lerobot/robot-urdfs

LeRobot robot URDFs

URDF models of the robots in LeRobot datasets and tools. Each robot is a folder holding its URDF and meshes, referenced by relative paths, so a downloaded folder loads as is. Joints are in radians (meters for prismatic ones), like any URDF.

The OpenUSD versions of SO-101, OpenArm and the Unitree G1s carry these URDFs' link and joint names, so a dataset's joint values drive both the same way.

Robot	URDF	Moving joints	Meshes	License
SO-101 follower	so101/so101_new_calib.urdf	6 revolute	STL	Apache-2.0
SO-101 leader	so101/so101_leader_new_calib.urdf	6 revolute	STL	Apache-2.0
SO-100	so101/so100.urdf	6 revolute	STL	Apache-2.0
OpenArm, bimanual	openarm/openarm_bimanual.urdf	14 revolute, 4 prismatic	DAE	Apache-2.0
Unitree G1, 29 DoF with Dex3-1 hands	g1/g1_body29_hand14.urdf	43 revolute	STL	Apache-2.0
Unitree G1, 29 DoF with Dex1-1 grippers	g1_dex1/g1_body29_dex1.urdf	29 revolute, 4 prismatic	STL	BSD-3-Clause
Unitree G1, 29 DoF with Inspire hands	g1_inspire/g1_body29_inspire.urdf	53 revolute (12 mimic)	STL	BSD-3-Clause
Grabette, left and right	grabette/grabette_left/robot.urdf, grabette_right	2 revolute	STL	Apache-2.0
Asimov 1, 25 DoF	asimov/asimov_1_25dof/urdf/asimov_1_25dof.urdf	25 revolute	STL	CERN-OHL-S-2.0
YAM v1 with linear DM4310 gripper	yam/v1/linear_4310.urdf	6 revolute, 2 prismatic	none	MIT

Robots

SO-101 and SO-100 (so101/), from TheRobotStudio's SO-ARM100 (Apache-2.0), generated with onshape-to-robot from its Onshape model:

• so101_new_calib.urdf: the follower arm, the same file as SO-ARM100's Simulation/SO101/so101_new_calib.urdf. Joints shoulder_pan, shoulder_lift, elbow_flex, wrist_flex, wrist_roll, gripper; gripper_frame_link is the tool point.
• so101_leader_new_calib.urdf: the leader arm: the follower's links and joints, with the leader's trigger (trigger_link, handle_frame_link) in place of the moving jaw.
• so100.urdf: the SO-100 arm, with joints Rotation, Pitch, Elbow, Wrist_Pitch, Wrist_Roll, Jaw.

OpenArm (openarm/), Enactic's bimanual OpenArm (Apache-2.0): openarm_<side>_joint1 to joint7 per arm, and openarm_<side>_finger_joint1 and finger_joint2 (prismatic, the second following the first as a <mimic>). openarm_<side>_hand_tcp is each tool point.

Unitree G1 (g1/, g1_dex1/, g1_inspire/), all with the same 29 body joints (waist_yaw_joint, left_hip_pitch_joint, right_elbow_joint, ...):

• g1_body29_hand14.urdf: with Dex3-1 hands (7 joints each), from assets/g1/g1_body29_hand14.urdf in unitreerobotics/xr_teleoperate (Apache-2.0), its mesh extensions lowercased (.STL to .stl).
• g1_body29_dex1.urdf: with Dex1-1 grippers (2 prismatic finger joints each), a copy of g1_29dof_mode_15_with_dex1_1.urdf in unitreerobotics/unitree_ros (BSD-3-Clause).
• g1_body29_inspire.urdf: with Inspire RH56DFQ hands (6 driven joints each, the other finger joints following them as <mimic>), a copy of g1_29dof_rev_1_0_with_inspire_hand_DFQ.urdf in unitreerobotics/unitree_ros (BSD-3-Clause).

Grabette (grabette/), Pollen Robotics' handheld data recording gripper: copies of packages/grabette/urdf/grabette_left and grabette_right in pollen-robotics/grabette (Apache-2.0). Joints proximal and distal. Their meshes are referenced as package://assets/..., relative to each URDF's folder.

Asimov 1 (asimov/), Menlo Research's 25 DoF humanoid: an unmodified copy of sim-model/asimov_1_25dof in menloresearch/asimov-1, with its MuJoCo MJCF. Licensed under CERN-OHL-S-2.0, see asimov/HARDWARE-LICENSE.txt and asimov/README.md.

YAM (yam/v1/), I2RT's YAM arm with the linear DM4310 gripper: a dynamics-only URDF (no meshes), converted from LeRobot's YAM v1 MJCF model, derived from i2rt at commit 120c3c8 (MIT, notice in the file). Joints joint1 to joint6 (revolute) and joint7, joint8 (prismatic gripper).

so101_new_calib_web.urdf and openarm_bimanual_web.urdf are the same robots with GLB visual meshes, smaller and faster to load in a browser; their collision meshes are unchanged.

Usage

Download one robot's folder:

from huggingface_hub import snapshot_download

root = snapshot_download("lerobot/robot-urdfs", repo_type="dataset", allow_patterns="so101/*")
urdf = f"{root}/so101/so101_new_calib.urdf"  # meshes in so101/assets/

Or load it straight from the Hub in a browser, for example with urdf-loader: meshes resolve next to the URDF's URL. Its default mesh loader reads STL and DAE; the _web URDFs need a GLB loader passed as loadMeshCb.

import URDFLoader from "urdf-loader";

const robot = await new URDFLoader().loadAsync(
  "https://huggingface.co/datasets/lerobot/robot-urdfs/resolve/main/so101/so101_new_calib.urdf",
);
robot.setJointValue("shoulder_lift", Math.PI / 4);

Each robot keeps the license of its source, listed above.