! 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 || ✔️ || ✔️ || ✔️

! 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 || ✔️ || ✔️ || ✔️