Changelog

All notable changes to this project will be documented in this file.

Unreleased

Added

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

1.13.0 - 2024-10-30

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

1.12.0 - 2024-08-08

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

1.11.0 - 2024-06-27

Added

Description: KUKA iiwa 7 (URDF)
Description: Unitree G1 (MJCF) (thanks to @kevinzakka)
Description: Unitree G1 (URDF) (thanks to @lvjonok)
Description: Boston Dynamics Spot (MJCF) (thanks to @kevinzakka)
Description: Franka Robotics FR3 (MJCF) (thanks to @kevinzakka)
Description: WidowX 250 6-DOF (MJCF) (thanks to @kevinzakka)

Changed

Bump minimum Python version to 3.9
CICD: Pin NumPy version to <2 for PyBullet and yourdfpy
CICD: Update ruff to 0.2.2
Rename iiwa_description to iiwa14_description
Rename iiwa_mj_description to iiwa14_mj_description
Update repository for iiwa14_description to drake_models

1.10.0 - 2024-04-24

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)

1.9.0 - 2024-03-27

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

1.8.1 - 2024-01-29

Changed

Update example-robot-data to version 4.0.9 (thanks to @htadashi)

1.8.0 - 2024-01-24

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

1.7.0 - 2023-12-08

Added

Description: UNITREE Go2 (MJCF) (thanks to @lvjonok)
Description: UNITREE Go2 (thanks to @lvjonok)
Description: UNITREE H1 (MJCF) (thanks to @lvjonok)
Description: UNITREE H1 (thanks to @lvjonok)
Description: UR10e (MJCF)

1.6.0 - 2023-05-23

Added

Description: FANUC M-710iC
Description: Gen3
Description: TriFingerEdu

Changed

Update Stretch description to v1.0.0

1.5.0 - 2023-04-13

Added

Description: Rhea
Description: Stretch
Frame selector in URDF frame display example
README: Conda installation instructions

Changed

Update Upkie description to v1.2.0

1.4.1 - 2023-02-28

Added

Description: Draco3 (thanks to @shbang91)
Description: ergoCub

Changed

CI: switch to ruff

1.4.0 - 2023-02-08

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

1.3.1 - 2023-01-13

Added

Description: B1
Description: Z1

Changed

A1: use original URDF from Unitree
Updated unitree_ros repository

1.3.0 - 2022-12-16

Changed

iDynTree: loader now supports package directories.
Update example-robot-data repository to v4.0.3

Fixed

CI: check code style

1.2.0 - 2022-12-07

Added

Loader: iDynTree

1.1.0 - 2022-11-29

Added

Description: Spryped
Loader: RoboMeshCat

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

1.0.0 - 2022-10-31

Added

Description: JAXON
Description: Kinova Gen3
Description: NEXTAGE
Description: SigmaBan
Unit tests for repository cloning

Changed

MuJoCo examples: try mj_description suffix rather than description
Update Cassie URDF description to an MIT-licensed repository

Fixed

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

0.6.0 - 2022-09-28

Added

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

0.5.0 - 2022-09-19

Added

CI: check that all MJCF descriptions load in MuJoCo
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

0.4.0 - 2022-09-14

Added

CI: check that all URDF descriptions load in PyBullet
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

0.3.0 - 2022-09-12

Added

CI: check that URDF descriptions load in Pinocchio
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

0.2.0 - 2022-09-07

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

Fixed

iCub description

0.1.1 - 2022-09-06

Fixed

Command line usage instructions
Upload coverage results based on USING_COVERAGE setting

0.1.0 - 2022-09-05

This initial release includes 33 robot descriptions:

Added

Caching of git repositories
Command line to show or animate robot descriptions
Contributing instructions
This changelog