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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 || ✔️ || ✔️ || ✔️|-| 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 || ✔️ || ✔️ || ✔️
|-
|-
| Stompy 34 || KMIR-Scale Labs Lola || Munich Institute of Robotics and Machine Intelligence || URDF || [https://media.kscalegithub.devcom/stompymir-lab/latest_stl_urdf.tar.gz lola_description URDF] || MIT BSD-3-Clause || ✔️ || ✔️ || ✔️
|-
| Digit 35 || Agility Robotics HSR || Toyota || URDF || [https://github.com/adubredutoyota-research-institute/DigitRobot.jl hsr_description URDF] || ✖️ BSD-3-Clause || ✔️ || ✔️ || ✔️
|-
| H1 36 || UNITREE Pepper 2 || SoftBank Robotics || MJCF URDF || [https://github.com/googleros-deepmind/mujoco_menagerie/tree/mainnaoqi/unitree_h1 MJCFpepper_robot URDF] || BSD-32-Clause || ✔️ || ✔️ || ✔️
|-
| Atlas v4 37 || Boston Dynamics BHR-4 || Beijing Institute of Technology || URDF || [https://github.com/openai/roboschool/tree/1.0.49/roboschool/models_robotbit-bots/atlas_description bhr4_description URDF] || MIT BSD-3-Clause || ✔️ || ✔️ || ✔️
|-
| Valkyrie 38 || NASA JSC Tiago || PAL Robotics || URDF, Xacro || [https://github.com/gkjohnson/nasapal-urdf-robots/tree/masterrobotics/val_description/model tiago_robot URDF], [https://gitlab.com/nasa-jsc-robotics/val_description Xacro] || NASABSD-1.3 2-Clause || ✔️ || ✔️ || ✔️
|-
| JVRC-1 39 || InMoov || AIST Gael Langevin || MJCF, URDF || [https://github.com/isri-aist/jvrc_mj_descriptionInMoov/ MJCF], [https://github.com/stephane-caron/jvrc_description inmoov_ros URDF] || BSDGPL-2-Clause 3.0 || ✔️ || ✔️ || ✔️
|-
| iCub 40 || IIT BipedalWalker || OpenAI Gym || URDF || [https://github.com/robotologyopenai/icub-modelsgym/tree/master/iCub gym/envs/robotics/assets/bipedal_walker URDF] || CC-BY-SA-4.0 MIT || ✔️ || ✔️ || ✔️
|-
| JAXON 41 || JSK BOLT || Istituto Italiano di Tecnologia || COLLADA, URDF, VRML || [https://github.com/stephanerobotology/icub-caron/openrave_modelsmain/tree/master/JAXON COLLADA], [https:app/robots/github.com/robot-descriptions/jaxon_description bolt URDF], [https://github.com/start-jsk/rtmros_choreonoid/tree/master/jvrc_models/JAXON_JVRC VRML] || CC-BY-SAGPL-42.0 || ✔️ || ✔️ || ✔️
|-
| Atlas DRC (v3) 42 || Boston Dynamics HRP-4 || Kawada Robotics || URDF || [https://github.com/RobotLocomotion/modelskawada-robotics/blob/master/atlas/atlas_convex_hull.urdf hrp4_description URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️
|-
| Gundam RX-78 43 || PI4 || Bandai Namco Filmworks PAL Robotics || URDF || [https://github.com/gundampal-global-challengerobotics/gundam_robot/tree/master/gundam_rx78_description pi4_description URDF] || ✖️ LGPL-3.0 || ✔️ || ✔️ || ✔️
|-
| Romeo 44 || Aldebaran HRP-7P || Kawada Robotics || URDF || [https://github.com/roskawada-aldebaran/romeo_robot/tree/masterrobotics/romeo_description hrp7p_description URDF] || BSD-32-Clause || ✔️ || ✔️ || ✔️
|-
| SigmaBan 45 || Rhoban Juno || UC Berkeley || URDF || [https://github.com/RhobanBerkeleyAutomation/sigmaban_urdf juno_description URDF] || MIT BSD-3-Clause || ✔️ || ✔️ || ✔️
|-
| Robonaut 2 46 || NASA JSC Robotics Leo || Georgia Institute of Technology || URDF || [https://github.com/gkjohnson/nasa-urdf-robots/treeGeorgiaTechRobotLearning/master/r2_description leo_description URDF] || NASA-1.3 MIT || ✔️ || ✔️ || ✔️
|-
| TALOS 47 || PAL Robotics Apollo || University of Pennsylvania || URDF, Xacro || [https://github.com/stackpenn-of-tasksrobotics/talos-data apollo_description URDF], [https://github.com/pal-robotics/talos_robot/tree/kinetic-devel/talos_description Xacro] || LGPLBSD-3.0, Apache2-2.0 Clause || ✔️ || ✔️ || ✔️
|-
| WALK-MAN 48 || Scuttle || IIT Open Robotics || Xacro URDF || [https://github.com/ADVRHumanoidsopenrobotics/iit-walkman-ros-pkg/tree/master/walkman_urdf Xacroscuttle_description URDF] || BSDApache-3-Clause 2.0 || ✔️ || ✔️ || ✔️
|-
| Draco3 49 || Apptronik MekaMon || Reach Robotics || URDF || [https://github.com/shbang91reachrobotics/draco3_description mekamon_robot URDF] || BSD-2-Clause MIT || ✔️ || ✔️ || ✔️
|-
| ergoCub 50 || IIT Roboy || TUM || URDF || [https://github.com/icub-tech-iit/ergocub-softwareroboy/tree/master/urdf/ergoCub roboy_description URDF] || BSDGPL-3-Clause .0 || ✔️ || ✔️ || ✔️
|}
=== End Effectors ===
|-
| WSG 50 || SCHUNK || SDF || [https://github.com/RobotLocomotion/models/tree/master/wsg_50_description SDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️
|-
| Baxter Left End Effector || Rethink Robotics || URDF, Xacro || [https://github.com/RethinkRobotics/baxter_common/tree/master/baxter_description/urdf/left_end_effector.urdf.xacro URDF, Xacro] || Apache-2.0 || ✔️ || ✔️ || ✔️
|-
| 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 || ✔️ || ✔️ || ✔️
|}
=== Educational ===
|-
| 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>
