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awesome-robot-descriptions

A curated list of awesome robot descriptions (URDF, MJCF)
https://github.com/robot-descriptions/awesome-robot-descriptions

Last synced: 3 days ago
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  • Robot Descriptions

    • Humanoids

      • URDF - 3-Clause | ✔️ | ✔️ | ✔️ |
      • MJCF - 3-Clause | ✔️ | ✔️ | ✔️ |
      • URDF
      • URDF - 2-Clause | ✔️ | ✔️ | ✔️ |
      • URDF
      • URDF - robotics/talos_robot/tree/kinetic-devel/talos_description), [MJCF](https://github.com/google-deepmind/mujoco_menagerie/tree/main/pal_talos) | LGPL-3.0, Apache-2.0 | ✔️ | ✔️ | ✔️ |
      • URDF
      • URDF - 3-Clause | ✔️ | ✔️ | ✔️ |
      • URDF
      • COLLADA - descriptions/jaxon_description), [VRML](https://github.com/start-jsk/rtmros_choreonoid/tree/master/jvrc_models/JAXON_JVRC) | CC-BY-SA-4.0 | ✔️ | ✔️ | ✔️ |
      • MJCF - caron/jvrc_description) | BSD-2-Clause | ✔️ | ✔️ | ✔️ |
      • URDF - BY-SA-4.0 | ✔️ | ✔️ | ✔️ |
      • URDF - 3-Clause | ✔️ | ✔️ | ✔️ |
      • MJCF - 3-Clause | ✔️ | ✔️ | ✔️ |
      • URDF - naoqi/nao_robot/tree/master/nao_description/) | BSD-3-Clause | [:heavy_minus_sign:](https://github.com/ros-naoqi/nao_meshes#readme) ([?](https://github.com/robot-descriptions/awesome-robot-descriptions/issues/7)) | ✔️ | ✔️ |
      • URDF - 1.3 | ✔️ | ✔️ | ✔️ |
      • URDF - 3-Clause | ✔️ | ✔️ | ✔️ |
      • URDF - jsc-robotics/val_description) | NASA-1.3 | ✔️ | ✔️ | ✔️ |
      • Xacro - 3-Clause | ✔️ | ✔️ | ✔️ |
      • URDF - 3-Clause | ✔️ | ✔️ | ✔️ |

    • Drones

      • Xacro
      • MJCF - 2.0 | ✔️ | ✔️ | ✔️ |
      • URDF - deepmind/mujoco_menagerie/tree/main/bitcraze_crazyflie_2) | MIT | ✔️ | ✔️ | ✔️ |

    • Arms

      • MJCF - 2-Clause | ✔️ | ✔️ | ✔️ |
      • URDF - industrial/fanuc/tree/melodic-devel/fanuc_m710ic_support) | BSD-3-Clause | ✔️ | ✖️ | ✔️ |
      • URDF - 3.0 | ✔️ | ✔️ | ✔️ |
      • Xacro
      • URDF
      • MJCF - 2.0 | ✔️ | ✔️ | ✔️ |
      • URDF - 2.0 | ✔️ | ✖️ | ✔️ |
      • Xacro - deepmind/mujoco_menagerie/tree/main/rethink_robotics_sawyer) | Apache-2.0 | ✔️ | ✔️ | ✔️ |
      • URDF - industrial/universal_robot/blob/kinetic-devel/ur_description/urdf/ur10.urdf.xacro) | Apache-2.0 | ✔️ | ✔️ | ✔️ |
      • MJCF - industrial/universal_robot/blob/kinetic-devel/ur_e_description/urdf/ur10e.urdf.xacro) | BSD-3-Clause | ✔️ | ✔️ | ✔️ |
      • URDF - industrial/universal_robot/blob/kinetic-devel/ur_description/urdf/ur3.urdf.xacro) | Apache-2.0 | ✔️ | ✔️ | ✔️ |
      • Xacro - 3-Clause | ✔️ | ✔️ | ✔️ |
      • URDF - industrial/universal_robot/blob/kinetic-devel/ur_description/urdf/ur5.urdf.xacro) | Apache-2.0 | ✔️ | ✔️ | ✔️ |
      • MJCF - industrial/universal_robot/blob/kinetic-devel/ur_e_description/urdf/ur5e.urdf.xacro) | BSD-3-Clause | ✔️ | ✔️ | ✔️ |
      • URDF
      • URDF
      • MJCF - 2.0 | ✔️ | ✔️ | ✔️ |
      • MJCF - industrial/universal_robot/blob/kinetic-devel/ur_e_description/urdf/ur10e.urdf.xacro) | BSD-3-Clause | ✔️ | ✔️ | ✔️ |
      • MJCF - industrial/universal_robot/blob/kinetic-devel/ur_e_description/urdf/ur5e.urdf.xacro) | BSD-3-Clause | ✔️ | ✔️ | ✔️ |
      • URDF - 3-Clause | ✔️ | ✔️ | ✔️ |
      • URDF - 2.0 | ✔️ | ✔️ | ✔️ |
      • URDF - 3-Clause | ✔️ | ✔️ | ✔️ |
      • URDF - 3-Clause | ✔️ | ✔️ | ✔️ |
      • URDF - deepmind/mujoco_menagerie/tree/main/kuka_iiwa_14) | BSD-3-Clause | ✔️ | ✔️ | ✔️ |
      • Xacro - deepmind/mujoco_menagerie/tree/main/ufactory_lite6) | BSD-3-Clause | ✔️ | ✔️ | ✔️ |
      • Xacro - deepmind/mujoco_menagerie/tree/main/trossen_vx300s) | BSD-3-Clause | ✔️ | ✔️ | ✔️ |
      • Xacro - 3-Clause | ✔️ | ✔️ | ✔️ |
      • Xacro - 3-Clause | ✔️ | ✔️ | ✔️ |
      • Xacro - deepmind/mujoco_menagerie/tree/main/ufactory_xarm7) | BSD-3-Clause | ✔️ | ✔️ | ✔️ |
      • URDF
      • URDF - 2.0 | ✔️ | ✔️ | ✔️ |
      • URDF - deepmind/mujoco_menagerie/tree/main/kuka_iiwa_14) | BSD-3-Clause | ✔️ | ✔️ | ✔️ |
      • MJCF - 2.0 | ✔️ | ✔️ | ✔️ |
      • MJCF - 3-Clause | ✔️ | ✔️ | ✔️ |

