Difference between revisions of "Robot Descriptions List"

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=== Humanoids ===
 
=== Humanoids ===
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{| class="wikitable"
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{| class="wikitable sortable"
 
|-
 
|-
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! Name !! Maker !! Formats !! URL !! License !! Meshes !! Inertias !! Collisions
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! Sr No !! Name !! Maker !! Formats !! URL !! License !! Meshes !! Inertias !! Collisions
 
|-
 
|-
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| Stompy || K-Scale Labs || URDF || [https://stompy.kscale.dev URDF], [https://stompy.kscale.dev MJCF] || MIT || ✔️ || ✔️ || ✔️
+
| 1 || Stompy || K-Scale Labs || URDF || [https://stompy.kscale.dev URDF], [https://stompy.kscale.dev MJCF] || MIT || ✔️ || ✔️ || ✔️
 
|-
 
|-
−
| Digit || Agility Robotics || URDF || [https://github.com/adubredu/DigitRobot.jl URDF] || ✖️ || ✔️ || ✔️ || ✔️
+
| 2 || Digit || Agility Robotics || URDF || [https://github.com/adubredu/DigitRobot.jl URDF] || ✖️ || ✔️ || ✔️ || ✔️
 
|-
 
|-
−
| H1 || UNITREE Robotics || MJCF || [https://github.com/google-deepmind/mujoco_menagerie/tree/main/unitree_h1 MJCF] || BSD-3-Clause || ✔️ || ✔️ || ✔️
+
| 3 || H1 || UNITREE Robotics || MJCF || [https://github.com/google-deepmind/mujoco_menagerie/tree/main/unitree_h1 MJCF] || BSD-3-Clause || ✔️ || ✔️ || ✔️
 
|-
 
|-
−
| Atlas v4 || Boston Dynamics || URDF || [https://github.com/openai/roboschool/tree/1.0.49/roboschool/models_robot/atlas_description URDF] || MIT || ✔️ || ✔️ || ✔️
+
| 4 || Atlas v4 || Boston Dynamics || URDF || [https://github.com/openai/roboschool/tree/1.0.49/roboschool/models_robot/atlas_description URDF] || MIT || ✔️ || ✔️ || ✔️
 
|-
 
|-
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| Valkyrie || NASA JSC Robotics || URDF, Xacro || [https://github.com/gkjohnson/nasa-urdf-robots/tree/master/val_description/model URDF], [https://gitlab.com/nasa-jsc-robotics/val_description Xacro] || NASA-1.3 || ✔️ || ✔️ || ✔️
+
| 5 || Valkyrie || NASA JSC Robotics || URDF, Xacro || [https://github.com/gkjohnson/nasa-urdf-robots/tree/master/val_description/model URDF], [https://gitlab.com/nasa-jsc-robotics/val_description Xacro] || NASA-1.3 || ✔️ || ✔️ || ✔️
 
|-
 
|-
−
| JVRC-1 || AIST || MJCF, URDF || [https://github.com/isri-aist/jvrc_mj_description/ MJCF], [https://github.com/stephane-caron/jvrc_description URDF] || BSD-2-Clause || ✔️ || ✔️ || ✔️
+
| 6 || JVRC-1 || AIST || MJCF, URDF || [https://github.com/isri-aist/jvrc_mj_description/ MJCF], [https://github.com/stephane-caron/jvrc_description URDF] || BSD-2-Clause || ✔️ || ✔️ || ✔️
 
|-
 
|-
−
| iCub || IIT || URDF || [https://github.com/robotology/icub-models/tree/master/iCub URDF] || CC-BY-SA-4.0 || ✔️ || ✔️ || ✔️
+
| 7 || iCub || IIT || URDF || [https://github.com/robotology/icub-models/tree/master/iCub URDF] || CC-BY-SA-4.0 || ✔️ || ✔️ || ✔️
 
|-
 
|-
−
| JAXON || JSK || COLLADA, URDF, VRML || [https://github.com/stephane-caron/openrave_models/tree/master/JAXON COLLADA], [https://github.com/robot-descriptions/jaxon_description URDF], [https://github.com/start-jsk/rtmros_choreonoid/tree/master/jvrc_models/JAXON_JVRC VRML] || CC-BY-SA-4.0 || ✔️ || ✔️ || ✔️
+
| 8 || JAXON || JSK || COLLADA, URDF, VRML || [https://github.com/stephane-caron/openrave_models/tree/master/JAXON COLLADA], [https://github.com/robot-descriptions/jaxon_description URDF], [https://github.com/start-jsk/rtmros_choreonoid/tree/master/jvrc_models/JAXON_JVRC VRML] || CC-BY-SA-4.0 || ✔️ || ✔️ || ✔️
 
