robot-descriptions · stephane-caron · Apr 7, 2026 · Mar 19, 2026 · Mar 19, 2026 · Apr 7, 2026
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -10,6 +10,11 @@ All notable changes to this project will be documented in this file.
 - Description: Robotiq 2F-85 v4 (URDF) (thanks to @nickswalker)
 - Loaders: Allow overriding `XACRO_ARGS` via `load_robot_description` (thanks to @nickswalker)
 
+### Changed
+
+- README: Alphabetize description tables (thanks to @nickswalker)
+- Description: Alphabetize description tables (thanks to @nickswalker)
+
 ## [1.23.0] - 2026-03-09
 
 ### Added

diff --git a/README.md b/README.md
@@ -259,11 +259,11 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `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 |
+| `leap_hand_v1_description`       | LEAP Hand v1          | Carnegie Mellon University | URDF       | MIT |
 | `robotiq_2f85_description`       | Robotiq 2F-85         | Robotiq                    | URDF       | BSD-2-Clause |
-| `robotiq_2f85_v4_description`    | Robotiq 2F-85 v4      | Robotiq                    | URDF       | BSD-2-Clause |
 | `robotiq_2f85_mj_description`    | Robotiq 2F-85         | Robotiq                    | MJCF       | BSD-2-Clause |
+| `robotiq_2f85_v4_description`    | Robotiq 2F-85 v4      | Robotiq                    | URDF       | 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 |
@@ -272,8 +272,8 @@ The DOF column denotes the number of actuated degrees of freedom.
 
 | 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) |
+| `apollo_mj_description`         | Apollo                | Apptronik                | MJCF       | [Apache-2.0](https://github.com/google-deepmind/mujoco_menagerie/blob/bf04290ac7911fa7a39339c7e507792fd464c438/apptronik_apollo/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 |
@@ -286,10 +286,10 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `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 |
 | `h1_2_description`              | H1_2                  | UNITREE Robotics         | URDF       | BSD-3-Clause |
 | `h1_2_mj_description`           | H1_2                  | UNITREE Robotics         | MJCF       | BSD-3-Clause |
+| `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 |
@@ -302,9 +302,9 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `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 |
-| `toddlerbot_description`        | ToddlerBot            | Stanford University      | URDF       | MIT |
 | `toddlerbot_2xc_mj_description` | ToddlerBot 2XC        | Stanford University      | URDF       | [MIT](https://github.com/google-deepmind/mujoco_menagerie/blob/bf756430b615819654b640f321c71ba5c3ebeef8/toddlerbot_2xc/LICENSE) |
 | `toddlerbot_2xm_mj_description` | ToddlerBot 2XM        | Stanford University      | URDF       | [MIT](https://github.com/google-deepmind/mujoco_menagerie/blob/bf756430b615819654b640f321c71ba5c3ebeef8/toddlerbot_2xm/LICENSE) |
+| `toddlerbot_description`        | ToddlerBot            | Stanford University      | URDF       | MIT |
 | `valkyrie_description`          | Valkyrie              | NASA JSC Robotics        | URDF       | NASA-1.3 |
 
 ### Mobile manipulators
@@ -318,14 +318,14 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `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) |
+| `rby1_description`            | RBY1                  | Rainbow Robotics         | URDF       | MIT |
 | `reachy_description`          | Reachy                | Pollen Robotics          | URDF       | Apache-2.0 |
+| `sretch_3_mj_description`     | Stretch 3             | Hello Robot              | MJCF       | Apache-2.0 |
+| `sretch_mj_description`       | Stretch 2             | Hello Robot              | MJCF       | Clear BSD |
 | `stretch_description`         | Stretch RE1           | Hello Robot              | URDF       | CC-BY-SA-4.0 ✖️  |
 | `stretch_se3_description`     | Stretch SE3           | Hello Robot              | URDF       | Clear BSD |
-| `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 |
+| `tiago_description`           | TIAGo                 | PAL Robotics             | URDF       | Apache-2.0 |
 
