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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 || ✔️ || ✔️ || ✔️
|-
! Name !! Maker !! Formats !! URL !! License !! Meshes !! Inertias !! Collisions| 25 || HRP-5P || Kawada Robotics || URDF || [https://github.com/kawada-robotics/hrp5p URDF] || BSD-2-Clause || ✔️ || ✔️ || ✔️
|-
| Stompy 26 || K-Scale Labs Valkyrie R5 || NASA || URDF , Xacro || [https://stompygithub.kscale.dev com/nasa/valkyrie_simulation URDF], [https://stompygithub.kscale.dev MJCFcom/nasa/valkyrie_robot Xacro] || MIT NASA-1.3 || ✔️ || ✔️ || ✔️
|-
| Digit 27 || Agility REEM-C || PAL Robotics || URDF || [https://github.com/adubredupal-robotics/DigitRobot.jl reemc_description URDF] || ✖️ LGPL-3.0 || ✔️ || ✔️ || ✔️
|-
| H1 28 || UNITREE Robotics Darwin-OP || ROBOTIS || MJCF URDF || [https://github.com/googleROBOTIS-deepmind/mujoco_menagerie/tree/mainGIT/unitree_h1 MJCFDarwin_OP_ROS URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️
|-
| Atlas v4 29 || Boston Dynamics Poppy || Inria Flowers || URDF || [https://github.com/openai/roboschool/tree/1.0.49/roboschool/models_robotpoppy-project/atlas_description poppy_humanoid URDF] || MIT GPL-3.0 || ✔️ || ✔️ || ✔️
|-
| Valkyrie 30 || NASA JSC Robotics Kengoro || JSK || URDF, Xacro || [https://github.com/gkjohnson/nasajsk-urdfros-robotspkg/jsk_models/tree/master/val_description/model kengoro_description URDF], [https://gitlab.com/nasa-jsc-robotics/val_description Xacro] || NASABSD-1.3 -Clause || ✔️ || ✔️ || ✔️
|-
| JVRC-1 31 || SURALP || AIST Istanbul Technical University || MJCF, URDF || [https://github.com/isri-aist/jvrc_mj_descriptionsuralp/ MJCF], [https://github.com/stephane-caron/jvrc_description suralp URDF] || BSDGPL-2-Clause 3.0 || ✔️ || ✔️ || ✔️
|-
| iCub 32 || IIT Kengoro || JSK || URDF || [https://github.com/robotologyjsk-ros-pkg/icub-modelsjsk_models/tree/master/iCub kengoro_description URDF] || CCBSD-BY3-SA-4.0 Clause || ✔️ || ✔️ || ✔️
|-
| JAXON 33 || JSK ANYmal || ANYbotics || COLLADA, URDF, VRML || [https://github.com/stephane-caron/openrave_models/tree/master/JAXON COLLADA], [https://github.com/robot-descriptionsleggedrobotics/jaxon_description anymal_b_simple_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) 34 || Boston Dynamics MIR-Lola || Munich Institute of Robotics and Machine Intelligence || URDF || [https://github.com/RobotLocomotion/modelsmir-lab/blob/master/atlas/atlas_convex_hull.urdf lola_description URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️
|-
| Gundam RX-78 35 || HSR || Bandai Namco Filmworks Toyota || URDF || [https://github.com/gundamtoyota-globalresearch-challenge/gundam_robot/tree/masterinstitute/gundam_rx78_description hsr_description URDF] || ✖️ BSD-3-Clause || ✔️ || ✔️ || ✔️
|-
| Romeo 36 || Aldebaran Pepper 2 || SoftBank Robotics || URDF || [https://github.com/ros-aldebaran/romeo_robot/tree/masternaoqi/romeo_description pepper_robot URDF] || BSD-32-Clause || ✔️ || ✔️ || ✔️
|-
