robot_descriptions 0.2.0

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, if applicable.

MJCF_PATH

Path to the main MJCF file of the robot description, if applicable.

MESHES_PATH

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

PACKAGE_PATH

Path to the root of the robot description.

REPOSITORY_PATH

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

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

Examples

Load a robot description:

• MuJoCo
• Pinocchio
• PyBullet

Visualize a robot description:

• MeshCat
• MuJoCo
• PyBullet
• 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) currently include:

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

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.