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

v0.6.0

This release adds the yourdfpy loader, and CI checks to monitor that it loads all URDF descriptions successfully.

Added

• CI: check that all URDF descriptions load in yourdfpy
• Example: load in yourdfpy
• Loader: yourdfpy

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

v0.4.0

This release adds the PyBullet loader, as well as CI checks to monitor that all URDF descriptions load successfully in PyBullet.

from robot_descriptions.loaders.pybullet import load_robot_description

robot = load_robot_description("poppy_torso_description")

There are two new robot descriptions from the Poppy Project as well. Thanks to the contributors of the project who made them available in the first place.

Added

• Description: Poppy Ergo Jr
• Description: Poppy Torso
• Loader: PyBullet
• Show description formats in robot_descriptions list
• Unit tests to check that Pinocchio loads all descriptions successfully
• Unit tests to check that PyBullet loads all descriptions successfully

Changed

• A1: Split description again into URDF and MJCF again
• Command-line: refer to yourdfpy for animation
• eDO: update cache path to match package name
• Flatten cache directory structure
• Ginger: update cache path to match package name
• Go1: Split description again into URDF and MJCF again
• Match cache path with package name when it helps PyBullet
• Remove MESHES_PATH attribute

v0.3.0

This release adds 14 robot descriptions, and the Pinocchio loader to get Pinocchio robot models directly from a description name:

from robot_descriptions.loaders.pinocchio import load_robot_description

robot = load_robot_description("my_robot_description")

Thanks to the contributors and maintainers of GingerURDF, mujoco_menagerie, pepper_description, roboschool and robot-assets, who made these robot descriptions available in the first place.

Added

• Description: ANYmal B MJCF
• Description: ANYmal C MJCF
• Description: Atlas v4
• Description: Fetch
• Description: Ginger
• Description: Go1
• Description: Laikago MJCF
• Description: Panda MJCF
• Description: Pepper
• Description: Robotiq 2F-85
• Description: Robotiq 2F-85 MJCF
• Description: Shadow Hand MJCF
• Description: UR5e MJCF
• Description: YuMi
• Loader: Pinocchio
• Unit test fixture for loaders

Changed

• Merge MJCF and URDF descriptions for Aliengo
• Renamed former "Atlas" description to "Atlas DRC"
• Switch to a dual MJCF/URDF descriptions for A1

v0.2.0

This release adds examples with MuJoCo, Pinocchio, PyBullet, MeshCat and yourdfpy, as well as three MJCF descriptions.

Thanks to @rohanpsingh for creating these descriptions, as well as mujoco-python-viewer.

Added

• Description: Aliengo MJCF
• Description: Cassie MJCF
• Description: JVRC-1 MJCF
• Example: load in MuJoCo
• Example: load in Pinocchio
• Example: load in PyBullet
• Example: show in MeshCat
• Example: show in MuJoCo
• Example: show in PyBullet
• Example: show in yourdfpy
• New REPOSITORY_PATH member for each description
• Support MJCF descriptions

Changed

• PATH becomes PACKAGE_PATH

v0.1.1

This release fixes robot_descriptions -h, so that users can discover by happenstance the joy of robot_descriptions animate [robot] 🙂

Fixed

• Command line usage instructions
• Upload coverage results based on USING_COVERAGE setting