Popular
verified
manipulator
UR5e
Universal Robots collaborative arm - 6-DOF industrial manipulator widely used in manufacturing and research.
2,340
6-DOFCollaborativeIndustrial
Open Source Robot Models
The URDF Hub
The open-source hub for Unified Robot Description Format models. Browse, download, and contribute robot descriptions ready for ROS, Gazebo, and simulation.
terminal://urdfhub
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ROS 2
Gazebo Ready
Robot Models
Featured URDFs
verified
manipulator
Franka Panda
7-DOF research manipulator with torque sensors. Popular in academic robotics research.
1,890
7-DOFResearchTorque Control
verified
mobile
TurtleBot3 Burger
Compact differential drive mobile robot. Perfect for ROS education and SLAM experiments.
3,210
DifferentialSLAMEducation
community
quadruped
Spot
Boston Dynamics quadruped robot. Community-maintained URDF for simulation.
890
QuadrupedLeggedDynamic
verified
mobile-manipulator
Fetch Mobile Manipulator
Mobile manipulation platform combining a mobile base with a 7-DOF arm.
1,230
Mobile7-DOF ArmPick-Place
community
quadruped
Unitree Go1
Affordable quadruped robot for research and education. Highly dynamic locomotion.
780
QuadrupedDynamicResearch
verified
manipulator
KUKA iiwa 14
7-DOF lightweight robot with integrated torque sensors in each axis.
1,450
7-DOFTorque SensingIndustrial
verified
mobile
Clearpath Husky
Rugged outdoor mobile robot platform for field robotics research.
920
OutdoorSkid-SteerField
Why URDF Hub
Everything you need for
robot simulation
Stop spending hours fixing broken URDFs. Get simulation-ready robot models with proper meshes, inertias, and joint configurations.
Simulation Ready
All URDFs are tested and ready for Gazebo, Isaac Sim, PyBullet, and MuJoCo. Just clone and simulate.
ROS 2 Compatible
Native support for ROS 2 Humble, Iron, and Jazzy. URDF and XACRO formats with launch files included.
Community Driven
Built by roboticists, for roboticists. Contribute your robot models and help grow the ecosystem.
Well Documented
Each robot includes documentation, joint limits, collision meshes, and sensor configurations.
Verified Models
Core models are verified for accuracy. Community models are peer-reviewed before inclusion.
Open Source
MIT and Apache 2.0 licensed. Use freely in research, education, and commercial projects.
Get Started
Three steps to
robot simulation
01
Browse
Find the robot model you need. Filter by type, manufacturer, or use case. Each model includes detailed specs.
# Search for a manipulator urdfhub search --type manipulator
02
Clone
Clone the repository or download individual URDF files. All models include meshes, textures, and configs.
git clone https://github.com/urdfhub/ur5e # or urdfhub get ur5e
03
Simulate
Load into your simulator of choice. Works out of the box with Gazebo, Isaac Sim, PyBullet, and more.
ros2 launch urdfhub_ur5e gazebo.launch.py
Have a robot model to share?
Contribute your URDF to the community. Help fellow roboticists save time and accelerate their research.