Package: robot_descriptions
Robot descriptions in PythonImport open source robot descriptions as Python modules.Importing a description for the first time automatically downloads and caches files for future imports. MostAwesome Robot Descriptionsare available. All of them load successfully in respectively MuJoCo (MJCF) or Pinocchio, iDynTree, PyBullet and yourdfpy (URDF).InstallationInstall from pippip install robot_descriptionsInstall from condaconda install -c conda-forge robot_descriptionsUsageThe library providesload_robot_descriptionfunctions that return an instance of a robot description directly usable in the corresponding software. For example:fromrobot_descriptions.loaders.pinocchioimportload_robot_descriptionrobot=load_robot_description("upkie_description")Loaders are implemented for the following robotics software:SoftwareLoaderiDynTreerobot_descriptions.loaders.idyntreeMuJoCorobot_descriptions.loaders.mujocoPinocchiorobot_descriptions.loaders.pinocchioPyBulletrobot_descriptions.loaders.pybulletRoboMeshCatrobot_descriptions.loaders.robomeshcatyourdfpyrobot_descriptions.loaders.yourdfpyLoading will automatically download the robot description if needed, and cache it to a local directory.Import as submoduleYou can also import a robot description directly as a submodule ofrobot_descriptions:fromrobot_descriptionsimportmy_robot_descriptionThe 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_PATHPath to the main URDF/MJCF file of the robot description.PACKAGE_PATHPath to the root of the robot description package.REPOSITORY_PATHPath to the working directory of the git repository hosting the robot description.Some robot descriptions include additional fields. For instance, theiiwa_descriptionexportsURDF_PATH_POLYTOPE_COLLISIONwith more detailed collision meshes.ExamplesLoading a robot description:iDynTreeMuJoCoPinocchioPyBulletRoboMeshCatyourdfpyVisualizing a robot description:MeshCatMuJoCoPyBulletRoboMeshCatyourdfpyCommand line toolThe command line tool can be used to visualize any of the robot descriptions below. For example:robot_descriptions show solo_descriptionDescriptionsAvailable robot descriptions (gallery) are listed in the following categories:ArmsBipedsDual armsDronesEducationalEnd effectorsMobile manipulatorsHumanoidsQuadrupedsThe DOF column denotes the number of actuated degrees of freedom.ArmsNameRobotMakerDOFFormatedo_descriptione.DOComau6URDFfanuc_m710ic_descriptionM-710iCFanuc6URDFgen2_descriptionGen2 (Jaco)Kinova6URDFgen3_descriptionGen3 (Jaco)Kinova6URDFgen3_mj_descriptionGen3 (Jaco)Kinova7MJCFiiwa_descriptioniiwaKUKA7URDFpanda_descriptionPandaFranka Emika8URDFpanda_mj_descriptionPandaFranka Emika8MJCFpoppy_ergo_jr_descriptionPoppy Ergo JrPoppy Project6URDFur10_descriptionUR10Universal Robots6URDFur10e_mj_descriptionUR10eUniversal Robots6MJCFur3_descriptionUR3Universal Robots6URDFur5_descriptionUR5Universal Robots6URDFur5e_mj_descriptionUR5eUniversal Robots6MJCFz1_descriptionZ1UNITREE Robotics6URDFBipedsNameRobotMakerDOFFormatbolt_descriptionBoltODRI6URDFcassie_descriptionCassieAgility