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

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

Typed robot definitions in Python

Petoi Bittle X V1 — MuJoCo model with OpenCat gaits

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

MuJoCo (MJCF) model of the Hiwonder MasterPi mecanum robot arm car, built from Hiwonder's dimensional drawing and its own IK library. Verified 0.00 mm against the stock inverse kinematics.

Rigyd SDK + CLI — convert any 3D model, text prompt, or image into a physics-enabled SimReady simulation asset (USD for Isaac Sim, MJCF for MuJoCo).

Simulation-ready Apollo 17 Lunar Roving Vehicle: SimReady OpenUSD asset plus URDF, MJCF and Blender, with articulated joints, photo-matched PBR materials and mission variants

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