robot_descriptions 0.5.0

Import open source robot description as Python modules.

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 PyBullet (URDF) and MuJoCo (MJCF).

Installation

pip install robot_descriptions

Other languages

	robot_descriptions.cpp

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 / 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 iiwa_description exports URDF_PATH_POLYTOPE_COLLISION with more detailed collision meshes.

Loaders

The library also provides a load_robot_description function for each of the following robotics software:

Software	Loader
MuJoCo	robot_descriptions.loaders.mujoco
Pinocchio	robot_descriptions.loaders.pinocchio
PyBullet	robot_descriptions.loaders.pybullet

The function loads a robot description from its name, and returns an instance directly usable in the target software. For example:

from robot_descriptions.loaders.pinocchio import load_robot_description

robot = load_robot_description("upkie_description")

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	Maker	Format	Submodule
A1	UNITREE Robotics	MJCF	a1_mj_description
A1	UNITREE Robotics	URDF	a1_description
Aliengo	UNITREE Robotics	MJCF, URDF	aliengo_description
Allegro Hand	Wonik Robotics	URDF	allegro_hand_description
ANYmal B	ANYbotics	MJCF	anymal_b_mj_description
ANYmal B	ANYbotics	URDF	anymal_b_description
ANYmal C	ANYbotics	MJCF	anymal_c_mj_description
ANYmal C	ANYbotics	URDF	anymal_c_description
Atlas DRC (v3)	Boston Dynamics	URDF	atlas_drc_description
Atlas v4	Boston Dynamics	URDF	atlas_v4_description
BarrettHand	Barrett Technology	URDF	barrett_hand_description
Baxter	Rethink Robotics	URDF	baxter_description
Bolt	ODRI	URDF	bolt_description
Cassie	Agility Robotics	MJCF	cassie_mj_description
Cassie	Agility Robotics	URDF	cassie_description
Crazyflie 2.0	Bitcraze	URDF	cf2_description
Double Pendulum	N/A	URDF	double_pendulum_description
e.DO	Comau	URDF	edo_description
Eve R3	Halodi	URDF	eve_r3_description
Fetch	Fetch Robotics	URDF	fetch_description
FingerEdu	N/A	URDF	finger_edu_description
Gen2	Kinova	URDF	gen2_description
Ginger	Paaila Technology	URDF	ginger_description
Go1	UNITREE Robotics	MJCF	go1_mj_description
Go1	UNITREE Robotics	URDF	go1_description
HyQ	IIT	URDF	hyq_description
iCub	IIT	URDF	icub_description
iiwa	KUKA	URDF	iiwa_description
JVRC-1	AIST	MJCF	jvrc_mj_description
JVRC-1	AIST	URDF	jvrc_description
Laikago	UNITREE Robotics	MJCF, URDF	laikago_description
Mini Cheetah	MIT	URDF	mini_cheetah_description
Minitaur	Ghost Robotics	URDF	minitaur_description
Panda	Franka Emika	MJCF	panda_mj_description
Panda	Franka Emika	URDF	panda_description
Pepper	SoftBank Robotics	URDF	pepper_description
Poppy Ergo Jr	Poppy Project	URDF	poppy_ergo_jr_description
Poppy Torso	Poppy Project	URDF	poppy_torso_description
PR2	Willow Garage	URDF	pr2_description
Reachy	Pollen Robotics	URDF	reachy_description
Robonaut 2	NASA JSC Robotics	URDF	r2_description
Robotiq 2F-85	Robotiq	MJCF	robotiq_2f85_mj_description
Robotiq 2F-85	Robotiq	URDF	robotiq_2f85_description
Romeo	Aldebaran Robotics	URDF	romeo_description
Shadow Hand	The Shadow Robot Company	MJCF	shadow_hand_mj_description
Simple Humanoid	N/A	URDF	simple_humanoid_description
Solo	ODRI	URDF	solo_description
TALOS	PAL Robotics	URDF	talos_description
TIAGo	PAL Robotics	URDF	tiago_description
Upkie	Tast's Robots	URDF	upkie_description
UR10	Universal Robots	URDF	ur10_description
UR3	Universal Robots	URDF	ur3_description
UR5	Universal Robots	URDF	ur5_description
UR5e	Universal Robots	MJCF	ur5e_mj_description
Valkyrie	NASA JSC Robotics	URDF	valkyrie_description
YuMi	ABB	URDF	yumi_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.