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https://github.com/robot-descriptions/awesome-robot-descriptions

A curated list of awesome robot descriptions (URDF, MJCF)
https://github.com/robot-descriptions/awesome-robot-descriptions
List: awesome-robot-descriptions
awesome awesome-list biped humanoid legged-robots mjcf quadruped robot robotics urdf urdf-descriptions urdf-models
Last synced: 3 months ago
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A curated list of awesome robot descriptions (URDF, MJCF)
Host: GitHub
URL: https://github.com/robot-descriptions/awesome-robot-descriptions
Owner: robot-descriptions
License: cc0-1.0
Created: 2022-04-05T11:14:27.000Z (about 2 years ago)
Default Branch: main
Last Pushed: 2024-03-07T09:32:38.000Z (4 months ago)
Last Synced: 2024-03-29T22:01:13.444Z (3 months ago)
Topics: awesome, awesome-list, biped, humanoid, legged-robots, mjcf, quadruped, robot, robotics, urdf, urdf-descriptions, urdf-models
Homepage:
Size: 4.53 MB
Stars: 254
Watchers: 3
Forks: 33
Open Issues: 0
Metadata Files:
- Readme: README.md
- Contributing: CONTRIBUTING.md
- License: LICENSE
Lists

awesome-mobile-robotics - Awesome Robot Descriptions
awesome-urdf - Awesome Robot Descriptions - A curated list of awesome robot descriptions, most in URDF or Xacro formats. (URDF / Resources)
ultimate-awesome - awesome-robot-descriptions - A curated list of awesome robot descriptions (URDF, MJCF). (Other Lists / Julia Lists)
README

        # Awesome Robot Descriptions [![Awesome](https://awesome.re/badge.svg)](https://awesome.re)

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

## Contents

- [Robot Descriptions](#robot-descriptions)

  - [Arms](#arms)

  - [Bipeds](#bipeds)

  - [Dual Arms](#dual-arms)

  - [Drones](#drones)

  - [Educational](#educational)

  - [End Effectors](#end-effectors)

  - [Mobile Manipulators](#mobile-manipulators)

  - [Humanoids](#humanoids)

  - [Quadrupeds](#quadrupeds)

  - [Wheeled](#wheeled)

- [Gallery](#gallery)

- [Related Awesome Lists](#related-awesome-lists)

- [Add a Description to the List](#add-a-description-to-the-list)

## Robot Descriptions

### Arms

| Name | Maker | Formats | License | Meshes | Inertias | Collisions |

|------|-------|---------|---------|--------|----------|------------|

| e.DO | Comau | [URDF](https://github.com/Comau/eDO_description) | BSD-3-Clause | ✔️ | ✔️ | ✔️ |

| Gen2 (URDF) | Kinova | [URDF](https://github.com/Gepetto/example-robot-data/tree/master/robots/kinova_description) | BSD-3-Clause | ✔️ | ✔️ | ✔️ |

| Gen3 (MJCF) | Kinova | [MJCF](https://github.com/mathieu-celerier/kinova_mj_description) | BSD-2-Clause | ✔️ | ✔️ | ✔️ |

| Gen3 (URDF) | Kinova | [URDF](https://github.com/facebookresearch/differentiable-robot-model/tree/main/diff_robot_data/kinova_description) | MIT | ✔️ | ✔️ | ✔️ |

| iiwa 14 | KUKA | [URDF](https://github.com/RobotLocomotion/drake/tree/master/manipulation/models/iiwa_description), [MJCF](https://github.com/google-deepmind/mujoco_menagerie/tree/main/kuka_iiwa_14) | BSD-3-Clause | ✔️ | ✔️ | ✔️ |

| Lite 6 | UFACTORY | [Xacro](https://github.com/xArm-Developer/xarm_ros2/blob/master/xarm_description/urdf/lite6/lite6.urdf.xacro), [MJCF](https://github.com/google-deepmind/mujoco_menagerie/tree/main/ufactory_lite6) | BSD-3-Clause | ✔️ | ✔️ | ✔️ |

| M-710iC | FANUC | [URDF](https://github.com/robot-descriptions/fanuc_m710ic_description), [Xacro](https://github.com/ros-industrial/fanuc/tree/melodic-devel/fanuc_m710ic_support) | BSD-3-Clause | ✔️ | ✖️ | ✔️ |

