example-robot-descriptions is a soft fork of https://github.com/gepetto/example-robot-data

without problematic licenses for ROS packaging

Example robot URDFs

This repository includes a set of robot descriptions that are aimed to be used in benchmarking, unit-tests, teachings, tutorials or show-cases. These source files do not intend to substitute their original repositories.

:penguin: Installation

:package: From Debian / Ubuntu packages, with robotpkg

1. If you have never added robotpkg’s software repository, do it now:

   sudo tee /etc/apt/sources.list.d/robotpkg.list <<EOF
   deb [arch=amd64] http://robotpkg.openrobots.org/packages/debian/pub $(lsb_release -sc) robotpkg
   EOF

   curl http://robotpkg.openrobots.org/packages/debian/robotpkg.key | sudo apt-key add -
   sudo apt update
   

1. installation of example-robot-data and its python utils:

   sudo apt install robotpkg-py3\*-example-robot-data
   

:snake: From

As simple as that:

   conda install example-robot-data -c conda-forge

:turtle: With ROS

Just clone it (with --recursive) into a catkin workspace.

:file_folder: From source

Clone it (with --recursive), create a build directory inside, and:

cmake .. && make && make install

:robot: Show a robot with gepetto-gui

python -m example_robot_data -h to list available robots.

:copyright: Credits

:writing_hand: Written by

• Carlos Mastalli, Heriot-Watt University :uk:
• Guilhem Saurel, LAAS-CNRS :fr:

:construction_worker: With contributions from

• Justin Carpentier, INRIA :fr:
• Pierre Fernbach, LAAS-CNRS :fr:
• Florent Lamiraux, LAAS-CNRS :fr:
• Wolfgang Merkt, University of Oxford :uk:
• Josep Martí Saumell, IRI: CSIC-UPC :es:
• Louis Montaut, INRIA :fr:, CTU :czech_republic:
• Sergi Martinez, Heriot-Watt University :uk:

Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog.

[Unreleased]

• :warning: soft-fork in https://github.com/Gepetto/example-robot-descriptions : drop alex & icub

[6.0.0] - 2026-10-30

Changed

• :warning: Breaking (only for ROS packaging) :warning: renamed the ROS package as example_robot_descriptions.

Removed

• :warning: Breaking :warning: removed Falcon Bravo7 Bluevolta robots for license issues

[5.0.0] - 2026-06-05

Added

• Unit testing inertia validity and projected rotation inertial to the fully-physical consistent set (#370)
• Installing example-robot-data without hppfcl (#338)
• ROS: jrl_cmakemodules dependency (#330)
• Added Centauro (#346)

Changed

• Use coal instead of hppfcl (#374)

Removed

• removed cmake submodule (#375)

[4.4.0] - 2025-09-29

• The default git branch is now devel
• ur_description : remove ALL “LightGrey” materials
• CMake: allow BUILD_STANDALONE_PYTHON_INTERFACE
• new robots:
  • human whole body model
  • IHMC Alexander
  • xarm7

[4.3.0] - 2025-03-18

• Add panda collision (#242) + (#263)
• Add baxter srdf (#259)
• Update Go2 collision for convex hull of mesh and remove “Head_upper”, “Head_lower”, “XX_calflower”, “XX_calflower1” links and joints (#260)
• Fix ROS2 installation (#261)
• Add tiago pro (#265)
• Add nix flake

[4.2.0] - 2024-12-08

Added

• Add PR2 robots (#210)
• Add GO2 robots (#239)
• Add Falcon Bravo7 Bluevolta robots (#244)
• Add alex robots (#247)
• Add compatibility with jrl-cmakemodules workspace (#225)

[4.1.0] - 2024-01-29

• added CHANGELOG.md in https://github.com/Gepetto/example-robot-data/pull/193
• added a simple quadruped robot
• Fix wrong position of the center of mass for Solo-8 and Solo-12 lower legs
• Added the Unitree’s Z1 robot
• Store urdf file in robot
• Updated borinot & hextilt

[4.0.9] - 2023-11-29

What’s Changed

• Supported pinocchio with cppadcg installation by @cmastalli in https://github.com/Gepetto/example-robot-data/pull/180
• [pre-commit.ci] pre-commit autoupdate by @pre-commit-ci in https://github.com/Gepetto/example-robot-data/pull/181
• Verbose by @nim65s in https://github.com/Gepetto/example-robot-data/pull/183
• [pre-commit.ci] pre-commit autoupdate by @pre-commit-ci in https://github.com/Gepetto/example-robot-data/pull/184
• [pre-commit.ci] pre-commit autoupdate by @pre-commit-ci in https://github.com/Gepetto/example-robot-data/pull/187
• [pre-commit.ci] pre-commit autoupdate by @pre-commit-ci in https://github.com/Gepetto/example-robot-data/pull/188
• CMake: require >= 3.10 by @nim65s in https://github.com/Gepetto/example-robot-data/pull/185
• Update jrlcmakemodules to support Python 3.12 by @jorisv in https://github.com/Gepetto/example-robot-data/pull/190
• [pre-commit.ci] pre-commit autoupdate by @pre-commit-ci in https://github.com/Gepetto/example-robot-data/pull/189
• [pre-commit.ci] pre-commit autoupdate by @pre-commit-ci in https://github.com/Gepetto/example-robot-data/pull/191
• Sync submodule cmake by @jcarpent in https://github.com/Gepetto/example-robot-data/pull/192

New Contributors

• @jorisv made their first contribution in https://github.com/Gepetto/example-robot-data/pull/190

[4.0.8] - 2023-07-18

• updated copyright and contributors
• updated pre-commit
• updated cmake for eigenpy 3.1.0
• updated submodule

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