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| FingerEdu || URDF || [https://github.com/Gepetto/example-robot-data/tree/master/robots/finger_edu_description URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️
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=== End Effectors ===
{| class="wikitable"
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! Name !! Maker !! Formats !! File !! License !! Meshes !! Inertias !! Collisions
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| 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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| 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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| 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 || ✔️ || ✔️ || ✔️
|-
| BarrettHand || Barrett Technology || URDF || [https://github.com/jhu-lcsr-attic/bhand_model/tree/master/robots URDF] || BSD || ✖️ || ✔️ || ✔️
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| WSG 50 || SCHUNK || SDF || [https://github.com/RobotLocomotion/models/tree/master/wsg_50_description SDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️
|}