| Name | robot_descriptions JSON |
| Version |
1.20.0
JSON |
| download |
| home_page | None |
| Summary | Import open source robot description as Python modules. |
| upload_time | 2025-07-15 13:32:33 |
| maintainer | None |
| docs_url | None |
| author | None |
| requires_python | >=3.7 |
| license | None |
| keywords |
robot
description
urdf
mjcf
|
| VCS |
 |
| bugtrack_url |
|
| requirements |
No requirements were recorded.
|
| Travis-CI |
No Travis.
|
| coveralls test coverage |
No coveralls.
|
# Robot descriptions in Python
[](https://github.com/robot-descriptions/robot_descriptions.py/actions)
[](https://coveralls.io/github/robot-descriptions/robot_descriptions.py?branch=main)
[](https://anaconda.org/conda-forge/robot_descriptions)
[](https://pypi.org/project/robot_descriptions/)
[](https://pypistats.org/packages/robot_descriptions)
[](https://github.com/robot-descriptions/robot_descriptions.py/tree/main/CONTRIBUTING.md)
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](https://github.com/robot-descriptions/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 robot_descriptions.loaders.pinocchio import load_robot_description
robot = load_robot_description("upkie_description")
```
Loaders are implemented for the following robotics software:
| Software | Loader |
|--------------------------------------------------------------|------------------------------------------|
| [iDynTree](https://github.com/robotology/idyntree) | `robot_descriptions.loaders.idyntree` |
| [MuJoCo](https://github.com/deepmind/mujoco) | `robot_descriptions.loaders.mujoco` |
| [Pinocchio](https://github.com/stack-of-tasks/pinocchio) | `robot_descriptions.loaders.pinocchio` |
| [PyBullet](https://pybullet.org/) | `robot_descriptions.loaders.pybullet` |
| [RoboMeshCat](https://github.com/petrikvladimir/RoboMeshCat) | `robot_descriptions.loaders.robomeshcat` |
| [yourdfpy](https://github.com/clemense/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:
<dl>
<dt>
<code>URDF_PATH</code> / <code>MJCF_PATH</code>
</dt>
<dd>
Path to the main URDF/MJCF file of the robot description.
</dd>
<dt>
<code>PACKAGE_PATH</code>
</dt>
<dd>
Path to the root of the robot description package.
</dd>
<dt>
<code>REPOSITORY_PATH</code>
</dt>
<dd>
Path to the working directory of the git repository hosting the robot description.
</dd>
</dl>
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](https://github.com/robot-descriptions/robot_descriptions.py/tree/main/examples/load_in_idyntree.py)
- [MuJoCo](https://github.com/robot-descriptions/robot_descriptions.py/tree/main/examples/load_in_mujoco.py)
- [Pinocchio](https://github.com/robot-descriptions/robot_descriptions.py/tree/main/examples/load_in_pinocchio.py)
- [PyBullet](https://github.com/robot-descriptions/robot_descriptions.py/tree/main/examples/load_in_pybullet.py)
- [RoboMeshCat](https://github.com/robot-descriptions/robot_descriptions.py/tree/main/examples/load_in_robomeshcat.py)
- [yourdfpy](https://github.com/robot-descriptions/robot_descriptions.py/tree/main/examples/load_in_yourdfpy.py)
Visualizing a robot description:
- [MeshCat](https://github.com/robot-descriptions/robot_descriptions.py/tree/main/examples/show_in_meshcat.py)
- [MuJoCo](https://github.com/robot-descriptions/robot_descriptions.py/tree/main/examples/show_in_mujoco.py)
- [PyBullet](https://github.com/robot-descriptions/robot_descriptions.py/tree/main/examples/show_in_pybullet.py)
- [RoboMeshCat](https://github.com/robot-descriptions/robot_descriptions.py/tree/main/examples/show_in_robomeshcat.py)
- [yourdfpy](https://github.com/robot-descriptions/robot_descriptions.py/tree/main/examples/show_in_yourdfpy.py)
## Descriptions
Available robot descriptions ([gallery](https://github.com/robot-descriptions/awesome-robot-descriptions#gallery)) are listed in the following categories:
