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 respectively MuJoCo (MJCF) or Pinocchio, iDynTree, PyBullet and yourdfpy (URDF).

Installation

From conda-forge

console conda install -c conda-forge robot_descriptions

From PyPI

console pip install robot_descriptions

Usage

The library provides load_robot_description functions that return an instance of a robot description directly usable in the corresponding software. For example:

```python from robotdescriptions.loaders.pinocchio import loadrobot_description

robot = loadrobotdescription("upkie_description") ```

Loaders are implemented for the following robotics software:

| Software | Loader | |--------------------------------------------------------------|------------------------------------------| | iDynTree | robot_descriptions.loaders.idyntree | | MuJoCo | robot_descriptions.loaders.mujoco | | Pinocchio | robot_descriptions.loaders.pinocchio | | PyBullet | robot_descriptions.loaders.pybullet | | RoboMeshCat | robot_descriptions.loaders.robomeshcat | | yourdfpy | robot_descriptions.loaders.yourdfpy |

Loading will automatically download the robot description if needed, and cache it to a local directory.

Show a description

You can display a robot description directly from the command line:

console python -m robot_descriptions show_in_meshcat go2_description

A robot_descriptions alias for python -m robot_descriptions is also available.

Import as submodule

You can also import a robot description directly as a submodule of robot_descriptions:

python 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 iiwa14_description exports URDF_PATH_POLYTOPE_COLLISION with more detailed collision meshes.

Examples

Loading a robot description:

• iDynTree
• MuJoCo
• Pinocchio
• PyBullet
• RoboMeshCat
• yourdfpy

Visualizing a robot description:

• MeshCat
• MuJoCo
• PyBullet
• RoboMeshCat
• yourdfpy

Descriptions

Available robot descriptions (gallery) are listed in the following categories:

• Arms
• Bipeds
• Dual arms
• Drones
• Educational
• End effectors
• Humanoids
• Mobile manipulators
• Quadrupeds
• Wheeled

The DOF column denotes the number of actuated degrees of freedom.

Arms

| Name | Robot | Maker | Format | License | |-------------------------------|-----------------------|--------------------------|------------|--------------| | arx_l5_mj_description | L5 | ARX | MJCF | BSD-3-Clause | | edo_description | e.DO | Comau | URDF | BSD-3-Clause | | fanuc_m710ic_description | M-710iC | Fanuc | URDF | BSD-3-Clause | | fr3_mj_description | FR3 | Franka Robotics | MJCF | Apache-2.0 | | gen2_description | Gen2 | Kinova | URDF | BSD-3-Clause | | gen3_description | Gen3 | Kinova | URDF | MIT | | gen3_lite_description | Gen3 Lite | Kinova | URDF | BSD-3-Clause | | gen3_mj_description | Gen3 | Kinova | MJCF | BSD-2-Clause | | iiwa14_description | iiwa 14 | KUKA | URDF | BSD-3-Clause | | iiwa14_mj_description | iiwa 14 | KUKA | MJCF | BSD-3-Clause | | iiwa7_description | iiwa 7 | KUKA | URDF | MIT | | low_cost_robot_arm_mj_description | Low-cost robot arm | Alexander Koch | MJCF | Apache-2.0 | | panda_description | Panda | Franka Robotics | URDF | Apache-2.0 | | panda_mj_description | Panda | Franka Robotics | MJCF | Apache-2.0 | | piper_description | PiPER | AgileX | URDF | MIT | | piper_mj_description | PiPER | AgileX | MJCF | MIT | | poppy_ergo_jr_description | Poppy Ergo Jr | Poppy Project | URDF | GPL-3.0 | | sawyer_mj_description | Sawyer | Rethink Robotics | MJCF | Apache-2.0 | | so_arm100_description | SO-ARM100 | The Robot Studio | URDF | Apache-2.0 | | so_arm100_mj_description | SO-ARM100 | The Robot Studio | MJCF | Apache-2.0 | | so_arm101_description | SO-ARM101 | The Robot Studio | URDF | Apache-2.0 | | so_arm101_mj_description | SO-ARM101 | The Robot Studio | MJCF | Apache-2.0 | | ur10_description | UR10 | Universal Robots | URDF | Apache-2.0 | | ur10e_mj_description | UR10e | Universal Robots | MJCF | BSD-3-Clause | | ur3_description | UR3 | Universal Robots | URDF | Apache-2.0 | | ur5_description | UR5 | Universal Robots | URDF | Apache-2.0 | | ur5e_mj_description | UR5e | Universal Robots | MJCF | BSD-3-Clause | | viper_mj_description | ViperX | Trossen Robotics | MJCF | BSD-3-Clause | | widow_mj_description | WidowX | Trossen Robotics | MJCF | BSD-3-Clause | | xarm7_mj_description | xArm7 | UFACTORY | MJCF | BSD-3-Clause | | yam_description | YAM | I2RT Robotics | URDF | MIT | | yam_mj_description | YAM | I2RT Robotics | MJCF | MIT | | z1_description | Z1 | UNITREE Robotics | URDF | BSD-3-Clause | | z1_mj_description | Z1 | UNITREE Robotics | MJCF | BSD-3-Clause |

Bipeds

| Name | Robot | Maker | DOF | Format | |-------------------------------|-----------------------|--------------------------|-----|------------| | bolt_description | Bolt | ODRI | 6 | URDF | | cassie_description | Cassie | Agility Robotics | 16 | URDF | | cassie_mj_description | Cassie | Agility Robotics | 16 | MJCF | | rhea_description | Rhea | Gabrael Levine | 7 | URDF | | spryped_description | Spryped | Benjamin Bokser | 8 | URDF | | upkie_description | Upkie | Tast's Robots | 6 | URDF |

Dual arms

| Name | Robot | Maker | DOF | Format | |-------------------------------|-----------------------|--------------------------|-----|------------| | aloha_mj_description | Aloha 2 | Trossen Robotics | 14 | MJCF | | baxter_description | Baxter | Rethink Robotics | 15 | URDF | | nextage_description | NEXTAGE | Kawada Robotics | 15 | URDF | | poppy_torso_description | Poppy Torso | Poppy Project | 13 | URDF | | yumi_description | YuMi | ABB | 16 | URDF |

Drones

| Name | Robot | Maker | DOF | Format | |-------------------------------|-----------------------|--------------------------|-----|------------| | cf2_description | Crazyflie 2.0 | Bitcraze | 0 | URDF | | cf2_mj_description | Crazyflie 2.0 | Bitcraze | 6 | MJCF | | skydio_x2_description | Skydio X2 | Skydio | 6 | URDF | | skydio_x2_mj_description | Skydio X2 | Skydio | 6 | MJCF |

Educational

| Name | Robot | DOF | Format | License | |----------------------------------|-----------------------|-----|------------|--------- | double_pendulum_description | Double Pendulum | 2 | URDF | BSD-3-Clause | | dynamixel_2r_mj_description | Dynamixel 2R | 2 | MJCF | MIT | | finger_edu_description | FingerEdu | 3 | URDF | BSD-3-Clause | | mujoco_humanoid_mj_description | MuJoCo Humanoid | 27 | MJCF | Apache-2.0 | | simple_humanoid_description | Simple Humanoid | 29 | URDF | BSD-2-Clause | | trifinger_edu_description | TriFingerEdu | 9 | URDF | MIT |

End effectors

| Name | Robot | Maker | Format | License | |----------------------------------|-----------------------|----------------------------|------------|---------| | ability_hand_description | Ability Hand | PSYONIC, Inc. | URDF | MIT | | ability_hand_mj_description | Ability Hand | PSYONIC, Inc. | MJCF | MIT | | allegro_hand_description | Allegro Hand | Wonik Robotics | URDF | BSD | | allegro_hand_mj_description | Allegro Hand | Wonik Robotics | MJCF | BSD-2-Clause | | barrett_hand_description | BarrettHand | Barrett Technology | URDF | BSD | | leap_hand_v1_description | LEAP Hand v1 | Carnegie Mellon University | URDF | MIT | | leap_hand_mj_description | LEAP Hand | Carnegie Mellon University | MJCF | MIT | | robotiq_2f85_description | Robotiq 2F-85 | Robotiq | URDF | BSD-2-Clause | | robotiq_2f85_mj_description | Robotiq 2F-85 | Robotiq | MJCF | BSD-2-Clause | | robotiq_2f85_v4_mj_description | Robotiq 2F-85 | Robotiq | MJCF | BSD-2-Clause | | shadow_dexee_mj_description | Shadow DEX-EE | The Shadow Robot Company | MJCF | Apache-2.0 | | shadow_hand_mj_description | Shadow Hand | The Shadow Robot Company | MJCF | Apache-2.0 |

