robot-descriptions/awesome-robot-descriptions：精心策划的令人敬畏的机器人描述列表（URDF、MJCF）

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项目介绍

robot-descriptions/awesome-robot-descriptions 是一个托管在 GitHub 上的开源项目，采用 Creative Commons Zero v1.0 Universal 许可证，目前获得 1.7k 个 Star、148 次 Fork。

仓库全名: robot-descriptions/awesome-robot-descriptions
开源许可证: Creative Commons Zero v1.0 Universal
Star 数: 1.7k
Fork 数: 148
未关闭 Issue: 2

README 摘要

完整内容见 GitHub 原始 README 或本页。

常见问题

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关于

GitHub 原始描述（英文）

A curated list of awesome robot descriptions (URDF, MJCF)

描述取自 GitHub 官方 API，保持仓库作者书写的原文。

简要分析

热度分

2011

价值分

1063

活跃状态

活跃

awesome awesome-list biped humanoid legged-robots mjcf quadruped robot robotics urdf urdf-descriptions urdf-models

GitHub

贡献者

README

Awesome Robot Descriptions

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

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

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	✔️	✔️	✔️
Rizon4	Flexiv Robotics	MJCF	Apache-2.0	✔️	✔️	✔️
Rizon4	Flexiv Robotics	Xacro	Apache-2.0	✔️	✔️	✔️
Sawyer	Rethink Robotics	Xacro, MJCF	Apache-2.0	✔️	✔️	✔️
SO-ARM 100	The Robot Studio	MJCF	Apache-2.0	✔️	✔️	✔️
SO-ARM 100	The Robot Studio	URDF	Apache-2.0	✔️	✔️	✔️
SO-ARM 101	The Robot Studio	MJCF	Apache-2.0	✔️	✔️	✔️
SO-ARM 102	Robonine	URDF, Xacro	CC-BY-4.0	✔️	✔️	✔️
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	✔️	✔️	✔️
Cookie	Michael Mathieu	URDF	Apache-2.0	✔️	✔️	✔️
OP3	Robotis	MJCF	Apache-2.0	✔️	✔️	✔️
PF_TRON1A	LimX Dynamics	URDF, Xacro, MJCF	Apache-2.0	✔️	✔️	✔️
PF_TRON1B	LimX Dynamics	URDF, Xacro, MJCF	Apache-2.0	✔️	✔️	✔️
Rhea	Gabrael Levine	URDF	MIT	✔️	✖️	✔️
SF_TRON1A	LimX Dynamics	URDF, Xacro, MJCF	Apache-2.0	✔️	✔️	✔️
SF_TRON1B	LimX Dynamics	URDF, Xacro, MJCF	Apache-2.0	✔️	✔️	✔️
SF_TRON2A	LimX Dynamics	URDF, Xacro, MJCF	Apache-2.0	✔️	✔️	✔️
SFYG_TRON2A	LimX Dynamics	URDF, Xacro, MJCF	Apache-2.0	✔️	✔️	✔️
Spryped	Benjamin Bokser	URDF	GPL-3.0	✔️	✔️	✔️
Upkie	Stéphane Caron	URDF	Apache-2.0	✔️	✔️	✔️
WF_TRON1A	LimX Dynamics	URDF, Xacro, MJCF	Apache-2.0	✔️	✔️	✔️
WF_TRON1B	LimX Dynamics	URDF, Xacro, MJCF	Apache-2.0	✔️	✔️	✔️
WF_TRON2A	LimX Dynamics	URDF, Xacro, MJCF	Apache-2.0	✔️	✔️	✔️
WFYG_TRON2A	LimX Dynamics	URDF, Xacro, MJCF	Apache-2.0	✔️	✔️	✔️

Dual Arms

Name	Maker	Formats	License	Visuals	Inertias	Collisions
Baxter	Rethink Robotics	URDF, Xacro	BSD-3-Clause	✔️	✔️	✔️
DACH_TRON2A	LimX Dynamics	URDF, Xacro, MJCF	Apache-2.0	✔️	✔️	✔️
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	✖️	✔️	✔️
Dagana Gripper	IIT - HHCM	Xacro	Apache-2.0	✔️	✔️	✔️
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	✔️	✔️	✔️
SO-ARM100/101 Parallel Gripper	Robonine	Xacro	GPL-3.0	✔️	✔️	✔️
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	✔️	✔️	✔️
GENE.01	Generative Bionics	URDF	CC-BY-NC-4.0 ✖️	✔️	✔️	✔️
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	✔️	✔️	✔️
Microban	Marc Duclusaud	MJCF	GPL-3.0	✔️	✔️	✔️
Microban	Marc Duclusaud	URDF	GPL-3.0	✖️	✔️	✖️
N1	Fourier	URDF	Apache-2.0	✔️	✔️	✔️
NAO	SoftBank Robotics	URDF, Xacro	BSD-3-Clause	:heavy_minus_sign: (?)	✔️	✔️
Oli	LimX Dynamics	URDF, MJCF	Apache-2.0	✔️	✔️	✔️
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	:heavy_minus_sign:	✔️	✔️	✔️
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	✔️	✔️	✔️
RBY1	Rainbow Robotics	URDF	MIT	✔️	✔️	✔️
RBY1	Rainbow Robotics	MJCF	MIT	✔️	✔️	✔️
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	✔️	✖️	✖️
Tidybot	Stanford	MJCF	MIT	✔️	✔️	✔️

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	✔️	✔️	✔️