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.
1 maintainer
Release files for robot_descriptions 0.1.0
For a detailed explanation of source distributions (sdists) and built distributions (wheels), please see the package formats documentation.
Source distribution (sdist)
| File | Size | Uploaded | |
|---|---|---|---|
| robot_descriptions-0.1.0.tar.gz | 22.5 kB | Details |
Built distribution (wheel)
| File | Interpreter | ABI | Platform | Reset |
|---|---|---|---|---|
| robot_descriptions-0.1.0-py3-none-any.whl | Python 3 | none | any | Details |
Total release size: 61.6 kB
Release files / robot_descriptions-0.1.0.tar.gz
| Download URL | robot_descriptions-0.1.0.tar.gz |
|---|---|
| Size | 22.5 kB |
| Tags | Source |
|
SHA-256 checksum How to use checksums |
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Release files / robot_descriptions-0.1.0-py3-none-any.whl
| Download URL | robot_descriptions-0.1.0-py3-none-any.whl |
|---|---|
| Size | 39.1 kB |
| Tags | Python 3 |
|
SHA-256 checksum How to use checksums |
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Uploaded using Trusted Publishing? What is trusted publishing? |
No |
| Uploaded via |
python-requests/2.22.0
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