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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 || ✔️ || ✔️ || ✔️
|-
! Name !! Maker !! Formats !! URL !! License !! Meshes !! Inertias !! Collisions| 22 || Cassie || Agility Robotics || URDF || [https://github.com/agilityrobotics/cassie_description URDF] || MIT || ✔️ || ✔️ || ✔️
|-
| Stompy 23 || K-Scale Labs Sophia || Hanson Robotics || URDF || [https://stompygithub.kscale.dev URDF], [https:com/hansonrobotics/stompy.kscale.dev MJCFsophia_robot URDF] || MIT Apache-2.0 || ✔️ || ✔️ || ✔️
|-
| Digit 24 || Agility Robotics Asimo || Honda || URDF || [https://github.com/adubreduhonda/DigitRobot.jl asimo_description URDF] || ✖️ BSD-3-Clause || ✔️ || ✔️ || ✔️
|-
| H1 25 || UNITREE HRP-5P || Kawada Robotics || MJCF URDF || [https://github.com/googlekawada-deepmind/mujoco_menagerie/tree/mainrobotics/unitree_h1 MJCFhrp5p URDF] || BSD-32-Clause || ✔️ || ✔️ || ✔️
|-
| Atlas v4 26 || Boston Dynamics Valkyrie R5 || NASA || URDF , Xacro || [https://github.com/openainasa/roboschoolvalkyrie_simulation URDF], [https:/tree/1github.0.49com/roboschoolnasa/models_robot/atlas_description URDFvalkyrie_robot Xacro] || MIT NASA-1.3 || ✔️ || ✔️ || ✔️
|-
| Valkyrie 27 || NASA JSC REEM-C || PAL Robotics || URDF, Xacro || [https://github.com/gkjohnson/nasapal-urdf-robots/tree/master/val_descriptionrobotics/model reemc_description URDF], [https://gitlab.com/nasa-jsc-robotics/val_description Xacro] || NASALGPL-13.3 0 || ✔️ || ✔️ || ✔️
|-
| JVRC28 || Darwin-1 OP || AIST ROBOTIS || MJCF, URDF || [https://github.com/isri-aist/jvrc_mj_description/ MJCF], [https://github.com/stephaneROBOTIS-caronGIT/jvrc_description Darwin_OP_ROS URDF] || BSD-23-Clause || ✔️ || ✔️ || ✔️
|-
| iCub 29 || IIT Poppy || Inria Flowers || URDF || [https://github.com/robotology/icubpoppy-modelsproject/tree/master/iCub poppy_humanoid URDF] || CC-BY-SAGPL-43.0 || ✔️ || ✔️ || ✔️
|-
| JAXON 30 || Kengoro || JSK || COLLADA, URDF, VRML || [https://github.com/stephanejsk-caronros-pkg/openrave_modelsjsk_models/tree/master/JAXON COLLADA], [https://github.com/robot-descriptions/jaxon_description kengoro_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) 31 || Boston Dynamics SURALP || Istanbul Technical University || URDF || [https://github.com/RobotLocomotionsuralp/models/blob/master/atlas/atlas_convex_hull.urdf suralp URDF] || BSDGPL-3-Clause .0 || ✔️ || ✔️ || ✔️
|-
| Gundam RX-78 32 || Kengoro || Bandai Namco Filmworks JSK || URDF || [https://github.com/gundamjsk-globalros-challengepkg/gundam_robotjsk_models/tree/master/gundam_rx78_description kengoro_description URDF] || ✖️ BSD-3-Clause || ✔️ || ✔️ || ✔️
|-
| Romeo 33 || Aldebaran Robotics ANYmal || ANYbotics || URDF || [https://github.com/ros-aldebaran/romeo_robot/tree/masterleggedrobotics/romeo_description anymal_b_simple_description URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️
|-
| SigmaBan 34 || Rhoban MIR-Lola || Munich Institute of Robotics and Machine Intelligence || URDF || [https://github.com/Rhobanmir-lab/sigmaban_urdf lola_description URDF] || MIT BSD-3-Clause || ✔️ || ✔️ || ✔️
|-
| Robonaut 2 35 || NASA JSC Robotics HSR || Toyota || URDF || [https://github.com/gkjohnson/nasatoyota-urdfresearch-robotsinstitute/tree/master/r2_description hsr_description URDF] || NASABSD-1.3 -Clause || ✔️ || ✔️ || ✔️
