Awesome
Awesome Robot Descriptions 
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 | ✔️ | ✔️ | ✔️ |
| Gen2 | Kinova | URDF | BSD-3-Clause | ✔️ | ✔️ | ✔️ |
| Gen3 | Kinova | MJCF | BSD-2-Clause | ✔️ | ✔️ | ✔️ |
| Gen3 | Kinova | URDF | MIT | ✔️ | ✔️ | ✔️ |
| iiwa 7 | KUKA | URDF | MIT | ✔️ | ✔️ | ✔️ |
| iiwa 14 | KUKA | URDF, MJCF | BSD-3-Clause | ✔️ | ✔️ | ✔️ |
| Lite 6 | UFACTORY | Xacro, MJCF | BSD-3-Clause | ✔️ | ✔️ | ✔️ |
| Low-Cost Robot Arm | Alexander Koch | URDF | MIT | ✔️ | ✔️ | ✔️ |
| M-710iC | FANUC | URDF, Xacro | BSD-3-Clause | ✔️ | ✖️ | ✔️ |
| Panda | Franka Robotics | MJCF | Apache-2.0 | ✔️ | ✔️ | ✔️ |
| Panda | Franka Robotics | URDF, Xacro | Apache-2.0 | ✔️ | ✖️ | ✔️ |
| 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 | ✔️ | ✔️ | ✔️ |
| 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 | ✔️ | ✔️ | ✔️ |
Educational
| Name | Formats | License | Visuals | 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 | Visuals | Inertias | Collisions |
|---|---|---|---|---|---|---|
| Ability Hand | PSYONIC, Inc. | MJCF, URDF | ✖️ | ✔️ | ✔️ | ✖️ |
| Allegro Hand | Wonik Robotics | URDF, MJCF | BSD | ✔️ | ✔️ | ✔️ |
| BarrettHand | Barrett Technology | URDF | BSD | ✖️ | ✔️ | ✔️ |
| DexHand | The Robot Studio | URDF | CC-BY-NC-SA | ✔️ | ✔️ | ✔️ |
| 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 | ✔️ | ✔️ | ✔️ |
Mobile Manipulators
| Name | Maker | Formats | License | Visuals | 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 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 | ✔️ | ✔️ | ✔️ |
Humanoids
| Name | Maker | Formats | License | Visuals | Inertias | Collisions |
|---|---|---|---|---|---|---|
| Atlas DRC (v3) | Boston Dynamics | URDF | BSD-3-Clause | ✔️ | ✔️ | ✔️ |
| Atlas v4 | Boston Dynamics | URDF | MIT | ✔️ | ✔️ | ✔️ |
| Berkeley Humanoid | Hybrid Robotics | URDF | BSD-3-Clause | ✔️ | ✔️ | ✔️ |
| Digit | Agility Robotics | URDF | ✖️ | ✔️ | ✔️ | ✔️ |
| Draco3 | Apptronik | URDF | BSD-2-Clause | ✔️ | ✔️ | ✔️ |
| ergoCub | IIT | URDF | BSD-3-Clause | ✔️ | ✔️ | ✔️ |
| G1 | UNITREE Robotics | MJCF, 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, MJCF | 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 | 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 | MJCF | Apache-2.0 | ✔️ | ✔️ | ✔️ | |
| Barkour v0 | 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 | MJCF | BSD-3-Clause | ✔️ | ✔️ | ✔️ |
| Spot | Boston Dynamics | Xacro | ✖️ | ✔️ | ✖️ | ✔️ |
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 | ✔️ | ✔️ | ✔️ |
| Ridgeback | Clearpath Robotics | Xacro | BSD-3-Clause | ✔️ | ✔️ | ✔️ |
Gallery
| <img src="gallery/edo.png" alt="eDO" width=100> | <img src="gallery/ur5.png" alt="UR5" width=100> | <img src="gallery/gen2.png" alt="Gen2" width=100> | <img src="gallery/iiwa.png" alt="iiwa 14" width=100> | <img src="gallery/panda.png" alt="Panda" width=100> |
|---|---|---|---|---|
| <img src="gallery/baxter.png" alt="Baxter" width=100> | <img src="gallery/nextage.png" alt="NEXTAGE" width=100> | <img src="gallery/poppy_torso.png" alt="Poppy Torso" width=100> | <img src="gallery/yumi.png" alt="YuMi" width=100> | <img src="gallery/poppy_ergo_jr.png" alt="Poppy Ergo Jr" width=100> |
| <img src="gallery/bolt.png" alt="Bolt" width=100> | <img src="gallery/cassie.png" alt="Cassie" width=100> | <img src="gallery/upkie.png" alt="Upkie" width=100> | <img src="gallery/spryped.png" alt="Spryped" width=100> | <img src="gallery/rhea.png" alt="Rhea" width=100> |
| <img src="gallery/allegro_hand.png" alt="Allegro Hand" width=100> | <img src="gallery/barrett_hand.png" alt="BarrettHand" width=100> | <img src="gallery/robotiq_2f85.png" alt="Robotiq 2F-85" width=100> | <img src="gallery/cf2.png" alt="Crazyflie 2.0" width=100> | <img src="gallery/finger_edu.png" alt="FingerEdu" width=100> |
| <img src="gallery/eve_r3.png" alt="Eve R3" width=100> | <img src="gallery/fetch.png" alt="Fetch" width=100> | <img src="gallery/pepper.png" alt="Pepper" width=100> | <img src="gallery/reachy.png" alt="Reachy" width=100> | <img src="gallery/berkeley_humanoid.png" alt="Berkeley Humanoid" width=100> |
| <img src="gallery/atlas_drc.png" alt="Atlas DRC (v3)" width=100> | <img src="gallery/atlas_v4.png" alt="Atlas v4" width=100> | <img src="gallery/jvrc1.png" alt="JVRC-1" width=100> | <img src="gallery/r2.png" alt="Robonaut 2" width=100> | <img src="gallery/romeo.png" alt="Romeo" width=100> |
| <img src="gallery/icub.png" alt="iCub" width=100> | <img src="gallery/draco3.png" alt="Draco3" width=100> | <img src="gallery/valkyrie.png" alt="Valkyrie" width=100> | <img src="gallery/jaxon.png" alt="JAXON" width=100> | <img src="gallery/sigmaban.png" alt="SigmaBan" width=100> |
| <img src="gallery/a1.png" alt="A1" width=100> | <img src="gallery/anymal_b.png" alt="ANYmal B" width=100> | <img src="gallery/anymal_c.png" alt="ANYmal C" width=100> | <img src="gallery/mini_cheetah.png" alt="Mini Cheetah" width=100> | <img src="gallery/solo.png" alt="Solo" width=100> |
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