Data Downloads#

This page provides access to robot models, mesh files, and configuration data used in SRMP examples and tutorials.

Tip

Automatic Downloads: You can skip manual downloads by using the Robot Registry. Just call planner.add_robot("panda") and the data downloads automatically!

# No manual download needed - just use the robot name
planner.add_robot("panda")

Complete Download#

Download the complete archive containing all Panda robot description files and mesh assets:

data.zip - Full robot descriptions and meshes

Robot Registry Archives#

These archives are used by the Robot Registry for automatic downloads. You can also download them manually:

Individual Robot Archives:

panda.tar.gz - Franka Emika Panda 7-DOF manipulator
panda_on_rail.tar.gz - Panda mounted on linear rail (8-DOF)
so101.tar.gz - SO101 6-DOF manipulator with gripper

All Robots:

all_robots.tar.gz - All available robots in one archive

Each archive contains the URDF, SRDF, and mesh files needed for planning.

Robot Models#

Panda Robot Configurations

The following files contain URDF and SRDF configurations for the Franka Panda robot in various setups:

Single Panda Robot:#

panda.urdf - Base Panda robot URDF
panda.srdf - Base Panda robot SRDF

Multi-Robot Configurations:#

panda0.urdf - First robot configuration
panda0.srdf - First robot SRDF
panda1.urdf - Second robot configuration
panda1.srdf - Second robot SRDF
panda2.urdf - Third robot configuration
panda2.srdf - Third robot SRDF

Rail-Mounted Configuration:#

panda_on_rail.urdf - Panda robot mounted on linear rail
panda_on_rail.srdf - Rail-mounted Panda SRDF

Mesh Files#

Panda Robot Mesh Files

franka_description.tar.gz - Complete Panda robot mesh files archive

Environment Mesh Files

crate.stl - Crate mesh for environment setup

The Panda robot mesh archive contains all necessary STL files for collision detection and visualization. Extract the archive to access individual mesh files organized in the standard franka_description directory structure.

Usage#

To use these files in your SRMP projects:

Download the required URDF/SRDF files for your robot configuration
Place them in your project’s robot description directory
Update your SRMP configuration to point to the downloaded files
Ensure the mesh file paths in the URDF correctly reference your mesh directory

For detailed usage instructions, see the examples section.