Awesome Robot Descriptions ![Awesome](https://camo.githubusercontent.com/3418ba3754faddfb88c5cbdc94c31ad670fc693c8caa59bc2806c9836acc04e4/68747470733a2f2f617765736f6d652e72652f62616467652e737667)
A curated list of awesome robot descriptions in URDF or MJCF formats.
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 |
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 |
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 |
✔️ |
✔️ |
✔️ |
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 |
✔️ |
✔️ |
✔️ |
Rhea |
Gabrael Levine |
URDF |
✖️ |
✔️ |
✖️ |
✔️ |
Spryped |
Benjamin Bokser |
URDF |
GPL-3.0 |
✔️ |
✔️ |
✔️ |
Upkie |
Tast's Robots |
URDF |
Apache-2.0 |
✔️ |
✔️ |
✔️ |
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 |
✔️ |
✔️ |
✔️ |
Name |
Maker |
Formats |
License |
Meshes |
Inertias |
Collisions |
Crazyflie 2.0 |
Bitcraze |
URDF |
MIT |
✔️ |
✔️ |
✔️ |
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 |
✔️ |
✔️ |
✔️ |
Name |
Maker |
Formats |
License |
Meshes |
Inertias |
Collisions |
Allegro Hand |
Wonik Robotics |
URDF |
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 |
✔️ |
✔️ |
✔️ |
Name |
Maker |
Formats |
License |
Meshes |
Inertias |
Collisions |
Eve R3 |
Halodi |
URDF |
Apache-2.0 |
✔️ |
✔️ |
✔️ |
Fetch |
Fetch Robotics |
URDF |
MIT |
✔️ |
✔️ |
✔️ |
Ginger |
Paaila Technology |
URDF |
BSD |
✔️ |
✔️ |
✔️ |
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 RE1 |
Hello Robot |
URDF, Xacro |
CC-BY-NC-SA-4.0 |
✔️ |
✔️ |
✔️ |
TIAGo |
PAL Robotics |
URDF |
CC-BY-NC-ND-3.0 |
✔️ |
✔️ |
✔️ |
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 |
✔️ |
✔️ |
✔️ |
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 |
➖ |
✔️ |
✔️ |
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 |
✔️ |
✔️ |
✔️ |
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 |
✔️ |
✔️ |
✔️ |
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 |
✔️ |
✔️ |
✔️ |
Solo |
ODRI |
URDF |
BSD-3-Clause |
✔️ |
✔️ |
✔️ |
Spot |
Boston Dynamics |
Xacro |
✖️ |
✔️ |
✖️ |
✔️ |
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 |
✔️ |
✔️ |
✔️ |
Add a Description to the List
New robot descriptions are welcome! Check out the guidelines, then open a PR.