Model collection curated by Google DeepMind, primarily in MJCF. Check each model license; MJCF is not URDF.
Branch: main · Repository snapshot · License and asset terms remain upstream.
The projects behind the robots
Discover robot description repositories and the tools around them. This is a curated starting point across ROS, simulation and visualization; each project keeps its own formats, documentation and license terms.
24 projects · Sorted by repository stars recorded October 28, 2026. Stars show attention, not compatibility or model quality.
Check the ROS distribution-specific instructions and branch before installing the complete description package.
Branch: main · Repository snapshot · License and asset terms remain upstream.
Vendor descriptions for quadrupeds, humanoids and hands. Files are model assets; the repository name does not establish ROS 2 or simulator compatibility.
Branch: master · Repository snapshot · License and asset terms remain upstream.
Research drone models and plugins for the older ROS/Gazebo stack. These are not ready-made current Gazebo or ROS 2 packages.
Branch: master · Repository snapshot · License and asset terms remain upstream.
Access robot descriptions from Python robotics frameworks. Formats and licenses are model-specific.
Branch: main · Repository snapshot · License and asset terms remain upstream.
Browser and Unity loaders for URDF visualization. Visualization is not a physics simulation.
Branch: master · Repository snapshot · License and asset terms remain upstream.
ROBOTIS descriptions and ROS 2 integration. Select the matching robot variant and distribution instructions.
Branch: main · Repository snapshot · License and asset terms remain upstream.
This is the Noetic description. Current Clearpath ROS 2 packages use a different setup.
Branch: noetic-devel · Repository snapshot · License and asset terms remain upstream.
ROS 1 integration. Panda source is retained here; do not treat this as a ROS 2 launch package.
Branch: develop · Repository snapshot · License and asset terms remain upstream.
Community iiwa integration. The README documents older ROS releases; choose compatible controllers and dependencies.
Branch: master · Repository snapshot · License and asset terms remain upstream.
ROS 2 descriptions; choose the branch for your distribution. Rolling is the source snapshot here. Meshes have separate upstream terms.
Branch: rolling · Repository snapshot · License and asset terms remain upstream.
Progressive robot description examples from the ROS tutorial project. The ros2 branch is recorded here.
Branch: ros2 · Repository snapshot · License and asset terms remain upstream.
Legacy gripper packages on kinetic-devel. Mimic joints and adaptive mechanisms need simulator-specific handling.
Branch: kinetic-devel · Repository snapshot · License and asset terms remain upstream.
The Humble branch is recorded here. Use the complete repository, submodules, and the correct arm/gripper arguments.
Branch: humble · Repository snapshot · License and asset terms remain upstream.
LEAP Hand V1 simulation assets. The repository targets Isaac Gym; the URDF can be inspected separately.
Branch: master · Repository snapshot · License and asset terms remain upstream.
ROS-Industrial descriptions on noetic-devel. Review package-specific licensing and model limits.
Branch: noetic-devel · Repository snapshot · License and asset terms remain upstream.
Community support packages on noetic-devel. Model support and licensing vary by package.
Branch: noetic-devel · Repository snapshot · License and asset terms remain upstream.
The ros1 branch contains Fetch and Freight descriptions. ROS 2 integration requires separate work.
Branch: ros1 · Repository snapshot · License and asset terms remain upstream.
Official Franka descriptions with configurable end effectors. Generate the model with the supplied scripts and arguments.
Branch: main · Repository snapshot · License and asset terms remain upstream.
Gen3 and Gen3 Lite descriptions and ROS 2 integration. Match the arm, gripper and control configuration.
Branch: main · Repository snapshot · License and asset terms remain upstream.
XML macro processor for generating URDF. Includes and expressions need the corresponding packages and arguments.
Branch: ros2 · Repository snapshot · License and asset terms remain upstream.
Shadow Hand Xacro sources on noetic-devel. Hand side, sensor options and dependencies affect the expanded model.
Branch: noetic-devel · Repository snapshot · License and asset terms remain upstream.
Legacy SimLab hand descriptions. Inspect inertial values and model revision before simulation.
Branch: master · Repository snapshot · License and asset terms remain upstream.
Community Spot integration. Verify the model geometry and package dependencies against your intended robot.
Branch: master · Repository snapshot · License and asset terms remain upstream.