 
 ### Quadrupeds

diff --git a/robot_descriptions/_descriptions.py b/robot_descriptions/_descriptions.py
@@ -106,10 +106,10 @@ def has_urdf(self) -> bool:
     "double_pendulum_description": Description(
         Format.URDF, tags={"educational"}
     ),
+    "draco3_description": Description(Format.URDF, tags={"humanoid"}),
     "dynamixel_2r_mj_description": Description(
         Format.MJCF, tags={"educational"}
     ),
-    "draco3_description": Description(Format.URDF, tags={"humanoid"}),
     "edo_description": Description(Format.URDF, tags={"arm"}),
     "elf2_description": Description(Format.URDF, tags={"humanoid"}),
     "elf2_mj_description": Description(Format.MJCF, tags={"humanoid"}),
@@ -123,9 +123,9 @@ def has_urdf(self) -> bool:
     "finger_edu_description": Description(Format.URDF, tags={"educational"}),
     "fr3_description": Description(Format.URDF, tags={"arm"}),
     "fr3_mj_description": Description(Format.MJCF, tags={"arm"}),
+    "fr3_v2_1_description": Description(Format.URDF, tags={"arm"}),
     "fr3_v2_description": Description(Format.URDF, tags={"arm"}),
     "fr3_v2_mj_description": Description(Format.MJCF, tags={"arm"}),
-    "fr3_v2_1_description": Description(Format.URDF, tags={"arm"}),
     "g1_description": Description(Format.URDF, tags={"humanoid"}),
     "g1_mj_description": Description(Format.MJCF, tags={"humanoid"}),
     "gen2_description": Description(Format.URDF, tags={"arm"}),
@@ -140,15 +140,15 @@ def has_urdf(self) -> bool:
     "go2_description": Description(Format.URDF, tags={"quadruped"}),
     "go2_mj_description": Description(Format.MJCF, tags={"quadruped"}),
     "gr1_description": Description(Format.URDF, tags={"humanoid"}),
-    "h1_description": Description(Format.URDF, tags={"humanoid"}),
-    "h1_mj_description": Description(Format.MJCF, tags={"humanoid"}),
     "h1_2_description": Description(Format.URDF, tags={"humanoid"}),
     "h1_2_mj_description": Description(Format.MJCF, tags={"humanoid"}),
+    "h1_description": Description(Format.URDF, tags={"humanoid"}),
+    "h1_mj_description": Description(Format.MJCF, tags={"humanoid"}),
     "hyq_description": Description(Format.URDF, tags={"quadruped"}),
     "icub_description": Description(Format.URDF, tags={"humanoid"}),
-    "iiwa7_description": Description(Format.URDF, tags={"arm"}),
     "iiwa14_description": Description(Format.URDF, tags={"arm"}),
     "iiwa14_mj_description": Description(Format.MJCF, tags={"arm"}),
+    "iiwa7_description": Description(Format.URDF, tags={"arm"}),
     "j2n4s300_description": Description(Format.URDF, tags={"arm"}),
     "j2n6s200_description": Description(Format.URDF, tags={"arm"}),
     "j2n6s300_description": Description(Format.URDF, tags={"arm"}),
@@ -160,12 +160,12 @@ def has_urdf(self) -> bool:
     "jvrc_description": Description(Format.URDF, tags={"humanoid"}),
     "jvrc_mj_description": Description(Format.MJCF, tags={"humanoid"}),
     "laikago_description": Description(Format.URDF, tags={"quadruped"}),
-    "leap_hand_v1_description": Description(
-        Format.URDF, tags={"end_effector"}
-    ),
     "leap_hand_mj_description": Description(
         Format.MJCF, tags={"end_effector"}
     ),
+    "leap_hand_v1_description": Description(
+        Format.URDF, tags={"end_effector"}
+    ),
     "low_cost_robot_arm_mj_description": Description(
         Format.MJCF, tags={"arm"}
     ),
@@ -177,7 +177,13 @@ def has_urdf(self) -> bool:
     "n1_description": Description(Format.URDF, tags={"humanoid"}),
     "n1_mj_description": Description(Format.MJCF, tags={"humanoid"}),
     "nextage_description": Description(Format.URDF, tags={"dual_arm"}),
+    "omx_f_description": Description(Format.URDF, tags={"arm"}),
+    "omx_l_description": Description(Format.URDF, tags={"arm"}),
+    "omy_3m_description": Description(Format.URDF, tags={"arm"}),