| SigmaBan 37 || Rhoban BHR-4 || Beijing Institute of Technology || URDF || [https://github.com/Rhobanbit-bots/sigmaban_urdf bhr4_description URDF] || MIT BSD-3-Clause || ✔️ || ✔️ || ✔️
|-
| Robonaut 2 38 || Tiago || NASA JSC PAL Robotics || URDF || [https://github.com/gkjohnson/nasa-urdfpal-robots/treerobotics/master/r2_description tiago_robot URDF] || NASABSD-1.3 2-Clause || ✔️ || ✔️ || ✔️
|-
| TALOS 39 || PAL Robotics InMoov || Gael Langevin || URDF, Xacro || [https://github.com/stack-of-tasksInMoov/talos-data inmoov_ros URDF], [https://github.com/pal-robotics/talos_robot/tree/kinetic-devel/talos_description Xacro] || LGPLGPL-3.0, Apache-2.0 || ✔️ || ✔️ || ✔️
|-
| WALK-MAN 40 || IIT BipedalWalker || Xacro OpenAI Gym || URDF || [https://github.com/ADVRHumanoidsopenai/iit-walkman-ros-pkggym/tree/master/walkman_urdf Xacrogym/envs/robotics/assets/bipedal_walker URDF] || BSD-3-Clause MIT || ✔️ || ✔️ || ✔️
|-
| Draco3 41 || Apptronik BOLT || Istituto Italiano di Tecnologia || URDF || [https://github.com/shbang91robotology/icub-main/tree/master/draco3_description app/robots/bolt URDF] || BSDGPL-2-Clause .0 || ✔️ || ✔️ || ✔️
|-
| ergoCub 42 || IIT HRP-4 || Kawada Robotics || URDF || [https://github.com/icubkawada-tech-iit/ergocub-software/tree/master/urdfrobotics/ergoCub hrp4_description URDF] || BSD-3-Clause || ✔️ || ✔️ || ✔️
|-
| Baxter 43 || Rethink PI4 || PAL Robotics || URDF, Xacro || [https://github.com/RethinkRobotics/baxter_common/tree/masterpal-robotics/baxter_description/urdf/baxter.urdf.xacro pi4_description URDF, Xacro] || ApacheLGPL-23.0 || ✔️ || ✔️ || ✔️
|-
| Pepper 44 || SoftBank HRP-7P || Kawada Robotics || URDF || [https://github.com/roskawada-naoqirobotics/pepper_robot hrp7p_description URDF] || BSD-2-Clause || ✔️ || ✔️ || ✔️
|-
| Mini-Cheetah 45 || Juno || MIT UC Berkeley || URDF || [https://github.com/MIT-Mini-CheetahBerkeleyAutomation/mini-cheetah juno_description URDF] || MIT BSD-3-Clause || ✔️ || ✔️ || ✔️
|-
| Thor-Mang 46 || ROBOTIS Leo || Georgia Institute of Technology || URDF || [https://github.com/ROBOTIS-GITGeorgiaTechRobotLearning/ROBOTIS-MANIPULATION-THORMANG leo_description URDF] || BSD-3-Clause MIT || ✔️ || ✔️ || ✔️
|-
| Cassie 47 || Agility Robotics Apollo || University of Pennsylvania || URDF || [https://github.com/agilityroboticspenn-robotics/cassie_description apollo_description URDF] || MIT BSD-2-Clause || ✔️ || ✔️ || ✔️
|-
| Sophia 48 || Hanson Scuttle || Open Robotics || URDF || [https://github.com/hansonroboticsopenrobotics/sophia_robot scuttle_description URDF] || Apache-2.0 || ✔️ || ✔️ || ✔️
|-
| Asimo 49 || Honda MekaMon || Reach Robotics || URDF || [https://github.com/hondareachrobotics/asimo_description mekamon_robot URDF] || BSD-3-Clause MIT || ✔️ || ✔️ || ✔️
|-
| HRP-5P 50 || Roboy || Kawada Robotics TUM || URDF || [https://github.com/kawada-roboticsroboy/hrp5p roboy_description URDF] || BSDGPL-2-Clause 3.0 || ✔️ || ✔️ || ✔️
|}
|-
| 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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