| Panda (MJCF) | Franka Emika | [MJCF](https://github.com/deepmind/mujoco_menagerie/tree/main/franka_emika_panda) | Apache-2.0 | ✔️ | ✔️ | ✔️ |

| Panda (URDF) | Franka Emika | [URDF](https://github.com/Gepetto/example-robot-data/tree/master/robots/panda_description), [Xacro](https://github.com/frankaemika/franka_ros/tree/develop/franka_description) | Apache-2.0 | ✔️ | ✖️ | ✔️ |

| Poppy Ergo Jr | Poppy Project | [URDF](https://github.com/poppy-project/poppy_ergo_jr_description) | GPL-3.0 | ✔️ | ✔️ | ✔️ |

| Sawyer | Rethink Robotics | [Xacro](https://github.com/RethinkRobotics/sawyer_robot/tree/master/sawyer_description), [MJCF](https://github.com/google-deepmind/mujoco_menagerie/tree/main/rethink_robotics_sawyer) | Apache-2.0 | ✔️ | ✔️ | ✔️ |

| UR10 | Universal Robots | [URDF](https://github.com/Gepetto/example-robot-data/blob/master/robots/ur_description/urdf/ur10_robot.urdf), [Xacro](https://github.com/ros-industrial/universal_robot/blob/kinetic-devel/ur_description/urdf/ur10.urdf.xacro) | Apache-2.0 | ✔️ | ✔️ | ✔️ |

| UR10e | Universal Robots | [MJCF](https://github.com/deepmind/mujoco_menagerie/tree/main/universal_robots_ur10e), [Xacro](https://github.com/ros-industrial/universal_robot/blob/kinetic-devel/ur_e_description/urdf/ur10e.urdf.xacro) | BSD-3-Clause | ✔️ | ✔️ | ✔️ |

| UR3 | Universal Robots | [URDF](https://github.com/Gepetto/example-robot-data/blob/master/robots/ur_description/urdf/ur3_robot.urdf), [Xacro](https://github.com/ros-industrial/universal_robot/blob/kinetic-devel/ur_description/urdf/ur3.urdf.xacro) | Apache-2.0 | ✔️ | ✔️ | ✔️ |

| UR3e | Universal Robots | [Xacro](https://github.com/ros-industrial/universal_robot/blob/kinetic-devel/ur_e_description/urdf/ur3e.urdf.xacro) | BSD-3-Clause | ✔️ | ✔️ | ✔️ |

| UR5 | Universal Robots | [URDF](https://github.com/Gepetto/example-robot-data/blob/master/robots/ur_description/urdf/ur5_robot.urdf), [Xacro](https://github.com/ros-industrial/universal_robot/blob/kinetic-devel/ur_description/urdf/ur5.urdf.xacro) | Apache-2.0 | ✔️ | ✔️ | ✔️ |

| UR5e | Universal Robots | [MJCF](https://github.com/deepmind/mujoco_menagerie/tree/main/universal_robots_ur5e), [Xacro](https://github.com/ros-industrial/universal_robot/blob/kinetic-devel/ur_e_description/urdf/ur5e.urdf.xacro) | BSD-3-Clause | ✔️ | ✔️ | ✔️ |

| ViperX | Interbotix | [Xacro](https://github.com/ian-chuang/Interbotix_ViperX_300_ROS_Control/blob/main/vx300s_description/urdf/vx300s.xacro) | MIT | ✔️ | ✔️ | ✔️ |

### Bipeds

| Name | Maker | Formats | License | Meshes | Inertias | Collisions |

|------|-------|---------|---------|--------|----------|------------|

| Bolt | ODRI | [URDF](https://github.com/Gepetto/example-robot-data/tree/master/robots/bolt_description) | BSD-3-Clause | ✔️ | ✔️ | ✔️ |

| Cassie (MJCF) | Agility Robotics | [MJCF](https://github.com/deepmind/mujoco_menagerie/tree/main/agility_cassie) | MIT | ✔️ | ✔️ | ✔️ |

| Cassie (URDF) | Agility Robotics | [URDF](https://github.com/robot-descriptions/cassie_description) | MIT | ✔️ | ✔️ | ✔️ |

