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Awesome Robot Descriptions

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

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	✔️	✔️	✔️
Sawyer	Rethink Robotics	Xacro,MJCF	Apache-2.0	✔️	✔️	✔️
SO-ARM 100	The Robot Studio	URDF	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	✔️	✔️	✔️
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	✖️	✔️	✔️
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	✔️	✔️	✔️
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	✔️	✔️	✔️
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	✔️	✔️	✔️
N1	Fourier	URDF	Apache-2.0	✔️	✔️	✔️
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,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	➖	✔️	✔️	✔️
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	✔️	✔️	✔️
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	✔️	✖️	✖️

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	✔️	✔️	✔️