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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 || ✔️ || ✔️ || ✔️
|-
|-
| Stompy 22 || K-Scale Labs Cassie || Agility Robotics || URDF || [https://stompygithub.kscale.dev URDF], [https:com/agilityrobotics/stompy.kscale.dev MJCFcassie_description URDF] || MIT || ✔️ || ✔️ || ✔️
|-
| Digit 23 || Agility Sophia || Hanson Robotics || URDF || [https://github.com/adubreduhansonrobotics/DigitRobot.jl sophia_robot URDF] || ✖️ Apache-2.0 || ✔️ || ✔️ || ✔️
|-
| H1 24 || UNITREE Robotics Asimo || MJCF Honda || URDF || [https://github.com/google-deepmind/mujoco_menagerie/tree/mainhonda/unitree_h1 MJCFasimo_description URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️
|-
| Atlas v4 25 || Boston Dynamics HRP-5P || Kawada Robotics || URDF || [https://github.com/openai/roboschool/tree/1.0.49/roboschool/models_robotkawada-robotics/atlas_description hrp5p URDF] || MIT BSD-2-Clause || ✔️ || ✔️ || ✔️
|-
| 26 || Valkyrie R5 || NASA JSC Robotics || URDF, Xacro || [https://github.com/gkjohnson/nasa-urdf-robots/tree/master/val_description/model valkyrie_simulation URDF], [https://gitlabgithub.com/nasa-jsc-robotics/val_description valkyrie_robot Xacro] || NASA-1.3 || ✔️ || ✔️ || ✔️
|-
| JVRC27 || REEM-1 C || AIST PAL Robotics || MJCF, URDF || [https://github.com/isripal-aistrobotics/jvrc_mj_description/ MJCF], [https://github.com/stephane-caron/jvrc_description reemc_description URDF] || BSDLGPL-2-Clause 3.0 || ✔️ || ✔️ || ✔️
|-
| iCub 28 || IIT Darwin-OP || ROBOTIS || URDF || [https://github.com/robotology/icubROBOTIS-models/tree/masterGIT/iCub Darwin_OP_ROS URDF] || CC-BYBSD-SA3-4.0 Clause || ✔️ || ✔️ || ✔️
|-
| JAXON 29 || JSK Poppy || Inria Flowers || COLLADA, URDF, VRML || [https://github.com/stephane-caron/openrave_models/tree/master/JAXON COLLADA], [https://github.com/robotpoppy-descriptionsproject/jaxon_description poppy_humanoid URDF], [https://github.com/start-jsk/rtmros_choreonoid/tree/master/jvrc_models/JAXON_JVRC VRML] || CC-BY-SAGPL-43.0 || ✔️ || ✔️ || ✔️
|-
| Atlas DRC (v3) 30 || Boston Dynamics Kengoro || JSK || URDF || [https://github.com/RobotLocomotionjsk-ros-pkg/modelsjsk_models/blobtree/master/atlas/atlas_convex_hull.urdf kengoro_description URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️
|-
| Gundam RX-78 31 || SURALP || Bandai Namco Filmworks Istanbul Technical University || URDF || [https://github.com/gundam-global-challenge/gundam_robotsuralp/tree/master/gundam_rx78_description suralp URDF] || ✖️ GPL-3.0 || ✔️ || ✔️ || ✔️
|-
| Romeo 32 || Aldebaran Robotics Kengoro || JSK || URDF || [https://github.com/jsk-ros-aldebaranpkg/romeo_robotjsk_models/tree/master/romeo_description kengoro_description URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️
|-
| SigmaBan 33 || Rhoban ANYmal || ANYbotics || URDF || [https://github.com/Rhobanleggedrobotics/sigmaban_urdf anymal_b_simple_description URDF] || MIT BSD-3-Clause || ✔️ || ✔️ || ✔️
|-
| Robonaut 2 34 || NASA JSC MIR-Lola || Munich Institute of Robotics and Machine Intelligence || URDF || [https://github.com/gkjohnson/nasamir-urdf-robotslab/tree/master/r2_description lola_description URDF] || NASABSD-1.3 -Clause || ✔️ || ✔️ || ✔️
|-
