synriard 1.0.3rc1

URDF and MJCF robot description files for Synria robotic platforms.

SynriaRD: Synria Robot Descriptions

English | 中文

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_6
│   │   └── Bessica_D_v1_1
│   ├── mjcf
│   │   ├── Alicia_D_v5_6
│   │   └── Bessica_D_v1_1
│   └── urdf
│       ├── Alicia_D_v5_6
│       └── Bessica_D_v1_1

Naming Convention

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

• name: Robot name (e.g., Alicia_D, Bessica_D)
• version: Version number (e.g., v5_6, v1_1)
• variant: Variant identifier
  • For robots with grippers (Alicia_D): gripper_{size} (e.g., gripper_50mm, gripper_100mm)
  • For other variants (Bessica_D): Direct variant name (e.g., 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
• Bessica_D_v1_1_skeleton.urdf - Bessica_D v1.1 version, skeleton variant
• Bessica_D_v1_1_skeleton_interactive.xml - Bessica_D v1.1 version, skeleton 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
• Variants:
  • gripper_50mm - 50mm gripper configuration
  • gripper_100mm - 100mm gripper configuration
  • leader - Leader arm configuration
  • vertical_50mm - Vertical 50mm configuration
• Location: Alicia_D_v5_6

Bessica-D

• Description: Dual-arm humanoid robot
• DOF: 14 (Dual 7-DOF arms)
• Appearance: Skeleton version

Skeleton Version

• URDF: Bessica_D_v1_1_skeleton.urdf
• MuJoCo XML: Bessica_D_v1_1_skeleton.xml
• MuJoCo XML (Interactive): Bessica_D_v1_1_skeleton_interactive.xml

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)