RobotDescription

robotdescription.com / gallery

Gallery

Real robot models from robot_descriptions.py, each read in with RobotDescription.from_urdf and written back out as plain URDF. Open one to spin it, move its joints and see what the importer kept and dropped.

135 of 136 URDF robots imported · 135 with forward kinematics identical to the original (Pinocchio) · 124 with a 3D viewer · 100 simulate in MuJoCo, in your browser.

The whole corpus

Every robot the importer was run on, viewer or not. Dropped counts the URDF tags from_urdf does not carry (it lists them rather than hiding them). FK error is the worst forward-kinematics difference between the original URDF and the re-serialised one, in a third-party oracle.

RobotMakerImportedLinks / jointsDroppedFK errorMuJoCoLicence
A1UNITREE Robotics✓23 / 22 gazebo×33, transmission×120.0e+00 m · 2.0e-16 rad✓ BSD-3-Clause
Ability HandPSYONIC, Inc.✓47 / 46 @name×21, mimic×4, @rrpy×10.0e+00 m · 5.9e-16 rad✓ MIT
Aero Hand OpenTetherIA✓22 / 21 material×22, axis×50.0e+00 m · 3.4e-16 rad✓ CC-BY-SA-4.0
AliengoUNITREE Robotics✓31 / 30 gazebo×32, transmission×120.0e+00 m · 1.8e-16 rad✓ BSD-3-Clause
Allegro HandWonik Robotics✓22 / 21 transmission×16, origin×10.0e+00 m · 3.0e-16 rad✓ BSD
ANYmal BANYbotics✓22 / 21 @command_effort×12, @current×12, @gear_velocity×12, +2 more0.0e+00 m · 2.3e-16 rad✓ BSD-3-Clause
ANYmal CANYbotics✓78 / 77 self_filter×10.0e+00 m · 4.4e-16 rad✗ BSD-3-Clause
ANYmal DANYbotics✓96 / 95 @command_effort×12, @current×12, @gear_velocity×120.0e+00 m · 2.8e-16 rad✓ BSD-3-Clause
Atlas DRC (v3)Boston Dynamics✓70 / 69 transmission×31, axis×15, {http://drake.mit.edu}collision_filter_group×10, +4 more0.0e+00 m · 7.5e-16 rad✗ BSD-3-Clause
Atlas v4Boston Dynamics✓31 / 30 safety_controller×30, material×10.0e+00 m · 4.2e-16 rad✓ MIT
B1UNITREE Robotics✓36 / 35 gazebo×32, transmission×120.0e+00 m · 1.8e-16 rad✓ BSD-3-Clause
B2UNITREE Robotics✓37 / 36 material×11, axis×80.0e+00 m · 5.4e-16 rad✗ BSD-3-Clause
BamBotTim Qian✓21 / 20 axis×3, limit×30.0e+00 m · 1.2e-15 rad✗ Apache-2.0
BarrettHandBarrett Technology✓9 / 8 material×90.0e+00 m · 3.9e-16 rad✓ BSD
BaxterRethink Robotics✓49 / 48 gravity×36, gazebo×24, transmission×15, +3 more0.0e+00 m · 5.4e-16 rad✓ BSD-3-Clause
Berkeley HumanoidHybrid Robotics✓15 / 14 joint_properties×12, axis×20.0e+00 m · 6.1e-16 rad✓ BSD-3-Clause
BoltODRI✓9 / 8 material×9, contact×9, limit×2, +1 more0.0e+00 m · 1.4e-16 rad✓ BSD-3-Clause
Booster T1Booster Robotics✓24 / 23 material×240.0e+00 m · 2.8e-16 rad✓ Apache-2.0
CassieAgility Robotics✓17 / 16 material×17, transmission×100.0e+00 m · 4.3e-16 rad✓ MIT
CookieUpkie Project✓62 / 61 contact×20.0e+00 m · 4.8e-16 rad✗ Apache-2.0