Humanoids

| Name | Robot | Maker | Format | License | |---------------------------------|-----------------------|--------------------------|------------|---------| | apollo_mj_description | Apollo | Apptronik | MJCF | Apache-2.0 | | adam_lite_mj_description | Adam Lite | PNDBotics | MJCF | MIT | | atlas_drc_description | Atlas DRC (v3) | Boston Dynamics | URDF | BSD-3-Clause | | atlas_v4_description | Atlas v4 | Boston Dynamics | URDF | MIT | | berkeley_humanoid_description | Berkeley Humanoid | Hybrid Robotics | URDF | BSD-3-Clause | | booster_t1_description | Booster T1 | Booster Robotics | URDF | Apache-2.0 | | booster_t1_mj_description | Booster T1 | Booster Robotics | MJCF | Apache-2.0 | | draco3_description | Draco3 | Apptronik | URDF | BSD-2-Clause | | elf2_description | Elf2 | BXI Robotics | URDF | Apache-2.0 | | elf2_mj_description | Elf2 | BXI Robotics | MJCF | Apache-2.0 | | ergocub_description | ergoCub | IIT | URDF | BSD-3-Clause | | g1_description | G1 | UNITREE Robotics | URDF | BSD-3-Clause | | g1_mj_description | G1 | UNITREE Robotics | MJCF | BSD-3-Clause | | gr1_description | GR-1 | Fourier | URDF | GPL-3.0 | | h1_description | H1 | UNITREE Robotics | URDF | BSD-3-Clause | | h1_mj_description | H1 | UNITREE Robotics | MJCF | BSD-3-Clause | | h1_2_description | H12 | UNITREE Robotics | URDF | BSD-3-Clause | | `h12mjdescription| H1_2 | UNITREE Robotics | MJCF | BSD-3-Clause | |icubdescription| iCub | IIT | URDF | CC-BY-SA-4.0 ✖️ | |jaxondescription| JAXON | JSK | URDF | CC-BY-SA-4.0 ✖️ | |jvrcdescription| JVRC-1 | AIST | URDF | BSD-2-Clause | |jvrcmjdescription| JVRC-1 | AIST | MJCF | BSD-2-Clause | |n1description| N1 | Fourier | URDF | [Apache-2.0](https://github.com/FFTAI/Wiki-GRx-Models/blob/f8e683f00d1d99deb882deb9dfce6030095b466a/LICENSE) | |n1mjdescription| N1 | Fourier | MJCF | [Apache-2.0](https://github.com/google-deepmind/mujoco_menagerie/blob/f3475402a11acf5ba767a8bec03cc9bea9819d8d/fourier_n1/LICENSE) | |op3mjdescription| OP3 | ROBOTIS | MJCF | Apache-2.0 | |r2description| Robonaut 2 | NASA JSC Robotics | URDF | NASA-1.3 | |romeodescription| Romeo | Aldebaran Robotics | URDF | BSD-3-Clause | |sigmabandescription| SigmaBan | Rhoban | URDF | MIT | |talosdescription| TALOS | PAL Robotics | URDF | Apache-2.0 | |talosmjdescription| TALOS | PAL Robotics | MJCF | Apache-2.0 | |toddlerbotdescription| ToddlerBot | Stanford University | URDF | MIT | |valkyriedescription` | Valkyrie | NASA JSC Robotics | URDF | NASA-1.3 |

Mobile manipulators

| Name | Robot | Maker | Format | License | |-------------------------------|-----------------------|--------------------------|------------|---------| | bambot_description | BamBot | Tim Qian | URDF | Apache-2.0 | | eve_r3_description | Eve R3 | Halodi | URDF | Apache-2.0 | | fetch_description | Fetch | Fetch Robotics | URDF | MIT | | ginger_description | Ginger | Paaila Technology | URDF | BSD | | pepper_description | Pepper | SoftBank Robotics | URDF | BSD-2-Clause | | pr2_description | PR2 | Willow Garage | URDF | BSD | | rby1_description | RBY1 | Rainbow Robotics | URDF | MIT | | reachy_description | Reachy | Pollen Robotics | URDF | Apache-2.0 | | stretch_description | Stretch RE1 | Hello Robot | URDF | CC-BY-SA-4.0 ✖️ | | sretch_mj_description | Stretch 2 | Hello Robot | MJCF | Clear BSD | | sretch_3_mj_description | Stretch 3 | Hello Robot | MJCF | Apache-2.0 | | tiago_description | TIAGo | PAL Robotics | URDF | Apache-2.0 | | tiago++_mj_description | TIAGo++ | PAL Robotics | MJCF | Apache-2.0 | | rby1_description | RBY1 | Rainbow Robotics | URDF | MIT |

