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

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Awesome Robot Descriptions Awesome

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

Contents

Robot Descriptions

Arms

Name Maker Formats License Visuals Inertias Collisions
e.DO Comau URDF BSD-3-Clause ✔️ ✔️ ✔️
FR3 Franka Robotics MJCF Apache-2.0 ✔️ ✔️ ✔️
FR3 v2 Franka Robotics MJCF Apache-2.0 ✔️ ✔️ ✔️
Gen2 Kinova URDF BSD-3-Clause ✔️ ✔️ ✔️
Gen3 Lite Kinova URDF BSD-3-Clause ✔️ ✔️ ✔️
Gen3 Kinova MJCF BSD-2-Clause ✔️ ✔️ ✔️
Gen3 Kinova URDF BSD-3-Clause ✔️ ✔️ ✔️
Gen3 Kinova Xacro BSD-3-Clause ✔️ ✔️ ✔️
iiwa 14 KUKA URDF, MJCF BSD-3-Clause ✔️ ✔️ ✔️
iiwa 7 KUKA URDF MIT ✔️ ✔️ ✔️
Koch v1.1 Alexander Koch MJCF Apache-2.0 ✔️ ✔️ ✔️
Koch v1.1 Alexander Koch URDF Apache-2.0 ✔️ ✔️ ✔️
Lite 6 UFACTORY Xacro, MJCF BSD-3-Clause ✔️ ✔️ ✔️
Low-Cost Robot Arm Alexander Koch URDF MIT ✔️ ✔️ ✔️
M-710iC FANUC URDF, Xacro BSD-3-Clause ✔️ ✖️ ✔️
Med 14 KUKA Xacro Apache-2.0 ✔️ ✔️ ✔️
Med 7 KUKA Xacro Apache-2.0 ✔️ ✔️ ✔️
Panda Franka Robotics MJCF Apache-2.0 ✔️ ✔️ ✔️
Panda Franka Robotics URDF, Xacro Apache-2.0 ✔️ ✖️ ✔️
PiPER AgileX MJCF, URDF MIT ✔️ ✔️ ✔️
Poppy Ergo Jr Poppy Project URDF GPL-3.0 ✔️ ✔️ ✔️
Rizon4 Flexiv Robotics MJCF Apache-2.0 ✔️ ✔️ ✔️
Rizon4 Flexiv Robotics Xacro Apache-2.0 ✔️ ✔️ ✔️
Sawyer Rethink Robotics Xacro, MJCF Apache-2.0 ✔️ ✔️ ✔️
SO-ARM 100 The Robot Studio MJCF Apache-2.0 ✔️ ✔️ ✔️
SO-ARM 100 The Robot Studio URDF Apache-2.0 ✔️ ✔️ ✔️
SO-ARM 101 The Robot Studio 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 Trossen Robotics Xacro, MJCF BSD-3-Clause ✔️ ✔️ ✔️
WidowX 250 Trossen Robotics MJCF BSD-3-Clause ✔️ ✔️ ✔️
xArm5 UFACTORY Xacro BSD-3-Clause ✔️ ✔️ ✔️
xArm6 UFACTORY Xacro BSD-3-Clause ✔️ ✔️ ✔️
xArm7 UFACTORY Xacro, MJCF BSD-3-Clause ✔️ ✔️ ✔️
Z1 UNITREE Robotics URDF BSD-3-Clause ✔️ ✔️ ✔️

Bipeds

Name Maker Formats License Visuals Inertias Collisions
Bolt ODRI URDF BSD-3-Clause ✔️ ✔️ ✔️
BD-X Disney URDF MJCF NVIDIA License ✔️ ✔️ ✔️
Cassie Agility Robotics URDF, MJCF MIT ✔️ ✔️ ✔️
Cookie Michael Mathieu URDF Apache-2.0 ✔️ ✔️ ✔️
OP3 Robotis MJCF Apache-2.0 ✔️ ✔️ ✔️
Rhea Gabrael Levine URDF MIT ✔️ ✖️ ✔️
Spryped Benjamin Bokser URDF GPL-3.0 ✔️ ✔️ ✔️
Upkie Stéphane Caron URDF Apache-2.0 ✔️ ✔️ ✔️

Dual Arms

Name Maker Formats License Visuals 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 ✔️ ✔️ ✔️
Sciurus17 RT Corporation Xacro ✖️ ✔️ ✔️ ✔️
YuMi ABB URDF BSD-2-Clause ✔️ ✔️ ✔️

Drones

Name Maker Formats License Visuals Inertias Collisions
Crazyflie 1.0 Bitcraze Xacro MIT ✔️ ✔️ ✖️
Crazyflie 2.0 Bitcraze URDF, MJCF MIT ✔️ ✔️ ✔️
X2 Skydio MJCF, URDF Apache-2.0 ✔️ ✔️ ✔️
Ingenuity NASA JPL URDF Apache-2.0 ✔️ ✔️ ✔️

