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

C++20 physics engine for robotics and animation with collision, constraints, and Python bindings

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

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

Convert a Mujoco MJCF XML model to Roblox Luau code

MJCF viewer and simulator