Quadrupeds

| Name | Robot | Maker | DOF | Format | |-------------------------------|-----------------------|--------------------------|-----|------------| | a1_description | A1 | UNITREE Robotics | 12 | URDF | | a1_mj_description | A1 | UNITREE Robotics | 12 | MJCF | | aliengo_description | Aliengo | UNITREE Robotics | 12 | URDF | | aliengo_mj_description | Aliengo | UNITREE Robotics | 12 | MJCF | | anymal_b_description | ANYmal B | ANYbotics | 12 | URDF | | anymal_b_mj_description | ANYmal B | ANYbotics | 12 | MJCF | | anymal_c_description | ANYmal C | ANYbotics | 12 | URDF | | anymal_c_mj_description | ANYmal C | ANYbotics | 12 | MJCF | | anymal_d_description | ANYmal D | ANYbotics | 12 | URDF | | b1_description | B1 | UNITREE Robotics | 12 | URDF | | b2_description | B2 | UNITREE Robotics | 12 | URDF | | go1_description | Go1 | UNITREE Robotics | 12 | URDF | | go1_mj_description | Go1 | UNITREE Robotics | 12 | MJCF | | go2_description | Go2 | UNITREE Robotics | 12 | URDF | | go2_mj_description | Go2 | UNITREE Robotics | 12 | MJCF | | hyq_description | HyQ | IIT | 12 | URDF | | laikago_description | Laikago | UNITREE Robotics | 12 | MJCF, URDF | | mini_cheetah_description | Mini Cheetah | MIT | 12 | URDF | | minitaur_description | Minitaur | Ghost Robotics | 16 | URDF | | solo_description | Solo | ODRI | 12 | URDF | | spot_mj_description | Spot | Boston Dynamics | 12 | MJCF |

Wheeled

| Name | Robot | Maker | Format | License | |-------------------------------|-----------------------|--------------------------|------------|---------| | rsk_description | RSK Omnidirectional | Robot Soccer Kit | URDF | MIT | | rsk_mj_description | RSK Omnidirectional | Robot Soccer Kit | MJCF | MIT | | upkie_description | Upkie | Stéphane Caron | URDF | Apache-2.0 | | wl_p311d_description | WL P311D | LimX Dynamics | URDF | Apache-2.0 | | wl_p311e_description | WL P311E | LimX Dynamics | URDF | Apache-2.0 |

Contributing

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.

Citation

If you use this project in your works, please cite as follows:

bibtex @software{robot_descriptions_py, title = {{robot_descriptions.py: Robot descriptions in Python}}, author = {Caron, Stéphane and Romualdi, Giulio and Kozlov, Lev and Ordoñez Apraez, Daniel Felipe and Tadashi Kussaba, Hugo and Bang, Seung Hyeon and Zakka, Kevin and Schramm, Fabian and Uru\c{c}, Jafar and Traversaro, Silvio and Zamora, Jonathan and Castro, Sebastian and Tao, Haixuan Xavier and Yu, Justin and Jallet, Wilson and Zhang, Yutong}, license = {Apache-2.0}, url = {https://github.com/robot-descriptions/robot_descriptions.py}, version = {1.21.0}, year = {2025} }

Don't forget to add yourself to the BibTeX above and to CITATION.cff if you contribute to this repository.

See also

• Awesome Robot Descriptions: curated list of robot descriptions in URDF, Xacro or MJCF formats.
• drake_models: collection of URDF and SDF descriptions curated for the Drake framework.
• MuJoCo Menagerie: collection of MJCF robot descriptions curated for the MuJoCo physics engine.
• robot_descriptions.cpp: package to use robot_descriptions.py in C++.