---
license: mit
---
# 3D Model URDF Dataset

This is a URDF dataset of 3D models, with both textured and untextured versions, designed to support research in robotics simulation, grasping, and physics simulation.

![Textured Models Showcase](urdf_texture.png)

## Table of Contents

- [Dataset Description](#dataset-description)
- [File Structure](#file-structure)
- [Categories](#categories)
  - [Textured Models (texture_urdf)](#textured-models-texture_urdf)
  - [Untextured Models (urdf)](#untextured-models-urdf)
- [How to Use](#how-to-use)
- [Citation](#citation)

## Dataset Description

This dataset consists of two parts, totaling 500 models:

* **235 Textured URDF Models**: This part includes detailed texture maps, suitable for scenarios requiring high-fidelity rendering.
* **265 Untextured URDF Models**: This part focuses on the physical and geometric properties of the models, suitable for simulation environments where textures are not required.

Each model has been carefully processed to ensure usability in major physics engines such as PyBullet, MuJoCo, and Isaac Gym.

## File Structure

Each individual model in the dataset follows a uniform folder structure as shown below:

```
- model_folder_name/
  |- unprocessed_original_model (e.g., .obj, .stl, .step)
  |- processed_source_file (textured: .blend, untextured: .sldprt/.sldasm)
  |- URDF_Data/
     |- meshes/
     |  |- dae/
     |  |  |- visual_mesh.dae
     |  |  |- collision_mesh.dae
     |- urdf/
     |  |- URDF_Data.urdf
     |- joint_limits.yml
```

* **unprocessed\_original\_model**: The original, unprocessed model file is preserved, allowing users to perform custom modifications.
* **processed\_source\_file**:
    * **Blender (.blend)**: For textured models, the Blender project file with pre-configured textures and materials is provided.
    * **SolidWorks (.sldprt/.sldasm)**: For untextured models, the SolidWorks source file is provided.
* **URDF\_Data/**:
    * `meshes/dae/`: Contains the visual mesh (`visual_mesh.dae`) and collision mesh (`collision_mesh.dae`) referenced in the URDF file.
    * `urdf/`: Contains the core `URDF_Data.urdf` file, which defines the model's links, joints, inertial properties, and other physical attributes.
    * `joint_limits.yml`: Defines the motion range limits for the model's active joints.

## Categories

To facilitate searching and usage, the models are organized into the following categories. Below is a showcase of some of the untextured models.

![Untextured Models Showcase](urdf.png)

### Textured Models (texture_urdf)

| Name | Formats | Visuals | Inertias | Collisions |
| :--- | :---: | :---: | :---: | :---: |
| Button | URDF | ✅ | ❌ | ✅ |
| Refrigerator | URDF | ✅ | ✅ | ✅ |
| Rice Cooker | URDF | ✅ | ❌ | ✅ |
| Computer | URDF | ✅ | ❌ | ✅ |
| Electric Kettle | URDF | ✅ | ❌ | ✅ |
| Tool | URDF | ✅ | ✅ | ✅ |
| Home Appliance | URDF | ✅ | ✅ | ✅ |
| Furniture | URDF | ✅ | ✅ | ✅ |
| Scissors | URDF | ✅ | ❌ | ✅ |
| Switch | URDF | ✅ | ❌ | ✅ |
| Oven | URDF | ✅ | ❌ | ✅ |
| Trash Can | URDF | ✅ | ✅ | ✅ |
| Part | URDF | ✅ | ❌ | ✅ |
| Door | URDF | ✅ | ✅ | ✅ |
| Bottle | URDF | ✅ | ✅ | ✅ |
| Book | URDF | ✅ | ❌ | ✅ |
| Bucket | URDF | ✅ | ❌ | ✅ |
| Microwave | URDF | ✅ | ✅ | ✅ |
| Stationery | URDF | ✅ | ✅ | ✅ |
| Box/Case | URDF | ✅ | ❌ | ✅ |
| Glasses | URDF | ✅ | ❌ | ✅ |
| Folding Knife | URDF | ✅ | ✅ | ✅ |
| Swivel Chair | URDF | ✅ | ✅ | ✅ |

### Untextured Models (urdf)

| Name | Formats | Visuals | Inertias | Collisions |
| :--- | :---: | :---: | :---: | :---: |
| Button | URDF | ✅ | ✅ | ✅ |
| Refrigerator | URDF | ✅ | ✅ | ✅ |
| Knife | URDF | ✅ | ✅ | ✅ |
| Computer | URDF | ✅ | ✅ | ✅ |
| Electric Kettle | URDF | ✅ | ✅ | ✅ |
| Home Appliance | URDF | ✅ | ✅ | ✅ |
| Furniture | URDF | ✅ | ✅ | ✅ |
| Oven | URDF | ✅ | ✅ | ✅ |
| Part | URDF | ✅ | ✅ | ✅ |
| Bottle | URDF | ✅ | ✅ | ✅ |
| Bucket | URDF | ✅ | ✅ | ✅ |
| Microwave | URDF | ✅ | ✅ | ✅ |
| Box/Case | URDF | ✅ | ✅ | ✅ |

## How to Use

Users can directly load the `URDF_Data/urdf/URDF_Data.urdf` file into any simulation environment that supports the URDF format. The accompanying `joint_limits.yml` file can be used to configure robot joint controllers.

## Acknowledgments and Citation

We appreciate you using this dataset. If you use it in your research, project, or product, please acknowledge the source by providing a link to our project repository.

A standard citation format will be provided here once our formal paper or project link is available.