Example robot URDFs

[!WARNING] example-robot-data >= 4.4.0 contains only the robot models. if you want the python loaders: pip install example-robot-data-loaders

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

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

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:

Release files for example-robot-data 5.0.0

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Source distribution for example-robot-data 5.0.0
File	Size	Uploaded
example_robot_data-5.0.0.tar.gz	132.3 MB	Jun 5, 2026	Details

Built distribution (wheel)

Table of built distributions (wheels) for example-robot-data 5.0.0
File	Interpreter	ABI	Platform	Reset
example_robot_data-5.0.0-0-py3-none-any.whl 133.1 MB Jun 5, 2026	Python 3	none	any	Details

Total release size: 265.4 MB

Release files / example_robot_data-5.0.0.tar.gz

Download URL	example_robot_data-5.0.0.tar.gz
Size	132.3 MB
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Uploaded via	`twine/6.1.0 CPython/3.13.12`

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Publishing commit: github.com/cmake-wheel/example-robot-data/tree/7a121fa788607b2b411f0ffedd837f799e1ac965

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Download URL	example_robot_data-5.0.0-0-py3-none-any.whl
Size	133.1 MB
Tags	Python 3
SHA-256 checksum How to use checksums	`3509e88340192aa3bf8446af5cd75ff3b8e4a4a710ece7a029aa3e69d5c21e93`
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Upload date	Jun 5, 2026
Uploaded using Trusted Publishing? What is trusted publishing?	Yes
Uploaded via	`twine/6.1.0 CPython/3.13.12`

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Publishing platform: GitHub Actions
Publishing repository: github.com/cmake-wheel/example-robot-data
Publishing commit: github.com/cmake-wheel/example-robot-data/tree/7a121fa788607b2b411f0ffedd837f799e1ac965

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Publishing configuration: github.com/cmake-wheel/example-robot-data/blob/7a121fa788607b2b411f0ffedd837f799e1ac965/.github/workflows/release.yml
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Subject: example_robot_data-5.0.0-0-py3-none-any.whl
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