v1.13.0

With this release, we have crossed 100 robot descriptions! 🎉 (full list)

Thanks to @kevinzakka for contributing to this release, and to 👍

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

v1.11.0

This release adds 6 robot descriptions thanks to @lvjonok and @kevinzakka 👍 It also renames iiwa descriptions (to account for the 7-kg and 14-kg payload capacity variants), and bumps the minimum Python version to 3.9 (most loaders will still work with 3.8).

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

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