v0.5.0

This release adds the MuJoCo loader, 4 robot descriptions, and CI checks to monitor that all MJCF descriptions load successfully.

📢 Robot descriptions are also available in C++ with robot_descriptions.cpp.

from robot_descriptions.loaders.mujoco import load_robot_description

robot = load_robot_description("shadow_hand_mj_description")

Thanks to the contributors and maintainers of bhand_model, halodi-robot-models, nasa-urdf-robots and val_description, who made the new descriptions available in the first place.

Added

• Description: BarrettHand
• Description: Eve R3
• Description: Robonaut 2
• Description: Valkyrie
• Loader: MuJoCo
• Unit tests to check that MuJoCo loads all MJCF descriptions successfully

Changed

• Cassie: update to description from MuJoCo Menagerie
• Pinocchio loader: no root joint by default
• Update MuJoCo Menagerie repository to propagate fix