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

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