| TALOS 35 || PAL Robotics HSR || Toyota || URDF, Xacro || [https://github.com/stacktoyota-ofresearch-tasksinstitute/talos-data hsr_description URDF], [https://github.com/pal-robotics/talos_robot/tree/kinetic-devel/talos_description Xacro] || LGPLBSD-3.0, Apache-2.0 Clause || ✔️ || ✔️ || ✔️
|-
| WALK-MAN 36 || Pepper 2 || IIT SoftBank Robotics || Xacro URDF || [https://github.com/ADVRHumanoids/iit-walkman-ros-pkg/tree/masternaoqi/walkman_urdf Xacropepper_robot URDF] || BSD-32-Clause || ✔️ || ✔️ || ✔️
|-
| Draco3 37 || Apptronik BHR-4 || Beijing Institute of Technology || URDF || [https://github.com/shbang91bit-bots/draco3_description bhr4_description URDF] || BSD-23-Clause || ✔️ || ✔️ || ✔️
|-
| ergoCub 38 || IIT Tiago || PAL Robotics || URDF || [https://github.com/icub-tech-iit/ergocubpal-software/tree/master/urdfrobotics/ergoCub tiago_robot URDF] || BSD-32-Clause || ✔️ || ✔️ || ✔️
|-
| Baxter 39 || Rethink Robotics InMoov || Gael Langevin || URDF, Xacro || [https://github.com/RethinkRoboticsInMoov/baxter_common/tree/master/baxter_description/urdf/baxter.urdf.xacro inmoov_ros URDF, Xacro] || ApacheGPL-23.0 || ✔️ || ✔️ || ✔️
|-
| Pepper 40 || SoftBank Robotics BipedalWalker || OpenAI Gym || URDF || [https://github.com/ros-naoqiopenai/gym/tree/master/gym/envs/robotics/assets/pepper_robot bipedal_walker URDF] || BSD-2-Clause MIT || ✔️ || ✔️ || ✔️
|-
| Mini-Cheetah 41 || BOLT || MIT Istituto Italiano di Tecnologia || URDF || [https://github.com/MITrobotology/icub-Mini-Cheetahmain/tree/master/app/robots/mini-cheetah bolt URDF] || MIT GPL-2.0 || ✔️ || ✔️ || ✔️
|-
| Thor42 || HRP-Mang 4 || ROBOTIS Kawada Robotics || URDF || [https://github.com/ROBOTISkawada-GITrobotics/ROBOTIS-MANIPULATION-THORMANG hrp4_description URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️
|-
| Cassie 43 || Agility PI4 || PAL Robotics || URDF || [https://github.com/agilityroboticspal-robotics/cassie_description pi4_description URDF] || MIT LGPL-3.0 || ✔️ || ✔️ || ✔️
|-
| Sophia 44 || Hanson HRP-7P || Kawada Robotics || URDF || [https://github.com/hansonroboticskawada-robotics/sophia_robot hrp7p_description URDF] || ApacheBSD-2.0 -Clause || ✔️ || ✔️ || ✔️
|-
| Asimo 45 || Honda Juno || UC Berkeley || URDF || [https://github.com/hondaBerkeleyAutomation/asimo_description juno_description URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️
|-
| HRP-5P 46 || Kawada Robotics Leo || Georgia Institute of Technology || URDF || [https://github.com/kawada-roboticsGeorgiaTechRobotLearning/hrp5p leo_description URDF] || BSD-2-Clause MIT || ✔️ || ✔️ || ✔️
|-
| Valkyrie R5 47 || NASA Apollo || University of Pennsylvania || URDF, Xacro || [https://github.com/nasapenn-robotics/valkyrie_simulation apollo_description URDF], [https://github.com/nasa/valkyrie_robot Xacro] || NASABSD-2-1.3 Clause || ✔️ || ✔️ || ✔️
|-
| REEM-C 48 || Scuttle || PAL Open Robotics || URDF || [https://github.com/pal-roboticsopenrobotics/reemc_description scuttle_description URDF] || LGPLApache-32.0 || ✔️ || ✔️ || ✔️
|-
| Darwin-OP 49 || ROBOTIS MekaMon || Reach Robotics || URDF || [https://github.com/ROBOTIS-GITreachrobotics/Darwin_OP_ROS mekamon_robot URDF] || BSD-3-Clause MIT || ✔️ || ✔️ || ✔️
|-
| Poppy 50 || Inria Flowers Roboy || TUM || URDF || [https://github.com/poppy-projectroboy/poppy_humanoid roboy_description URDF] || GPL-3.0 || ✔️ || ✔️ || ✔️
|}
|-
| 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>