| OP3 | Robotis | [MJCF](https://github.com/google-deepmind/mujoco_menagerie/tree/main/robotis_op3) | Apache-2.0 | ✔️ | ✔️ | ✔️ |

| Rhea | Gabrael Levine | [URDF](https://github.com/G-Levine/rhea_description) | ✖️ | ✔️ | ✖️ | ✔️ |

| Spryped | Benjamin Bokser | [URDF](https://github.com/bbokser/spryped/tree/master/spryped_urdf_rev06) | GPL-3.0 | ✔️ | ✔️ | ✔️ |

| Upkie | Stéphane Caron | [URDF](https://github.com/upkie/upkie_description) | Apache-2.0 | ✔️ | ✔️ | ✔️ |

### Dual Arms

| Name | Maker | Formats | License | Meshes | Inertias | Collisions |

|------|-------|---------|---------|--------|----------|------------|

| Baxter | Rethink Robotics | [URDF](https://github.com/RethinkRobotics/baxter_common/blob/master/baxter_description/urdf/baxter.urdf), [Xacro](https://github.com/RethinkRobotics/baxter_common/blob/master/baxter_description/urdf/baxter.urdf.xacro) | BSD-3-Clause | ✔️ | ✔️ | ✔️ |

| NEXTAGE | Kawada Robotics | [URDF](https://github.com/tork-a/rtmros_nextage/tree/indigo-devel/nextage_description) | BSD | ✔️ | ✔️ | ✔️ |

| Poppy Torso | Pollen Robotics | [URDF](https://github.com/poppy-project/poppy_torso_description) | GPL-3.0 | ✔️ | ✔️ | ✔️ |

| YuMi | ABB | [URDF](https://github.com/OrebroUniversity/yumi/tree/master/yumi_description) | BSD-2-Clause | ✔️ | ✔️ | ✔️ |

### Drones

| Name | Maker | Formats | License | Meshes | Inertias | Collisions |

|------|-------|---------|---------|--------|----------|------------|

| Crazyflie 1.0 | Bitcraze | [Xacro](https://github.com/whoenig/crazyflie_ros/tree/master/crazyflie_description) | MIT | ✔️ | ✔️ | ✖️ |

| Crazyflie 2.0 | Bitcraze | [URDF](https://github.com/utiasDSL/gym-pybullet-drones/tree/master/gym_pybullet_drones/assets) | MIT | ✔️ | ✔️ | ✔️ |

| X2 | Skydio | [MJCF](https://github.com/google-deepmind/mujoco_menagerie/tree/main/skydio_x2) | Apache-2.0 | ✔️ | ✔️ | ✔️ |

### Educational

| Name | Formats | License | Meshes | Inertias | Collisions |

|------|---------|---------|--------|----------|------------|

| Double Pendulum | [URDF](https://github.com/Gepetto/example-robot-data/tree/master/robots/double_pendulum_description) | BSD-3-Clause | ✔️ | ✔️ | ✔️ |

| FingerEdu | [URDF](https://github.com/Gepetto/example-robot-data/tree/master/robots/finger_edu_description) | BSD-3-Clause | ✔️ | ✔️ | ✔️ |

| Simple Humanoid | [URDF](https://github.com/laas/simple_humanoid_description) | BSD-2-Clause | ✔️ | ✔️ | ✖️ |

| TriFingerEdu | [URDF](https://github.com/facebookresearch/differentiable-robot-model/tree/main/diff_robot_data/trifinger_edu_description) | MIT | ✔️ | ✔️ | ✔️ |

### End Effectors

| Name | Maker | Formats | License | Meshes | Inertias | Collisions |

|------|-------|---------|---------|--------|----------|------------|

| Allegro Hand | Wonik Robotics | [URDF](https://github.com/RobotLocomotion/drake/tree/master/manipulation/models/allegro_hand_description), [MJCF](https://github.com/google-deepmind/mujoco_menagerie/tree/main/wonik_allegro) | BSD | ✔️ | ✔️ | ✔️ |

| BarrettHand | Barrett Technology | [URDF](https://github.com/jhu-lcsr-attic/bhand_model/tree/master/robots) | BSD | ✖️ | ✔️ | ✔️ |

