robot_descriptions 1.12.0

Description:

robot descriptions 1.12.0

Robot descriptions in Python






Import open source robot descriptions as Python modules.
Importing a description for the first time automatically downloads and caches files for future imports. Most Awesome Robot Descriptions are available. All of them load successfully in respectively MuJoCo (MJCF) or Pinocchio, iDynTree, PyBullet and yourdfpy (URDF).
Installation
From conda-forge

conda install -c conda-forge robot_descriptions

From PyPI

pip install robot_descriptions

Usage
The library provides load_robot_description functions that return an instance of a robot description directly usable in the corresponding software. For example:
from robot_descriptions.loaders.pinocchio import load_robot_description

robot = load_robot_description("upkie_description")

Loaders are implemented for the following robotics software:



Software
Loader




iDynTree
robot_descriptions.loaders.idyntree


MuJoCo
robot_descriptions.loaders.mujoco


Pinocchio
robot_descriptions.loaders.pinocchio


PyBullet
robot_descriptions.loaders.pybullet


RoboMeshCat
robot_descriptions.loaders.robomeshcat


yourdfpy
robot_descriptions.loaders.yourdfpy



Loading will automatically download the robot description if needed, and cache it to a local directory.
Import as submodule
You can also import a robot description directly as a submodule of robot_descriptions:
from robot_descriptions import my_robot_description

The import will automatically download the robot description if you don't have it already, and cache it to a local directory. The submodule then provides the following paths:


URDF_PATH / MJCF_PATH


Path to the main URDF/MJCF file of the robot description.


PACKAGE_PATH


Path to the root of the robot description package.


REPOSITORY_PATH


Path to the working directory of the git repository hosting the robot description.


Some robot descriptions include additional fields. For instance, the iiwa14_description exports URDF_PATH_POLYTOPE_COLLISION with more detailed collision meshes.
Examples
Loading a robot description:

iDynTree
MuJoCo
Pinocchio
PyBullet
RoboMeshCat
yourdfpy

Visualizing a robot description:

MeshCat
MuJoCo
PyBullet
RoboMeshCat
yourdfpy

Command line tool
The command line tool can be used to visualize any of the robot descriptions below. For example:
robot_descriptions show solo_description

Descriptions
Available robot descriptions (gallery) are listed in the following categories:

Arms
Bipeds
Dual arms
Drones
Educational
End effectors
Humanoids
Mobile manipulators
Quadrupeds

