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Robot Descriptions List

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=== 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 || ✔️ || ✔️ || ✔️
|-
! Name !! Maker !! Formats !! URL !! License !! Meshes !! Inertias !! Collisions| 26 || Valkyrie R5 || NASA || URDF, Xacro || [https://github.com/nasa/valkyrie_simulation URDF], [https://github.com/nasa/valkyrie_robot Xacro] || NASA-1.3 || ✔️ || ✔️ || ✔️
|-
| Stompy 27 || KREEM-Scale Labs C || PAL Robotics || URDF || [https://stompy.kscalegithub.dev URDF], [https:com/pal-robotics/stompy.kscale.dev MJCFreemc_description URDF] || MIT LGPL-3.0 || ✔️ || ✔️ || ✔️
|-
| Digit 28 || Agility Robotics Darwin-OP || ROBOTIS || URDF || [https://github.com/adubreduROBOTIS-GIT/DigitRobot.jl Darwin_OP_ROS URDF] || ✖️ BSD-3-Clause || ✔️ || ✔️ || ✔️
|-
| H1 29 || UNITREE Robotics Poppy || MJCF Inria Flowers || URDF || [https://github.com/googlepoppy-deepmind/mujoco_menagerieproject/tree/main/unitree_h1 MJCFpoppy_humanoid URDF] || BSDGPL-3-Clause .0 || ✔️ || ✔️ || ✔️
|-
| Atlas v4 30 || Boston Dynamics Kengoro || JSK || URDF || [https://github.com/openaijsk-ros-pkg/roboschooljsk_models/tree/1.0.49/roboschool/models_robotmaster/atlas_description kengoro_description URDF] || MIT BSD-3-Clause || ✔️ || ✔️ || ✔️
|-
| Valkyrie 31 || NASA JSC Robotics SURALP || Istanbul Technical University || URDF, Xacro || [https://github.com/gkjohnson/nasa-urdf-robotssuralp/tree/master/val_description/model suralp URDF], [https://gitlab.com/nasa-jsc-robotics/val_description Xacro] || NASAGPL-13.3 0 || ✔️ || ✔️ || ✔️
|-
| JVRC-1 32 || Kengoro || AIST JSK || MJCF, URDF || [https://github.com/isrijsk-aist/jvrc_mj_description/ MJCF], [https:ros-pkg/jsk_models/github.comtree/stephane-caronmaster/jvrc_description kengoro_description URDF] || BSD-23-Clause || ✔️ || ✔️ || ✔️
|-
| iCub 33 || IIT ANYmal || ANYbotics || URDF || [https://github.com/robotology/icub-models/tree/masterleggedrobotics/iCub anymal_b_simple_description URDF] || CC-BYBSD-SA3-4.0 Clause || ✔️ || ✔️ || ✔️
|-
| JAXON 34 || JSK MIR-Lola || Munich Institute of Robotics and Machine Intelligence || COLLADA, URDF, VRML || [https://github.com/stephane-caron/openrave_models/tree/master/JAXON COLLADA], [https://github.com/robotmir-descriptionslab/jaxon_description lola_description URDF], [https://github.com/start-jsk/rtmros_choreonoid/tree/master/jvrc_models/JAXON_JVRC VRML] || CC-BYBSD-SA3-4.0 Clause || ✔️ || ✔️ || ✔️
|-
| Atlas DRC (v3) 35 || Boston Dynamics HSR || Toyota || URDF || [https://github.com/RobotLocomotion/modelstoyota-research-institute/blob/master/atlas/atlas_convex_hull.urdf hsr_description URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️
|-
| Gundam RX-78 36 || Pepper 2 || Bandai Namco Filmworks SoftBank Robotics || URDF || [https://github.com/gundamros-global-challengenaoqi/gundam_robot/tree/master/gundam_rx78_description pepper_robot URDF] || ✖️ BSD-2-Clause || ✔️ || ✔️ || ✔️
|-
| Romeo 37 || Aldebaran Robotics BHR-4 || Beijing Institute of Technology || URDF || [https://github.com/rosbit-aldebaran/romeo_robot/tree/masterbots/romeo_description bhr4_description URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️
|-
| SigmaBan 38 || Rhoban Tiago || PAL Robotics || URDF || [https://github.com/Rhobanpal-robotics/sigmaban_urdf tiago_robot URDF] || MIT BSD-2-Clause || ✔️ || ✔️ || ✔️
|-
