v1.21.0

This release adds 4 robot descriptions and 1 description variant contributed by @Danfoa, @jonzamora and @TonyZYT2000 👍

Added

• Add "with hands" variant to the G1 MJCF description (thanks to @jonzamora)
• Description: TIAGo++ (MJCF) (thanks to @Danfoa)
• Description: ToddlerBot (URDF)
• Description: Unitree H1_2 (MJCF) (thanks to @TonyZYT2000)
• Description: Unitree H1_2 (URDF) (thanks to @TonyZYT2000)

Changed

• CICD: Disable fail-fast when testing loaders

Fixed

• Update commit and URDF path of YAM description

v1.20.0

This release adds 4 robot descriptions wired in by @ManifoldFR and @uynitsuj 👍

Added

• Description: MuJoCo Humanoid (MJCF) (thanks to @ManifoldFR)
• Description: RBY1 Mobile Manipulatior (URDF) (thanks to @uynitsuj)
• Description: YAM (MJCF) (thanks to @uynitsuj)
• Description: YAM (URDF) (thanks to @uynitsuj)\

v1.19.0

This release adds 8 robot descriptions, along with the robot_description pull command, contributed by @haixuanTao 👍, to fetch and cache descriptions from the command line.

Added

• CLI: Add pull command to robot_description and cache it (thanks to @haixuanTao)
• Description: BamBot (URDF)
• Description: Booster T1 (MJCF)
• Description: Booster T1 (URDF)
• Description: Fourier GR-1 (URDF)
• Description: SO ARM 101 (MJCF) (thanks to @haixuanTao)
• Description: SO ARM 101 (URDF) (thanks to @haixuanTao)
• Description: WL P311D (URDF)
• Description: WL P311E (URDF)

Changed

• Rename leap_hand_v1 to leap_hand_v1_description
• Rename so_arm100 to so_arm100_description

v1.18.0

This release adds 5 robot descriptions, allows passing keyword arguments to the yourdfpy loader, and fixes the piper_mj_description for consistency with the other MJCF descriptions.

Thanks to @jonzamora, @kevinzakka and @sea-bass for contributing to this release 👍

Added

• Description: Dynamixel 2R (MJCF)
• Description: Fourier N1 (MJCF)
• Description: Fourier N1 (URDF)
• Description: RSK omnidirectional robot (MJCF)
• Description: YAM (MJCF) (thanks to @kevinzakka)

Changed

• Update piper_mj_description to load piper.xml instead of scene.xml (thanks to @jonzamora)
• Allow passing kwargs to yourdfpy.load_robot_description (thanks to @sea-bass)

v1.17.0

This release adds 4 new descriptions, 3 arms and 1 humanoid, and updates repository info to use commit IDs rather than tags.

Thanks to @jonzamora for contributing to this release 👍

Added

• Description: Adam Lite (MJCF)
• Description: ARX L5 (MJCF) (thanks to @jonzamora)
• Description: Kinova Gen3 Lite (URDF)
• Description: Low-cost robot arm (MJCF)

Changed

• Update baxter_common repository with a commit ID rather than a tag
• Update talos-data repository with a commit ID rather than a tag

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