license: apache-2.0
task_categories:
- robotics
tags:
- cad
- urdf
- mjcf
- mujoco
- robot-descriptions
Robot descriptions from CAD assemblies
Simulator-ready robot descriptions generated from public CAD assemblies by Codesign. Each assembly ships an MJCF model that MuJoCo compiles, its merged collision and visual meshes, a rendered preview, kinematic graph plates, and the source assembly JSON. A URDF is included wherever serialization supports it.
Provenance
| CAD source revision | 9f678a8c99891993c755a8a6a0fe7ddc1611da78 |
| Codesign revision | f16a2b5e07dc30d82dc74975390e71ad383c37ba |
| Codesign version | 0.4.2 |
| Shards | 1290 |
| Assemblies attempted | 128883 |
Source datasets: fusion360-gallery from senthurayyappan/cad-assemblies, automate-onshape from senthurayyappan/cad-assemblies.
Coverage
An assembly is covered when its CAD JSON produces an MJCF kinematic model that MuJoCo compiles.
| source | compiled | eligible | coverage |
|---|---|---|---|
| fusion | 7728 | 7805 | 99.01% |
| onshape | 118559 | 118794 | 99.80% |
| all | 126287 | 126599 | 99.75% |
Attempted yield, over every record including ineligible ones, is 126287/128883.
Excluded inputs
The eligibility policy is a conservative allowlist: only objective source-record defects leave the denominator. Framework limitations, missing joint limits, serialization failures, and simulator compile failures all remain counted against coverage.
| reason | assemblies |
|---|---|
dangling_joint_reference |
223 |
malformed_onshape_reference |
1838 |
missing_joint_geometry |
223 |
Renders
Each render.png is an offscreen MuJoCo view of the packaged MJCF drawn with the
link-palette-v1 style: every link receives one color from a fixed
palette, assigned deterministically from the assembly ID, so parent and child links always
differ. Colors carry no physical or joint-type meaning and the MJCF itself is uncolored.
Renders were regenerated after conversion; render.* and timings.render_total_ms in each
metadata record describe the regenerated image, while every other field describes the original
conversion.
Layout
<source>/shard-NNNNN.tar WebDataset archive of one shard's assemblies
<source>/shard-NNNNN.report.json per-shard provenance, timings, and per-assembly records
metadata.parquet per-assembly index for the dataset viewer
campaign.report.json campaign-level coverage and shard inventory
campaign.samples.csv the same per-assembly rows as CSV
Each archive member is named <assembly_id>.<suffix>, with suffixes json, metadata.json,
mjcf, urdf, meshes.tar, render.png, graph-raw.svg, and graph-robot.svg.