Educational

Name Formats License Visuals Inertias Collisions
Double Pendulum URDF BSD-3-Clause ✔️ ✔️ ✔️
Dynamixel 2R arm MJCF MIT ✔️ ✔️ ✔️
FingerEdu URDF BSD-3-Clause ✔️ ✔️ ✔️
MuJoCo Humanoid MJCF Apache-2.0 ✔️ ✔️ ✔️
Simple Humanoid URDF BSD-2-Clause ✔️ ✔️ ✖️
TriFingerEdu URDF MIT ✔️ ✔️ ✔️

End Effectors

Name Maker Formats License Visuals Inertias Collisions
Ability Hand PSYONIC, Inc. MJCF, URDF MIT ✔️ ✔️ ✔️
Aero Hand TetherIA MJCF Apache-2.0 ✔️ ✔️ ✔️
Aero Hand TetherIA URDF Apache-2.0 ✔️ ✔️ ✔️
Allegro Hand Wonik Robotics URDF, MJCF BSD ✔️ ✔️ ✔️
BarrettHand Barrett Technology URDF BSD ✖️ ✔️ ✔️
Dagana Gripper IIT - HHCM Xacro Apache-2.0 ✔️ ✔️ ✔️
DexHand The Robot Studio URDF CC-BY-NC-SA ✔️ ✔️ ✔️
IIT SoftFoot IIT MJCF BSD-3-Clause ✔️ ✔️ ✔️
LEAP Hand v1 Carnegie Mellon University URDF MIT ✔️ ✔️ ✔️
Robotiq 2F-85 Robotiq MJCF, URDF, Xacro BSD-2-Clause ✔️ ✔️ ✔️
SCHUNK EGP SCHUNK Xacro GPL-3.0 ✔️ ✔️ ✔️
SCHUNK EGU 50 SCHUNK Xacro GPL-3.0 ✔️ ✔️ ✔️
SCHUNK PZN-plus SCHUNK Xacro GPL-3.0 ✔️ ✔️ ✔️
SCHUNK PZV 64 SCHUNK Xacro GPL-3.0 ✔️ ✔️ ✔️
SCHUNK SVH Hand SCHUNK Xacro GPL-3.0 ✔️ ✔️ ✔️
SCHUNK WSG 50 SCHUNK SDF BSD-3-Clause ✔️ ✔️ ✔️
Shadow DEX-EE The Shadow Robot Company MJCF Apache-2.0 ✔️ ✔️ ✔️
Shadow Hand E3M5 The Shadow Robot Company MJCF Apache-2.0 ✔️ ✔️ ✔️
SO-ARM100/101 Parallel Gripper Robonine Xacro GPL-3.0 ✔️ ✔️ ✔️
UMI Gripper UMI project MJCF MIT ✔️ ✔️ ✔️

Humanoids

Name Maker Formats License Visuals Inertias Collisions
Adam Lite PNDbotics MJCF MIT ✔️ ✔️ ✔️
AgiBot X1 AgibotTech MJCF, URDF ✖️ ✔️ ✔️ ✖️
Apollo Apptronik MJCF Apache-2.0 ✔️ ✔️ ✔️
Atlas DRC (v3) Boston Dynamics URDF BSD-3-Clause ✔️ ✔️ ✔️
Atlas v4 Boston Dynamics URDF MIT ✔️ ✔️ ✔️
Berkeley Humanoid Hybrid Robotics URDF BSD-3-Clause ✔️ ✔️ ✔️
Booster T1 Booster Robotics MJCF Apache-2.0 ✔️ ✔️ ✔️
Booster T1 Booster Robotics URDF Apache-2.0 ✔️ ✔️ ✔️
Digit Agility Robotics URDF ✖️ ✔️ ✔️ ✔️
Draco3 Apptronik URDF BSD-2-Clause ✔️ ✔️ ✔️
Elf2 BXI Robotics MJCF, URDF Apache-2.0 ✔️ ✔️ ✔️
ergoCub IIT URDF BSD-3-Clause ✔️ ✔️ ✔️
G1 UNITREE Robotics MJCF, URDF BSD-3-Clause ✔️ ✔️ ✔️
GENE.01 Generative Bionics URDF CC-BY-NC-4.0 ✖️ ✔️ ✔️ ✔️
GR-1 Fourier URDF GPL-3.0 ✔️ ✔️ ✔️
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 ✔️ ✔️ ✔️
Microban Marc Duclusaud MJCF GPL-3.0 ✔️ ✔️ ✔️
Microban Marc Duclusaud URDF GPL-3.0 ✖️ ✔️ ✖️
N1 Fourier URDF Apache-2.0 ✔️ ✔️ ✔️
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, MJCF LGPL-3.0, Apache-2.0 ✔️ ✔️ ✔️
ToddlerBot 2XC Stanford University MJCF MIT ✔️ ✔️ ✔️
ToddlerBot 2XC Stanford University URDF MIT ✔️ ✔️ ✔️
ToddlerBot 2XM Stanford University MJCF MIT ✔️ ✔️ ✔️
ToddlerBot 2XM Stanford University URDF MIT ✔️ ✔️ ✔️
Valkyrie NASA JSC Robotics URDF, Xacro NASA-1.3 ✔️ ✔️ ✔️
WALK-MAN IIT Xacro BSD-3-Clause ✔️ ✔️ ✔️