Robotics16URDFcassie_mj_descriptionCassieAgility Robotics16MJCFrhea_descriptionRheaGabrael Levine7URDFspryped_descriptionSprypedBenjamin Bokser8URDFupkie_descriptionUpkieTast's Robots6URDFDual armsNameRobotMakerDOFFormatbaxter_descriptionBaxterRethink Robotics15URDFnextage_descriptionNEXTAGEKawada Robotics15URDFpoppy_torso_descriptionPoppy TorsoPoppy Project13URDFyumi_descriptionYuMiABB16URDFDronesNameRobotMakerDOFFormatcf2_descriptionCrazyflie 2.0Bitcraze0URDFskydio_x2_descriptionSkydio X2Skydio6URDFskydio_x2_mj_descriptionSkydio X2Skydio6MJCFEducationalNameRobotDOFFormatdouble_pendulum_descriptionDouble Pendulum2URDFfinger_edu_descriptionFingerEdu3URDFsimple_humanoid_descriptionSimple Humanoid29URDFtrifinger_edu_descriptionTriFingerEdu9URDFEnd effectorsNameRobotMakerDOFFormatallegro_hand_descriptionAllegro HandWonik Robotics16URDFbarrett_hand_descriptionBarrettHandBarrett Technology8URDFrobotiq_2f85_descriptionRobotiq 2F-85Robotiq1URDFrobotiq_2f85_mj_descriptionRobotiq 2F-85Robotiq1MJCFshadow_hand_mj_descriptionShadow HandThe Shadow Robot Company24MJCFHumanoidsNameRobotMakerDOFFormatatlas_drc_descriptionAtlas DRC (v3)Boston Dynamics30URDFatlas_v4_descriptionAtlas v4Boston Dynamics30URDFdraco3_descriptionDraco3Apptronik25URDFergocub_descriptionergoCubIIT57URDFh1_descriptionH1UNITREE Robotics25URDFh1_mj_descriptionH1UNITREE Robotics25MJCFicub_descriptioniCubIIT32URDFjaxon_descriptionJAXONJSK38URDFjvrc_descriptionJVRC-1AIST34URDFjvrc_mj_descriptionJVRC-1AIST34MJCFr2_descriptionRobonaut 2NASA JSC Robotics56URDFromeo_descriptionRomeoAldebaran Robotics37URDFsigmaban_descriptionSigmaBanRhoban20URDFtalos_descriptionTALOSPAL Robotics32URDFvalkyrie_descriptionValkyrieNASA JSC Robotics59URDFMobile manipulatorsNameRobotMakerDOFFormateve_r3_descriptionEve R3Halodi23URDFfetch_descriptionFetchFetch Robotics14URDFginger_descriptionGingerPaaila Technology49URDFpepper_descriptionPepperSoftBank Robotics17URDFpr2_descriptionPR2Willow Garage32URDFreachy_descriptionReachyPollen Robotics21URDFstretch_descriptionStretch RE1Hello Robot14URDFtiago_descriptionTIAGoPAL Robotics48URDFQuadrupedsNameRobotMakerDOFFormata1_mj_descriptionA1UNITREE Robotics12MJCFa1_descriptionA1UNITREE Robotics12URDFb1_descriptionB1UNITREE Robotics12URDFaliengo_descriptionAliengoUNITREE Robotics12MJCF, URDFanymal_b_mj_descriptionANYmal BANYbotics12MJCFanymal_b_descriptionANYmal BANYbotics12URDFanymal_c_descriptionANYmal CANYbotics12URDFanymal_c_mj_descriptionANYmal CANYbotics12MJCFgo1_descriptionGo1UNITREE Robotics12URDFgo1_mj_descriptionGo1UNITREE Robotics12MJCFgo2_descriptionGo2UNITREE Robotics12URDFgo2_mj_descriptionGo2UNITREE Robotics12MJCFhyq_descriptionHyQIIT12URDFlaikago_descriptionLaikagoUNITREE Robotics12MJCF, URDFmini_cheetah_descriptionMini CheetahMIT12URDFminitaur_descriptionMinitaurGhost Robotics16URDFsolo_descriptionSoloODRI12URDFContributingNew robot descriptions are welcome! Check out theguidelinesthen open a PR.ThanksThanks to the maintainers of all the git repositories that made these robot descriptions available.See alsoRobot descriptions in other languages:robot_descriptions.cpp