+    "omy_f3m_description": Description(Format.URDF, tags={"arm"}),
+    "omy_l100_description": Description(Format.URDF, tags={"arm"}),
     "op3_mj_description": Description(Format.MJCF, tags={"humanoid"}),
+    "open_manipulator_x_description": Description(Format.URDF, tags={"arm"}),
     "openarm_v1_mj_description": Description(Format.MJCF, tags={"dual_arm"}),
     "panda_description": Description(Format.URDF, tags={"arm"}),
     "panda_mj_description": Description(Format.MJCF, tags={"arm"}),
@@ -201,12 +207,12 @@ def has_urdf(self) -> bool:
     "robotiq_2f85_description": Description(
         Format.URDF, tags={"end_effector"}
     ),
-    "robotiq_2f85_v4_description": Description(
-        Format.URDF, tags={"end_effector"}
-    ),
     "robotiq_2f85_mj_description": Description(
         Format.MJCF, tags={"end_effector"}
     ),
+    "robotiq_2f85_v4_description": Description(
+        Format.URDF, tags={"end_effector"}
+    ),
     "robotiq_2f85_v4_mj_description": Description(
         Format.MJCF, tags={"end_effector"}
     ),
@@ -233,31 +239,31 @@ def has_urdf(self) -> bool:
     "solo_description": Description(Format.URDF, tags={"quadruped"}),
     "spot_mj_description": Description(Format.MJCF, tags={"quadruped"}),
     "spryped_description": Description(Format.URDF, tags={"biped"}),
-    "stretch_description": Description(
-        Format.URDF, tags={"mobile_manipulator"}
+    "stretch_3_mj_description": Description(
+        Format.MJCF, tags={"mobile_manipulator"}
     ),
-    "stretch_se3_description": Description(
+    "stretch_description": Description(
         Format.URDF, tags={"mobile_manipulator"}
     ),
     "stretch_mj_description": Description(
         Format.MJCF, tags={"mobile_manipulator"}
     ),
-    "stretch_3_mj_description": Description(
-        Format.MJCF, tags={"mobile_manipulator"}
+    "stretch_se3_description": Description(
+        Format.URDF, tags={"mobile_manipulator"}
     ),
     "talos_description": Description(Format.URDF, tags={"humanoid"}),
     "talos_mj_description": Description(Format.MJCF, tags={"humanoid"}),
-    "tiago_description": Description(Format.URDF, tags={"mobile_manipulator"}),
     "tiago++_mj_description": Description(
         Format.MJCF, tags={"mobile_manipulator"}
     ),
-    "toddlerbot_description": Description(Format.URDF, tags={"humanoid"}),
+    "tiago_description": Description(Format.URDF, tags={"mobile_manipulator"}),
     "toddlerbot_2xc_mj_description": Description(
         Format.MJCF, tags={"humanoid"}
     ),
     "toddlerbot_2xm_mj_description": Description(
         Format.MJCF, tags={"humanoid"}
     ),
+    "toddlerbot_description": Description(Format.URDF, tags={"humanoid"}),
     "trifinger_edu_description": Description(
         Format.URDF, tags={"educational"}
     ),
@@ -294,10 +300,4 @@ def has_urdf(self) -> bool:
     "yumi_description": Description(Format.URDF, tags={"dual_arm"}),
     "z1_description": Description(Format.URDF, tags={"arm"}),
     "z1_mj_description": Description(Format.MJCF, tags={"arm"}),
-    "omy_3m_description": Description(Format.URDF, tags={"arm"}),
-    "omy_f3m_description": Description(Format.URDF, tags={"arm"}),
-    "omy_l100_description": Description(Format.URDF, tags={"arm"}),
-    "omx_f_description": Description(Format.URDF, tags={"arm"}),
-    "omx_l_description": Description(Format.URDF, tags={"arm"}),
-    "open_manipulator_x_description": Description(Format.URDF, tags={"arm"}),
 }
diff --git a/tests/test_descriptions.py b/tests/test_descriptions.py
@@ -18,6 +18,9 @@
 class TestDescriptions(unittest.TestCase):
     """Test fixture for all robot descriptions."""
 
+    def test_descriptions_are_sorted(self):
+        self.assertEqual(list(DESCRIPTIONS), sorted(DESCRIPTIONS))
+
     def test_all_descriptions(self):
         """Check all robot-description submodules."""
         for name, desc in DESCRIPTIONS.items():