|-
 
|-
−
| Atlas DRC (v3) || Boston Dynamics || URDF || [https://github.com/RobotLocomotion/models/blob/master/atlas/atlas_convex_hull.urdf URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️
+
| 9 || Atlas DRC (v3) || Boston Dynamics || URDF || [https://github.com/RobotLocomotion/models/blob/master/atlas/atlas_convex_hull.urdf URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️
 
|-
 
|-
−
| Gundam RX-78 || Bandai Namco Filmworks || URDF || [https://github.com/gundam-global-challenge/gundam_robot/tree/master/gundam_rx78_description URDF] || ✖️ || ✔️ || ✔️ || ✔️
+
| 10 || Gundam RX-78 || Bandai Namco Filmworks || URDF || [https://github.com/gundam-global-challenge/gundam_robot/tree/master/gundam_rx78_description URDF] || ✖️ || ✔️ || ✔️ || ✔️
 
|-
 
|-
−
| Romeo || Aldebaran Robotics || URDF || [https://github.com/ros-aldebaran/romeo_robot/tree/master/romeo_description URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️
+
| 11 || Romeo || Aldebaran Robotics || URDF || [https://github.com/ros-aldebaran/romeo_robot/tree/master/romeo_description URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️
 
|-
 
|-
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| SigmaBan || Rhoban || URDF || [https://github.com/Rhoban/sigmaban_urdf URDF] || MIT || ✔️ || ✔️ || ✔️
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| 12 || SigmaBan || Rhoban || URDF || [https://github.com/Rhoban/sigmaban_urdf URDF] || MIT || ✔️ || ✔️ || ✔️
 
|-
 
|-
−
| Robonaut 2 || NASA JSC Robotics || URDF || [https://github.com/gkjohnson/nasa-urdf-robots/tree/master/r2_description URDF] || NASA-1.3 || ✔️ || ✔️ || ✔️
+
| 13 || Robonaut 2 || NASA JSC Robotics || URDF || [https://github.com/gkjohnson/nasa-urdf-robots/tree/master/r2_description URDF] || NASA-1.3 || ✔️ || ✔️ || ✔️
 
|-
 
|-
−
| TALOS || PAL Robotics || URDF, Xacro || [https://github.com/stack-of-tasks/talos-data URDF], [https://github.com/pal-robotics/talos_robot/tree/kinetic-devel/talos_description Xacro] || LGPL-3.0, Apache-2.0 || ✔️ || ✔️ || ✔️
+
| 14 || TALOS || PAL Robotics || URDF, Xacro || [https://github.com/stack-of-tasks/talos-data URDF], [https://github.com/pal-robotics/talos_robot/tree/kinetic-devel/talos_description Xacro] || LGPL-3.0, Apache-2.0 || ✔️ || ✔️ || ✔️
 
|-
 
|-
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| WALK-MAN || IIT || Xacro || [https://github.com/ADVRHumanoids/iit-walkman-ros-pkg/tree/master/walkman_urdf Xacro] || BSD-3-Clause || ✔️ || ✔️ || ✔️
+
| 15 || WALK-MAN || IIT || Xacro || [https://github.com/ADVRHumanoids/iit-walkman-ros-pkg/tree/master/walkman_urdf Xacro] || BSD-3-Clause || ✔️ || ✔️ || ✔️
 
|-
 
|-
−
| Draco3 || Apptronik || URDF || [https://github.com/shbang91/draco3_description URDF] || BSD-2-Clause || ✔️ || ✔️ || ✔️
+
| 16 || Draco3 || Apptronik || URDF || [https://github.com/shbang91/draco3_description URDF] || BSD-2-Clause || ✔️ || ✔️ || ✔️
 
|-
 
|-
−
| ergoCub || IIT || URDF || [https://github.com/icub-tech-iit/ergocub-software/tree/master/urdf/ergoCub URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️
+
| 17 || ergoCub || IIT || URDF || [https://github.com/icub-tech-iit/ergocub-software/tree/master/urdf/ergoCub URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️
 
|-
 
|-
−
| Baxter || Rethink Robotics || URDF, Xacro || [https://github.com/RethinkRobotics/baxter_common/tree/master/baxter_description/urdf/baxter.urdf.xacro URDF, Xacro] || Apache-2.0 || ✔️ || ✔️ || ✔️
+
| 18 || Baxter || Rethink Robotics || URDF, Xacro || [https://github.com/RethinkRobotics/baxter_common/tree/master/baxter_description/urdf/baxter.urdf.xacro URDF, Xacro] || Apache-2.0 || ✔️ || ✔️ || ✔️
 
