v1.7.0

This release adds the UR10e (MJCF) description, as well as the UNITREE Go2 and H1 descriptions thanks to @lvjonok 👍

Added

• Description: UNITREE Go2 (MJCF)
• Description: UNITREE Go2
• Description: UNITREE H1 (MJCF)
• Description: UNITREE H1
• Description: UR10e (MJCF)

v1.6.0

This release adds the FANUC M-710iC, Kinova Gen3 and TriFingerEdu robot descriptions. Thanks to the contributors who made them available in the first place.

Added

• Description: FANUC M-710iC, thanks @sancelot 👍
• Description: Gen3
• Description: TriFingerEdu

Changed

• Update Stretch description to v1.0.0

v1.5.0

This release adds the Rhea and Stretch robot descriptions. Thanks to the contributors who made them available in the first place.

Added

• Description: Rhea, thanks @G-Levine 👍
• Description: Stretch, thanks @arjung128 👍
• Frame selector in URDF frame display example
• README: Conda installation instructions

Changed

• Update Upkie description to v1.2.0

v1.4.1

This release adds the Draco3 and ergoCub descriptions.

Added

• Description: Draco3, thanks @shbang91 👍
• Description: ergoCub

Changed

• CI: switch to ruff

v1.4.0

This release adds the ability to load a robot description at a specific commit from the underlying repository. This can be useful e.g. to allow version-pinning in projects that use robot_descriptions.py for continuous integration.

from robot_descriptions.loaders.pinocchio import load_robot_description

robot = load_robot_description("upkie_description", commit="731c5125806f70a4202ea6a118b4550a18862401")

Also included in this release: recovery from invalid git repository errors in the cache.

Added

• Ability to load a robot description at a specific commit
• Example: display all frames of a URDF description

Fixed

• Recover from empty or invalid cache git repositories

v1.3.1

This release adds the Unitree B1 and Z1 descriptions.

Added

• Description: B1
• Description: Z1

Changed

• A1: use original URDF from unitree_ros
• Updated unitree_ros repository

v1.3.0

This release gives the iDynTree loader the ability to build reduced models (by specifying a list of joints) as well as specifying package directories for meshes.

Changed

• iDynTree: loader now supports package directories, thanks @GiulioRomualdi 👍
• Update example-robot-data repository to v4.0.3

Fixed

• CI: check code style

v1.2.0

This release adds the iDynTree loader, along with CI checks validating that it loads all URDF descriptions successfully.

Added

• Loader: iDynTree, thanks @GiulioRomualdi 👍

v1.1.0

This release adds the RoboMeshCat loader, 1 robot description, and refactors the CI to support more robot loaders going forward.

Added

• Description: Spryped
• Loader: RoboMeshCat, thanks @petrikvladimir for support 👍

Changed

• CI: run loader tests in separate jobs (avoids a memory limit)
• Command-line: only require yourdfpy for show command
• Pinocchio: bump minimum supported version to 2.6.10

Fixed

• CI: remove exceptions for bugs that have been fixed upstream
• Examples: remove exception on Crazyflie 2.0 description as it has been fixed

v1.0.0

This is v1.0.0 for robot_descriptions.py, now at 60 different descriptions. Armed, legged, wheeled, and combinations thereof 😃

This release adds four robot descriptions. Thanks to the contributors of the project who made them available in the first place.

Added

• Description: JAXON
• Description: Kinova Gen3
• Description: NEXTAGE
• Description: SigmaBan, thanks @Gregwar 👍
• Unit tests for repository cloning

Changed

• MuJoCo examples: try mj_description suffix rather than description
• Update Cassie URDF description to an MIT-licensed repository, thanks @kevinzakka 👍

Fixed

• Shadow Hand MJCF: upstream fix to joint axes
• Update cached repository after a description was updated