Difference between revisions of "Robot Descriptions List"

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== ** updates in progress ** ==
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=== Humanoids ===
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{| class="wikitable sortable"
 +
|-
 +
! Sr No !! Name !! Maker !! Formats !! URL !! License !! Meshes !! Inertias !! Collisions
 +
|-
 +
| 1 || Stompy || K-Scale Labs || URDF || [https://stompy.kscale.dev URDF], [https://stompy.kscale.dev MJCF] || MIT || ✔️ || ✔️ || ✔️
 +
|-
 +
| 2 || Digit || Agility Robotics || URDF || [https://github.com/adubredu/DigitRobot.jl URDF] || ✖️ || ✔️ || ✔️ || ✔️
 +
|-
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| 3 || H1 || UNITREE Robotics || MJCF || [https://github.com/google-deepmind/mujoco_menagerie/tree/main/unitree_h1 MJCF] || BSD-3-Clause || ✔️ || ✔️ || ✔️
 +
|-
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| 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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| 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 || ✔️ || ✔️ || ✔️
 +
|-
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| 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 || ✔️ || ✔️ || ✔️
 +
|-
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| 7 || iCub || IIT || URDF || [https://github.com/robotology/icub-models/tree/master/iCub URDF] || 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 || ✔️ || ✔️ || ✔️
 +
|-
 +
| 9 || Atlas DRC (v3) || Boston Dynamics || URDF || [https://github.com/RobotLocomotion/models/blob/master/atlas/atlas_convex_hull.urdf URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️
 +
|-
 +
| 10 || Gundam RX-78 || Bandai Namco Filmworks || URDF || [https://github.com/gundam-global-challenge/gundam_robot/tree/master/gundam_rx78_description URDF] || ✖️ || ✔️ || ✔️ || ✔️
 +
|-
 +
| 11 || Romeo || Aldebaran Robotics || URDF || [https://github.com/ros-aldebaran/romeo_robot/tree/master/romeo_description URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️
 +
|-
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| 12 || SigmaBan || Rhoban || URDF || [https://github.com/Rhoban/sigmaban_urdf URDF] || MIT || ✔️ || ✔️ || ✔️
 +
|-
 +
| 13 || Robonaut 2 || NASA JSC Robotics || URDF || [https://github.com/gkjohnson/nasa-urdf-robots/tree/master/r2_description URDF] || NASA-1.3 || ✔️ || ✔️ || ✔️
 +
|-
 +
| 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 || ✔️ || ✔️ || ✔️
 +
|-
 +
| 15 || WALK-MAN || IIT || Xacro || [https://github.com/ADVRHumanoids/iit-walkman-ros-pkg/tree/master/walkman_urdf Xacro] || BSD-3-Clause || ✔️ || ✔️ || ✔️
 +
|-
 +
| 16 || Draco3 || Apptronik || URDF || [https://github.com/shbang91/draco3_description URDF] || BSD-2-Clause || ✔️ || ✔️ || ✔️
 +
|-
 +
| 17 || ergoCub || IIT || URDF || [https://github.com/icub-tech-iit/ergocub-software/tree/master/urdf/ergoCub URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️
 +
|-
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| 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 || ✔️ || ✔️ || ✔️
 +
|-
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| 19 || Pepper || SoftBank Robotics || URDF || [https://github.com/ros-naoqi/pepper_robot URDF] || BSD-2-Clause || ✔️ || ✔️ || ✔️
 +
|-
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| 20 || Mini-Cheetah || MIT || URDF || [https://github.com/MIT-Mini-Cheetah/mini-cheetah URDF] || MIT || ✔️ || ✔️ || ✔️
 +
|-
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| 21 || Thor-Mang || ROBOTIS || URDF || [https://github.com/ROBOTIS-GIT/ROBOTIS-MANIPULATION-THORMANG URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️
 +
|-
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| 22 || Cassie || Agility Robotics || URDF || [https://github.com/agilityrobotics/cassie_description URDF] || MIT || ✔️ || ✔️ || ✔️
 +
|-
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| 23 || Sophia || Hanson Robotics || URDF || [https://github.com/hansonrobotics/sophia_robot URDF] || Apache-2.0 || ✔️ || ✔️ || ✔️
 +
|-
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| 24 || Asimo || Honda || URDF || [https://github.com/honda/asimo_description URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️
 +
|-
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| 25 || HRP-5P || Kawada Robotics || URDF || [https://github.com/kawada-robotics/hrp5p URDF] || BSD-2-Clause || ✔️ || ✔️ || ✔️
 +
|-
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| 26 || Valkyrie R5 || NASA || URDF, Xacro || [https://github.com/nasa/valkyrie_simulation URDF], [https://github.com/nasa/valkyrie_robot Xacro] || NASA-1.3 || ✔️ || ✔️ || ✔️
 +
|-
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| 27 || REEM-C || PAL Robotics || URDF || [https://github.com/pal-robotics/reemc_description URDF] || LGPL-3.0 || ✔️ || ✔️ || ✔️
 +
|-
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| 28 || Darwin-OP || ROBOTIS || URDF || [https://github.com/ROBOTIS-GIT/Darwin_OP_ROS URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️
 +
|-
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| 29 || Poppy || Inria Flowers || URDF || [https://github.com/poppy-project/poppy_humanoid URDF] || GPL-3.0 || ✔️ || ✔️ || ✔️
 +
|-
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| 30 || Kengoro || JSK || URDF || [https://github.com/jsk-ros-pkg/jsk_models/tree/master/kengoro_description URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️
 +
|-
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| 31 || SURALP || Istanbul Technical University || URDF || [https://github.com/suralp/suralp URDF] || GPL-3.0 || ✔️ || ✔️ || ✔️
 +
|-
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| 32 || Kengoro || JSK || URDF || [https://github.com/jsk-ros-pkg/jsk_models/tree/master/kengoro_description URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️
 +
|-
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| 33 || ANYmal || ANYbotics || URDF || [https://github.com/leggedrobotics/anymal_b_simple_description URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️
