=== Educational Humanoids ==={| class="wikitablesortable"|-! Sr No !! Name !! Maker !! Formats !! URL !! License !! Meshes !! Inertias !! Collisions|-| 1 || Stompy || K-Scale Labs || URDF || [https://stompy.kscale.dev URDF], [https://stompy.kscale.dev MJCF] || MIT || ✔️ || ✔️ || ✔️|-| 2 || Digit || Agility Robotics || URDF || [https://github.com/adubredu/DigitRobot.jl URDF] || ✖️ || ✔️ || ✔️ || ✔️|-| 3 || H1 || UNITREE Robotics || MJCF || [https://github.com/google-deepmind/mujoco_menagerie/tree/main/unitree_h1 MJCF] || BSD-3-Clause || ✔️ || ✔️ || ✔️|-| 4 || Atlas v4 || Boston Dynamics || URDF || [https://github.com/openai/roboschool/tree/1.0.49/roboschool/models_robot/atlas_description URDF] || MIT || ✔️ || ✔️ || ✔️|-| 5 || Valkyrie || NASA JSC Robotics || URDF, Xacro || [https://github.com/gkjohnson/nasa-urdf-robots/tree/master/val_description/model URDF], [https://gitlab.com/nasa-jsc-robotics/val_description Xacro] || NASA-1.3 || ✔️ || ✔️ || ✔️|-| 6 || JVRC-1 || AIST || MJCF, URDF || [https://github.com/isri-aist/jvrc_mj_description/ MJCF], [https://github.com/stephane-caron/jvrc_description URDF] || BSD-2-Clause || ✔️ || ✔️ || ✔️|-| 7 || iCub || IIT || URDF || [https://github.com/robotology/icub-models/tree/master/iCub URDF] || CC-BY-SA-4.0 || ✔️ || ✔️ || ✔️|-| 8 || JAXON || JSK || COLLADA, URDF, VRML || [https://github.com/stephane-caron/openrave_models/tree/master/JAXON COLLADA], [https://github.com/robot-descriptions/jaxon_description URDF], [https://github.com/start-jsk/rtmros_choreonoid/tree/master/jvrc_models/JAXON_JVRC VRML] || CC-BY-SA-4.0 || ✔️ || ✔️ || ✔️|-| 9 || Atlas DRC (v3) || Boston Dynamics || URDF || [https://github.com/RobotLocomotion/models/blob/master/atlas/atlas_convex_hull.urdf URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️|-| 10 || Gundam RX-78 || Bandai Namco Filmworks || URDF || [https://github.com/gundam-global-challenge/gundam_robot/tree/master/gundam_rx78_description URDF] || ✖️ || ✔️ || ✔️ || ✔️|-| 11 || Romeo || Aldebaran Robotics || URDF || [https://github.com/ros-aldebaran/romeo_robot/tree/master/romeo_description URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️|-| 12 || SigmaBan || Rhoban || URDF || [https://github.com/Rhoban/sigmaban_urdf URDF] || MIT || ✔️ || ✔️ || ✔️|-| 13 || Robonaut 2 || NASA JSC Robotics || URDF || [https://github.com/gkjohnson/nasa-urdf-robots/tree/master/r2_description URDF] || NASA-1.3 || ✔️ || ✔️ || ✔️|-| 14 || TALOS || PAL Robotics || URDF, Xacro || [https://github.com/stack-of-tasks/talos-data URDF], [https://github.com/pal-robotics/talos_robot/tree/kinetic-devel/talos_description Xacro] || LGPL-3.0, Apache-2.0 || ✔️ || ✔️ || ✔️|-| 15 || WALK-MAN || IIT || Xacro || [https://github.com/ADVRHumanoids/iit-walkman-ros-pkg/tree/master/walkman_urdf Xacro] || BSD-3-Clause || ✔️ || ✔️ || ✔️|-| 16 || Draco3 || Apptronik || URDF || [https://github.com/shbang91/draco3_description URDF] || BSD-2-Clause || ✔️ || ✔️ || ✔️|-| 17 || ergoCub || IIT || URDF || [https://github.com/icub-tech-iit/ergocub-software/tree/master/urdf/ergoCub URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️|-| 18 || Baxter || Rethink Robotics || URDF, Xacro || [https://github.com/RethinkRobotics/baxter_common/tree/master/baxter_description/urdf/baxter.urdf.xacro URDF, Xacro] || Apache-2.0 || ✔️ || ✔️ || ✔️|-| 19 || Pepper || SoftBank Robotics || URDF || [https://github.com/ros-naoqi/pepper_robot URDF] || BSD-2-Clause || ✔️ || ✔️ || ✔️|-| 20 || Mini-Cheetah || MIT || URDF || [https://github.com/MIT-Mini-Cheetah/mini-cheetah URDF] || MIT || ✔️ || ✔️ || ✔️|-| 21 || Thor-Mang || ROBOTIS || URDF || [https://github.com/ROBOTIS-GIT/ROBOTIS-MANIPULATION-THORMANG URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️|-| 22 || Cassie || Agility Robotics || URDF || [https://github.com/agilityrobotics/cassie_description URDF] || MIT || ✔️ || ✔️ || ✔️|-| 23 || Sophia || Hanson Robotics || URDF || [https://github.com/hansonrobotics/sophia_robot URDF] || Apache-2.0 || ✔️ || ✔️ || ✔️|-| 24 || Asimo || Honda || URDF || [https://github.com/honda/asimo_description URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️|-| 25 || HRP-5P || Kawada Robotics || URDF || [https://github.com/kawada-robotics/hrp5p URDF] || BSD-2-Clause || ✔️ || ✔️ || ✔️|-| 26 || Valkyrie R5 || NASA || URDF, Xacro || [https://github.com/nasa/valkyrie_simulation URDF], [https://github.com/nasa/valkyrie_robot Xacro] || NASA-1.3 || ✔️ || ✔️ || ✔️|-| 27 || REEM-C || PAL Robotics || URDF || [https://github.com/pal-robotics/reemc_description URDF] || LGPL-3.0 || ✔️ || ✔️ || ✔️|-| 28 || Darwin-OP || ROBOTIS || URDF || [https://github.com/ROBOTIS-GIT/Darwin_OP_ROS URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️|-| 29 || Poppy || Inria Flowers || URDF || [https://github.com/poppy-project/poppy_humanoid URDF] || GPL-3.0 || ✔️ || ✔️ || ✔️|-| 30 || Kengoro || JSK || URDF || [https://github.com/jsk-ros-pkg/jsk_models/tree/master/kengoro_description URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️|-| 31 || SURALP || Istanbul Technical University || URDF || [https://github.com/suralp/suralp URDF] || GPL-3.0 || ✔️ || ✔️ || ✔️|-| 32 || Kengoro || JSK || URDF || [https://github.com/jsk-ros-pkg/jsk_models/tree/master/kengoro_description URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️|-| 33 || ANYmal || ANYbotics || URDF || [https://github.com/leggedrobotics/anymal_b_simple_description URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️|-| 34 || MIR-Lola || Munich Institute of Robotics and Machine Intelligence || URDF || [https://github.com/mir-lab/lola_description URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️|-| 35 || HSR || Toyota || URDF || [https://github.com/toyota-research-institute/hsr_description URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️|-| 36 || Pepper 2 || SoftBank Robotics || URDF || [https://github.com/ros-naoqi/pepper_robot URDF] || BSD-2-Clause || ✔️ || ✔️ || ✔️|-| 37 || BHR-4 || Beijing Institute of Technology || URDF || [https://github.com/bit-bots/bhr4_description URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️|-| 38 || Tiago || PAL Robotics || URDF || [https://github.com/pal-robotics/tiago_robot URDF] || BSD-2-Clause || ✔️ || ✔️ || ✔️|-| 39 || InMoov || Gael Langevin || URDF || [https://github.com/InMoov/inmoov_ros URDF] || GPL-3.0 || ✔️ || ✔️ || ✔️|-| 40 || BipedalWalker || OpenAI Gym || URDF || [https://github.com/openai/gym/tree/master/gym/envs/robotics/assets/bipedal_walker URDF] || MIT || ✔️ || ✔️ || ✔️|-| 41 || BOLT || Istituto Italiano di Tecnologia || URDF || [https://github.com/robotology/icub-main/tree/master/app/robots/bolt URDF] || GPL-2.0 || ✔️ || ✔️ || ✔️|-| 42 || HRP-4 || Kawada Robotics || URDF || [https://github.com/kawada-robotics/hrp4_description URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️|-| 43 || PI4 || PAL Robotics || URDF || [https://github.com/pal-robotics/pi4_description URDF] || LGPL-3.0 || ✔️ || ✔️ || ✔️|-| 44 || HRP-7P || Kawada Robotics || URDF || [https://github.com/kawada-robotics/hrp7p_description URDF] || BSD-2-Clause || ✔️ || ✔️ || ✔️|-| 45 || Juno || UC Berkeley || URDF || [https://github.com/BerkeleyAutomation/juno_description URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️