    • Bipeds

      • URDF
      • URDF
      • URDF - 2.0 | ✔️ | ✔️ | ✔️ |
      • URDF - 3.0 | ✔️ | ✔️ | ✔️ |
      • URDF - 3-Clause | ✔️ | ✔️ | ✔️ |
      • MJCF
      • MJCF - 2.0 | ✔️ | ✔️ | ✔️ |

    • Dual Arms

      • URDF - 3.0 | ✔️ | ✔️ | ✔️ |
      • URDF
      • Xacro
      • URDF - 3-Clause | ✔️ | ✔️ | ✔️ |
      • URDF - 2-Clause | ✔️ | ✔️ | ✔️ |
      • URDF - 3-Clause | ✔️ | ✔️ | ✔️ |

    • Educational

      • URDF - 2-Clause | ✔️ | ✔️ | ✖️ |
      • URDF
      • URDF - 3-Clause | ✔️ | ✔️ | ✔️ |
      • URDF - 3-Clause | ✔️ | ✔️ | ✔️ |

    • Mobile Manipulators

      • URDF - 2.0 | ✔️ | ✔️ | ✔️ |
      • URDF
      • URDF - 2-Clause | ✔️ | ✔️ | ✔️ |
      • URDF - 2.0 | ✔️ | ✔️ | ✔️ |
      • URDF - robot/stretch_ros/tree/master/stretch_description) | CC-BY-NC-SA-4.0 | ✔️ | ✔️ | ✔️ |
      • URDF
      • MJCF - 2.0 | ✔️ | ✔️ | ✔️ |
      • URDF - devel/pr2_description/urdf/common.xacro) | BSD | ✔️ | ✔️ | ✔️ |
      • Xacro
      • MJCF
      • URDF - deepmind/mujoco_menagerie/tree/main/pal_tiago), [Xacro](https://github.com/pal-robotics/tiago_robot/blob/kinetic-devel/tiago_description/robots/tiago.urdf.xacro) | Apache-2.0 | ✔️ | ✔️ | ✔️ |
      • URDF - 2.0 | ✔️ | ✔️ | ✔️ |
      • MJCF - 2.0 | ✔️ | ✔️ | ✔️ |
      • MJCF - 2.0 | ✔️ | ✔️ | ✔️ |