Crazyflie 2.0Bitcraze✓6 / 5 properties×10✓ MIT
Double PendulumNone✓3 / 2 material×30.0e+00 m · 2.8e-17 rad✓ BSD-3-Clause
Draco3Apptronik✓48 / 47 joint_properties×28, axis×13, limit×10, +1 more0.0e+00 m · 4.5e-16 rad✗ BSD-2-Clause
e.DOComau✓7 / 6 material×7, limit×60.0e+00 m · 8.0e-16 rad✓ BSD-3-Clause
Elf2BXI Robotics✓26 / 25 material×260.0e+00 m · 4.7e-16 rad✓ Apache-2.0
Enlight-LFlexiv Robotics✓10 / 9 @name×16, origin×8, mass×8, +3 more0.0e+00 m · 4.9e-16 rad✗ Apache-2.0
ergoCubIIT✓204 / 203 material×128, gazebo×114, sensor×22, +2 more0.0e+00 m · 1.7e-15 rad✓ BSD-3-Clause
Eve R3Halodi✓96 / 95 axis×68, limit×68, dynamics×68, +4 more0.0e+00 m · 8.2e-16 rad✓ Apache-2.0
FERFranka Robotics✓14 / 13 @name×20, safety_controller×7, @D×7, +6 more0.0e+00 m · 4.0e-16 rad✗ Apache-2.0
FetchFetch Robotics✓25 / 24 material×19, axis×4, gazebo×10.0e+00 m · 3.8e-16 rad✗ MIT
FingerEduNone✓6 / 5 none0.0e+00 m · 1.1e-16 rad✗ BSD-3-Clause
FR3Franka Robotics✓26 / 25 @name×20, position_based_velocity_limits×7, safety_controller×7, +7 more0.0e+00 m · 5.9e-16 rad✓ Apache-2.0
FR3 v2Franka Robotics✓26 / 25 @name×20, position_based_velocity_limits×7, safety_controller×7, +7 more0.0e+00 m · 6.0e-16 rad✓ Apache-2.0
FR3 v2.1Franka Robotics✓26 / 25 @name×20, position_based_velocity_limits×7, safety_controller×7, +7 more0.0e+00 m · 6.0e-16 rad✓ Apache-2.0
G1UNITREE Robotics✓40 / 39 mujoco×10.0e+00 m · 6.6e-16 rad✓ BSD-3-Clause
Gen2Kinova✓13 / 12 transmission×10, axis×6, limit×6, +4 more0.0e+00 m · 7.5e-16 rad✓ BSD-3-Clause
Gen3Kinova✓11 / 10 material×8, axis×2, ros2_control×10.0e+00 m · 8.5e-16 rad✓ BSD-3-Clause
Gen3 LiteKinova✓15 / 14 material×11, gazebo×11, axis×3, +3 more0.0e+00 m · 1.2e-15 rad✓ BSD-3-Clause
GENE.01Generative Bionics✓91 / 90 none0.0e+00 m · 8.5e-16 rad— CC-BY-NC-4.0
GingerPaaila Technology✓50 / 49 material×50, limit×490.0e+00 m · 1.0e-15 rad✗ BSD
Go1UNITREE Robotics✓46 / 45 gazebo×38, transmission×120.0e+00 m · 1.8e-16 rad— BSD-3-Clause
Go2UNITREE Robotics✓42 / 41 material×16, axis×16, @dont_collapse×60.0e+00 m · 2.5e-16 rad✓ BSD-3-Clause
GR-1Fourier✓37 / 36 material×35, @name×15, axis×20.0e+00 m · 5.8e-16 rad✓ GPL-3.0
H1UNITREE Robotics✓25 / 24 axis×4, mujoco×10.0e+00 m · 5.3e-16 rad✓ BSD-3-Clause
H1_2UNITREE Robotics✓58 / 57 mimic×12, mujoco×1, axis×10.0e+00 m · 7.1e-16 rad✓ BSD-3-Clause
HSR-BToyota Motor Corporation✓48 / 47 gazebo×63, mimic×7, dynamics×1, +1 more0.0e+00 m · 4.2e-16 rad✓ BSD-3-Clause-Clear
HSR-CToyota Motor Corporation✓46 / 45 gazebo×61, mimic×7, ros2_control×2, +1 more0.0e+00 m · 3.7e-16 rad✓ BSD-3-Clause-Clear
HyQIIT✓19 / 18 gazebo×28, safety_controller×12, transmission×12, +2 more0.0e+00 m · 3.0e-16 rad✗ Apache-2.0
