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=== Educational End Effectors ===
{| class="wikitable"
|-
! Name !! Maker !! Formats !! File !! License !! Meshes !! Inertias !! Collisions|-| 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 || ✔️ || ✔️ || ✔️
|-
| Double Pendulum Shadow Hand E3M5 || URDF The Shadow Robot Company || MJCF || [https://github.com/Gepettodeepmind/example-robot-datamujoco_menagerie/tree/mastermain/robots/double_pendulum_description URDFshadow_hand MJCF] || BSDApache-3-Clause 2.0 || ✔️ || ✔️ || ✔️
|-
| Simple Humanoid Robotiq 2F-85 || Robotiq || MJCF, URDF , Xacro || [https://github.com/laasdeepmind/mujoco_menagerie/tree/main/robotiq_2f85 MJCF], [https://github.com/a-price/simple_humanoid_description robotiq_arg85_description URDF], [https://github.com/ros-industrial/robotiq/tree/kinetic-devel/robotiq_2f_85_gripper_visualization Xacro] || BSD-2-Clause || ✔️ || ✔️ || ✖️✔️
|-
| TriFingerEdu BarrettHand || Barrett Technology || URDF || [https://github.com/facebookresearch/differentiablejhu-robotlcsr-modelattic/bhand_model/tree/main/diff_robot_datamaster/trifinger_edu_description robots URDF] || MIT BSD || ✔️ ✖️ || ✔️ || ✔️
|-
| FingerEdu WSG 50 || URDF SCHUNK || SDF || [https://github.com/GepettoRobotLocomotion/example-robot-datamodels/tree/master/robots/finger_edu_description URDFwsg_50_description SDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️
|}
=== End Effectors Educational ===
{| class="wikitable"
|-
! Name !! Maker !! Formats !! File !! License !! Meshes !! Inertias !! Collisions
|-
| Allegro Hand || Wonik Robotics Double Pendulum || URDF, MJCF || [https://github.com/RobotLocomotionGepetto/modelsexample-robot-data/tree/master/allegro_hand_descriptionrobots/urdf double_pendulum_description URDF], [https://github.com/google-deepmind/mujoco_menagerie/tree/main/wonik_allegro MJCF] || BSD -3-Clause || ✔️ || ✔️ || ✔️
|-
| Shadow Hand E3M5 Simple Humanoid || The Shadow Robot Company || MJCF URDF || [https://github.com/deepmind/mujoco_menagerie/tree/mainlaas/shadow_hand MJCFsimple_humanoid_description URDF] || ApacheBSD-2.0 -Clause || ✔️ || ✔️ || ✔️✖️
|-
| Robotiq 2F-85 TriFingerEdu || Robotiq || MJCF, URDF, Xacro || [https://github.com/deepmindfacebookresearch/mujoco_menageriedifferentiable-robot-model/tree/main/robotiq_2f85 MJCF], [https:/diff_robot_data/github.com/a-price/robotiq_arg85_description trifinger_edu_description URDF], [https://github.com/ros-industrial/robotiq/tree/kinetic-devel/robotiq_2f_85_gripper_visualization Xacro] || BSD-2-Clause MIT || ✔️ || ✔️ || ✔️
|-
| BarrettHand || Barrett Technology FingerEdu || URDF || [https://github.com/jhuGepetto/example-lcsrrobot-attic/bhand_modeldata/tree/master/robots /finger_edu_description URDF] || BSD || ✖️ || ✔️ || ✔️|-| WSG 50 || SCHUNK || SDF || [https://github.com/RobotLocomotion/models/tree/master/wsg_50_description SDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️
|}