    • Quadrupeds

      • URDF - 3-Clause | ✔️ | ✔️ | ✔️ |
      • URDF
      • URDF
      • MJCF - 3-Clause | ✔️ | ✔️ | ✔️ |
      • MJCF - 3-Clause | ✔️ | ✔️ | ✔️ |
      • MJCF - 3-Clause | ✔️ | ✔️ | ✔️ |
      • MJCF - 3-Clause | ✔️ | ✔️ | ✔️ |
      • URDF - 2.0 | ✔️ | ✔️ | ✔️ |
      • MJCF - 2.0 | ✔️ | ✔️ | ✔️ |
      • URDF - 2-Clause | ✔️ | ✔️ | ✔️ |
      • URDF - 3-Clause | ✔️ | ✔️ | ✔️ |
      • Xacro
      • MJCF - 3-Clause | ✔️ | ✔️ | ✔️ |
      • MJCF - 3-Clause | ✔️ | ✔️ | ✔️ |
      • URDF - 3-Clause | ✔️ | ✔️ | ✔️ |
      • URDF - 3-Clause | ✔️ | ✔️ | ✔️ |
      • Xacro
      • MJCF - 2.0 | ✔️ | ✔️ | ✔️ |
      • MJCF - 2.0 | ✔️ | ✔️ | ✔️ |
      • MJCF - 2.0 | ✔️ | ✔️ | ✔️ |
      • URDF - 2.0 | ✔️ | ✖️ | ✔️ |
      • MJCF - deepmind/mujoco_menagerie/blob/main/google_barkour_vb/barkour_vb_rev_1_0_head_straight.urdf) | Apache-2.0 | ✔️ | ✔️ | ✔️ |
      • MJCF - 3-Clause | ✔️ | ✔️ | ✔️ |

    • End Effectors

      • URDF
      • MJCF - price/robotiq_arg85_description), [Xacro](https://github.com/ros-industrial/robotiq/tree/kinetic-devel/robotiq_2f_85_gripper_visualization) | BSD-2-Clause | ✔️ | ✔️ | ✔️ |
      • MJCF - 2.0 | ✔️ | ✔️ | ✔️ |
      • SDF - 3-Clause | ✔️ | ✔️ | ✔️ |
      • MJCF - price/robotiq_arg85_description), [Xacro](https://github.com/ros-industrial/robotiq/tree/kinetic-devel/robotiq_2f_85_gripper_visualization) | BSD-2-Clause | ✔️ | ✔️ | ✔️ |
      • MJCF - 2.0 | ✔️ | ✔️ | ✔️ |
      • MJCF - 2.0 | ✔️ | ✔️ | ✔️ |
      • URDF - deepmind/mujoco_menagerie/tree/main/wonik_allegro) | BSD | ✔️ | ✔️ | ✔️ |
      • URDF - deepmind/mujoco_menagerie/tree/main/wonik_allegro) | BSD | ✔️ | ✔️ | ✔️ |
      • SDF - 3-Clause | ✔️ | ✔️ | ✔️ |
      • MJCF - hand-api/tree/master/URDF) | ✖️ | ✔️ | ✔️ | ✖️ |
      • URDF - BY-NC-SA | ✔️ | ✔️ | ✔️ |
      • URDF
      • Xacro - 3.0 | ✔️ | ✔️ | ✔️ |
      • Xacro - 3.0 | ✔️ | ✔️ | ✔️ |
      • Xacro - 3.0 | ✔️ | ✔️ | ✔️ |
      • Xacro - 3.0 | ✔️ | ✔️ | ✔️ |
      • Xacro - 3.0 | ✔️ | ✔️ | ✔️ |
      • MJCF - 2.0 | ✔️ | ✔️ | ✔️ |

    • Wheeled

      • Xacro - 3-Clause | ✔️ | ✔️ | ✔️ |
      • Xacro - 3-Clause | ✔️ | ✔️ | ✔️ |
      • Xacro - 3-Clause | ✔️ | ✔️ | ✔️ |
      • Xacro - 3-Clause | ✔️ | ✔️ | ✔️ |
      • Xacro - 3-Clause | ✔️ | ✔️ | ✔️ |
Programming Languages
CMake 14 Python 5 OpenSCAD 1 Julia 1
Categories
Robot Descriptions 135 Related Awesome Lists 2
Sub Categories
Arms 34 Quadrupeds 23 Humanoids 20 End Effectors 19 Mobile Manipulators 14 Bipeds 7 Wheeled 7 Dual Arms 6 Educational 4 Drones 3
Keywords
urdf 4 robot 3 ros 3 urdf-descriptions 2 awesome-list 2 awesome 2 urdf-models 2 poppy-ergo-jr 1 legged-robots 1 robot-model 1 wheeled-biped 1 mesh 1 poppy-torso 1 stl 1 open-source 1 open-source-robots 1 robotics 1 robots 1 urdf-model 1 urdf-parser 1 urdf-visualizer 1