iCubIIT✓189 / 188 dynamics×153, gazebo×123, sensor×81, +1 more0.0e+00 m · 1.2e-15 rad✓ CC-BY-SA-4.0
iiwa 14KUKA✓11 / 10 gazebo×9, material×8, @{http://drake.mit.edu}acceleration×7, +4 more0.0e+00 m · 5.4e-16 rad✓ BSD-3-Clause
iiwa 7KUKA✓9 / 8 gazebo×9, material×8, safety_controller×7, +2 more0.0e+00 m · 3.3e-16 rad✓ MIT
iiwa 7KUKA✓10 / 9 gazebo×9, material×8, safety_controller×7, +2 more0.0e+00 m · 3.3e-16 rad✓ GPL-3.0
Jaco2 j2n4s300Kinova✓14 / 13 transmission×10, gazebo×9, axis×2, +1 more0.0e+00 m · 5.4e-16 rad✓ BSD-3-Clause
Jaco2 j2n6s200Kinova✓14 / 13 gazebo×13, transmission×10, axis×2, +1 more0.0e+00 m · 6.6e-16 rad✓ BSD-3-Clause
Jaco2 j2n6s300Kinova✓16 / 15 gazebo×13, transmission×12, axis×2, +1 more0.0e+00 m · 8.6e-16 rad✓ BSD-3-Clause
Jaco2 j2n7s300Kinova✓17 / 16 gazebo×15, transmission×13, axis×2, +1 more0.0e+00 m · 9.6e-16 rad✓ BSD-3-Clause
Jaco2 j2s6s200Kinova✓14 / 13 gazebo×13, transmission×10, axis×2, +1 more0.0e+00 m · 7.0e-16 rad✓ BSD-3-Clause
Jaco2 j2s6s300Kinova✓16 / 15 gazebo×13, transmission×12, axis×2, +1 more0.0e+00 m · 5.6e-16 rad✓ BSD-3-Clause
Jaco2 j2s7s300Kinova✓17 / 16 gazebo×15, transmission×13, axis×2, +1 more0.0e+00 m · 7.3e-16 rad✓ BSD-3-Clause
JAXONJSK✓39 / 38 @lower×1, @upper×10.0e+00 m · 8.2e-16 rad✓ CC-BY-SA-4.0
JVRC-1AIST✓60 / 59 mimic×10, sensor×100.0e+00 m · 5.4e-16 rad✓ BSD-2-Clause
LaikagoUNITREE Robotics✓14 / 13 mujoco×1, @type×10.0e+00 m · 2.0e-16 rad✓ BSD-3-Clause
LEAP Hand v1Carnegie Mellon University✓17 / 16 joint_properties×160.0e+00 m · 5.1e-16 rad✓ MIT
LunaLimX Dynamics✓39 / 38 mujoco×10.0e+00 m · 3.7e-16 rad✓ Apache-2.0
M-710iCFanuc✓10 / 9 none0.0e+00 m · 3.6e-16 rad✗ BSD-3-Clause
MICO-CoreFlexiv Robotics✓22 / 21 @name×34, origin×16, mass×16, +3 more0.0e+00 m · 6.0e-16 rad✗ Apache-2.0
Mini CheetahMIT✓13 / 12 limit×120.0e+00 m · 2.3e-16 rad✗ BSD
MinitaurGhost Robotics✓27 / 26 joint_properties×26, axis×10, limit×10, +1 more0.0e+00 m · 4.2e-16 rad✓ BSD-2-Clause
N1Fourier✓29 / 28 material×29, axis×50.0e+00 m · 3.8e-16 rad✓ Apache-2.0
NEXTAGEKawada Robotics✓16 / 15 {http://www.ros.org/wiki/xacro}gazebo_nx_link×16, {http://www.ros.org/wiki/xacro}transmission_nx_joint×15, {http://www.ros.org/wiki/xacro}macro×2, +2 more0.0e+00 m · 3.6e-16 rad✓ BSD
OliLimX Dynamics✓42 / 41 material×420.0e+00 m · 5.0e-16 rad✓ Apache-2.0
OMX-FROBOTIS✓10 / 9 material×8, mimic×10.0e+00 m · 3.1e-16 rad✓ Apache-2.0
OMX-LROBOTIS✓8 / 7 material×70.0e+00 m · 1.9e-16 rad✓ Apache-2.0
OMY-3MROBOTIS✓9 / 8 none0.0e+00 m · 2.6e-16 rad✓ Apache-2.0
OMY-F3MROBOTIS✓15 / 14 mimic×3, axis×10.0e+00 m · 6.4e-16 rad✓ Apache-2.0
OMY-L100ROBOTIS✓9 / 8 none0.0e+00 m · 3.1e-16 rad✓ Apache-2.0
OpenArm v1Enactic✓26 / 25 @name×46, mimic×20.0e+00 m · 5.0e-16 rad✗ Apache-2.0