|-
| TALOS 36 || PAL Pepper 2 || SoftBank Robotics || URDF, Xacro || [https://github.com/stackros-of-tasksnaoqi/talos-data pepper_robot URDF], [https://github.com/pal-robotics/talos_robot/tree/kinetic-devel/talos_description Xacro] || LGPLBSD-3.0, Apache2-2.0 Clause || ✔️ || ✔️ || ✔️
|-
| WALK37 || BHR-MAN 4 || IIT Beijing Institute of Technology || Xacro URDF || [https://github.com/ADVRHumanoids/iitbit-walkman-ros-pkg/tree/masterbots/walkman_urdf Xacrobhr4_description URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️
|-
| Draco3 38 || Apptronik Tiago || PAL Robotics || URDF || [https://github.com/shbang91pal-robotics/draco3_description tiago_robot URDF] || BSD-2-Clause || ✔️ || ✔️ || ✔️
|-
| ergoCub 39 || IIT InMoov || Gael Langevin || URDF || [https://github.com/icub-tech-iit/ergocub-softwareInMoov/tree/master/urdf/ergoCub inmoov_ros URDF] || BSDGPL-3-Clause .0 || ✔️ || ✔️ || ✔️
|-
| Baxter 40 || Rethink Robotics BipedalWalker || OpenAI Gym || URDF, Xacro || [https://github.com/RethinkRoboticsopenai/baxter_commongym/tree/master/baxter_descriptiongym/envs/urdfrobotics/baxter.urdf.xacro assets/bipedal_walker URDF, Xacro] || Apache-2.0 MIT || ✔️ || ✔️ || ✔️
|-
| Pepper 41 || SoftBank Robotics BOLT || Istituto Italiano di Tecnologia || URDF || [https://github.com/rosrobotology/icub-naoqimain/pepper_robot tree/master/app/robots/bolt URDF] || BSDGPL-2-Clause .0 || ✔️ || ✔️ || ✔️
|-
| Mini42 || HRP-Cheetah 4 || MIT Kawada Robotics || URDF || [https://github.com/MIT-Minikawada-Cheetahrobotics/mini-cheetah hrp4_description URDF] || MIT BSD-3-Clause || ✔️ || ✔️ || ✔️
|-
| Thor-Mang 43 || PI4 || ROBOTIS PAL Robotics || URDF || [https://github.com/ROBOTISpal-GITrobotics/ROBOTIS-MANIPULATION-THORMANG pi4_description URDF] || BSDLGPL-3-Clause .0 || ✔️ || ✔️ || ✔️
|-
| Cassie 44 || Agility HRP-7P || Kawada Robotics || URDF || [https://github.com/agilityroboticskawada-robotics/cassie_description hrp7p_description URDF] || MIT BSD-2-Clause || ✔️ || ✔️ || ✔️
|-
| Sophia 45 || Hanson Robotics Juno || UC Berkeley || URDF || [https://github.com/hansonroboticsBerkeleyAutomation/sophia_robot juno_description URDF] || ApacheBSD-3-2.0 Clause || ✔️ || ✔️ || ✔️
|-
| Asimo 46 || Honda Leo || Georgia Institute of Technology || URDF || [https://github.com/hondaGeorgiaTechRobotLearning/asimo_description leo_description URDF] || BSD-3-Clause MIT || ✔️ || ✔️ || ✔️
|-
| HRP-5P 47 || Apollo || Kawada Robotics University of Pennsylvania || URDF || [https://github.com/kawadapenn-robotics/hrp5p apollo_description URDF] || BSD-2-Clause || ✔️ || ✔️ || ✔️
|-
| Valkyrie R5 48 || NASA Scuttle || Open Robotics || URDF, Xacro || [https://github.com/nasaopenrobotics/valkyrie_simulation scuttle_description URDF], [https://github.com/nasa/valkyrie_robot Xacro] || NASAApache-12.3 0 || ✔️ || ✔️ || ✔️
|-
| REEM-C 49 || PAL MekaMon || Reach Robotics || URDF || [https://github.com/pal-roboticsreachrobotics/reemc_description mekamon_robot URDF] || LGPL-3.0 MIT || ✔️ || ✔️ || ✔️
|-
| Darwin-OP 50 || Roboy || ROBOTIS TUM || URDF || [https://github.com/ROBOTIS-GITroboy/Darwin_OP_ROS 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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