ADAM Robot Model Library

中文版本

Project Overview

ADAM Robot Model Library is a resource library focused on robot simulation and development, mainly providing two aspects of content: ready-to-use robot URDF (Unified Robot Description Format) models, and detailed tutorials on converting existing 3D models to URDF files using Blender.

This library contains complete conversion process guides from Blender models to URDF files, operation demonstration GIF animations, and necessary tool configuration instructions. It aims to provide standardized robot model resources for robot researchers, developers, and enthusiasts, simplifying the process of setting up robot simulation environments. You can directly use the ready-made URDF models in the library, or follow the tutorials to convert your own 3D models to URDF format.

Project Structure

adam_robot_model/
├── README.md               # Project description document (English)
├── README_zh-CN.md         # Project description document (Chinese)
├── LICENSE                 # License file
├── blender/                # Blender project files
│   └── adam1_servo.blend   # Example model file
├── docs/                   # Project documentation and tutorials
│   ├── blender_to_urdf.md  # Blender to URDF conversion guide
│   ├── gifs/               # Operation demonstration GIF images
│   └── images/             # Document illustrations
└── urdfs/                  # URDF format robot description files
    └── adam1_servo/        # adam1_servo model URDF files
        ├── meshes/         # Model mesh files
        ├── smurf/          # SMURF format files
        └── urdf/           # URDF description files

Documentation Guide

Blender to URDF Conversion Tutorial: Detailed instructions on how to convert existing 3D models to URDF format using Blender, including environment setup, model import, Links and Joints configuration, collision body setup, mass and moment of inertia calculation, and final export process. The tutorial demonstrates each step through illustrations and GIF animations for quick learning.

Robot URDF Model Description

This library provides URDF models of the adam1_servo robot, which are based on actual hardware configuration with joint parameters adopting technical specifications of real servos. You can directly use these URDF models in robot simulation environments, suitable for the following scenarios:

• Robot simulation and testing
• Control algorithm development
• Robot motion planning and trajectory optimization
• Hardware-in-the-loop simulation testing

All URDF model files are located in the urdfs/ directory and can be directly imported into mainstream robot simulation platforms such as ROS and Gazebo.

Technical References

• Blender: 3.3.21, for processing 3D models
• Visual Studio Code: Latest version
• Phobos: Core plugin for exporting Blender models to URDF file format
• URDF Tools: Auxiliary plugin for simplifying URDF model creation and editing processes
• Mesh Volume: Utility plugin for calculating volume properties of models
• ADAM Model: Source of the basic 3D model used in this project. Thanks to the website and its author for providing the resources.

License

This project is open-sourced under the MIT License.