Mobile Manipulators

Name Maker Formats License Visuals Inertias Collisions
BamBot Tim Qian URDF Apache-2.0 ✔️ ✔️ ✔️
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 ✔️ ✔️ ✔️
R1 Galaxea Dynamics URDF :heavy_minus_sign: ✔️ ✔️ ✔️
RB-KAIROS+ Robotnik Automation Xacro BSD-3-Clause ✔️ ✔️ ✔️
RB-ROBOUT+ Robotnik Automation Xacro BSD-3-Clause ✔️ ✔️ ✔️
RB-VOGUI+ Robotnik Automation Xacro BSD-3-Clause ✔️ ✔️ ✔️
Reachy Pollen Robotics URDF Apache-2.0 ✔️ ✔️ ✔️
RBY1 Rainbow Robotics URDF MIT ✔️ ✔️ ✔️
RBY1 Rainbow Robotics MJCF MIT ✔️ ✔️ ✔️
Ridgeback Clearpath Robotics Xacro BSD ✔️ ✔️ ✔️
Stretch 2 Hello Robot MJCF Clear BSD ✔️ ✔️ ✔️
Stretch 3 Hello Robot MJCF Apache-2.0 ✔️ ✔️ ✔️
Stretch RE1 Hello Robot URDF, Xacro CC-BY-NC-SA-4.0 ✔️ ✔️ ✔️
TIAGo PAL Robotics URDF, MJCF, Xacro Apache-2.0 ✔️ ✔️ ✔️
Perseverance NASA JPL URDF Apache-2.0 ✔️ ✖️ ✖️
Tidybot Stanford MJCF MIT ✔️ ✔️ ✔️

Quadrupeds

Name Maker Formats License Visuals 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 ✔️ ✔️ ✔️
ANYmal D ANYbotics URDF BSD-3-Clause ✔️ ✔️ ✔️
B1 UNITREE Robotics URDF BSD-3-Clause ✔️ ✔️ ✔️
B2 UNITREE Robotics URDF BSD-3-Clause ✔️ ✔️ ✔️
Barkour v0 Google MJCF Apache-2.0 ✔️ ✔️ ✔️
Barkour v0 Google URDF Apache-2.0 ✔️ ✖️ ✔️
Barkour vb Google 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 MIT ✔️ ✔️ ✔️
Solo ODRI URDF BSD-3-Clause ✔️ ✔️ ✔️
Spot Boston Dynamics MJCF BSD-3-Clause ✔️ ✔️ ✔️
Spot Boston Dynamics Xacro MIT ✔️ ✔️ ✔️

Wheeled

Name Maker Formats License Visuals 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 ✔️ ✔️ ✔️
RB-ROBOUT Robotnik Automation Xacro BSD-3-Clause ✔️ ✔️ ✔️
RB-KAIROS Robotnik Automation Xacro BSD-3-Clause ✔️ ✔️ ✔️
RB-SUMMIT Robotnik Automation Xacro BSD-3-Clause ✔️ ✔️ ✔️
RB-THERON Robotnik Automation Xacro BSD-3-Clause ✔️ ✔️ ✔️
RB-VOGUI Robotnik Automation Xacro BSD-3-Clause ✔️ ✔️ ✔️
Ridgeback Clearpath Robotics Xacro BSD-3-Clause ✔️ ✔️ ✔️
RSK omnidirectional Robot Soccer Kit MJCF MIT ✔️ ✔️ ✔️
RSK omnidirectional Robot Soccer Kit URDF MIT ✔️ ✔️ ✔️
WL P311D LimX Dynamics URDF Apache-2.0 ✔️ ✔️ ✔️
WL P311E LimX Dynamics URDF Apache-2.0 ✔️ ✔️ ✔️
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 Berkeley Humanoid
Atlas DRC (v3) Atlas v4 JVRC-1 Robonaut 2 Romeo
iCub Draco3 Valkyrie JAXON SigmaBan
A1 ANYmal B ANYmal C Mini Cheetah Solo
Robot Soccer Kit Med 7 Med 14 Med 14 Med 14
Med 14 Med 14 Med 14 Med 14 Med 14
Med 14 Med 14 ToddlerBot Cookie wheeled biped robot

Add a Description to the List

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