OpenArm v2Enactic✓22 / 21 @name×42, mimic×2, ros2_control×20.0e+00 m · 3.2e-16 rad✓ Apache-2.0
OpenMANIPULATOR-XROBOTIS✓9 / 8 mimic×10.0e+00 m · 2.1e-16 rad✓ Apache-2.0
PandaFranka Robotics✓13 / 12 safety_controller×7, @D×7, @K×7, +3 more0.0e+00 m · 3.6e-16 rad✓ Apache-2.0
PepperSoftBank Robotics✓65 / 64 mimic×28, limit×28, axis×30.0e+00 m · 7.6e-16 rad✓ BSD-2-Clause
PiPERAgileX✓10 / 9 material×100.0e+00 m · 7.7e-16 rad✓ MIT
Poppy Ergo JrPoppy Project✓8 / 7 material×7, limit×6, transmission×6, +2 more0.0e+00 m · 2.7e-16 rad✓ GPL-3.0
Poppy TorsoPoppy Project✓14 / 13 material×14, mass×130.0e+00 m · 7.5e-16 rad✓ GPL-3.0
PR2Willow Garage✓50 / 49 safety_controller×30, transmission×28, calibration×22, +2 more0.0e+00 m · 4.2e-16 rad✓ BSD
R1 ProGalaxea AI✓36 / 35 axis×13, limit×30.0e+00 m · 6.4e-16 rad✓ Apache-2.0
RBY1Rainbow Robotics✓34 / 33 @acceleration×22, axis×5, @in_model_type×4, +1 more0.0e+00 m · 4.8e-16 rad✓ MIT
ReachyPollen Robotics✓31 / 30 @name×230.0e+00 m · 5.1e-16 rad— Apache-2.0
RheaGabrael Levine✓8 / 7 @name×120.0e+00 m · 5.3e-16 rad✓ Apache-2.0
Rizon10Flexiv Robotics✓10 / 9 @name×23, origin×8, mass×8, +3 more0.0e+00 m · 3.3e-16 rad✗ Apache-2.0
Rizon4Flexiv Robotics✓10 / 9 @name×23, origin×8, mass×8, +3 more0.0e+00 m · 4.3e-16 rad✗ Apache-2.0
Robonaut 2NASA JSC Robotics✓105 / 104 traits×14, dynamics×5, material×20.0e+00 m · 2.0e-15 rad✗ NASA-1.3
Robotiq 2F-85Robotiq✓9 / 8 material×9, mimic×5, axis×20.0e+00 m · 2.7e-17 rad✓ BSD
Robotiq 2F-85 v4Robotiq✓11 / 10 material×9, mimic×5, axis×2, +1 more0.0e+00 m · 4.1e-16 rad✓ BSD-2-Clause
RomeoAldebaran Robotics✓96 / 95 gazebo×58, transmission×33, axis×27, +2 more0.0e+00 m · 9.9e-16 rad✗ BSD
RSK OmnidirectionalRobot Soccer Kit✓114 / 113 axis×49, limit×490.0e+00 m · 9.0e-16 rad✓ MIT
SigmaBanRhoban✓27 / 26 joint_properties×20, axis×60.0e+00 m · 1.2e-15 rad✓ MIT
Simple HumanoidNone✓31 / 30 none0.0e+00 m · 4.0e-16 rad✓ BSD-2-Clause
Skydio X2Skydio✓7 / 6 mujoco×1, @type×10✓ Apache-2.0
SO-ARM100The Robot Studio✓7 / 6 transmission×60.0e+00 m · 8.9e-16 rad✓ Apache-2.0
SO-ARM101The Robot Studio✓7 / 6 transmission×60.0e+00 m · 1.5e-15 rad✓ Apache-2.0
SO-ARM101 Parallel GripperRobonine✓9 / 8 safety_controller×5, ros2_control×1, gazebo×1, +2 more0.0e+00 m · 5.5e-16 rad✓ GPL-3.0
SO-ARM102Robonine✓8 / 7 mimic×10.0e+00 m · 1.1e-15 rad✓ CC-BY-4.0
SoloODRI✓17 / 16 material×17, contact×13, limit×4, +1 more0.0e+00 m · 2.0e-16 rad✓ BSD-3-Clause
SprypedBenjamin Bokser✗— nonen/a— BSD
Stretch 4Hello Robot✓53 / 52 axis×39, material×34, @name×28, +1 more0.0e+00 m · 1.5e-15 rad✓ BSD-3-Clause-Clear
Stretch RE1Hello Robot✓44 / 43 material×30, axis×15, limit×20.0e+00 m · 1.3e-15 rad— CC-BY-NC-SA-4.0
Stretch SE3Hello Robot✓61 / 60 material×35, axis×21, limit×2, +3 more0.0e+00 m · 1.3e-15 rad✓ Clear BSD