- [Arms](#arms)
- [Bipeds](#bipeds)
- [Dual arms](#dual-arms)
- [Drones](#drones)
- [Educational](#educational)
- [End effectors](#end-effectors)
- [Humanoids](#humanoids)
- [Mobile manipulators](#mobile-manipulators)
- [Quadrupeds](#quadrupeds)
- [Wheeled](#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](https://github.com/ianathompson/eDO_description/blob/17b3f92f834746106d6a4befaab8eeab3ac248e6/LICENSE) |
| `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](https://github.com/google-deepmind/mujoco_menagerie/blob/ef4d04fbb7451d30b39c2aff7e49df737bb46815/low_cost_robot_arm/LICENSE) |
| `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 |
| `yam_description` | YAM | I2RT Robotics | URDF | 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](https://github.com/google-deepmind/mujoco/blob/ad0dc0de5e10a075a2c65be629e9a8d557d383a6/LICENSE) |
| `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](https://github.com/psyonicinc/ability-hand-api/blob/89407424edfc22faceaedcd7c3ea2b7947cbbb2c/LICENSE) |
| `ability_hand_mj_description` | Ability Hand | PSYONIC, Inc. | MJCF | [MIT](https://github.com/psyonicinc/ability-hand-api/blob/89407424edfc22faceaedcd7c3ea2b7947cbbb2c/LICENSE) |
| `allegro_hand_description` | Allegro Hand | Wonik Robotics | URDF | [BSD](https://github.com/RobotLocomotion/models/blob/5c027ea961473cb558da30e1a749272a8a9fa3eb/allegro_hand_description/LICENSE.TXT) |
| `allegro_hand_mj_description` | Allegro Hand | Wonik Robotics | MJCF | [BSD-2-Clause](https://github.com/google-deepmind/mujoco_menagerie/blob/main/wonik_allegro/LICENSE) |
| `barrett_hand_description` | BarrettHand | Barrett Technology | URDF | [BSD](https://github.com/jhu-lcsr-attic/bhand_model/blob/937f4186d6458bd682a7dae825fb6f4efe56ec69/manifest.xml) |
| `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](https://github.com/google-deepmind/mujoco_menagerie/blob/bf04290ac7911fa7a39339c7e507792fd464c438/apptronik_apollo/LICENSE) |
| `adam_lite_mj_description` | Adam Lite | PNDBotics | MJCF | [MIT](https://github.com/google-deepmind/mujoco_menagerie/blob/4035f8e628b7e613d03ba7fdfc6fae3da2f30296/pndbotics_adam_lite/LICENSE) |
| `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](https://github.com/BoosterRobotics/booster_gym/blob/687a33d08b08875fe45dc8d91b54db83766df8b9/LICENSE) |
| `booster_t1_mj_description` | Booster T1 | Booster Robotics | MJCF | [Apache-2.0](https://github.com/google-deepmind/mujoco_menagerie/blob/66384c6b8581c811a7b1eb63bcf4fa944fa43602/booster_t1/LICENSE) |
| `draco3_description` | Draco3 | Apptronik | URDF | BSD-2-Clause |
| `elf2_description` | Elf2 | BXI Robotics | URDF | [Apache-2.0](https://github.com/bxirobotics/robot_models/blob/eabe24ce937f8e633077a163b883e92e8996c36e/LICENSE) |
| `elf2_mj_description` | Elf2 | BXI Robotics | MJCF | [Apache-2.0](https://github.com/bxirobotics/robot_models/blob/eabe24ce937f8e633077a163b883e92e8996c36e/LICENSE) |
| `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](https://github.com/FFTAI/Wiki-GRx-Models/blob/351245ac8fa4bf6f4b0c41556e1e6976a438bcef/LICENSE) |
| `h1_description` | H1 | UNITREE Robotics | URDF | BSD-3-Clause |
| `h1_mj_description` | H1 | UNITREE Robotics | MJCF | BSD-3-Clause |
| `icub_description` | iCub | IIT | URDF | CC-BY-SA-4.0 ✖️ |
| `jaxon_description` | JAXON | JSK | URDF | CC-BY-SA-4.0 ✖️ |
| `jvrc_description` | JVRC-1 | AIST | URDF | BSD-2-Clause |
| `jvrc_mj_description` | JVRC-1 | AIST | MJCF | BSD-2-Clause |
| `n1_description` | N1 | Fourier | URDF | [Apache-2.0](https://github.com/FFTAI/Wiki-GRx-Models/blob/f8e683f00d1d99deb882deb9dfce6030095b466a/LICENSE) |
| `n1_mj_description` | N1 | Fourier | MJCF | [Apache-2.0](https://github.com/google-deepmind/mujoco_menagerie/blob/f3475402a11acf5ba767a8bec03cc9bea9819d8d/fourier_n1/LICENSE) |
