SynriaRD: Synria Robot Descriptions

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This repository contains URDF (Unified Robot Description Format) and MJCF (MuJoCo Modeling Format) models for Synria robotic platforms.

Repository Structure

├── synriard
│   ├── meshes
│   │   ├── Alicia_D_v5_5
│   │   ├── Alicia_D_v5_6
│   │   ├── Alicia_M_v1_0
│   │   ├── Alicia_M_v1_1
│   │   ├── Bessica_D_v1_0
│   │   ├── Bessica_D_v1_1
│   │   └── Bessica_M_v1_0
│   ├── mjcf
│   │   ├── Alicia_D_v5_5
│   │   ├── Alicia_D_v5_6
│   │   ├── Alicia_M_v1_1
│   │   ├── Bessica_D_v1_0
│   │   ├── Bessica_D_v1_1
│   │   └── Bessica_M_v1_0
│   └── urdf
│       ├── Alicia_D_v5_5
│       ├── Alicia_D_v5_6
│       ├── Alicia_M_v1_0
│       ├── Alicia_M_v1_1
│       ├── Bessica_D_v1_0
│       ├── Bessica_D_v1_1
│       └── Bessica_M_v1_0

Naming Convention

All model files follow a unified naming format: {name}_{version}_{variant}.{ext}

• name: Robot name (e.g., Alicia_D, Alicia_M, Bessica_D, Bessica_M)
• version: Version number (e.g., v5_5, v5_6, v1_0, v1_1)
• variant: Variant identifier
  • For robots with grippers (Alicia_D, Alicia_M): gripper_{size} (e.g., gripper_50mm, gripper_100mm)
  • For other variants (Bessica_D): Direct variant name (e.g., covered, skeleton, skeleton_interactive)
• ext: File extension (.urdf or .xml)

Examples

• Alicia_D_v5_6_gripper_50mm.urdf - Alicia_D v5.6 version with 50mm gripper
• Alicia_D_v5_6_gripper_100mm.urdf - Alicia_D v5.6 version with 100mm gripper
• Alicia_M_v1_1_gripper_100mm.urdf - Alicia_M v1.1 version with 100mm gripper
• Bessica_D_v1_0_covered.urdf - Bessica_D v1.0 version, covered variant
• Bessica_D_v1_1_skeleton.urdf - Bessica_D v1.1 version, skeleton variant
• Bessica_D_v1_0_covered_interactive.xml - Bessica_D v1.0 version, covered interactive variant (MJCF)

Usage API

from synriard import get_model_path, list_available_models

# Get model path
urdf_path = get_model_path("Alicia_D", version="v5_6", variant="gripper_50mm")
mjcf_path = get_model_path("Alicia_D", version="v5_6", variant="gripper_50mm", model_format="mjcf")

# List all available models
print(list_available_models(model_format="urdf"))
print(list_available_models(model_format="urdf", show_path=True))

Products

Alicia-D

• Description: Agile manipulation arm
• DOF: 6
• Gripper Configurations: 50mm and 100mm
• Versions: v5.5, v5.6
• Variants:
  • gripper_50mm - 50mm gripper configuration
  • gripper_100mm - 100mm gripper configuration
  • leader - Leader arm configuration (v5.6 only)
  • vertical_50mm - Vertical 50mm configuration (v5.6 only)
• Locations:
  • Alicia_D_v5_5
  • Alicia_D_v5_6

Alicia-M

• Description: Cloud-powered robotic arm
• DOF: 6
• Versions: v1.0, v1.1
• Gripper Configuration: 100mm
• Locations:
  • Alicia_M_v1_0
  • Alicia_M_v1_1

Bessica-D

• Description: Dual-arm humanoid robot
• DOF: 14 (Dual 7-DOF arms)
• Versions: v1.0, v1.1
• Appearance: Skeleton and covered versions

Skeleton Version

• v1.0 URDF: Bessica_D_v1_0_skeleton.urdf
• v1.0 MuJoCo XML: Bessica_D_v1_0_skeleton.xml
• v1.1 URDF: Bessica_D_v1_1_skeleton.urdf
• v1.1 MuJoCo XML: Bessica_D_v1_1_skeleton.xml
• v1.1 MuJoCo XML (Interactive): Bessica_D_v1_1_skeleton_interactive.xml

Covered Version (v1.0 only)

• URDF: Bessica_D_v1_0_covered.urdf
• MuJoCo XML: Bessica_D_v1_0_covered.xml
• MuJoCo XML (Interactive): Bessica_D_v1_0_covered_interactive.xml

Bessica-M

• Description: Dual-arm humanoid robot (M series)
• DOF: 14 (Dual 7-DOF arms)
• Version: v1.0
• Location: Bessica_M_v1_0

Adding New Robot Models

After adding new robot models, run the automation script to automatically generate the required __init__.py files:

# 1. Add model files to the corresponding directory
mkdir -p synriard/mjcf/RobotName_v1_0
cp RobotName_v1_0_gripper_100mm.xml synriard/mjcf/RobotName_v1_0/

# 2. Run the automation script
python3 auto_generate_init.py

# The script will automatically:
# - Generate __init__.py for each robot directory
# - Update parent directory __init__.py to register all robots

Script options:

• --format mjcf|urdf|all: Specify the format to process (default: all)
• --synriard-path PATH: Specify the synriard directory path (default: auto-detect)

Supported Simulation Environments

• ROS/ROS2 (via URDF)
• MuJoCo (via MJCF)
• Gazebo (via URDF)
• PyBullet (via URDF)
• Isaac Sim (via URDF/MJCF)