34 lines
1.7 KiB
Markdown
34 lines
1.7 KiB
Markdown
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# Bundled robot models
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The control station discovers `*.urdf` files below this directory recursively
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and lists them in the arm page's model selector. Keep a model's mesh directory
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beside its URDF package so `package://` and relative mesh references continue to
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resolve after deployment.
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## Sources
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- `aubo_description`: <https://github.com/AuboRobot/aubo_description>, commit
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`47fa5e02fa873f27f7e812d31f31e3f4cf5e56b1` (`main`). The upstream URDF,
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README, package metadata, and all available visual meshes referenced by those
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URDFs are preserved.
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- `elfin_model`: <https://github.com/huayan-robotics/elfin_model>, commit
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`84baf18d37eefa46b6f092c7fa1f105f81f70ecb` (`main`). The original ROS 1
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Xacro files are preserved in `xacro_source`. Files in `urdf` are standalone
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URDFs generated from them for this application's non-Xacro parser. Gazebo and
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transmission includes are intentionally omitted because they are not part of
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the source repository and are not needed by the 3D viewer.
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- `xiaoyan_description`: `SmartBench/cmvr-es`, commit
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`ed9df8fd31d8467a6119e2267edaefc43193b91e` (`dev`), directory
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`model/xiaoyan_description`. The four URDFs and their STL meshes are bundled;
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simulator-only XML and USD payloads are omitted.
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Collision-only and otherwise unreferenced mesh files are omitted because the
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control station renders each URDF's `visual` geometry only. A small number of
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AUBO descriptions reference visual files that are already absent from the
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upstream revision; those models still load their available geometry and report
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the missing files in the application log.
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Upstream projects did not include standalone license files at these revisions.
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Consult each source repository before redistributing the model assets outside
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this project.
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