# Bundled robot models

The control station discovers `*.urdf` files below this directory recursively
and lists them in the arm page's model selector. Keep a model's mesh directory
beside its URDF package so `package://` and relative mesh references continue to
resolve after deployment.

## Sources

- `aubo_description`: <https://github.com/AuboRobot/aubo_description>, commit
  `47fa5e02fa873f27f7e812d31f31e3f4cf5e56b1` (`main`). The upstream URDF,
  README, package metadata, and all available visual meshes referenced by those
  URDFs are preserved.
- `elfin_model`: <https://github.com/huayan-robotics/elfin_model>, commit
  `84baf18d37eefa46b6f092c7fa1f105f81f70ecb` (`main`). The original ROS 1
  Xacro files are preserved in `xacro_source`. Files in `urdf` are standalone
  URDFs generated from them for this application's non-Xacro parser. Gazebo and
  transmission includes are intentionally omitted because they are not part of
  the source repository and are not needed by the 3D viewer.
- `xiaoyan_description`: `SmartBench/cmvr-es`, commit
  `ed9df8fd31d8467a6119e2267edaefc43193b91e` (`dev`), directory
  `model/xiaoyan_description`. The four URDFs and their STL meshes are bundled;
  simulator-only XML and USD payloads are omitted.

Collision-only and otherwise unreferenced mesh files are omitted because the
control station renders each URDF's `visual` geometry only. A small number of
AUBO descriptions reference visual files that are already absent from the
upstream revision; those models still load their available geometry and report
the missing files in the application log.

Upstream projects did not include standalone license files at these revisions.
Consult each source repository before redistributing the model assets outside
this project.