| Robotiq 2F-85 | Robotiq | [MJCF](https://github.com/deepmind/mujoco_menagerie/tree/main/robotiq_2f85), [URDF](https://github.com/a-price/robotiq_arg85_description), [Xacro](https://github.com/ros-industrial/robotiq/tree/kinetic-devel/robotiq_2f_85_gripper_visualization) | BSD-2-Clause | ✔️ | ✔️ | ✔️ |

| Shadow Hand E3M5 | The Shadow Robot Company | [MJCF](https://github.com/deepmind/mujoco_menagerie/tree/main/shadow_hand) | Apache-2.0 | ✔️ | ✔️ | ✔️ |

| WSG 50 | SCHUNK | [SDF](https://github.com/RobotLocomotion/drake/tree/master/manipulation/models/wsg_50_description) | BSD-3-Clause | ✔️ | ✔️ | ✔️ |

### Mobile Manipulators

| Name | Maker | Formats | License | Meshes | Inertias | Collisions |

|------|-------|---------|---------|--------|----------|------------|

| Eve R3 | Halodi | [URDF](https://github.com/Halodi/halodi-robot-models) | Apache-2.0 | ✔️ | ✔️ | ✔️ |

| Fetch | Fetch Robotics | [URDF](https://github.com/openai/roboschool/tree/master/roboschool/models_robot/fetch_description) | MIT | ✔️ | ✔️ | ✔️ |

| Ginger | Paaila Technology | [URDF](https://github.com/Rayckey/GingerURDF) | BSD | ✔️ | ✔️ | ✔️ |

| Google Robot | Google | [MJCF](https://github.com/google-deepmind/mujoco_menagerie/blob/main/google_robot/) | Apache-2.0 | ✔️ | ✔️ | ✔️ |

| Pepper | SoftBank Robotics | [URDF](https://github.com/jrl-umi3218/pepper_description) | BSD-2-Clause | ✔️ | ✔️ | ✔️ |

| PR2 | Willow Garage | [URDF](https://github.com/ankurhanda/robot-assets/tree/master/urdfs/robots/pr2), [Xacro](https://github.com/PR2/pr2_common/blob/melodic-devel/pr2_description/urdf/common.xacro) | BSD | ✔️ | ✔️ | ✔️ |

| Reachy | Pollen Robotics | [URDF](https://github.com/aubrune/reachy_description) | Apache-2.0 | ✔️ | ✔️ | ✔️ |

| Ridgeback | Clearpath Robotics | [Xacro](https://github.com/ridgeback/ridgeback_manipulation/tree/melodic-devel/ridgeback_manipulation_description) | BSD | ✔️ | ✔️ | ✔️ |

| Stretch 2 | Hello Robot | [MJCF](https://github.com/google-deepmind/mujoco_menagerie/tree/main/hello_robot_stretch) | Clear BSD | ✔️ | ✔️ | ✔️ |

| Stretch RE1 | Hello Robot | [URDF](https://github.com/robot-descriptions/stretch_description), [Xacro](https://github.com/hello-robot/stretch_ros/tree/master/stretch_description) | CC-BY-NC-SA-4.0 | ✔️ | ✔️ | ✔️ |

| TIAGo | PAL Robotics | [URDF](https://github.com/Gepetto/example-robot-data/tree/master/robots/tiago_description) | CC-BY-NC-ND-3.0 | ✔️ | ✔️ | ✔️ |

### Humanoids

| Name | Maker | Formats | License | Meshes | Inertias | Collisions |

|------|-------|---------|---------|--------|----------|------------|

| Atlas DRC (v3) | Boston Dynamics | [URDF](https://github.com/RobotLocomotion/drake/tree/master/examples/atlas) | BSD-3-Clause | ✔️ | ✔️ | ✔️ |

| Atlas v4 | Boston Dynamics | [URDF](https://github.com/openai/roboschool/tree/1.0.49/roboschool/models_robot/atlas_description) | MIT | ✔️ | ✔️ | ✔️ |

| Digit | Agility Robotics | [URDF](https://github.com/adubredu/DigitRobot.jl) | ✖️ | ✔️ | ✔️ | ✔️ |

| Draco3 | Apptronik | [URDF](https://github.com/shbang91/draco3_description) | BSD-2-Clause | ✔️ | ✔️ | ✔️ |

