Find your robot.
See it move.

Explore URDF robot models, inspect them in 3D, and get the upstream files you need for your next ROS or simulation project.

Browse 32 models Open your own URDF

24 source projects. No account needed. Original authors and licenses stay attached.

A robot description,
ready to explore.

Open the learning arm, move its two joints, and see how links fit together. Then try your own model.

Illustrative teaching model · 3 links / 2 joints · geometry only

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Arms, mobile robots, quadrupeds, humanoids, hands and drones. Each entry points to the original source and explains what to check.

Browse all 32 models
Hands & grippersDrone sourcesROS 2 projectsModels with previews

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Understand the geometry

Rotate the model, adjust joint positions, inspect visual and collision geometry, and find missing mesh resources.

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Check the description

Find malformed XML, disconnected links, invalid limits and circular mimic joints. Review warnings before your simulator-specific checks.

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Format overview

What is URDF?

URDF stands for Unified Robot Description Format. It is an XML format used in ROS to describe one robot's links, joints, visual geometry, collision geometry, and inertial properties. ROS tools parse that model to visualize the robot, publish its transform tree, and prepare it for planning or simulation workflows.

A URDF file is a model description, not a complete simulator project. Mesh files, controllers, launch files, plugins, and simulator-specific settings usually live beside it in a ROS package. Xacro can generate URDF from reusable macros, while SDF can describe richer simulator worlds with multiple models.

Read the beginner guide →Official ROS 2 URDF tutorials ↗

minimal.urdf

<?xml version="1.0"?>
<robot name="example_robot">
  <link name="base_link">
    <visual>
      <geometry>
        <box size="0.4 0.3 0.2"/>
      </geometry>
    </visual>
  </link>
</robot>

This defines one link and its visual shape. Simulation normally also needs collision and inertial data.

Built on upstream work

Models belong to their original maintainers. Explore the repositories, formats and tools behind the catalog, including ROS descriptions, MuJoCo Menagerie and Xacro.

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