Awesome Robot Descriptions Save
A curated list of awesome robot descriptions (URDF, MJCF)
Project README
Awesome Robot Descriptions 
A curated list of awesome robot descriptions in URDF, Xacro or MJCF formats.
Contents
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 7 | KUKA | 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 300 | Interbotix | Xacro, MJCF | BSD-3-Clause | ✔️ | ✔️ | ✔️ |
| xArm5 | UFACTORY | Xacro | BSD-3-Clause | ✔️ | ✔️ | ✔️ |
| xArm6 | UFACTORY | Xacro | BSD-3-Clause | ✔️ | ✔️ | ✔️ |
| xArm7 | UFACTORY | Xacro, MJCF | BSD-3-Clause | ✔️ | ✔️ | ✔️ |
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 | ✔️ | ✔️ | ✔️ |
| Dual iiwa 14 | KUKA | 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, MJCF | MIT | ✔️ | ✔️ | ✔️ |
| X2 | Skydio | MJCF, URDF | 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 | 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 | ✔️ | ✔️ | ✔️ |
| Barkour v0 (MJCF) | MJCF | Apache-2.0 | ✔️ | ✔️ | ✔️ | |
| Barkour v0 (URDF) | URDF | Apache-2.0 | ✔️ | ✖️ | ✔️ | |
| Barkour vb | MJCF, URDF | Apache-2.0 | ✔️ | ✔️ | ✔️ | |
| 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 | ✔️ | ✔️ | ✔️ |
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