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A curated list of awesome robot descriptions (URDF, MJCF)

Awesome Robot Descriptions Awesome

A curated list of awesome robot descriptions in URDF, Xacro or MJCF formats.

Contents

  • Robot Descriptions
    • Arms
    • Bipeds
    • Dual Arms
    • Drones
    • Educational
    • End Effectors
    • Mobile Manipulators
    • Humanoids
    • Quadrupeds
    • Wheeled
  • Gallery
  • Related Awesome Lists
  • Add a Description to the List

Robot Descriptions

Arms

Name Maker Formats License Meshes Inertias Collisions
e.DO Comau URDF BSD-3-Clause ✔️ ✔️ ✔️
Gen2 (URDF) Kinova URDF BSD-3-Clause ✔️ ✔️ ✔️
Gen3 (MJCF) Kinova MJCF BSD-2-Clause ✔️ ✔️ ✔️
Gen3 (URDF) Kinova URDF MIT ✔️ ✔️ ✔️
iiwa 14 KUKA URDF, MJCF BSD-3-Clause ✔️ ✔️ ✔️
Lite 6 UFACTORY Xacro, MJCF BSD-3-Clause ✔️ ✔️ ✔️
M-710iC FANUC URDF, Xacro BSD-3-Clause ✔️ ✖️ ✔️
Panda (MJCF) Franka Emika MJCF Apache-2.0 ✔️ ✔️ ✔️
Panda (URDF) Franka Emika URDF, Xacro Apache-2.0 ✔️ ✖️ ✔️
Poppy Ergo Jr Poppy Project URDF GPL-3.0 ✔️ ✔️ ✔️
Sawyer Rethink Robotics Xacro, MJCF Apache-2.0 ✔️ ✔️ ✔️
UR10 Universal Robots URDF, Xacro Apache-2.0 ✔️ ✔️ ✔️
UR10e Universal Robots MJCF, Xacro BSD-3-Clause ✔️ ✔️ ✔️
UR3 Universal Robots URDF, Xacro Apache-2.0 ✔️ ✔️ ✔️
UR3e Universal Robots Xacro BSD-3-Clause ✔️ ✔️ ✔️
UR5 Universal Robots URDF, Xacro Apache-2.0 ✔️ ✔️ ✔️
UR5e Universal Robots MJCF, Xacro BSD-3-Clause ✔️ ✔️ ✔️
ViperX Interbotix Xacro MIT ✔️ ✔️ ✔️

Bipeds

Name Maker Formats License Meshes Inertias Collisions
Bolt ODRI URDF BSD-3-Clause ✔️ ✔️ ✔️
Cassie (MJCF) Agility Robotics MJCF MIT ✔️ ✔️ ✔️
Cassie (URDF) Agility Robotics URDF MIT ✔️ ✔️ ✔️
OP3 Robotis MJCF Apache-2.0 ✔️ ✔️ ✔️
Rhea Gabrael Levine URDF ✖️ ✔️ ✖️ ✔️
Spryped Benjamin Bokser URDF GPL-3.0 ✔️ ✔️ ✔️
Upkie Stéphane Caron URDF Apache-2.0 ✔️ ✔️ ✔️

Dual Arms

Name Maker Formats License Meshes Inertias Collisions
Baxter Rethink Robotics URDF, Xacro BSD-3-Clause ✔️ ✔️ ✔️
NEXTAGE Kawada Robotics URDF BSD ✔️ ✔️ ✔️
Poppy Torso Pollen Robotics URDF GPL-3.0 ✔️ ✔️ ✔️
YuMi ABB URDF BSD-2-Clause ✔️ ✔️ ✔️

Drones

Name Maker Formats License Meshes Inertias Collisions
Crazyflie 1.0 Bitcraze Xacro MIT ✔️ ✔️ ✖️
Crazyflie 2.0 Bitcraze URDF MIT ✔️ ✔️ ✔️
X2 Skydio MJCF Apache-2.0 ✔️ ✔️ ✔️

Educational

Name Formats License Meshes Inertias Collisions
Double Pendulum URDF BSD-3-Clause ✔️ ✔️ ✔️
FingerEdu URDF BSD-3-Clause ✔️ ✔️ ✔️
Simple Humanoid URDF BSD-2-Clause ✔️ ✔️ ✖️
TriFingerEdu URDF MIT ✔️ ✔️ ✔️

End Effectors

Name Maker Formats License Meshes Inertias Collisions
Allegro Hand Wonik Robotics URDF, MJCF BSD ✔️ ✔️ ✔️
BarrettHand Barrett Technology URDF BSD ✖️ ✔️ ✔️
Robotiq 2F-85 Robotiq MJCF, URDF, Xacro BSD-2-Clause ✔️ ✔️ ✔️
Shadow Hand E3M5 The Shadow Robot Company MJCF Apache-2.0 ✔️ ✔️ ✔️
WSG 50 SCHUNK SDF BSD-3-Clause ✔️ ✔️ ✔️