 +
|-
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| 34 || MIR-Lola || Munich Institute of Robotics and Machine Intelligence || URDF || [https://github.com/mir-lab/lola_description URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️
 +
|-
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| 35 || HSR || Toyota || URDF || [https://github.com/toyota-research-institute/hsr_description URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️
 +
|-
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| 36 || Pepper 2 || SoftBank Robotics || URDF || [https://github.com/ros-naoqi/pepper_robot URDF] || BSD-2-Clause || ✔️ || ✔️ || ✔️
 +
|-
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| 37 || BHR-4 || Beijing Institute of Technology || URDF || [https://github.com/bit-bots/bhr4_description URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️
 +
|-
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| 38 || Tiago || PAL Robotics || URDF || [https://github.com/pal-robotics/tiago_robot URDF] || BSD-2-Clause || ✔️ || ✔️ || ✔️
 +
|-
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| 39 || InMoov || Gael Langevin || URDF || [https://github.com/InMoov/inmoov_ros URDF] || GPL-3.0 || ✔️ || ✔️ || ✔️
 +
|-
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| 40 || BipedalWalker || OpenAI Gym || URDF || [https://github.com/openai/gym/tree/master/gym/envs/robotics/assets/bipedal_walker URDF] || MIT || ✔️ || ✔️ || ✔️
 +
|-
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| 41 || BOLT || Istituto Italiano di Tecnologia || URDF || [https://github.com/robotology/icub-main/tree/master/app/robots/bolt URDF] || GPL-2.0 || ✔️ || ✔️ || ✔️
 +
|-
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| 42 || HRP-4 || Kawada Robotics || URDF || [https://github.com/kawada-robotics/hrp4_description URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️
 +
|-
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| 43 || PI4 || PAL Robotics || URDF || [https://github.com/pal-robotics/pi4_description URDF] || LGPL-3.0 || ✔️ || ✔️ || ✔️
 +
|-
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| 44 || HRP-7P || Kawada Robotics || URDF || [https://github.com/kawada-robotics/hrp7p_description URDF] || BSD-2-Clause || ✔️ || ✔️ || ✔️
 +
|-
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| 45 || Juno || UC Berkeley || URDF || [https://github.com/BerkeleyAutomation/juno_description URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️
 +
|-
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| 46 || Leo || Georgia Institute of Technology || URDF || [https://github.com/GeorgiaTechRobotLearning/leo_description URDF] || MIT || ✔️ || ✔️ || ✔️
 +
|-
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| 47 || Apollo || University of Pennsylvania || URDF || [https://github.com/penn-robotics/apollo_description URDF] || BSD-2-Clause || ✔️ || ✔️ || ✔️
 +
|-
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| 48 || Scuttle || Open Robotics || URDF || [https://github.com/openrobotics/scuttle_description URDF] || Apache-2.0 || ✔️ || ✔️ || ✔️
 +
|-
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| 49 || MekaMon || Reach Robotics || URDF || [https://github.com/reachrobotics/mekamon_robot URDF] || MIT || ✔️ || ✔️ || ✔️
 +
|-
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| 50 || Roboy || TUM || URDF || [https://github.com/roboy/roboy_description URDF] || GPL-3.0 || ✔️ || ✔️ || ✔️
 +
|}
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=== End Effectors ===
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{| class="wikitable"
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|-
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! Name !! Maker !! Formats !! File !! License !! Meshes !! Inertias !! Collisions
 +
|-
 +
| Allegro Hand || Wonik Robotics || URDF, MJCF || [https://github.com/RobotLocomotion/models/tree/master/allegro_hand_description/urdf URDF], [https://github.com/google-deepmind/mujoco_menagerie/tree/main/wonik_allegro MJCF] || BSD || ✔️ || ✔️ || ✔️
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|-
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| Shadow Hand E3M5 || The Shadow Robot Company || MJCF || [https://github.com/deepmind/mujoco_menagerie/tree/main/shadow_hand MJCF] || Apache-2.0 || ✔️ || ✔️ || ✔️
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|-
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| Robotiq 2F-85 || Robotiq || MJCF, URDF, Xacro || [https://github.com/deepmind/mujoco_menagerie/tree/main/robotiq_2f85 MJCF], [https://github.com/a-price/robotiq_arg85_description URDF], [https://github.com/ros-industrial/robotiq/tree/kinetic-devel/robotiq_2f_85_gripper_visualization Xacro] || BSD-2-Clause || ✔️ || ✔️ || ✔️
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|-
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| BarrettHand || Barrett Technology || URDF || [https://github.com/jhu-lcsr-attic/bhand_model/tree/master/robots URDF] || BSD || ✖️ || ✔️ || ✔️
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|-
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| WSG 50 || SCHUNK || SDF || [https://github.com/RobotLocomotion/models/tree/master/wsg_50_description SDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️
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|-
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| Baxter Left End Effector || Rethink Robotics || URDF, Xacro || [https://github.com/RethinkRobotics/baxter_common/tree/master/baxter_description/urdf/left_end_effector.urdf.xacro URDF, Xacro] || Apache-2.0 || ✔️ || ✔️ || ✔️
 +
|-
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| Baxter Right End Effector || Rethink Robotics || URDF, Xacro || [https://github.com/RethinkRobotics/baxter_common/tree/master/baxter_description/urdf/right_end_effector.urdf.xacro URDF, Xacro] || Apache-2.0 || ✔️ || ✔️ || ✔️
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 +
 