| `op3_mj_description` | OP3 | ROBOTIS | MJCF | Apache-2.0 |
| `r2_description` | Robonaut 2 | NASA JSC Robotics | URDF | NASA-1.3 |
| `romeo_description` | Romeo | Aldebaran Robotics | URDF | BSD-3-Clause |
| `sigmaban_description` | SigmaBan | Rhoban | URDF | MIT |
| `talos_description` | TALOS | PAL Robotics | URDF | Apache-2.0 |
| `talos_mj_description` | TALOS | PAL Robotics | MJCF | Apache-2.0 |
| `valkyrie_description` | Valkyrie | NASA JSC Robotics | URDF | NASA-1.3 |
### Mobile manipulators
| Name | Robot | Maker | Format | License |
|-------------------------------|-----------------------|--------------------------|------------|---------|
| `bambot_description` | BamBot | Tim Qian | URDF | [Apache-2.0](https://github.com/timqian/bambot/blob/04d902653794f9f72eeabb09ec90a9af8e397c5b/LICENSE) |
| `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](https://github.com/uynitsuj/rby1_description/blob/e4c07203aa0a0d1b6b3b39da105cb00a77e2bc72/LICENSE) |
| `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 |
| `rby1_description` | RBY1 | Rainbow Robotics | 24 | URDF |
### 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](https://github.com/limxdynamics/robot-description/blob/a097533372a08298d45af391cbdfc2fd2dc3da6f/LICENSE) |
| `wl_p311e_description` | WL P311E | LimX Dynamics | URDF | [Apache-2.0](https://github.com/limxdynamics/robot-description/blob/a097533372a08298d45af391cbdfc2fd2dc3da6f/LICENSE) |
## Contributing
New robot descriptions are welcome! Check out the [guidelines](https://github.com/robot-descriptions/robot_descriptions.py/tree/main/CONTRIBUTING.md) 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 Castro, Sebastian and Tao, Haixuan Xavier and Jallet, Wilson},
license = {Apache-2.0},
url = {https://github.com/robot-descriptions/robot_descriptions.py},
version = {1.20.0},
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](https://github.com/robot-descriptions/awesome-robot-descriptions): curated list of robot descriptions in URDF, Xacro or MJCF formats.
- [drake\_models](https://github.com/RobotLocomotion/models): collection of URDF and SDF descriptions curated for the Drake framework.
- [MuJoCo Menagerie](https://github.com/google-deepmind/mujoco_menagerie/): collection of MJCF robot descriptions curated for the MuJoCo physics engine.
- [robot\_descriptions.cpp](https://github.com/mayataka/robot_descriptions.cpp): package to use ``robot_descriptions.py`` in C++.
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"description": "# Robot descriptions in Python\n\n[](https://github.com/robot-descriptions/robot_descriptions.py/actions)\n[](https://coveralls.io/github/robot-descriptions/robot_descriptions.py?branch=main)\n[](https://anaconda.org/conda-forge/robot_descriptions)\n[](https://pypi.org/project/robot_descriptions/)\n[](https://pypistats.org/packages/robot_descriptions)\n[](https://github.com/robot-descriptions/robot_descriptions.py/tree/main/CONTRIBUTING.md)\n\nImport open source robot descriptions as Python modules.\n\nImporting a description for the first time automatically downloads and caches files for future imports. Most [Awesome Robot Descriptions](https://github.com/robot-descriptions/awesome-robot-descriptions) are available. All of them load successfully in respectively MuJoCo (MJCF) or Pinocchio, iDynTree, PyBullet and yourdfpy (URDF).