| Double Pendulum 47 || Apollo || University of Pennsylvania || URDF || [URDF](https://github.com/Gepetto/example-robotpenn-datarobotics/tree/master/robots/double_pendulum_description) apollo_description URDF] || BSD-32-Clause || ✔️ || ✔️ || ✔️

| Simple Humanoid 48 || Scuttle || Open Robotics || URDF || [URDF](https://github.com/laasopenrobotics/simple_humanoid_description) scuttle_description URDF] || BSDApache-2-Clause .0 || ✔️ || ✔️ || ✖️✔️

| TriFingerEdu 49 || MekaMon || Reach Robotics || URDF || [URDF](https://github.com/facebookresearchreachrobotics/differentiable-robot-model/tree/main/diff_robot_data/trifinger_edu_description) mekamon_robot URDF] || MIT || ✔️ || ✔️ || ✔️

| FingerEdu 50 || Roboy || TUM || URDF || [URDF](https://github.com/Gepettoroboy/example-robot-data/tree/master/robots/finger_edu_description) roboy_description URDF] || BSDGPL-3-Clause .0 || ✔️ || ✔️ || ✔️

! 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 || ✔️ || ✔️ || ✔️|-| Shadow Hand E3M5 || The Shadow Robot Company || MJCF || [https://github.com/deepmind/mujoco_menagerie/tree/main/shadow_hand MJCF] || Apache-2.0 || ✔️ || ✔️ || ✔️

| Allegro Hand Robotiq 2F-85 || Wonik Robotics Robotiq || MJCF, URDF, Xacro || [URDF](https://github.com/RobotLocomotiondeepmind/modelsmujoco_menagerie/tree/mastermain/robotiq_2f85 MJCF], [https://allegro_hand_descriptiongithub.com/urdf)a-price/robotiq_arg85_description URDF], [MJCF](https://github.com/googleros-deepmindindustrial/mujoco_menagerierobotiq/tree/mainkinetic-devel/wonik_allegro) robotiq_2f_85_gripper_visualization Xacro] || BSD -2-Clause || ✔️ || ✔️ || ✔️

| Shadow Hand E3M5 BarrettHand || The Shadow Robot Company Barrett Technology || URDF || [MJCF](https://github.com/deepmindjhu-lcsr-attic/mujoco_menageriebhand_model/tree/mainmaster/shadow_hand) robots URDF] || Apache-2.0 BSD || ✔️ ✖️ || ✔️ || ✔️

| Robotiq 2F-85 WSG 50 || SCHUNK || Robotiq SDF || [MJCF](https://github.com/deepmindRobotLocomotion/mujoco_menageriemodels/tree/main/robotiq_2f85), [URDF](https://github.com/a-pricemaster/robotiq_arg85_description), [Xacrowsg_50_description SDF](https://github.com/ros-industrial/robotiq/tree/kinetic-devel/robotiq_2f_85_gripper_visualization) || BSD-23-Clause || ✔️ || ✔️ || ✔️

| BarrettHand Baxter Left End Effector || Barrett Technology Rethink Robotics || URDF, Xacro || [URDF](https://github.com/jhu-lcsr-atticRethinkRobotics/bhand_modelbaxter_common/tree/master/robots) baxter_description/urdf/left_end_effector.urdf.xacro URDF, Xacro] || BSD Apache-2.0 || ✖️ ✔️ || ✔️ || ✔️

| WSG 50 Baxter Right End Effector || SCHUNK Rethink Robotics || URDF, Xacro || [SDFhttps://github.com/RethinkRobotics/baxter_common/tree/master/baxter_description/urdf/right_end_effector.urdf.xacro URDF, Xacro](|| Apache-2.0 || ✔️ || ✔️ || ✔️  |} === Educational ==={| class="wikitable"|-! Name !! Formats !! File !! License !! Meshes !! Inertias !! Collisions|-| Double Pendulum || URDF || [https://github.com/RobotLocomotionGepetto/modelsexample-robot-data/tree/master/wsg_50_description) robots/double_pendulum_description URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️|-| Simple Humanoid || URDF || [https://github.com/laas/simple_humanoid_description URDF] || BSD-2-Clause || ✔️ || ✔️ || ✖️|-| TriFingerEdu || URDF || [https://github.com/facebookresearch/differentiable-robot-model/tree/main/diff_robot_data/trifinger_edu_description URDF] || MIT || ✔️ || ✔️ || ✔️|-| FingerEdu || URDF || [https://github.com/Gepetto/example-robot-data/tree/master/robots/finger_edu_description URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️