Robot descriptions v2.19.0

RAFT, the teleoperation leader arm for PAR6

This release adds RAFT, Source Robotics' teleoperation leader arm: PAR6's kinematic structure at 5/9 scale, with a
trigger on its handle that drives the follower's gripper.

• Two new packages: mujoco/raft and urdf/raft_description, downloadable as raft_mujoco.zip and
  raft_urdf.zip. They use PAR6's joint names, so RAFT's joint angles map one to one onto PAR6's. The MuJoCo model
  has torque actuators (RAFT's servos run in current mode), the trigger, the optional J2 counterbalance tendon and
  home / parked keyframes. The URDF package has native ROS 2 display support:
  ros2 launch raft_description display.launch.py.
• Built from RAFT's own model reference (source/raft/), the same source as RAFT's firmware model. Both formats
  are checked against its forward kinematics and gravity torques. One end of every joint range is a mechanical stop
  measured on the first arm; the other comes from a sweep of the CAD.
• Colours from the shared palette: RAFT's printed parts, servos, horns and screws are separate visual pieces.
  New keys raft_structure, raft_trigger, raft_horns and raft_fasteners; RAFT's servos follow motors or the
  new raft_motors override.
• Guides and checks: a RAFT product guide and a RAFT column in "Meet the models"; the Linux ROS 2 checks, the
  packaging and the release include raft_description.

PAR6, PAROL6, MSG and SSG48 are unchanged: geometry, colors, kinematics, inertia, collision shapes, joint limits and
actuation settings stay as in v2.18.1.

Models/data/docs remain CC BY 4.0; support code remains Apache-2.0.

Robot descriptions v2.18.1

Clearer repository folders and navigation

The model packages keep their existing locations and entry filenames. This
release reorganizes authoring material and generated results:

• docs/maintenance/: build, publishing and historical authoring notes.
• docs/releases/: versioned release notes.
• docs/kinematics/: the printable robot review booklet.
• reports/{appearance,dynamics,grippers,kinematics,packages,history}/:
  generated records grouped by topic, including the JSON formerly in tools/.
• reports/kinematics/review/: offline side-by-side model comparison.
• docs/images/robots/: robot galleries and wrist-mounting illustrations.

New folder READMEs explain where to start. The shortened repository map links
to those indexes, the current model-status page and a complete move list.

Generators and documentation links use the new destinations. Existing CLI
script paths, model/scene/URDF names, ROS launch commands and download filenames
are retained. Checked geometry and texture-cache payloads are preserved; only
their generator fingerprints are refreshed for report-path-only code changes.

Geometry, colors, kinematics, inertia, collision shapes, joint limits and
actuation settings are unchanged. User-confirmed limits and the other physical
accuracy checks remain separate work. ROS/MoveIt setup and hardware integration
remain deferred for the user; existing integration support is retained.

Models/data/docs remain CC BY 4.0; support code remains Apache-2.0. Older tags
and published release archives retain their original layout.

Robot descriptions v2.18.0

MoveIt 2 planning and mock execution

PAR6 and PAROL6 now have dedicated par6_moveit_config and
parol6_moveit_config ROS 2 packages. All twelve arm/tool configurations are
supported: flange-only, MSG Solid/Soft TPU, SSG48 Solid/Fin-ray and pneumatic.

• Plan TCP targets in RViz with KDL inverse kinematics and OMPL/RRTConnect.
• Use arm home/ready and gripper open/closed named states.
• Execute trajectories through ros2_control mock hardware and real trajectory
  controllers, with coupled mimic fingers and ordered controller activation.
• Keep collision checks for nonadjacent arm links and opposing fingers;
  exemptions cover rigid assemblies and directly connected moving assemblies.
• Enforce converted RCB software joint ranges for PAR6 and the maintained URDF
  ranges for PAROL6 in the in-memory planning instance. Saved models stay intact.
• Set editable demo speed/acceleration limits, explicitly separate from
  measured hardware capabilities.
• Download either MoveIt ZIP plus its matching URDF ZIP, or build from a source
  checkout with colcon. No duplicate mesh/model source is introduced.