|-
 
|-
−
| Pepper || SoftBank Robotics || URDF || [https://github.com/ros-naoqi/pepper_robot URDF] || BSD-2-Clause || ✔️ || ✔️ || ✔️
+
| 19 || Pepper || SoftBank Robotics || URDF || [https://github.com/ros-naoqi/pepper_robot URDF] || BSD-2-Clause || ✔️ || ✔️ || ✔️
 
|-
 
|-
−
| Mini-Cheetah || MIT || URDF || [https://github.com/MIT-Mini-Cheetah/mini-cheetah URDF] || MIT || ✔️ || ✔️ || ✔️
+
| 20 || Mini-Cheetah || MIT || URDF || [https://github.com/MIT-Mini-Cheetah/mini-cheetah URDF] || MIT || ✔️ || ✔️ || ✔️
 
|-
 
|-
−
| Thor-Mang || ROBOTIS || URDF || [https://github.com/ROBOTIS-GIT/ROBOTIS-MANIPULATION-THORMANG URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️
+
| 21 || Thor-Mang || ROBOTIS || URDF || [https://github.com/ROBOTIS-GIT/ROBOTIS-MANIPULATION-THORMANG URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️
 
|-
 
|-
−
| Cassie || Agility Robotics || URDF || [https://github.com/agilityrobotics/cassie_description URDF] || MIT || ✔️ || ✔️ || ✔️
+
| 22 || Cassie || Agility Robotics || URDF || [https://github.com/agilityrobotics/cassie_description URDF] || MIT || ✔️ || ✔️ || ✔️
 
|-
 
|-
−
| Sophia || Hanson Robotics || URDF || [https://github.com/hansonrobotics/sophia_robot URDF] || Apache-2.0 || ✔️ || ✔️ || ✔️
+
| 23 || Sophia || Hanson Robotics || URDF || [https://github.com/hansonrobotics/sophia_robot URDF] || Apache-2.0 || ✔️ || ✔️ || ✔️
 
|-
 
|-
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| Asimo || Honda || URDF || [https://github.com/honda/asimo_description URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️
+
| 24 || Asimo || Honda || URDF || [https://github.com/honda/asimo_description URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️
 
|-
 
|-
−
| HRP-5P || Kawada Robotics || URDF || [https://github.com/kawada-robotics/hrp5p URDF] || BSD-2-Clause || ✔️ || ✔️ || ✔️
+
| 25 || HRP-5P || Kawada Robotics || URDF || [https://github.com/kawada-robotics/hrp5p URDF] || BSD-2-Clause || ✔️ || ✔️ || ✔️
 
|-
 
|-
−
| Valkyrie R5 || NASA || URDF, Xacro || [https://github.com/nasa/valkyrie_simulation URDF], [https://github.com/nasa/valkyrie_robot Xacro] || NASA-1.3 || ✔️ || ✔️ || ✔️
+
| 26 || Valkyrie R5 || NASA || URDF, Xacro || [https://github.com/nasa/valkyrie_simulation URDF], [https://github.com/nasa/valkyrie_robot Xacro] || NASA-1.3 || ✔️ || ✔️ || ✔️
 
|-
 
|-
−
| REEM-C || PAL Robotics || URDF || [https://github.com/pal-robotics/reemc_description URDF] || LGPL-3.0 || ✔️ || ✔️ || ✔️
+
| 27 || REEM-C || PAL Robotics || URDF || [https://github.com/pal-robotics/reemc_description URDF] || LGPL-3.0 || ✔️ || ✔️ || ✔️
 
|-
 
|-
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| Darwin-OP || ROBOTIS || URDF || [https://github.com/ROBOTIS-GIT/Darwin_OP_ROS URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️
+
| 28 || Darwin-OP || ROBOTIS || URDF || [https://github.com/ROBOTIS-GIT/Darwin_OP_ROS URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️
 
|-
 
|-
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| Poppy || Inria Flowers || URDF || [https://github.com/poppy-project/poppy_humanoid URDF] || GPL-3.0 || ✔️ || ✔️ || ✔️
+
| 29 || Poppy || Inria Flowers || URDF || [https://github.com/poppy-project/poppy_humanoid URDF] || GPL-3.0 || ✔️ || ✔️ || ✔️
 +
|-
 +
|}
  
−
|}
 
  
 