| Robonaut 2 39 || NASA JSC Robotics InMoov || Gael Langevin || URDF || [https://github.com/gkjohnsonInMoov/nasa-urdf-robots/tree/master/r2_description inmoov_ros URDF] || NASAGPL-13.3 0 || ✔️ || ✔️ || ✔️
|-
| TALOS 40 || PAL Robotics BipedalWalker || OpenAI Gym || URDF, Xacro || [https://github.com/stack-of-tasksopenai/talos-data URDF], [https:gym/tree/github.commaster/pal-roboticsgym/talos_robotenvs/treerobotics/kinetic-develassets/talos_description Xacrobipedal_walker URDF] || LGPL-3.0, Apache-2.0 MIT || ✔️ || ✔️ || ✔️
|-
| WALK-MAN 41 || BOLT || IIT Istituto Italiano di Tecnologia || Xacro URDF || [https://github.com/ADVRHumanoidsrobotology/iiticub-walkman-ros-pkgmain/tree/master/walkman_urdf Xacroapp/robots/bolt URDF] || BSDGPL-3-Clause 2.0 || ✔️ || ✔️ || ✔️
|-
| Draco3 42 || Apptronik HRP-4 || Kawada Robotics || URDF || [https://github.com/shbang91kawada-robotics/draco3_description hrp4_description URDF] || BSD-23-Clause || ✔️ || ✔️ || ✔️
|-
| ergoCub 43 || IIT PI4 || PAL Robotics || URDF || [https://github.com/icub-tech-iit/ergocubpal-software/treerobotics/master/urdf/ergoCub pi4_description URDF] || BSDLGPL-3-Clause .0 || ✔️ || ✔️ || ✔️
|-
| Baxter 44 || Rethink HRP-7P || Kawada Robotics || URDF, Xacro || [https://github.com/RethinkRoboticskawada-robotics/baxter_common/tree/master/baxter_description/urdf/baxter.urdf.xacro hrp7p_description URDF, Xacro] || ApacheBSD-2.0 -Clause || ✔️ || ✔️ || ✔️
|-
| Pepper 45 || SoftBank Robotics Juno || UC Berkeley || URDF || [https://github.com/ros-naoqiBerkeleyAutomation/pepper_robot juno_description URDF] || BSD-23-Clause || ✔️ || ✔️ || ✔️
|-
| Mini-Cheetah 46 || MIT Leo || Georgia Institute of Technology || URDF || [https://github.com/MIT-Mini-CheetahGeorgiaTechRobotLearning/mini-cheetah leo_description URDF] || MIT || ✔️ || ✔️ || ✔️
|-
| Thor-Mang 47 || Apollo || ROBOTIS University of Pennsylvania || URDF || [https://github.com/ROBOTISpenn-GITrobotics/ROBOTIS-MANIPULATION-THORMANG apollo_description URDF] || BSD-32-Clause || ✔️ || ✔️ || ✔️
|-
| Cassie 48 || Agility Scuttle || Open Robotics || URDF || [https://github.com/agilityroboticsopenrobotics/cassie_description scuttle_description URDF] || MIT Apache-2.0 || ✔️ || ✔️ || ✔️
|-
| Sophia 49 || Hanson MekaMon || Reach Robotics || URDF || [https://github.com/hansonroboticsreachrobotics/sophia_robot mekamon_robot URDF] || Apache-2.0 MIT || ✔️ || ✔️ || ✔️
|-
| Asimo 50 || Honda Roboy || TUM || URDF || [https://github.com/hondaroboy/asimo_description roboy_description URDF] || BSDGPL-3-Clause .0 || ✔️ || ✔️ || ✔️
|}
|-
| Baxter Right End Effector || Rethink Robotics || URDF, Xacro || [https://github.com/RethinkRobotics/baxter_common/tree/master/baxter_description/urdf/right_end_effector.urdf.xacro URDF, Xacro] || Apache-2.0 || ✔️ || ✔️ || ✔️
 
|-
| FingerEdu || URDF || [https://github.com/Gepetto/example-robot-data/tree/master/robots/finger_edu_description URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️
 
|}
== References ==
* GitHub and web searches
* https://github.com/robot-descriptions/awesome-robot-descriptions
* https://github.com/robot-descriptions/robot_descriptions.py
* https://github.com/robotology
 
 
== Citation ==
<pre>
@misc{humanoids-2024,
title={Robot Descriptions List},
author={K-Scale Humanoids Wiki Contributors},
year={2024},
url={https://humanoids.wiki/w/Robot_Descriptions_List}
}
 
</pre>
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