Mobile Manipulators

Name Maker Formats License Meshes Inertias Collisions
Eve R3 Halodi URDF Apache-2.0 ✔️ ✔️ ✔️
Fetch Fetch Robotics URDF MIT ✔️ ✔️ ✔️
Ginger Paaila Technology URDF BSD ✔️ ✔️ ✔️
Google Robot Google MJCF Apache-2.0 ✔️ ✔️ ✔️
Pepper SoftBank Robotics URDF BSD-2-Clause ✔️ ✔️ ✔️
PR2 Willow Garage URDF, Xacro BSD ✔️ ✔️ ✔️
Reachy Pollen Robotics URDF Apache-2.0 ✔️ ✔️ ✔️
Ridgeback Clearpath Robotics Xacro BSD ✔️ ✔️ ✔️
Stretch 2 Hello Robot MJCF Clear BSD ✔️ ✔️ ✔️
Stretch RE1 Hello Robot URDF, Xacro CC-BY-NC-SA-4.0 ✔️ ✔️ ✔️
TIAGo PAL Robotics URDF CC-BY-NC-ND-3.0 ✔️ ✔️ ✔️

Humanoids

Name Maker Formats License Meshes Inertias Collisions
Atlas DRC (v3) Boston Dynamics URDF BSD-3-Clause ✔️ ✔️ ✔️
Atlas v4 Boston Dynamics URDF MIT ✔️ ✔️ ✔️
Digit Agility Robotics URDF ✖️ ✔️ ✔️ ✔️
Draco3 Apptronik URDF BSD-2-Clause ✔️ ✔️ ✔️
ergoCub IIT URDF BSD-3-Clause ✔️ ✔️ ✔️
Gundam RX-78 Bandai Namco Filmworks URDF ✖️ ✔️ ✔️ ✔️
H1 UNITREE Robotics MJCF, URDF BSD-3-Clause ✔️ ✔️ ✔️
iCub IIT URDF CC-BY-SA-4.0 ✔️ ✔️ ✔️
JAXON JSK COLLADA, URDF, VRML CC-BY-SA-4.0 ✔️ ✔️ ✔️
JVRC-1 AIST MJCF, URDF BSD-2-Clause ✔️ ✔️ ✔️
NAO SoftBank Robotics URDF, Xacro BSD-3-Clause :heavy_minus_sign: ✔️ ✔️
Robonaut 2 NASA JSC Robotics URDF NASA-1.3 ✔️ ✔️ ✔️
Romeo Aldebaran Robotics URDF BSD-3-Clause ✔️ ✔️ ✔️
SigmaBan Rhoban URDF MIT ✔️ ✔️ ✔️
TALOS PAL Robotics URDF, Xacro LGPL-3.0, Apache-2.0 ✔️ ✔️ ✔️
Valkyrie NASA JSC Robotics URDF, Xacro NASA-1.3 ✔️ ✔️ ✔️
WALK-MAN IIT Xacro BSD-3-Clause ✔️ ✔️ ✔️

Quadrupeds

Name Maker Formats License Meshes Inertias Collisions
A1 UNITREE Robotics MJCF, URDF MPL-2.0 ✔️ ✔️ ✔️
Aliengo UNITREE Robotics MJCF, URDF MPL-2.0 ✔️ ✔️ ✔️
ANYmal B ANYbotics MJCF, URDF BSD-3-Clause ✔️ ✔️ ✔️
ANYmal C ANYbotics MJCF, URDF BSD-3-Clause ✔️ ✔️ ✔️
Go1 UNITREE Robotics MJCF, URDF BSD-3-Clause ✔️ ✔️ ✔️
Go2 UNITREE Robotics MJCF, URDF BSD-3-Clause ✔️ ✔️ ✔️
HyQ IIT URDF Apache-2.0 ✔️ ✔️ ✔️
Laikago UNITREE Robotics MJCF, URDF MPL-2.0 ✔️ ✔️ ✔️
Mini Cheetah MIT URDF BSD ✔️ ✔️ ✔️
Minitaur Ghost Robotics URDF BSD-2-Clause ✔️ ✔️ ✔️
Pupper v3 Gabrael Levine URDF ✖️ ✔️ ✔️ ✔️
Solo ODRI URDF BSD-3-Clause ✔️ ✔️ ✔️
Spot Boston Dynamics Xacro ✖️ ✔️ ✖️ ✔️

Wheeled

Name Maker Formats License Meshes Inertias Collisions
Boxer Clearpath Robotics Xacro BSD-3-Clause ✔️ ✔️ ✔️
Dingo Clearpath Robotics Xacro BSD-3-Clause ✔️ ✔️ ✔️
Husky Clearpath Robotics Xacro BSD-3-Clause ✔️ ✔️ ✔️
Jackal Clearpath Robotics Xacro BSD-3-Clause ✔️ ✔️ ✔️
Ridgeback Clearpath Robotics Xacro BSD-3-Clause ✔️ ✔️ ✔️

Gallery

eDO UR5 Gen2 iiwa 14 Panda
Baxter NEXTAGE Poppy Torso YuMi Poppy Ergo Jr
Bolt Cassie Upkie Spryped Rhea
Allegro Hand BarrettHand Robotiq 2F-85 Crazyflie 2.0 FingerEdu
Eve R3 Fetch Pepper Reachy Simple Humanoid
Atlas DRC (v3) Atlas v4 JVRC-1 Robonaut 2 Romeo
iCub Draco3 Valkyrie JAXON SigmaBan
A1 ANYmal B ANYmal C Mini Cheetah Solo

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A curated list of awesome robot descriptions (URDF, MJCF)

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