Robot Registry#

SRMP includes a robot registry that allows you to download and use robots by name, without manually managing URDF/SRDF file paths.

Quick Start#

The simplest way to add a robot to your planner:

from srmp import PlannerInterface

planner = PlannerInterface()

# Add robot by name - downloads automatically if needed
planner.add_robot("panda")

That’s it! The robot data is downloaded automatically on first use and cached locally.

Available Robots#

The following robots are available in the registry:

Name	Description	End Effector
`panda`	Franka Emika Panda 7-DOF manipulator	`panda_hand`
`panda_on_rail`	Panda mounted on linear rail (8-DOF)	`panda_hand`
`so101`	SO101 6-DOF manipulator with gripper	`gripper_frame_link`

Using the Registry#

Adding Robots#

Add a robot from the registry:

# Simple usage
planner.add_robot("panda")

# With custom articulation name
planner.add_robot("panda", name="my_panda")

# Override default parameters
planner.add_robot("panda",
                  name="custom_panda",
                  planned=True,
                  gravity=np.array([0, 0, -9.81]))

Downloading Robots#

You can pre-download robots before using them:

import srmp.robots as robots

# Download a specific robot
robots.download("panda")

# Download all available robots
robots.download_all()

Listing Available Robots#

View what robots are available:

import srmp.robots as robots

available = robots.list_available()
print(available)
# {'remote': ['panda', 'panda_on_rail', 'so101'],
#  'local': ['panda'],  # already downloaded
#  'custom': []}        # user-registered

Getting Robot Information#

Get detailed information about a robot:

robot = robots.get("panda")
print(robot.urdf_path)      # Path to URDF
print(robot.srdf_path)      # Path to SRDF
print(robot.end_effector)   # "panda_hand"
print(robot.default_qpos)   # Default joint configuration
print(robot.joint_names)    # List of joint names

Custom Robots#

import srmp.robots as robots

# Register a custom robot
robots.register(
    name="my_robot",
    urdf_path="/path/to/my_robot.urdf",
    srdf_path="/path/to/my_robot.srdf",
    end_effector="tool0",
    description="My custom robot arm",
    default_qpos=[0, 0, 0, 0, 0, 0],
    joint_names=["joint1", "joint2", "joint3", "joint4", "joint5", "joint6"]
)

# Now use it by name
planner.add_robot("my_robot")

# Unregister when no longer needed
robots.unregister("my_robot")

Path Fallback#

If you pass a file path instead of a robot name, add_robot works like add_articulation:

# Using file path directly
planner.add_robot(
    "/path/to/robot.urdf",
    srdf_path="/path/to/robot.srdf",
    end_effector="tool0",
    name="my_robot"
)

Cache Configuration#

Robot data is cached in ~/.cache/srmp/robots/ by default. You can customize this:

import srmp.robots as robots

# Set custom cache directory
robots.set_cache_dir("/shared/robots")

# Or use environment variable
# export SRMP_ROBOTS_DIR=/shared/robots

# Check current cache directory
print(robots.get_cache_dir())

API Reference#

Registry Functions#

Function	Description
`robots.download(name, force=False)`	Download a robot by name
`robots.download_all(force=False)`	Download all available robots
`robots.get(name)`	Get RobotInfo for a robot
`robots.info(name)`	Alias for `get()`
`robots.list_available()`	List remote, local, and custom robots
`robots.register(...)`	Register a custom robot
`robots.unregister(name)`	Remove a custom robot registration
`robots.get_cache_dir()`	Get the cache directory path
`robots.set_cache_dir(path)`	Set a custom cache directory

PlannerInterface Method#

PlannerInterface.add_robot(robot, name=None, srdf_path=None, end_effector=None, planned=True, gravity=None, link_names=None, joint_names=None)#

Add a robot from the registry or by file path.

Parameters:

robot (str) – Robot name from registry, or path to URDF file
name (str) – Override the articulation name (default: robot name)
srdf_path (str) – Override SRDF path (required if using file path)
end_effector (str) – Override end effector link name (required if using file path)
planned (bool) – Include in planning (default: True)
gravity (numpy.ndarray) – Gravity vector (default: [0, 0, 0])
link_names (list) – Override link names
joint_names (list) – Override joint names

Raises:

RobotNotFoundError – If robot not in registry and not a valid path
ValueError – If using file path without srdf_path and end_effector

Exceptions#

exception srmp.robots.RobotNotFoundError#: Raised when a robot is not found in the registry. The error message includes a list of available robots and instructions for downloading or registering.

exception srmp.robots.DownloadError#: Raised when downloading robot data fails.