Update README.md

README.md

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-license: mit
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+---
+license: mit
+---
+# 3D Model URDF Dataset
+
+This is a URDF dataset of 3D models, with both textured and untextured versions, designed to support research in robotics simulation, grasping, and physics simulation.
+
+![Textured Models Showcase](./images/urdf_texture.png)
+
+## Table of Contents
+
+- [Dataset Description](#dataset-description)
+- [File Structure](#file-structure)
+- [Categories](#categories)
+  - [Textured Models (texture_urdf)](#textured-models-texture_urdf)
+  - [Untextured Models (urdf)](#untextured-models-urdf)
+- [How to Use](#how-to-use)
+- [Citation](#citation)
+
+## Dataset Description
+
+This dataset consists of two parts, totaling 500 models:
+
+* **235 Textured URDF Models**: This part includes detailed texture maps, suitable for scenarios requiring high-fidelity rendering.
+* **265 Untextured URDF Models**: This part focuses on the physical and geometric properties of the models, suitable for simulation environments where textures are not required.
+
+Each model has been carefully processed to ensure usability in major physics engines such as PyBullet, MuJoCo, and Isaac Gym.
+
+## File Structure
+
+Each individual model in the dataset follows a uniform folder structure as shown below:
+
+```
+- model_folder_name/
+  |- unprocessed_original_model (e.g., .obj, .stl, .step)
+  |- processed_source_file (textured: .blend, untextured: .sldprt/.sldasm)
+  |- URDF_Data/
+     |- meshes/
+     |  |- dae/
+     |  |  |- visual_mesh.dae
+     |  |  |- collision_mesh.dae
+     |- urdf/
+     |  |- URDF_Data.urdf
+     |- joint_limits.yml
+```
+
+* **unprocessed\_original\_model**: The original, unprocessed model file is preserved, allowing users to perform custom modifications.
+* **processed\_source\_file**:
+    * **Blender (.blend)**: For textured models, the Blender project file with pre-configured textures and materials is provided.
+    * **SolidWorks (.sldprt/.sldasm)**: For untextured models, the SolidWorks source file is provided.
+* **URDF\_Data/**:
+    * `meshes/dae/`: Contains the visual mesh (`visual_mesh.dae`) and collision mesh (`collision_mesh.dae`) referenced in the URDF file.
+    * `urdf/`: Contains the core `URDF_Data.urdf` file, which defines the model's links, joints, inertial properties, and other physical attributes.
+    * `joint_limits.yml`: Defines the motion range limits for the model's active joints.
+
+## Categories
+
+To facilitate searching and usage, the models are organized into the following categories. Below is a showcase of some of the untextured models.
+
+![Untextured Models Showcase](./images/urdf.png)
+
+### Textured Models (texture_urdf)
+
+| Name | Formats | Visuals | Inertias | Collisions |
+| :--- | :---: | :---: | :---: | :---: |
+| Button | URDF | ✅ | ❌ | ✅ |
+| Refrigerator | URDF | ✅ | ✅ | ✅ |
+| Rice Cooker | URDF | ✅ | ❌ | ✅ |
+| Computer | URDF | ✅ | ❌ | ✅ |
+| Electric Kettle | URDF | ✅ | ❌ | ✅ |
+| Tool | URDF | ✅ | ✅ | ✅ |
+| Home Appliance | URDF | ✅ | ✅ | ✅ |
+| Furniture | URDF | ✅ | ✅ | ✅ |
+| Scissors | URDF | ✅ | ❌ | ✅ |
+| Switch | URDF | ✅ | ❌ | ✅ |
+| Oven | URDF | ✅ | ❌ | ✅ |
+| Trash Can | URDF | ✅ | ✅ | ✅ |
+| Part | URDF | ✅ | ❌ | ✅ |
+| Door | URDF | ✅ | ✅ | ✅ |
+| Bottle | URDF | ✅ | ✅ | ✅ |
+| Book | URDF | ✅ | ❌ | ✅ |
+| Bucket | URDF | ✅ | ❌ | ✅ |
+| Microwave | URDF | ✅ | ✅ | ✅ |
+| Stationery | URDF | ✅ | ✅ | ✅ |
+| Box/Case | URDF | ✅ | ❌ | ✅ |
+| Glasses | URDF | ✅ | ❌ | ✅ |
+| Folding Knife | URDF | ✅ | ✅ | ✅ |
+| Swivel Chair | URDF | ✅ | ✅ | ✅ |
+
+### Untextured Models (urdf)
+
+| Name | Formats | Visuals | Inertias | Collisions |
+| :--- | :---: | :---: | :---: | :---: |
+| Button | URDF | ✅ | ✅ | ✅ |
+| Refrigerator | URDF | ✅ | ✅ | ✅ |
+| Knife | URDF | ✅ | ✅ | ✅ |
+| Computer | URDF | ✅ | ✅ | ✅ |
+| Electric Kettle | URDF | ✅ | ✅ | ✅ |
+| Home Appliance | URDF | ✅ | ✅ | ✅ |
+| Furniture | URDF | ✅ | ✅ | ✅ |
+| Oven | URDF | ✅ | ✅ | ✅ |
+| Part | URDF | ✅ | ✅ | ✅ |
+| Bottle | URDF | ✅ | ✅ | ✅ |
+| Bucket | URDF | ✅ | ✅ | ✅ |
+| Microwave | URDF | ✅ | ✅ | ✅ |
+| Box/Case | URDF | ✅ | ✅ | ✅ |
+
+## How to Use
+
+Users can directly load the `URDF_Data/urdf/URDF_Data.urdf` file into any simulation environment that supports the URDF format. The accompanying `joint_limits.yml` file can be used to configure robot joint controllers.
+
+## Acknowledgments and Citation
+
+We appreciate you using this dataset. If you use it in your research, project, or product, please acknowledge the source by providing a link to our project repository.
+
+A standard citation format will be provided here once our formal paper or project link is available.