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 | ✔️ | ✔️ | ✔️ |
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 | ✔️ | ✔️ | ✔️ |