robot_descriptions 0.1.0

Import open source robot description as Python modules.

Robot descriptions in Python

Import open source robot descriptions as Python modules. The wrapper automatically downloads and cache files at first import. Most Awesome Robot Descriptions are available.

Installation

pip install robot_descriptions

Usage

Import the robot description you are interested in 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

Path to the main URDF file of the robot description.

MESHES_PATH

Path to the "meshes" folder of the robot description, if applicable.

PATH

Path to the local robot description directory.

Some robot descriptions include additional fields. For instance, the iiwa_description exports URDF_PATH_POLYTOPE_COLLISION with more detailed collision meshes.

Command line tool

The command line tool can be used to display any of the robot descriptions below. For example:

robot_descriptions show solo_description

Descriptions

Available robot descriptions (gallery) currently include:

Name	Maker	Submodule
A1	UNITREE Robotics	a1_description
Aliengo	UNITREE Robotics	aliengo_description
Allegro Hand	Wonik Robotics	allegro_hand_description
ANYmal B	ANYbotics	anymal_b_description
ANYmal C	ANYbotics	anymal_c_description
Atlas	Boston Dynamics	atlas_description
Baxter	Rethink Robotics	baxter_description
Bolt	ODRI	bolt_description
Cassie	Agility Robotics	cassie_description
Crazyflie 2.0	Bitcraze	cf2_description
Double Pendulum	N/A	double_pendulum_description
e.DO	Comau	edo_description
FingerEdu	N/A	finger_edu_description
Gen2	Kinova	gen2_description
HyQ	IIT	hyq_description
iCub	IIT	icub_description
iiwa	KUKA	iiwa_description
JVRC-1	AIST	jvrc_description
Laikago	UNITREE Robotics	laikago_description
Mini Cheetah	MIT	mini_cheetah_description
Minitaur	Ghost Robotics	minitaur_description
Panda	Franka Emika	panda_description
PR2	Willow Garage	pr2_description
Reachy	Pollen Robotics	reachy_description
Romeo	Aldebaran Robotics	romeo_description
Simple Humanoid	N/A	simple_humanoid_description
Solo	ODRI	solo_description
TALOS	PAL Robotics	talos_description
TIAGo	PAL Robotics	tiago_description
Upkie	Tast's Robots	upkie_description
UR10	Universal Robots	ur10_description
UR3	Universal Robots	ur3_description
UR5	Universal Robots	ur5_description

New robot descriptions are welcome! Check out the guidelines then open a PR.