\n\n## Installation\n\n### From conda-forge\n\n```console\nconda install -c conda-forge robot_descriptions\n```\n\n### From PyPI\n\n```console\npip install robot_descriptions\n```\n\n## Usage\n\nThe library provides `load_robot_description` functions that return an instance of a robot description directly usable in the corresponding software. For example:\n\n```python\nfrom robot_descriptions.loaders.pinocchio import load_robot_description\n\nrobot = load_robot_description(\"upkie_description\")\n```\n\nLoaders are implemented for the following robotics software:\n\n| Software | Loader |\n|--------------------------------------------------------------|------------------------------------------|\n| [iDynTree](https://github.com/robotology/idyntree) | `robot_descriptions.loaders.idyntree` |\n| [MuJoCo](https://github.com/deepmind/mujoco) | `robot_descriptions.loaders.mujoco` |\n| [Pinocchio](https://github.com/stack-of-tasks/pinocchio) | `robot_descriptions.loaders.pinocchio` |\n| [PyBullet](https://pybullet.org/) | `robot_descriptions.loaders.pybullet` |\n| [RoboMeshCat](https://github.com/petrikvladimir/RoboMeshCat) | `robot_descriptions.loaders.robomeshcat` |\n| [yourdfpy](https://github.com/clemense/yourdfpy/) | `robot_descriptions.loaders.yourdfpy` |\n\nLoading will automatically download the robot description if needed, and cache it to a local directory.\n\n### Show a description\n\nYou can display a robot description directly from the command line:\n\n```console\npython -m robot_descriptions show_in_meshcat go2_description\n```\n\nA `robot_descriptions` alias for `python -m robot_descriptions` is also available.\n\n### Import as submodule\n\nYou can also import a robot description directly as a submodule of `robot_descriptions`:\n\n```python\nfrom robot_descriptions import my_robot_description\n```\n\nThe 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:\n\n<dl>\n <dt>\n <code>URDF_PATH</code> / <code>MJCF_PATH</code>\n </dt>\n <dd>\n Path to the main URDF/MJCF file of the robot description.\n </dd>\n <dt>\n <code>PACKAGE_PATH</code>\n </dt>\n <dd>\n Path to the root of the robot description package.\n </dd>\n <dt>\n <code>REPOSITORY_PATH</code>\n </dt>\n <dd>\n Path to the working directory of the git repository hosting the robot description.\n </dd>\n</dl>\n\nSome robot descriptions include additional fields. For instance, the `iiwa14_description` exports `URDF_PATH_POLYTOPE_COLLISION` with more detailed collision meshes.\n\n## Examples\n\nLoading a robot description:\n\n- [iDynTree](https://github.com/robot-descriptions/robot_descriptions.py/tree/main/examples/load_in_idyntree.py)\n- [MuJoCo](https://github.com/robot-descriptions/robot_descriptions.py/tree/main/examples/load_in_mujoco.py)\n- [Pinocchio](https://github.com/robot-descriptions/robot_descriptions.py/tree/main/examples/load_in_pinocchio.py)\n- [PyBullet](https://github.com/robot-descriptions/robot_descriptions.py/tree/main/examples/load_in_pybullet.py)\n- [RoboMeshCat](https://github.com/robot-descriptions/robot_descriptions.py/tree/main/examples/load_in_robomeshcat.py)\n- [yourdfpy](https://github.com/robot-descriptions/robot_descriptions.py/tree/main/examples/load_in_yourdfpy.py)\n\nVisualizing a robot description:\n\n- [MeshCat](https://github.com/robot-descriptions/robot_descriptions.py/tree/main/examples/show_in_meshcat.py)\n- [MuJoCo](https://github.com/robot-descriptions/robot_descriptions.py/tree/main/examples/show_in_mujoco.py)\n- [PyBullet](https://github.com/robot-descriptions/robot_descriptions.py/tree/main/examples/show_in_pybullet.py)\n- [RoboMeshCat](https://github.com/robot-descriptions/robot_descriptions.py/tree/main/examples/show_in_robomeshcat.py)\n- [yourdfpy](https://github.com/robot-descriptions/robot_descriptions.py/tree/main/examples/show_in_yourdfpy.py)\n\n## Descriptions\n\nAvailable robot descriptions ([gallery](https://github.com/robot-descriptions/awesome-robot-descriptions#gallery)) are listed in the following categories:\n\n- [Arms](#arms)\n- [Bipeds](#bipeds)\n- [Dual arms](#dual-arms)\n- [Drones](#drones)\n- [Educational](#educational)\n- [End effectors](#end-effectors)\n- [Humanoids](#humanoids)\n- [Mobile manipulators](#mobile-manipulators)\n- [Quadrupeds](#quadrupeds)\n- [Wheeled](#wheeled)\n\nThe DOF column denotes the number of actuated degrees of freedom.