Robot armsXacro
Universal Robots UR5e
Six-axis collaborative arm for manipulation and industrial workcells.
ROS 2
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Explore upstream URDF and Xacro sources with clear file paths, compatibility notes and browser previews. Start with the robot you need, then choose the right package for your setup.
32 of 32 models · Source checks are not simulator tests.
Robot armsXacro
Universal Robots UR10e
Larger Universal Robots e-Series arm using the shared parameterized description.
ROS 2
Robot armsXacro
Universal Robots UR7e
UR7e variant of the shared Universal Robots ROS 2 description.
ROS 2
Robot armsXacro
Franka Panda
Panda arm description with configurable hand and collision geometry.
ROS 1
Robot armsXacro
Franka Research 3
Current Franka research-arm source with modular end-effector options.
ROS 2
Hands & grippersXacro
Franka Hand
Parallel gripper description from the Franka end-effector collection.
ROS 2
Mobile robotsXacro
TurtleBot3 Burger
Differential-drive mobile robot description for Burger navigation and learning workflows.
ROS 2
Mobile robotsXacro
TurtleBot3 Waffle
Differential-drive mobile robot description for Waffle navigation and learning workflows.
ROS 2
Mobile robotsXacro
TurtleBot3 Waffle Pi
Differential-drive mobile robot description for Waffle Pi navigation and learning workflows.
ROS 2
QuadrupedsXacro
Spot (community)
Community robot description for the Boston Dynamics Spot platform.
ROS 1
Mobile robotsURDF3D preview
Fetch Mobile Manipulator
Mobile base, torso, arm and head in one Fetch description.
ROS 1
QuadrupedsURDF3D preview
Unitree Go1
Quadruped description from the Unitree robot model collection.
Source models
QuadrupedsURDF3D preview
Unitree Go2
Go2 quadruped description with vendor-provided geometry.
Source models
QuadrupedsURDF3D preview
Unitree A1
A1 quadruped model for legged-robot inspection and integration.
Source models
HumanoidsURDF3D preview
Unitree G1 (29 DOF)
29-DOF G1 humanoid description from Unitree.
Source models
HumanoidsURDF3D preview
Unitree H1
H1 humanoid robot source with articulated legs and arms.
Source models
Hands & grippersURDF3D preview
Unitree Dex3 left hand
Left-side Dex3 hand description for dexterous-manipulation work.
Source models
Robot armsXacro
KUKA iiwa 14
Seven-axis iiwa description from the community iiwa_stack project.
ROS 1
Mobile robotsXacro
Clearpath Husky
Outdoor mobile-base description with configurable sensor accessories.
ROS 1
Robot armsURDF3D preview
OpenMANIPULATOR-X
ROBOTIS desktop manipulator model for education and prototyping.
ROS 2
Robot armsXacro
UFACTORY xArm 6
Six-axis xArm macro source in the UFACTORY ROS 2 repository.
ROS 2
Robot armsURDF
Kinova Gen3 with 2F-85
Expanded Kinova Gen3 description with a Robotiq 2F-85 gripper.
ROS 2
Robot armsXacro
ABB IRB 120
Compact industrial arm description from ROS-Industrial community packages.
ROS 1
Robot armsXacro
FANUC CRX-10iA/L
Long-reach CRX collaborative arm source from ROS-Industrial.
ROS 1
Hands & grippersURDF3D preview
LEAP Hand V1
Four-finger dexterous hand description from the LEAP simulation repository.
Isaac Gym
Hands & grippersURDF3D preview
Allegro right hand
Right-hand Allegro description from the original SimLab ROS stack.
ROS 1
Hands & grippersXacro
Shadow Dexterous Hand
Configurable Shadow Hand description with finger and sensor variants.
ROS 1
Hands & grippersXacro
Robotiq 2F-85
Parallel gripper visualization source from the ROS-Industrial Robotiq packages.
ROS 1
Hands & grippersXacro
Robotiq 2F-140
Parallel gripper visualization source from the ROS-Industrial Robotiq packages.
ROS 1
DronesXacro
Iris quadrotor
RotorS iris quadrotor source with reusable multirotor components.
ROS 1 / Gazebo Classic
DronesXacro
Firefly hexacopter
RotorS firefly hexacopter source with reusable multirotor components.
ROS 1 / Gazebo Classic
DronesXacro
Hummingbird quadrotor
RotorS hummingbird quadrotor source with reusable multirotor components.
ROS 1 / Gazebo Classic