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	✔️	✔️	✔️
Cassie	Agility Robotics	URDF	URDF	MIT	✔️	✔️	✔️
Sophia	Hanson Robotics	URDF	URDF	Apache-2.0	✔️	✔️	✔️
Asimo	Honda	URDF	URDF	BSD-3-Clause	✔️	✔️	✔️
HRP-5P	Kawada Robotics	URDF	URDF	BSD-2-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	✔️	✔️	✔️
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

• https://github.com/robot-descriptions/awesome-robot-descriptions
• https://github.com/robot-descriptions/robot_descriptions.py
• https://github.com/robotology