Consider a small category $I$. There exists a small diagram $D:I^{op}\to {\rm Top}$ where ${\rm Top}$ is a convenient category for doing algebraic topology such that for all small diagrams $X:I\to {\rm Top}$, the coend $\int^{i} X(i)\times D(i)$ has the homotopy type of ${\rm hocolim\ } X$ (e.g. see Model categories and their localizations Remark 18.5.4). For example $D(i)=|B(i\!\downarrow\! I)^{op}|$.
Is there a way to characterize these diagrams $D:I^{op}\to {\rm Top}$ ?