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:

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.