URDF Models
Master Annotator includes pre-built URDF (Unified Robot Description Format) models for common robot arms. These provide high-fidelity 3D mesh rendering — select your robot and map your columns to get realistic visualization instantly.
Overview
URDF models are bundled with the platform — you don't upload them. Each model includes:
- Complete kinematic chain definition (joints, links, limits)
- 3D mesh files for realistic rendering
- Correct joint ordering and axis definitions
- Pre-configured joint limits for validation
To use a URDF model, select it from the robot type dropdown in your project's Robot Config tab, then map your CSV columns to the model's joints.
KUKA iiwa14
| Property | Value |
|---|---|
| Manufacturer | KUKA |
| Degrees of Freedom | 7 |
| Type | Lightweight collaborative arm |
| Payload | 14 kg |
| Reach | 820 mm |
The iiwa14 is a 7-DOF redundant manipulator commonly used in research for contact-rich manipulation tasks. Your CSV needs 7 joint angle columns mapped in order from base (joint 1) to flange (joint 7).
Franka Panda
| Property | Value |
|---|---|
| Manufacturer | Franka Emika |
| Degrees of Freedom | 7 |
| Type | Research collaborative arm |
| Payload | 3 kg |
| Reach | 855 mm |
The Franka Panda is widely used in academic robotics labs for manipulation research and imitation learning. Requires 7 joint angle columns corresponding to joints 1–7 from base to end-effector.
Kinova J2S6S200
| Property | Value |
|---|---|
| Manufacturer | Kinova Robotics |
| Degrees of Freedom | 6 |
| Type | Lightweight assistive arm |
| Payload | 2 kg |
| Reach | 900 mm |
The Kinova J2S6S200 (Jaco 2) is a 6-DOF arm designed for assistive robotics and research. Requires 6 joint angle columns.
UR10
| Property | Value |
|---|---|
| Manufacturer | Universal Robots |
| Degrees of Freedom | 6 |
| Type | Industrial collaborative arm |
| Payload | 10 kg |
| Reach | 1300 mm |
The UR10 is a large-reach collaborative arm used in industrial automation and research. Requires 6 joint angle columns mapped from base to wrist3.
UR5 with Gripper
| Property | Value |
|---|---|
| Manufacturer | Universal Robots |
| Degrees of Freedom | 6 |
| Type | Collaborative arm with end-effector |
| Payload | 5 kg |
| Reach | 850 mm |
The UR5 model includes a gripper attachment for manipulation tasks. Requires 6 joint angle columns. The gripper state can be visualized through an additional column if available.
dVRK Classic PSM1 (SCA tool)
| Property | Value |
|---|---|
| Manufacturer | Intuitive Surgical / dVRK |
| Degrees of Freedom | 7 |
| Type | Surgical patient side manipulator |
The dVRK PSM1 is a 7-DOF surgical arm from the da Vinci Research Kit, equipped with an SCA gripper. Requires 7 joint angle columns: outer_yaw, outer_pitch, outer_insertion, outer_roll, outer_wrist_pitch, outer_wrist_yaw, and jaw.
Setup Steps
- Navigate to your project's Robot Config tab
- Select the URDF model matching your physical robot from the dropdown
- The system loads the model's joint definitions automatically
- Proceed to Column Mapping to map your CSV columns to the model's joints
- Upload a dataset and verify the 3D model moves correctly
Joint Ordering
When mapping CSV columns to URDF joints, the order matters. Joints are numbered from the base (closest to the mounting surface) to the end-effector (tool tip):
- Joint 1 — Base rotation (typically yaw)
- Joint 2 — Shoulder (typically pitch)
- Joint 3 — Elbow
- Joints 4–6/7 — Wrist joints
Ensure your CSV columns are mapped in the same order as the physical robot's kinematic chain. If the 3D model looks wrong, the most common cause is joints being mapped in the wrong order.