\n\n### Arms\n\n| Name | Robot | Maker | Format | License |\n|-------------------------------|-----------------------|--------------------------|------------|--------------|\n| `arx_l5_mj_description` | L5 | ARX | MJCF | BSD-3-Clause |\n| `edo_description` | e.DO | Comau | URDF | [BSD-3-Clause](https://github.com/ianathompson/eDO_description/blob/17b3f92f834746106d6a4befaab8eeab3ac248e6/LICENSE) |\n| `fanuc_m710ic_description` | M-710iC | Fanuc | URDF | BSD-3-Clause |\n| `fr3_mj_description` | FR3 | Franka Robotics | MJCF | Apache-2.0 |\n| `gen2_description` | Gen2 | Kinova | URDF | BSD-3-Clause |\n| `gen3_description` | Gen3 | Kinova | URDF | MIT |\n| `gen3_lite_description` | Gen3 Lite | Kinova | URDF | BSD-3-Clause |\n| `gen3_mj_description` | Gen3 | Kinova | MJCF | BSD-2-Clause |\n| `iiwa14_description` | iiwa 14 | KUKA | URDF | BSD-3-Clause |\n| `iiwa14_mj_description` | iiwa 14 | KUKA | MJCF | BSD-3-Clause |\n| `iiwa7_description` | iiwa 7 | KUKA | URDF | MIT |\n| `low_cost_robot_arm_mj_description` | Low-cost robot arm | Alexander Koch | MJCF | [Apache-2.0](https://github.com/google-deepmind/mujoco_menagerie/blob/ef4d04fbb7451d30b39c2aff7e49df737bb46815/low_cost_robot_arm/LICENSE) |\n| `panda_description` | Panda | Franka Robotics | URDF | Apache-2.0 |\n| `panda_mj_description` | Panda | Franka Robotics | MJCF | Apache-2.0 |\n| `piper_description` | PiPER | AgileX | URDF | MIT |\n| `piper_mj_description` | PiPER | AgileX | MJCF | MIT |\n| `poppy_ergo_jr_description` | Poppy Ergo Jr | Poppy Project | URDF | GPL-3.0 |\n| `sawyer_mj_description` | Sawyer | Rethink Robotics | MJCF | Apache-2.0 |\n| `so_arm100_description` | SO-ARM100 | The Robot Studio | URDF | Apache-2.0 |\n| `so_arm100_mj_description` | SO-ARM100 | The Robot Studio | MJCF | Apache-2.0 |\n| `so_arm101_description` | SO-ARM101 | The Robot Studio | URDF | Apache-2.0 |\n| `so_arm101_mj_description` | SO-ARM101 | The Robot Studio | MJCF | Apache-2.0 |\n| `ur10_description` | UR10 | Universal Robots | URDF | Apache-2.0 |\n| `ur10e_mj_description` | UR10e | Universal Robots | MJCF | BSD-3-Clause |\n| `ur3_description` | UR3 | Universal Robots | URDF | Apache-2.0 |\n| `ur5_description` | UR5 | Universal Robots | URDF | Apache-2.0 |\n| `ur5e_mj_description` | UR5e | Universal Robots | MJCF | BSD-3-Clause |\n| `viper_mj_description` | ViperX | Trossen Robotics | MJCF | BSD-3-Clause |\n| `widow_mj_description` | WidowX | Trossen Robotics | MJCF | BSD-3-Clause |\n| `xarm7_mj_description` | xArm7 | UFACTORY | MJCF | BSD-3-Clause |\n| `yam_description` | YAM | I2RT Robotics | URDF | MIT |\n| `yam_mj_description` | YAM | I2RT Robotics | MJCF | MIT |\n| `yam_description` | YAM | I2RT Robotics | URDF | MIT |\n| `z1_description` | Z1 | UNITREE Robotics | URDF | BSD-3-Clause |\n| `z1_mj_description` | Z1 | UNITREE Robotics | MJCF | BSD-3-Clause |\n\n### Bipeds\n\n| Name | Robot | Maker | DOF | Format |\n|-------------------------------|-----------------------|--------------------------|-----|------------|\n| `bolt_description` | Bolt | ODRI | 6 | URDF |\n| `cassie_description` | Cassie | Agility Robotics | 16 | URDF |\n| `cassie_mj_description` | Cassie | Agility Robotics | 16 | MJCF |\n| `rhea_description` | Rhea | Gabrael Levine | 7 | URDF |\n| `spryped_description` | Spryped | Benjamin Bokser | 8 | URDF |\n| `upkie_description` | Upkie | Tast's Robots | 6 | URDF |\n\n### Dual arms\n\n| Name | Robot | Maker | DOF | Format |\n|-------------------------------|-----------------------|--------------------------|-----|------------|\n| `aloha_mj_description` | Aloha 2 | Trossen Robotics | 14 | MJCF |\n| `baxter_description` | Baxter | Rethink Robotics | 15 | URDF |\n| `nextage_description` | NEXTAGE | Kawada Robotics | 15 | URDF |\n| `poppy_torso_description` | Poppy Torso | Poppy Project | 13 | URDF |\n| `yumi_description` | YuMi | ABB | 16 | URDF |\n\n### Drones\n\n| Name | Robot | Maker | DOF | Format |\n|-------------------------------|-----------------------|--------------------------|-----|------------|\n| `cf2_description` | Crazyflie 2.0 | Bitcraze | 0 | URDF |\n| `cf2_mj_description` | Crazyflie 2.0 | Bitcraze | 6 | MJCF |\n| `skydio_x2_description` | Skydio X2 | Skydio | 6 | URDF |\n| `skydio_x2_mj_description` | Skydio X2 | Skydio | 6 | MJCF |\n\n### Educational\n\n| Name | Robot | DOF | Format | License |\n|----------------------------------|-----------------------|-----|------------|---------\n| `double_pendulum_description` | Double Pendulum | 2 | URDF | BSD-3-Clause |\n| `dynamixel_2r_mj_description` | Dynamixel 2R | 2 | MJCF | MIT |\n| `finger_edu_description` | FingerEdu | 3 | URDF | BSD-3-Clause |\n| `mujoco_humanoid_mj_description` | MuJoCo Humanoid | 27 | MJCF | [Apache-2.0](https://github.com/google-deepmind/mujoco/blob/ad0dc0de5e10a075a2c65be629e9a8d557d383a6/LICENSE) |\n| `simple_humanoid_description` | Simple Humanoid | 29 | URDF | BSD-2-Clause |\n| `trifinger_edu_description` | TriFingerEdu | 9 | URDF | MIT |\n\n### End effectors\n\n| Name | Robot | Maker | Format | License |\n|----------------------------------|-----------------------|----------------------------|------------|---------|\n| `ability_hand_description` | Ability Hand | PSYONIC, Inc. | URDF | [MIT](https://github.com/psyonicinc/ability-hand-api/blob/89407424edfc22faceaedcd7c3ea2b7947cbbb2c/LICENSE) |\n| `ability_hand_mj_description` | Ability Hand | PSYONIC, Inc. | MJCF | [MIT](https://github.com/psyonicinc/ability-hand-api/blob/89407424edfc22faceaedcd7c3ea2b7947cbbb2c/LICENSE) |\n| `allegro_hand_description` | Allegro Hand | Wonik Robotics | URDF | [BSD](https://github.com/RobotLocomotion/models/blob/5c027ea961473cb558da30e1a749272a8a9fa3eb/allegro_hand_description/LICENSE.TXT) |\n| `allegro_hand_mj_description` | Allegro Hand | Wonik Robotics | MJCF | [BSD-2-Clause](https://github.com/google-deepmind/mujoco_menagerie/blob/main/wonik_allegro/LICENSE) |\n| `barrett_hand_description` | BarrettHand | Barrett Technology | URDF | [BSD](https://github.com/jhu-lcsr-attic/bhand_model/blob/937f4186d6458bd682a7dae825fb6f4efe56ec69/manifest.xml) |\n| `leap_hand_v1_description` | LEAP Hand v1 | Carnegie Mellon University | URDF | MIT |\n| `leap_hand_mj_description` | LEAP Hand | Carnegie Mellon University | MJCF | MIT |\n| `robotiq_2f85_description` | Robotiq 2F-85 | Robotiq | URDF | BSD-2-Clause |\n| `robotiq_2f85_mj_description` | Robotiq 2F-85 | Robotiq | MJCF | BSD-2-Clause |\n| `robotiq_2f85_v4_mj_description` | Robotiq 2F-85 | Robotiq | MJCF | BSD-2-Clause |\n| `shadow_dexee_mj_description` | Shadow DEX-EE | The Shadow Robot Company | MJCF | Apache-2.0 |\n| `shadow_hand_mj_description` | Shadow Hand | The Shadow Robot Company | MJCF | Apache-2.0 |\n\n### Humanoids\n\n| Name | Robot | Maker | Format | License |\n|---------------------------------|-----------------------|--------------------------|------------|---------|\n| `apollo_mj_description` | Apollo | Apptronik | MJCF | [Apache-2.0](https://github.com/google-deepmind/mujoco_menagerie/blob/bf04290ac7911fa7a39339c7e507792fd464c438/apptronik_apollo/LICENSE) |\n| `adam_lite_mj_description` | Adam Lite | PNDBotics | MJCF | [MIT](https://github.com/google-deepmind/mujoco_menagerie/blob/4035f8e628b7e613d03ba7fdfc6fae3da2f30296/pndbotics_adam_lite/LICENSE) |\n| `atlas_drc_description` | Atlas DRC (v3) | Boston Dynamics | URDF | BSD-3-Clause |\n| `atlas_v4_description` | Atlas v4 | Boston Dynamics | URDF | MIT |\n| `berkeley_humanoid_description` | Berkeley