Robot Descriptions List

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	✔️	✔️	✔️
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	✔️	✔️	✔️

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

• GitHub and web searches
• https://github.com/robot-descriptions/awesome-robot-descriptions
• https://github.com/robot-descriptions/robot_descriptions.py
• https://github.com/robotology

Citation

@misc{humanoids-2024,
  title={Robot Descriptions List},
  author={K-Scale Humanoids Wiki Authors},
  year={2024},
  url={https://humanoids.wiki/w/Robot_Descriptions_List}
}