TALOSPAL Robotics✓60 / 59 gazebo×110, transmission×28, mimic×12, +3 more0.0e+00 m · 6.3e-16 rad✗ LGPL-3.0
TIAGoPAL Robotics✓78 / 77 gazebo×71, transmission×47, safety_controller×13, +3 more0.0e+00 m · 7.7e-16 rad— CC-BY-NC-ND-3.0
TIAGo (official)PAL Robotics✓89 / 88 gazebo×71, transmission×33, axis×19, +7 more0.0e+00 m · 1.0e-15 rad— Apache-2.0
ToddlerBotStanford University✓91 / 90 @name×71, @type×25, mujoco×1, +1 more0.0e+00 m · 3.8e-16 rad✓ MIT
TriFingerEduNone✓17 / 16 @concave×30.0e+00 m · 4.1e-16 rad✗ MIT
Two-arm cell (this page's example)robotdescription.com✓7 / 6 nonen/a✓ MIT
UpkieUpkie Project✓41 / 40 material×4, contact×20.0e+00 m · 2.8e-17 rad✗ Apache-2.0
UR10 (official)Universal Robots✓13 / 12 none0.0e+00 m · 3.5e-16 rad✓ BSD-3-Clause
UR10eUniversal Robots✓13 / 12 none0.0e+00 m · 3.5e-16 rad✓ BSD-3-Clause
UR12eUniversal Robots✓13 / 12 none0.0e+00 m · 3.5e-16 rad✓ BSD-3-Clause
UR15Universal Robots✓13 / 12 none0.0e+00 m · 3.5e-16 rad— Universal Robots Terms for Graphical Documentation
UR16eUniversal Robots✓13 / 12 none0.0e+00 m · 3.5e-16 rad✓ BSD-3-Clause
UR18Universal Robots✓13 / 12 none0.0e+00 m · 3.5e-16 rad— Universal Robots Terms for Graphical Documentation
UR20Universal Robots✓13 / 12 none0.0e+00 m · 3.5e-16 rad— Universal Robots Terms for Graphical Documentation
UR3 (official)Universal Robots✓13 / 12 none0.0e+00 m · 3.4e-16 rad✓ BSD-3-Clause
UR30Universal Robots✓13 / 12 none0.0e+00 m · 3.5e-16 rad— Universal Robots Terms for Graphical Documentation
UR3eUniversal Robots✓13 / 12 none0.0e+00 m · 3.4e-16 rad✓ BSD-3-Clause
UR5 (official)Universal Robots✓13 / 12 none0.0e+00 m · 3.5e-16 rad✓ BSD-3-Clause
UR5eUniversal Robots✓13 / 12 none0.0e+00 m · 3.5e-16 rad✓ BSD-3-Clause
UR7eUniversal Robots✓13 / 12 none0.0e+00 m · 3.5e-16 rad✓ BSD-3-Clause
UR8 LongUniversal Robots✓13 / 12 none0.0e+00 m · 3.5e-16 rad— Universal Robots Terms for Graphical Documentation
ValkyrieNASA JSC Robotics✓78 / 77 gazebo×115, controller_gains×58, transmission×58, +5 more0.0e+00 m · 6.3e-16 rad✗ NASA-1.3
WL P311DLimX Dynamics✓22 / 21 gazebo×30, color×16, transmission×16, +1 more0.0e+00 m · 2.4e-16 rad✓ Apache-2.0
WL P311ELimX Dynamics✓22 / 21 gazebo×30, color×16, transmission×16, +1 more0.0e+00 m · 2.9e-16 rad✓ Apache-2.0
xArm6UFACTORY✓9 / 8 gazebo×7, transmission×6, ros2_control×10.0e+00 m · 6.6e-16 rad✓ BSD-3-Clause
xArm7UFACTORY✓10 / 9 gazebo×8, transmission×7, ros2_control×10.0e+00 m · 1.0e-15 rad✓ BSD-3-Clause
YAMI2RT Robotics✓7 / 6 none0.0e+00 m · 8.4e-16 rad✓ MIT
YuMiABB✓23 / 22 material×21, transmission×16, gazebo×6, +1 more0.0e+00 m · 6.5e-16 rad✓ BSD
Z1UNITREE Robotics✓8 / 7 transmission×6, gazebo×40.0e+00 m · 2.6e-16 rad✓ BSD-3-Clause