// the find
robot-descriptions/awesome-robot-descriptions
A curated list of awesome robot descriptions (URDF, MJCF)
A reference index of robot description files (URDF, MJCF, Xacro) for ~150 robots spanning arms, humanoids, quadrupeds, drones, and end effectors. It's a link farm with metadata columns — format, license, and whether visuals/inertias/collision meshes are present. Primarily useful if you're setting up a simulator and need to find a ready-made model without hunting across a dozen manufacturer repos.
The inertias/collisions/visuals columns are genuinely useful — they tell you upfront whether a model is simulation-ready or just a pretty mesh. Coverage is broad and current, including recent hardware like Unitree G1, SO-ARM100/101, and several 2024-era humanoids. Most entries link directly to the specific file or subdirectory, not just the root repo. Strong overlap with mujoco_menagerie means many MJCF entries are already tuned for contact simulation.
It's purely a link list — no version pins, so links rot as repos restructure. Several entries have no license (marked ✖️), which is a real problem if you're building anything commercial. No quality signal beyond the three boolean columns; a model can have all three checkmarks and still have garbage inertia tensors. The list skips a version check layer entirely — you won't know if the linked URDF matches the current hardware revision or is years out of date.