mjcf

A curated list of awesome robot descriptions (URDF, MJCF)

DART: Dynamic Animation and Robotics Toolkit

Render URDF/MJCF/USD robots instantly in your browser

Convert MuJoCo mjcf to URDF format.

Compile xacro files to plain URDF or MJCF from Python or the command line (no ROS required).

MuJoCo specification file and assets for OpenArm

A submodule of Berkeley Humanoid Lite Project

Unified High-Throughput Robotics Library

SolidWorks to URDF Exporter Enhancement

KUKA LBR iiwa 7 R800 MuJoCo (MJCF) model and motion-control demos: unified end-effector controller with damped-least-squares IK, gravity / inverse-dynamics feedforward, and task-space PD. Tuned to mujoco_menagerie conventions.

Model files for MagiClaw

A curated collection of mainstream robot arm model files for simulation, including URDF and MuJoCo MJCF assets.

Open-source wheel–leg–aerial hybrid robot substrate. v0.5 reproduction milestone artifacts (descriptors, baked URDF + MJCF + STL + BOM).

MJCF model of a 2-DOF arm with CAD-derived joint limits

URDF, Xacro, MJCF and USD descriptions of the XTac-UMI G1 master (handheld) and slave (arm-mounted) grippers, for ROS 2 and Python

Local capture and mesh processing into validated MJCF / URDF scene packages.

Typed robot definitions in Python

Petoi Bittle X V1 — MuJoCo model with OpenCat gaits

Unofficial pre-flight and safety layer for humanoid joint motion (oriented to Unitree G1/H1). Simulation-first. Pure Python, no dependencies.

Which URDF/MJCF/USD file for which Unitree robot — per-model index of unitree_ros and unitree_model, with the gotchas (G1 DOF variants, H2_loop closed chain, no AS2-W/A2-W URDF). Maintained by robotlar.org