=== End Effectors ===
 
=== End Effectors ===

Revision as of 22:46, 29 May 2024

Humanoids

Sr No Name Maker Formats URL License Meshes Inertias Collisions
1 Stompy K-Scale Labs URDF URDF, MJCF MIT ✔️ ✔️ ✔️
2 Digit Agility Robotics URDF URDF ✖️ ✔️ ✔️ ✔️
3 H1 UNITREE Robotics MJCF MJCF BSD-3-Clause ✔️ ✔️ ✔️
4 Atlas v4 Boston Dynamics URDF URDF MIT ✔️ ✔️ ✔️
5 Valkyrie NASA JSC Robotics URDF, Xacro URDF, Xacro NASA-1.3 ✔️ ✔️ ✔️
6 JVRC-1 AIST MJCF, URDF MJCF, URDF BSD-2-Clause ✔️ ✔️ ✔️
7 iCub IIT URDF URDF CC-BY-SA-4.0 ✔️ ✔️ ✔️
8 JAXON JSK COLLADA, URDF, VRML COLLADA, URDF, VRML CC-BY-SA-4.0 ✔️ ✔️ ✔️
9 Atlas DRC (v3) Boston Dynamics URDF URDF BSD-3-Clause ✔️ ✔️ ✔️
10 Gundam RX-78 Bandai Namco Filmworks URDF URDF ✖️ ✔️ ✔️ ✔️
11 Romeo Aldebaran Robotics URDF URDF BSD-3-Clause ✔️ ✔️ ✔️
12 SigmaBan Rhoban URDF URDF MIT ✔️ ✔️ ✔️
13 Robonaut 2 NASA JSC Robotics URDF URDF NASA-1.3 ✔️ ✔️ ✔️
14 TALOS PAL Robotics URDF, Xacro URDF, Xacro LGPL-3.0, Apache-2.0 ✔️ ✔️ ✔️
15 WALK-MAN IIT Xacro Xacro BSD-3-Clause ✔️ ✔️ ✔️
16 Draco3 Apptronik URDF URDF BSD-2-Clause ✔️ ✔️ ✔️
17 ergoCub IIT URDF URDF BSD-3-Clause ✔️ ✔️ ✔️
18 Baxter Rethink Robotics URDF, Xacro URDF, Xacro Apache-2.0 ✔️ ✔️ ✔️
19 Pepper SoftBank Robotics URDF URDF BSD-2-Clause ✔️ ✔️ ✔️
20 Mini-Cheetah MIT URDF URDF MIT ✔️ ✔️ ✔️
21 Thor-Mang ROBOTIS URDF URDF BSD-3-Clause ✔️ ✔️ ✔️
22 Cassie Agility Robotics URDF URDF MIT ✔️ ✔️ ✔️
23 Sophia Hanson Robotics URDF URDF Apache-2.0 ✔️ ✔️ ✔️
24 Asimo Honda URDF URDF BSD-3-Clause ✔️ ✔️ ✔️
25 HRP-5P Kawada Robotics URDF URDF BSD-2-Clause ✔️ ✔️ ✔️
26 Valkyrie R5 NASA URDF, Xacro URDF, Xacro NASA-1.3 ✔️ ✔️ ✔️
27 REEM-C PAL Robotics URDF URDF LGPL-3.0 ✔️ ✔️ ✔️
28 Darwin-OP ROBOTIS URDF URDF BSD-3-Clause ✔️ ✔️ ✔️
29 Poppy Inria Flowers URDF URDF GPL-3.0 ✔️ ✔️ ✔️


End Effectors

Name Maker Formats File License Meshes Inertias Collisions
Allegro Hand Wonik Robotics URDF, MJCF URDF, MJCF BSD ✔️ ✔️ ✔️
Shadow Hand E3M5 The Shadow Robot Company MJCF MJCF Apache-2.0 ✔️ ✔️ ✔️
Robotiq 2F-85 Robotiq MJCF, URDF, Xacro MJCF, URDF, Xacro BSD-2-Clause ✔️ ✔️ ✔️
BarrettHand Barrett Technology URDF URDF BSD ✖️ ✔️ ✔️
WSG 50 SCHUNK SDF SDF BSD-3-Clause ✔️ ✔️ ✔️
Baxter Left End Effector Rethink Robotics URDF, Xacro URDF, Xacro Apache-2.0 ✔️ ✔️ ✔️
Baxter Right End Effector Rethink Robotics URDF, Xacro URDF, Xacro Apache-2.0 ✔️ ✔️ ✔️


Educational

Name Formats File License Meshes Inertias Collisions
Double Pendulum URDF URDF BSD-3-Clause ✔️ ✔️ ✔️
Simple Humanoid URDF URDF BSD-2-Clause ✔️ ✔️ ✖️
TriFingerEdu URDF URDF MIT ✔️ ✔️ ✔️
FingerEdu URDF URDF BSD-3-Clause ✔️ ✔️ ✔️


References

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