youtube-dl has a format list

~@~:~ $ youtube-dl -F https://www.youtube.com/watch?v=vIEqgo2G3uw
[youtube] vIEqgo2G3uw: Downloading webpage
[youtube] vIEqgo2G3uw: Downloading video info webpage
[youtube] vIEqgo2G3uw: Extracting video information
[youtube] vIEqgo2G3uw: Downloading DASH manifest
[youtube] vIEqgo2G3uw: Downloading DASH manifest
[info] Available formats for vIEqgo2G3uw:
format code  extension  resolution note
140          m4a        audio only DASH audio  129k , m4a_dash container, aac  @128k (44100Hz), 4.94MiB
141          m4a        audio only DASH audio  255k , m4a_dash container, aac  @256k (44100Hz), 9.81MiB
160          mp4        256x144    DASH video  112k , avc1.4d400c, 13fps, video only, 4.21MiB
133          mp4        426x240    DASH video  255k , avc1.4d4015, 25fps, video only, 9.41MiB
134          mp4        640x360    DASH video  612k , avc1.4d401e, 25fps, video only, 13.04MiB
135          mp4        854x480    DASH video 1118k , avc1.4d401e, 25fps, video only, 25.28MiB
136          mp4        1280x720   DASH video 2202k , avc1.4d401f, 25fps, video only, 47.47MiB
137          mp4        1920x1080  DASH video 4121k , avc1.640028, 25fps, video only, 96.14MiB
17           3gp        176x144    small ,  mp4a.40.2, mp4v.20.3
36           3gp        320x240    small ,  mp4a.40.2, mp4v.20.3
5            flv        400x240    small
43           webm       640x360    medium ,  vorbis, vp8.0
18           mp4        640x360    medium ,  mp4a.40.2, avc1.42001E
22           mp4        1280x720   hd720 ,  mp4a.40.2, avc1.64001F (best)
~@~:~ $ youtube-dl -f 137 https://www.youtube.com/watch?v=vIEqgo2G3uw # this should do it