Robot Descriptions List
Humanoids
| Name | Maker | Formats | URL | License | Meshes | Inertias | Collisions |
|---|---|---|---|---|---|---|---|
| Stompy | K-Scale Labs | URDF | URDF, MJCF | MIT | ✔️ | ✔️ | ✔️ |
| Digit | Agility Robotics | URDF | URDF | ✖️ | ✔️ | ✔️ | ✔️ |
| H1 | UNITREE Robotics | MJCF | MJCF | BSD-3-Clause | ✔️ | ✔️ | ✔️ |
| Atlas v4 | Boston Dynamics | URDF | URDF | MIT | ✔️ | ✔️ | ✔️ |
| Valkyrie | NASA JSC Robotics | URDF, Xacro | URDF, Xacro | NASA-1.3 | ✔️ | ✔️ | ✔️ |
| JVRC-1 | AIST | MJCF, URDF | MJCF, URDF | BSD-2-Clause | ✔️ | ✔️ | ✔️ |
| iCub | IIT | URDF | URDF | CC-BY-SA-4.0 | ✔️ | ✔️ | ✔️ |
| JAXON | JSK | COLLADA, URDF, VRML | COLLADA, URDF, VRML | CC-BY-SA-4.0 | ✔️ | ✔️ | ✔️ |
| Atlas DRC (v3) | Boston Dynamics | URDF | URDF | BSD-3-Clause | ✔️ | ✔️ | ✔️ |
| Gundam RX-78 | Bandai Namco Filmworks | URDF | URDF | ✖️ | ✔️ | ✔️ | ✔️ |
| Romeo | Aldebaran Robotics | URDF | URDF | BSD-3-Clause | ✔️ | ✔️ | ✔️ |
| SigmaBan | Rhoban | URDF | URDF | MIT | ✔️ | ✔️ | ✔️ |
| Robonaut 2 | NASA JSC Robotics | URDF | URDF | NASA-1.3 | ✔️ | ✔️ | ✔️ |
| TALOS | PAL Robotics | URDF, Xacro | URDF, Xacro | LGPL-3.0, Apache-2.0 | ✔️ | ✔️ | ✔️ |
| WALK-MAN | IIT | Xacro | Xacro | BSD-3-Clause | ✔️ | ✔️ | ✔️ |
| Draco3 | Apptronik | URDF | URDF | BSD-2-Clause | ✔️ | ✔️ | ✔️ |
| ergoCub | IIT | URDF | URDF | BSD-3-Clause | ✔️ | ✔️ | ✔️ |
| Baxter | Rethink Robotics | URDF, Xacro | URDF, Xacro | Apache-2.0 | ✔️ | ✔️ | ✔️ |
| Pepper | SoftBank Robotics | URDF | URDF | BSD-2-Clause | ✔️ | ✔️ | ✔️ |
| Mini-Cheetah | MIT | URDF | URDF | MIT | ✔️ | ✔️ | ✔️ |
| Thor-Mang | ROBOTIS | URDF | URDF | BSD-3-Clause | ✔️ | ✔️ | ✔️ |
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 | ✔️ | ✔️ | ✔️
|
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 | ✔️ | ✔️ | ✔️ |
