This repository intention is to amass a collection of different common robot model including but not limited to humanoid, quadruped, and robot arm from notable manufacturer. These repository does not and will not support any other robotic format so we can remain consistent with the effort to unified robot development.
Include in this repository, there will also be complimentary script to help with extracting basic information and mapping of robot joint and link to a Mardown file and a JSON file to help developer more easily import and config the robot model in their simulation.
If you just need to generate the json mapping and the md file. Use convert.py as follow:
python convert.py path/to/your/robot.urdf --output-dir desc
If you want to generate for a whole folder at once then use batch_convert.py as follow:
python batch_convert.py /path/to/input/directory
Quick Visulization with MuJoCo
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Open MuJoCo Viewer
pip install mujoco python -m mujoco.viewer
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Drag and drop the MJCF/URDF model file (
XXX.xml/XXX.urdf) to the MuJoCo Viewer.
This project utilizes robot models from various sources, and we welcome contributions of new or improved models. All model copyrights and licenses remain with their respective owners. Detailed acknowledgements and licensing information can be found within each model's folder. We do not claim ownership of any models not developed by us.