Awesome Robot Descriptions

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

Contents

• Robot Descriptions
  • Arms
  • Bipeds
  • Dual Arms
  • Drones
  • Educational
  • End Effectors
  • Mobile Manipulators
  • Humanoids
  • Quadrupeds
  • Wheeled
• Gallery
• Related Awesome Lists
• Add a Description to the List

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	✔️	✔️	✔️
iiwa 14	KUKA	URDF	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	✔️	✔️	✔️
UR 3/5/10	Universal Robots	URDF, Xacro	Apache-2.0	✔️	✔️	✔️
URe 3/5/10	Universal Robots	MJCF, URDF	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	✔️	✔️	✔️
Spryped	Benjamin Bokser	URDF	GPL-3.0	✔️	✔️	✔️
Upkie	Tast's Robots	URDF	Apache-2.0	✔️	✔️	✔️

Dual Arms

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	✔️	✔️	✔️

Drones

Name	Maker	Formats	License	Meshes	Inertias	Collisions
Crazyflie 2.0	Bitcraze	URDF	MIT	✔️	✔️	✔️

Educational

Name	Formats	License	Meshes	Inertias	Collisions
Double Pendulum	URDF	BSD-3-Clause	✔️	✔️	✔️
FingerEdu	URDF	BSD-3-Clause	✔️	✔️	✔️
Simple Humanoid	URDF	BSD-2-Clause	✔️	✔️	✖️

End Effectors

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	✔️	✔️	✔️

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	✔️	✔️	✔️
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	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	✖️	✔️	✔️	✔️
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	LGPL-3.0	✔️	✔️	✔️
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	✔️	✔️	✔️
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	✖️	✔️	✖️	✔️

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	✔️	✔️	✔️

Gallery

Related Awesome Lists

• Awesome Homemade Robots
• Awesome URDF

Add a Description to the List

New robot descriptions are welcome! Check out the guidelines, then open a PR.