v1.16.0

This release adds 5 new descriptions and updates 3 existing ones. It adds a tags attribute to robot descriptions, with two examples illustrating how to use those to load all quadrupeds or load all humanoids:

An example also lands for the new Candlewick visualizer:

Thanks to @drfenixion and @traversaro for contributing to this release 👍

Added

• Add tags attribute to Description class
• Description: Ability Hand (MJCF)
• Description: Ability Hand (URDF)
• Description: Apptronik Apollo (MJCF)
• Description: BXI Elf2 (MJCF)
• Description: BXI Elf2 (URDF)
• Example: Load all humanoid robot descriptions
• Example: Load all quadruped robot descriptions
• Example: Show any robot description in the Candlewick viewer
• Export DESCRIPTIONS dictionary from top-level module

Changed

• CICD: Update checkout actions to v4
• Update MuJoCo Menagerie repository commit
• Update eDO description repository
• Update ergoCub description model to SN002 (thanks to @traversaro)
• Update ergocub-software repository to v0.7.7 (thanks to @traversaro)
• Update simple-humanoid-description repository commit (thanks to @drfenixion)

v1.15.0

This release adds the AgileX PiPER, ANYmal D, Robot Soccer Kit and Robotiq 2F-85 descriptions. It also refactors command-line usage to directly show a description:

python -m robot_descriptions show_in_meshcat <robot_description>

Thanks to @peterdavidfagan for contributing to this release 👍

Added

• Description: AgileX PiPER (MJCF)
• Description: AgileX PiPER (URDF)
• Description: ANYmal D
• Description: Robot Soccer Kit
• Description: Robotiq 2F-85 (MJCF V4) (thanks to @peterdavidfagan)
• CLI: Add show_in_meshcat command
• CLI: Add show_in_mujoco command
• CLI: Add show_in_pybullet command

Changed

• Enable command-line to run from python -m robot_descriptions
• CLI: Rename show command to show_in_yourdfpy

Fixed

• minor: Use single backticks for inline command-line instructions

v1.14.0

This release adds two robot descriptions and fixes a race condition when importing the same description from multiple threads.

Thanks to @JafarAbdi for contributing to this release 👍

Added

• Description: SO-ARM100 (MJCF) (thanks to @JafarAbdi)
• Description: Berkeley Humanoid

Fixed

• cache: Only call git checkout when it is not head of the working copy
• Example: simulated loaded robot description in PyBullet

v1.13.0

With this release, we have crossed 100 robot descriptions! 🎉 (full list)

Thanks to @kevinzakka for contributing to this release 👍

Added

• Description: Left and right LEAP hand (MJCF) (thanks to @kevinzakka)
• Description: PAL Talos (MJCF) (thanks to @kevinzakka)
• Description: SO-ARM100
• Description: Unitree B2

Changed

• Upkie: Update repository to v2.1.0

v1.12.0

This release adds the ability to load MJCF descriptions in Pinocchio, as well as 3 new robot descriptions (bringing our total to 96: almost a hundred descriptions! 😋)

Thanks to @kevinzakka and @lvjonok for their contributions to this release 👍

Added

• Description: LEAP Hand v1
• Description: Shadow DEX-EE (MJCF) (thanks to @kevinzakka)
• Description: Stretch 3 (MJCF) (thanks to @kevinzakka)
• Pinocchio: load MJCF robot descriptions (thanks to @lvjonok)

Changed

• Update repository for gen3_mj_description to mujoco_menagerie

v1.11.0

This release adds 6 robot descriptions thanks to @lvjonok and @kevinzakka 👍 It also renames iiwa descriptions (to account for the 7-kg and 14-kg payload capacity variants), and bumps the minimum Python version to 3.9 (most loaders will still work with 3.8).

Added

• Description: KUKA iiwa 7 (URDF)
• Description: Unitree G1 (MJCF) (thanks to @kevinzakka)
• Description: Unitree G1 (URDF) (thanks to @lvjonok)
• Description: Boston Dynamics Spot (MJCF) (thanks to @kevinzakka)
• Description: Franka Robotics FR3 (MJCF) (thanks to @kevinzakka)
• Description: WidowX 250 6-DOF (MJCF) (thanks to @kevinzakka)

Changed

• Bump minimum Python version to 3.9
• CICD: Pin NumPy version to <2 for PyBullet and yourdfpy
• CICD: Update ruff to 0.2.2
• Rename iiwa_description to iiwa14_description
• Rename iiwa_mj_description to iiwa14_mj_description
• Update repository for iiwa14_description to drake_models

v1.10.0

This release adds the variant keyword to the MuJoCo loader. It also adds the UFACTORY xArm7 description, and updates the Aliengo URDF description to a more active source. Thanks to @Danfoa, @fabinsch and @kevinzakka for these contributions! 👍

Added

• Description: UFACTORY xArm7 (MJCF) (thanks to @kevinzakka)
• Variant keyword in the MuJoCo loader (thanks to @fabinsch)

Changed

• Split Aliengo into MJCF and URDF descriptions (thanks to @Danfoa)
• Update Aliengo URDF to a more active repository (thanks to @Danfoa)

v1.9.0

This release adds 8 MJCF descriptions, along with minor fixes for 3 existing ones, thanks to @kevinzakka 👍 It also fixes two bugs that could arise when pinning descriptions to specific commits.

Added

• Citation file and BibTeX section in the readme
• Description: Allegro Hand V3 (MJCF) (thanks to @kevinzakka)
• Description: ALOHA 2 (MJCF) (thanks to @kevinzakka)
• Description: Bitcraze Crazyflie 2.0 (MJCF) (thanks to @kevinzakka)
• Description: KUKA iiwa 14 (MJCF) (thanks to @kevinzakka)
• Description: Robotics OP3 (MJCF) (thanks to @kevinzakka)
• Description: Saywer (MJCF) (thanks to @kevinzakka)
• Description: Stretch 2 (MJCF) (thanks to @kevinzakka)
• Description: ViperX 300 6DOF (MJCF) (thanks to @kevinzakka)

Changed

• Go1: Switch repository to MuJoCo Menagerie
• Go2: Switch repository to MuJoCo Menagerie
• H1: Switch repository to MuJoCo Menagerie
• JVRC-1: Update repository to maintained one at jrl-umi3218
• Upkie: Update repository to v1.5.0

Fixed

• Bug when cloning a non-pinned description after a commit-pinned one
• Package name resolution when pinning a description to a specific commit

v1.8.1

This patch release updates the example-robot-data repository to version 4.0.9 thanks to @htadashi 👍

v1.8.0

This release adds the Skydio X2, Unitree H1 and Unitree Z1 descriptions, thanks to @lvjonok 👍 It also bumps the version of yourdfpy to propagate some recent fixes.

Added

• Description: UNITREE Z1 (thanks to @lvjonok)
• Description: Skydio X2 (thanks to @lvjonok)

Changed

• Bump yourdfpy minimum version to 0.0.56

Fixed

• Path to UNITREE H1 (thanks to @lvjonok)
• Unit testing on UNITREE H1