** updates in progress **
Educational
| Name | Formats | URL | License | Meshes | Inertias | Collisions |
|---|---|---|---|---|---|---|
| Double Pendulum | URDF | [URDF](https://github.com/Gepetto/example-robot-data/tree/master/robots/double_pendulum_description) | BSD-3-Clause | ✔️ | ✔️ | ✔️ |
| Simple Humanoid | URDF | [URDF](https://github.com/laas/simple_humanoid_description) | BSD-2-Clause | ✔️ | ✔️ | ✖️ |
| TriFingerEdu | URDF | [URDF](https://github.com/facebookresearch/differentiable-robot-model/tree/main/diff_robot_data/trifinger_edu_description) | MIT | ✔️ | ✔️ | ✔️ |
| FingerEdu | URDF | [URDF](https://github.com/Gepetto/example-robot-data/tree/master/robots/finger_edu_description) | BSD-3-Clause | ✔️ | ✔️ | ✔️ |
End Effectors
| Name | Maker | Formats | URL | License | Meshes | Inertias | Collisions |
|---|---|---|---|---|---|---|---|
| Allegro Hand | Wonik Robotics | URDF, MJCF | [URDF](https://github.com/RobotLocomotion/models/tree/master/allegro_hand_description/urdf), [MJCF](https://github.com/google-deepmind/mujoco_menagerie/tree/main/wonik_allegro) | BSD | ✔️ | ✔️ | ✔️ |
| Shadow Hand E3M5 | The Shadow Robot Company | MJCF | [MJCF](https://github.com/deepmind/mujoco_menagerie/tree/main/shadow_hand) | Apache-2.0 | ✔️ | ✔️ | ✔️ |
| Robotiq 2F-85 | Robotiq | MJCF, URDF, Xacro | [MJCF](https://github.com/deepmind/mujoco_menagerie/tree/main/robotiq_2f85), [URDF](https://github.com/a-price/robotiq_arg85_description), [Xacro](https://github.com/ros-industrial/robotiq/tree/kinetic-devel/robotiq_2f_85_gripper_visualization) | BSD-2-Clause | ✔️ | ✔️ | ✔️ |
| BarrettHand | Barrett Technology | URDF | [URDF](https://github.com/jhu-lcsr-attic/bhand_model/tree/master/robots) | BSD | ✖️ | ✔️ | ✔️ |
| WSG 50 | SCHUNK | SDF | [SDF](https://github.com/RobotLocomotion/models/tree/master/wsg_50_description) | BSD-3-Clause | ✔️ | ✔️ | ✔️ |