The DOF column denotes the number of actuated degrees of freedom.
Arms



Name
Robot
Maker
DOF
Format




edo_description
e.DO
Comau
6
URDF


fanuc_m710ic_description
M-710iC
Fanuc
6
URDF


fr3_mj_description
FR3
Franka Robotics
7
MJCF


gen2_description
Gen2
Kinova
6
URDF


gen3_description
Gen3
Kinova
6
URDF


gen3_mj_description
Gen3
Kinova
7
MJCF


iiwa14_description
iiwa 14
KUKA
7
URDF


iiwa14_mj_description
iiwa 14
KUKA
7
MJCF


iiwa7_description
iiwa 7
KUKA
7
URDF


panda_description
Panda
Franka Robotics
8
URDF


panda_mj_description
Panda
Franka Robotics
8
MJCF


poppy_ergo_jr_description
Poppy Ergo Jr
Poppy Project
6
URDF


sawyer_mj_description
Sawyer
Rethink Robotics
7
MJCF


ur10_description
UR10
Universal Robots
6
URDF


ur10e_mj_description
UR10e
Universal Robots
6
MJCF


ur3_description
UR3
Universal Robots
6
URDF


ur5_description
UR5
Universal Robots
6
URDF


ur5e_mj_description
UR5e
Universal Robots
6
MJCF


viper_mj_description
ViperX
Trossen Robotics
8
MJCF


widow_mj_description
WidowX
Trossen Robotics
8
MJCF


xarm7_mj_description
xArm7
UFACTORY
7
MJCF


z1_description
Z1
UNITREE Robotics
6
URDF



Bipeds



Name
Robot
Maker
DOF
Format




bolt_description
Bolt
ODRI
6
URDF


cassie_description
Cassie
Agility Robotics
16
URDF


cassie_mj_description
Cassie
Agility Robotics
16
MJCF


rhea_description
Rhea
Gabrael Levine
7
URDF


spryped_description
Spryped
Benjamin Bokser
8
URDF


upkie_description
Upkie
Tast's Robots
6
URDF



Dual arms



Name
Robot
Maker
DOF
Format




aloha_mj_description
Aloha 2
Trossen Robotics
14
MJCF


baxter_description
Baxter
Rethink Robotics
15
URDF


nextage_description
NEXTAGE
Kawada Robotics
15
URDF


poppy_torso_description
Poppy Torso
Poppy Project
13
URDF


yumi_description
YuMi
ABB
16
URDF



Drones



Name
Robot
Maker
DOF
Format




cf2_description
Crazyflie 2.0
Bitcraze
0
URDF


cf2_mj_description
Crazyflie 2.0
Bitcraze
6
MJCF


skydio_x2_description
Skydio X2
Skydio
6
URDF


skydio_x2_mj_description
Skydio X2
Skydio
6
MJCF



Educational



Name
Robot
DOF
Format




double_pendulum_description
Double Pendulum
2
URDF


finger_edu_description
FingerEdu
3
URDF


simple_humanoid_description
Simple Humanoid
29
URDF


trifinger_edu_description
TriFingerEdu
9
URDF



End effectors



Name
Robot
Maker
DOF
Format




allegro_hand_description
Allegro Hand
Wonik Robotics
16
URDF


allegro_hand_mj_description
Allegro Hand
Wonik Robotics
16
MJCF


barrett_hand_description
BarrettHand
Barrett Technology
8
URDF


leap_hand_v1
LEAP Hand v1
Carnegie Mellon University
16
URDF


robotiq_2f85_description
Robotiq 2F-85
Robotiq
1
URDF


robotiq_2f85_mj_description
Robotiq 2F-85
Robotiq
1
MJCF


shadow_dexee_mj_description
Shadow DEX-EE
The Shadow Robot Company
12
MJCF


shadow_hand_mj_description
Shadow Hand
The Shadow Robot Company
24
MJCF



Humanoids



Name
Robot
Maker
DOF
Format




atlas_drc_description
Atlas DRC (v3)
Boston Dynamics
30
URDF


atlas_v4_description
Atlas v4
Boston Dynamics
30
URDF


draco3_description
Draco3
Apptronik
25
URDF


ergocub_description
ergoCub
IIT
57
URDF


g1_description
G1
UNITREE Robotics
37
URDF


g1_mj_description
G1
UNITREE Robotics
37
MJCF


h1_description
H1
UNITREE Robotics
25
URDF


h1_mj_description
H1
UNITREE Robotics
25
MJCF


icub_description
iCub
IIT
32
URDF


jaxon_description
JAXON
JSK
38
URDF


jvrc_description
JVRC-1
AIST
34
URDF


jvrc_mj_description
JVRC-1
AIST
34
MJCF


op3_mj_description
OP3
ROBOTIS
20
MJCF


r2_description
Robonaut 2
NASA JSC Robotics
56
URDF


romeo_description
Romeo
Aldebaran Robotics
37
URDF


sigmaban_description
SigmaBan
Rhoban
20
URDF


talos_description
TALOS
PAL Robotics
32
URDF


valkyrie_description
Valkyrie
NASA JSC Robotics
59
URDF



Mobile manipulators



Name
Robot
Maker
DOF
Format




eve_r3_description
Eve R3
Halodi
23
URDF


fetch_description
Fetch
Fetch Robotics
14
URDF


ginger_description
Ginger
Paaila Technology
49
URDF


pepper_description
Pepper
SoftBank Robotics
17
URDF


pr2_description
PR2
Willow Garage
32
URDF


reachy_description
Reachy
Pollen Robotics
21
URDF


stretch_description
Stretch RE1
Hello Robot
14
URDF


sretch_mj_description
Stretch 2
Hello Robot
14
MJCF


sretch_3_mj_description
Stretch 3
Hello Robot
14
MJCF


tiago_description
TIAGo
PAL Robotics
48
URDF



Quadrupeds



Name
Robot
Maker
DOF
Format




a1_description
A1
UNITREE Robotics
12
URDF


a1_mj_description
A1
UNITREE Robotics
12
MJCF


aliengo_description
Aliengo
UNITREE Robotics
12
URDF


aliengo_mj_description
Aliengo
UNITREE Robotics
12
MJCF


anymal_b_description
ANYmal B
ANYbotics
12
URDF


anymal_b_mj_description
ANYmal B
ANYbotics
12
MJCF


anymal_c_description
ANYmal C
ANYbotics
12
URDF


anymal_c_mj_description
ANYmal C
ANYbotics
12
MJCF


b1_description
B1
UNITREE Robotics
12
URDF


spot_mj_description
Spot
Boston Dynamics
12
MJCF


go1_description
Go1
UNITREE Robotics
12
URDF


go1_mj_description
Go1
UNITREE Robotics
12
MJCF


go2_description
Go2
UNITREE Robotics
12
URDF


go2_mj_description
Go2
UNITREE Robotics
12
MJCF


hyq_description
HyQ
IIT
12
URDF


laikago_description
Laikago
UNITREE Robotics
12
MJCF, URDF


mini_cheetah_description
Mini Cheetah
MIT
12
URDF


minitaur_description
Minitaur
Ghost Robotics
16
URDF


solo_description
Solo
ODRI
12
URDF



Contributing
New robot descriptions are welcome! Check out the guidelines then open a PR.
Thanks
Thanks to the maintainers of all the git repositories that made these robot descriptions available.
Citation
If you use this project in your works, please cite as follows:
@software{robot_descriptions_py,
title = {{robot_descriptions.py: Robot descriptions in Python}},
author = {Caron, Stéphane and Romualdi, Giulio and Kozlov, Lev and Ordoñez Apraez, Daniel Felipe and Tadashi Kussaba, Hugo and Bang, Seung Hyeon and Zakka, Kevin and Schramm, Fabian},
license = {Apache-2.0},
url = {https://github.com/robot-descriptions/robot_descriptions.py},
version = {1.12.0},
year = {2024}
}

See also

Awesome Robot Descriptions: curated list of robot descriptions in URDF, Xacro or MJCF formats.
drake_models: collection of URDF and SDF descriptions curated for the Drake framework.
MuJoCo Menagerie: collection of MJCF robot descriptions curated for the MuJoCo physics engine.
robot_descriptions.cpp: package to use robot_descriptions.py in C++.