Humanoid | Hybrid Robotics | URDF | BSD-3-Clause |\n| `booster_t1_description` | Booster T1 | Booster Robotics | URDF | [Apache-2.0](https://github.com/BoosterRobotics/booster_gym/blob/687a33d08b08875fe45dc8d91b54db83766df8b9/LICENSE) |\n| `booster_t1_mj_description` | Booster T1 | Booster Robotics | MJCF | [Apache-2.0](https://github.com/google-deepmind/mujoco_menagerie/blob/66384c6b8581c811a7b1eb63bcf4fa944fa43602/booster_t1/LICENSE) |\n| `draco3_description` | Draco3 | Apptronik | URDF | BSD-2-Clause |\n| `elf2_description` | Elf2 | BXI Robotics | URDF | [Apache-2.0](https://github.com/bxirobotics/robot_models/blob/eabe24ce937f8e633077a163b883e92e8996c36e/LICENSE) |\n| `elf2_mj_description` | Elf2 | BXI Robotics | MJCF | [Apache-2.0](https://github.com/bxirobotics/robot_models/blob/eabe24ce937f8e633077a163b883e92e8996c36e/LICENSE) |\n| `ergocub_description` | ergoCub | IIT | URDF | BSD-3-Clause |\n| `g1_description` | G1 | UNITREE Robotics | URDF | BSD-3-Clause |\n| `g1_mj_description` | G1 | UNITREE Robotics | MJCF | BSD-3-Clause |\n| `gr1_description` | GR-1 | Fourier | URDF | [GPL-3.0](https://github.com/FFTAI/Wiki-GRx-Models/blob/351245ac8fa4bf6f4b0c41556e1e6976a438bcef/LICENSE) |\n| `h1_description` | H1 | UNITREE Robotics | URDF | BSD-3-Clause |\n| `h1_mj_description` | H1 | UNITREE Robotics | MJCF | BSD-3-Clause |\n| `icub_description` | iCub | IIT | URDF | CC-BY-SA-4.0 \u2716\ufe0f |\n| `jaxon_description` | JAXON | JSK | URDF | CC-BY-SA-4.0 \u2716\ufe0f |\n| `jvrc_description` | JVRC-1 | AIST | URDF | BSD-2-Clause |\n| `jvrc_mj_description` | JVRC-1 | AIST | MJCF | BSD-2-Clause |\n| `n1_description` | N1 | Fourier | URDF | [Apache-2.0](https://github.com/FFTAI/Wiki-GRx-Models/blob/f8e683f00d1d99deb882deb9dfce6030095b466a/LICENSE) |\n| `n1_mj_description` | N1 | Fourier | MJCF | [Apache-2.0](https://github.com/google-deepmind/mujoco_menagerie/blob/f3475402a11acf5ba767a8bec03cc9bea9819d8d/fourier_n1/LICENSE) |\n| `op3_mj_description` | OP3 | ROBOTIS | MJCF | Apache-2.0 |\n| `r2_description` | Robonaut 2 | NASA JSC Robotics | URDF | NASA-1.3 |\n| `romeo_description` | Romeo | Aldebaran Robotics | URDF | BSD-3-Clause |\n| `sigmaban_description` | SigmaBan | Rhoban | URDF | MIT |\n| `talos_description` | TALOS | PAL Robotics | URDF | Apache-2.0 |\n| `talos_mj_description` | TALOS | PAL Robotics | MJCF | Apache-2.0 |\n| `valkyrie_description` | Valkyrie | NASA JSC Robotics | URDF | NASA-1.3 |\n\n### Mobile manipulators\n\n| Name | Robot | Maker | Format | License |\n|-------------------------------|-----------------------|--------------------------|------------|---------|\n| `bambot_description` | BamBot | Tim Qian | URDF | [Apache-2.0](https://github.com/timqian/bambot/blob/04d902653794f9f72eeabb09ec90a9af8e397c5b/LICENSE) |\n| `eve_r3_description` | Eve R3 | Halodi | URDF | Apache-2.0 |\n| `fetch_description` | Fetch | Fetch Robotics | URDF | MIT |\n| `ginger_description` | Ginger | Paaila Technology | URDF | BSD |\n| `pepper_description` | Pepper | SoftBank Robotics | URDF | BSD-2-Clause |\n| `pr2_description` | PR2 | Willow Garage | URDF | BSD |\n| `rby1_description` | RBY1 | Rainbow Robotics | URDF | [MIT](https://github.com/uynitsuj/rby1_description/blob/e4c07203aa0a0d1b6b3b39da105cb00a77e2bc72/LICENSE) |\n| `reachy_description` | Reachy | Pollen Robotics | URDF | Apache-2.0 |\n| `stretch_description` | Stretch RE1 | Hello Robot | URDF | CC-BY-SA-4.0 \u2716\ufe0f |\n| `sretch_mj_description` | Stretch 2 | Hello Robot | MJCF | Clear BSD |\n| `sretch_3_mj_description` | Stretch 3 | Hello Robot | MJCF | Apache-2.0 |\n| `tiago_description` | TIAGo | PAL Robotics | URDF | Apache-2.0 |\n| `rby1_description` | RBY1 | Rainbow Robotics | 24 | URDF |\n\n\n### Quadrupeds\n\n| Name | Robot | Maker | DOF | Format |\n|-------------------------------|-----------------------|--------------------------|-----|------------|\n| `a1_description` | A1 | UNITREE Robotics | 12 | URDF |\n| `a1_mj_description` | A1 | UNITREE Robotics | 12 | MJCF |\n| `aliengo_description` | Aliengo | UNITREE Robotics | 12 | URDF |\n| `aliengo_mj_description` | Aliengo | UNITREE Robotics | 12 | MJCF |\n| `anymal_b_description` | ANYmal B | ANYbotics | 12 | URDF |\n| `anymal_b_mj_description` | ANYmal B | ANYbotics | 12 | MJCF |\n| `anymal_c_description` | ANYmal C | ANYbotics | 12 | URDF |\n| `anymal_c_mj_description` | ANYmal C | ANYbotics | 12 | MJCF |\n| `anymal_d_description` | ANYmal D | ANYbotics | 12 | URDF |\n| `b1_description` | B1 | UNITREE Robotics | 12 | URDF |\n| `b2_description` | B2 | UNITREE Robotics | 12 | URDF |\n| `go1_description` | Go1 | UNITREE Robotics | 12 | URDF |\n| `go1_mj_description` | Go1 | UNITREE Robotics | 12 | MJCF |\n| `go2_description` | Go2 | UNITREE Robotics | 12 | URDF |\n| `go2_mj_description` | Go2 | UNITREE Robotics | 12 | MJCF |\n| `hyq_description` | HyQ | IIT | 12 | URDF |\n| `laikago_description` | Laikago | UNITREE Robotics | 12 | MJCF, URDF |\n| `mini_cheetah_description` | Mini Cheetah | MIT | 12 | URDF |\n| `minitaur_description` | Minitaur | Ghost Robotics | 16 | URDF |\n| `solo_description` | Solo | ODRI | 12 | URDF |\n| `spot_mj_description` | Spot | Boston Dynamics | 12 | MJCF |\n\n### Wheeled\n\n| Name | Robot | Maker | Format | License |\n|-------------------------------|-----------------------|--------------------------|------------|---------|\n| `rsk_description` | RSK Omnidirectional | Robot Soccer Kit | URDF | MIT |\n| `rsk_mj_description` | RSK Omnidirectional | Robot Soccer Kit | MJCF | MIT |\n| `upkie_description` | Upkie | St\u00e9phane Caron | URDF | Apache-2.0 |\n| `wl_p311d_description` | WL P311D | LimX Dynamics | URDF | [Apache-2.0](https://github.com/limxdynamics/robot-description/blob/a097533372a08298d45af391cbdfc2fd2dc3da6f/LICENSE) |\n| `wl_p311e_description` | WL P311E | LimX Dynamics | URDF | [Apache-2.0](https://github.com/limxdynamics/robot-description/blob/a097533372a08298d45af391cbdfc2fd2dc3da6f/LICENSE) |\n\n## Contributing\n\nNew robot descriptions are welcome! Check out the [guidelines](https://github.com/robot-descriptions/robot_descriptions.py/tree/main/CONTRIBUTING.md) then open a PR.\n\n## Thanks\n\nThanks to the maintainers of all the git repositories that made these robot descriptions available.\n\n## Citation\n\nIf you use this project in your works, please cite as follows:\n\n```bibtex\n@software{robot_descriptions_py,\n title = {{robot_descriptions.py: Robot descriptions in Python}},\n author = {Caron, St\u00e9phane and Romualdi, Giulio and Kozlov, Lev and Ordo\u00f1ez 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 Castro, Sebastian and Tao, Haixuan Xavier and Jallet, Wilson},\n license = {Apache-2.0},\n url = {https://github.com/robot-descriptions/robot_descriptions.py},\n version = {1.20.0},\n year = {2025}\n}\n```\n\nDon't forget to add yourself to the BibTeX above and to `CITATION.cff` if you contribute to this repository.\n\n## See also\n\n- [Awesome Robot Descriptions](https://github.com/robot-descriptions/awesome-robot-descriptions): curated list of robot descriptions in URDF, Xacro or MJCF formats.\n- [drake\\_models](https://github.com/RobotLocomotion/models): collection of URDF and SDF descriptions curated for the Drake framework.\n- [MuJoCo Menagerie](https://github.com/google-deepmind/mujoco_menagerie/): collection of MJCF robot descriptions curated for the MuJoCo physics engine.\n- [robot\\_descriptions.cpp](https://github.com/mayataka/robot_descriptions.cpp): package to use ``robot_descriptions.py`` in C++.\n",
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