| ergoCub | IIT | [URDF](https://github.com/icub-tech-iit/ergocub-software/tree/master/urdf/ergoCub) | BSD-3-Clause | ✔️ | ✔️ | ✔️ |

| Gundam RX-78 | Bandai Namco Filmworks | [URDF](https://github.com/gundam-global-challenge/gundam_robot/tree/master/gundam_rx78_description) | ✖️  | ✔️ | ✔️ | ✔️ |

| H1 | UNITREE Robotics | [MJCF](https://github.com/google-deepmind/mujoco_menagerie/tree/main/unitree_h1), [URDF](https://github.com/unitreerobotics/unitree_ros/tree/master/robots/h1_description) | BSD-3-Clause | ✔️ | ✔️ | ✔️ |

| iCub | IIT | [URDF](https://github.com/robotology/icub-models/tree/master/iCub) | CC-BY-SA-4.0 | ✔️ | ✔️ | ✔️ |

| JAXON | JSK | [COLLADA](https://github.com/stephane-caron/openrave_models/tree/master/JAXON), [URDF](https://github.com/robot-descriptions/jaxon_description), [VRML](https://github.com/start-jsk/rtmros_choreonoid/tree/master/jvrc_models/JAXON_JVRC) | CC-BY-SA-4.0 | ✔️ | ✔️ | ✔️ |

| JVRC-1 | AIST | [MJCF](https://github.com/isri-aist/jvrc_mj_description/), [URDF](https://github.com/stephane-caron/jvrc_description) | BSD-2-Clause | ✔️ | ✔️ | ✔️ |

| NAO | SoftBank Robotics | [URDF](https://github.com/ros-naoqi/nao_robot/tree/master/nao_description/urdf/naoV50_generated_urdf), [Xacro](https://github.com/ros-naoqi/nao_robot/tree/master/nao_description/) | BSD-3-Clause | [:heavy_minus_sign:](https://github.com/ros-naoqi/nao_meshes#readme) | ✔️ | ✔️ |

| Robonaut 2 | NASA JSC Robotics | [URDF](https://github.com/gkjohnson/nasa-urdf-robots/tree/master/r2_description) | NASA-1.3 | ✔️ | ✔️ | ✔️ |

| Romeo | Aldebaran Robotics | [URDF](https://github.com/ros-aldebaran/romeo_robot/tree/master/romeo_description) | BSD-3-Clause | ✔️ | ✔️ | ✔️ |

| SigmaBan | Rhoban | [URDF](https://github.com/Rhoban/sigmaban_urdf) | MIT | ✔️ | ✔️ | ✔️ |

| TALOS | PAL Robotics | [URDF](https://github.com/stack-of-tasks/talos-data), [Xacro](https://github.com/pal-robotics/talos_robot/tree/kinetic-devel/talos_description) | LGPL-3.0, Apache-2.0 | ✔️ | ✔️ | ✔️ |

| Valkyrie | NASA JSC Robotics | [URDF](https://github.com/gkjohnson/nasa-urdf-robots/tree/master/val_description/model), [Xacro](https://gitlab.com/nasa-jsc-robotics/val_description) | NASA-1.3 | ✔️ | ✔️ | ✔️ |

| WALK-MAN | IIT | [Xacro](https://github.com/ADVRHumanoids/iit-walkman-ros-pkg/tree/master/walkman_urdf) | BSD-3-Clause | ✔️ | ✔️ | ✔️ |

### Quadrupeds

| Name | Maker | Formats | License | Meshes | Inertias | Collisions |

|------|-------|---------|---------|--------|----------|------------|

| A1 | UNITREE Robotics | [MJCF](https://github.com/unitreerobotics/unitree_mujoco/tree/main/data/a1/xml), [URDF](https://github.com/unitreerobotics/unitree_ros/tree/master/robots/a1_description) | MPL-2.0 | ✔️ | ✔️ | ✔️ |

| Aliengo | UNITREE Robotics | [MJCF](https://github.com/unitreerobotics/unitree_mujoco/tree/main/data/aliengo/xml), [URDF](https://github.com/unitreerobotics/unitree_ros/tree/master/robots/aliengo_description) | MPL-2.0 | ✔️ | ✔️ | ✔️ |