 +
|}
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=== Educational ===
 
=== Educational ===
 
{| class="wikitable"
 
{| class="wikitable"
Line 12: Line 140:
 
|-
 
|-
 
| FingerEdu || URDF || [https://github.com/Gepetto/example-robot-data/tree/master/robots/finger_edu_description URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️
 
| FingerEdu || URDF || [https://github.com/Gepetto/example-robot-data/tree/master/robots/finger_edu_description URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️
 +
 
|}
 
|}
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 +
 +
== References ==
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* GitHub and web searches
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* https://github.com/robot-descriptions/awesome-robot-descriptions
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* https://github.com/robot-descriptions/robot_descriptions.py
 +
* https://github.com/robotology
 +
 +
 +
== Citation ==
 +
<pre>
 +
@misc{humanoids-2024,
 +
  title={Robot Descriptions List},
 +
  author={K-Scale Humanoids Wiki Contributors},
 +
  year={2024},
 +
  url={https://humanoids.wiki/w/Robot_Descriptions_List}
 +
}
 +
 +
</pre>

Latest revision as of 19:50, 11 June 2024

Humanoids[edit]

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 ✔️ ✔️ ✔️
30 Kengoro JSK URDF URDF BSD-3-Clause ✔️ ✔️ ✔️
31 SURALP Istanbul Technical University URDF URDF GPL-3.0 ✔️ ✔️ ✔️
32 Kengoro JSK URDF URDF BSD-3-Clause ✔️ ✔️ ✔️
33 ANYmal ANYbotics URDF URDF BSD-3-Clause ✔️ ✔️ ✔️
34 MIR-Lola Munich Institute of Robotics and Machine Intelligence URDF URDF BSD-3-Clause ✔️ ✔️ ✔️
35 HSR Toyota URDF URDF BSD-3-Clause ✔️ ✔️ ✔️
36 Pepper 2 SoftBank Robotics URDF URDF BSD-2-Clause ✔️ ✔️ ✔️
37 BHR-4 Beijing Institute of Technology URDF URDF BSD-3-Clause ✔️ ✔️ ✔️
38 Tiago PAL Robotics URDF URDF BSD-2-Clause ✔️ ✔️ ✔️
39 InMoov Gael Langevin URDF URDF GPL-3.0 ✔️ ✔️ ✔️
40 BipedalWalker OpenAI Gym URDF URDF MIT ✔️ ✔️ ✔️
41 BOLT Istituto Italiano di Tecnologia URDF URDF GPL-2.0 ✔️ ✔️ ✔️
42 HRP-4 Kawada Robotics URDF URDF BSD-3-Clause ✔️ ✔️ ✔️
43 PI4 PAL Robotics URDF URDF LGPL-3.0 ✔️ ✔️ ✔️
44 HRP-7P Kawada Robotics URDF URDF BSD-2-Clause ✔️ ✔️ ✔️
45 Juno UC Berkeley URDF URDF BSD-3-Clause ✔️ ✔️ ✔️
46 Leo Georgia Institute of Technology URDF URDF MIT ✔️ ✔️ ✔️
47 Apollo University of Pennsylvania URDF URDF BSD-2-Clause ✔️ ✔️ ✔️
48 Scuttle Open Robotics URDF URDF Apache-2.0 ✔️ ✔️ ✔️
49 MekaMon Reach Robotics URDF URDF MIT ✔️ ✔️ ✔️
50 Roboy TUM URDF URDF GPL-3.0 ✔️ ✔️ ✔️

End Effectors[edit]

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[edit]

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[edit]


Citation[edit]

@misc{humanoids-2024,
  title={Robot Descriptions List},
  author={K-Scale Humanoids Wiki Contributors},
  year={2024},
  url={https://humanoids.wiki/w/Robot_Descriptions_List}
}
Retrieved from "https://humanoids.wiki/index.php?title=Robot_Descriptions_List&oldid=1515"