follow the category/vendor/model layout and keep each model directory self-contained.
- Use relative GLB resource paths and format subdirectories; retain optional STL files under
stl/. Convert incoming DAE files before adding assets. - Preserve link frames, units, material assignments, and meaningful mechanical details.
- Run validation and the geometry audit; add the model to the generated catalog.
- Document physical parameter sources and include a preview when available.