As the complexity of robot systems increases, it becomes more effective to simulate them before deployment. To do this, a model of the robot's kinematics or dynamics is required, and the most commonly used format is the Unified Robot Description Format (URDF). This article presents, to our knowledge, the first dataset of URDF files from various industrial and research organizations, with metadata describing each robot, its type, manufacturer, and the source of the model. The dataset contains 322 URDF files of which 195 are unique robot models, meaning the excess URDFs are either of a robot that is multiply defined across sources or URDF variants of the same robot. We analyze the files in the dataset, where we, among other things, provide information on how they were generated, which mesh file types are most commonly used, and compare models of multiply defined robots. The intention of this article is to build a foundation of knowledge on URDF and how it is used based on publicly available URDF files. Publishing the dataset, analysis, and the scripts and tools used enables others using, researching or developing URDFs to easily access this data and use it in their own work.

翻译：随着机器人系统复杂性的增加，在部署前对其进行仿真变得更加高效。为此，需要建立机器人运动学或动力学模型，而最常用的格式是统一机器人描述格式（URDF）。本文首次（据我们所知）提供了来自多个工业和研究机构的URDF文件数据集，并附有描述每个机器人、其类型、制造商及模型来源的元数据。该数据集包含322个URDF文件，其中195个为独特机器人模型，其余URDF文件要么是跨来源重复定义的机器人，要么是同一机器人的URDF变体。我们对数据集中的文件进行了分析，包括提供其生成方式的信息、最常用的网格文件类型，并对重复定义的机器人模型进行了比较。本文旨在基于公开的URDF文件，建立关于URDF及其使用方式的知识基础。通过发布该数据集、分析结果以及所使用的脚本和工具，其他使用、研究或开发URDF的研究者能够轻松获取这些数据，并将其应用于自身工作中。