| ANYmal B | ANYbotics | [MJCF](https://github.com/deepmind/mujoco_menagerie/tree/main/anybotics_anymal_b), [URDF](https://github.com/ANYbotics/anymal_b_simple_description) | BSD-3-Clause | ✔️ | ✔️ | ✔️ |

| ANYmal C | ANYbotics | [MJCF](https://github.com/deepmind/mujoco_menagerie/tree/main/anybotics_anymal_c), [URDF](https://github.com/ANYbotics/anymal_c_simple_description) | BSD-3-Clause | ✔️ | ✔️ | ✔️ |

| Go1 | UNITREE Robotics | [MJCF](https://github.com/unitreerobotics/unitree_mujoco/tree/main/data/go1/xml), [URDF](https://github.com/unitreerobotics/unitree_mujoco/tree/main/data/go1/urdf) | BSD-3-Clause | ✔️ | ✔️ | ✔️ |

| Go2 | UNITREE Robotics | [MJCF](https://github.com/google-deepmind/mujoco_menagerie/tree/main/unitree_go2), [URDF](https://github.com/unitreerobotics/unitree_ros/tree/master/robots/go2_description) | BSD-3-Clause | ✔️ | ✔️ | ✔️ |

| HyQ | IIT | [URDF](https://github.com/Gepetto/example-robot-data/tree/master/robots/hyq_description) | Apache-2.0 | ✔️ | ✔️ | ✔️ |

| Laikago | UNITREE Robotics | [MJCF](https://github.com/unitreerobotics/unitree_mujoco/tree/main/data/laikago/xml), [URDF](https://github.com/unitreerobotics/unitree_ros/tree/master/robots/laikago_description) | MPL-2.0 | ✔️ | ✔️ | ✔️ |

| Mini Cheetah | MIT | [URDF](https://github.com/Derek-TH-Wang/mini_cheetah_urdf) | BSD | ✔️ | ✔️ | ✔️ |

| Minitaur | Ghost Robotics | [URDF](https://github.com/bulletphysics/bullet3/blob/master/data/quadruped/minitaur.urdf) | BSD-2-Clause | ✔️ | ✔️ | ✔️ |

| Pupper v3 | Gabrael Levine | [URDF](https://github.com/G-Levine/pupper_v3_description) | ✖️  | ✔️ | ✔️ | ✔️ |

| Solo | ODRI | [URDF](https://github.com/Gepetto/example-robot-data/tree/master/robots/solo_description) | BSD-3-Clause | ✔️ | ✔️ | ✔️ |

| Spot | Boston Dynamics | [Xacro](https://github.com/clearpathrobotics/spot_ros/tree/master/spot_description) | ✖️ | ✔️ | ✖️ | ✔️ |

### Wheeled

| Name | Maker | Formats | License | Meshes | Inertias | Collisions |

|------|-------|---------|---------|--------|----------|------------|

| Boxer | Clearpath Robotics | [Xacro](https://github.com/boxer-cpr/boxer/tree/noetic-devel/boxer_description) | BSD-3-Clause | ✔️ | ✔️ | ✔️ |

| Dingo | Clearpath Robotics | [Xacro](https://github.com/dingo-cpr/dingo/tree/melodic-devel/dingo_description) | BSD-3-Clause | ✔️ | ✔️ | ✔️ |

| Husky | Clearpath Robotics | [Xacro](https://github.com/husky/husky/tree/noetic-devel/husky_description) | BSD-3-Clause | ✔️ | ✔️ | ✔️ |

| Jackal | Clearpath Robotics | [Xacro](https://github.com/jackal/jackal/tree/noetic-devel/jackal_description) | BSD-3-Clause | ✔️ | ✔️ | ✔️ |

| Ridgeback | Clearpath Robotics | [Xacro](https://github.com/ridgeback/ridgeback/tree/melodic-devel/ridgeback_description) | BSD-3-Clause | ✔️ | ✔️ | ✔️ |

## Gallery

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## Related Awesome Lists

- [Awesome Open Source Robots](https://github.com/stephane-caron/awesome-open-source-robots)

- [Awesome URDF](https://github.com/ami-iit/awesome-urdf)

## Add a Description to the List

New robot descriptions are welcome! Check out the [guidelines](CONTRIBUTING.md), then open a PR.