Start with the MoveIt guide:

ros2 launch par6_moveit_config demo.launch.py end_effector:=msg jaws:=soft_tpu
ros2 launch parol6_moveit_config demo.launch.py end_effector:=ssg48 jaws:=fin_ray

The mock system follows commands ideally. It does not communicate with RCB or
simulate motor dynamics, contact forces, grip force or flexible jaw deformation.
The existing MuJoCo physics examples and native ROS 2 display launchers remain
available. MSG's empty closed planning preset retains a 0.5 mm/finger stand-off
from its known overlapping mathematical endpoint; SSG48 retains 0.1 mm/finger
before its face-contact endpoint. Pneumatic uses its actual endpoints. The
model limits are unchanged.

CI gates release publication on the portable regression suite, relocated ROS 2
display tests, and installed MoveIt planning/IK/collision/mock-execution tests
for Humble and Jazzy, including RViz screenshots. Model/data/docs remain
CC BY 4.0; launch/support code remains Apache-2.0.

Validation: 238 portable tests, 28 MoveIt integration cases and
48 native ROS display cases across the two distributions. The existing
692 tracked model/geometry/image files remain unchanged, with text line endings
normalized for comparison. The full authoring build and all ten ZIP extraction
checks also pass.

Robot descriptions v2.17.0

Native ROS 2 installation and display

All four URDF packages now install with ament/colcon and include
display.launch.py, a saved RViz view, and joint sliders. Both robots expose
all six tools with jaw selection; standalone MSG and SSG48 expose both jaw
options. Headless viewing, external joint-state sources and simulated time
are supported.

Examples after installing and sourcing the workspace:

ros2 launch par6_description display.launch.py end_effector:=msg jaws:=soft_tpu
ros2 launch parol6_description display.launch.py end_effector:=ssg48 jaws:=fin_ray
ros2 launch msg_description display.launch.py jaws:=soft_tpu
ros2 launch ssg48_description display.launch.py jaws:=solid

ROS 2 launch resolves portable relative asset paths to installed package URIs
in memory. Existing model files, joint/frame conventions, geometry, colors,
collisions, kinematics, masses, COM, inertia and MuJoCo controls are retained.
ROS 1 entry points and the conditional catkin build path remain available.
RViz sliders publish visualization joint states; they are not a hardware driver.

The default RViz-compatible display description uses massless fixed child
frames for additional visuals, avoiding Humble/Jazzy RViz's per-link material
limitation. Original physical frames, joints, collisions and inertials are
preserved; rviz_materials:=false selects the original link/joint tree.

Humble and Jazzy Linux CI builds all four packages, relocates the install away
from source/build trees and checks all sixteen variants, nonzero external
joint-state TF, mimic joints, RViz/GUI startup and incompatible selections.
Integration logs and screenshots are saved as workflow artifacts. Tagged
releases require those ROS checks as well as the model build/tests.

The installation guide is bundled as docs/ROS2.md in every URDF download and
linked from product guides and READMEs. Model/assets/documentation licensing
remains CC BY 4.0; ROS support code remains Apache-2.0.

Robot descriptions v2.16.1

Illustrated color guide

The color guide now includes native rendered comparisons with matching JSON
settings for three independent examples:

• Blue robot/MSG motors.
• Teal MSG Soft TPU inserts, dark blue holders and orange SSG48 Solid jaws.
• A graphite PAR6 cover with teal badge artwork.

All eight URDF/MuJoCo downloads include the updated guide, its images and a
render manifest. Package and product READMEs link to the illustrated guide.

The optional tools/render_color_examples.py renderer uses temporary model
copies and preserves the active palette, runtime models and checked badge
texture. Ordinary headless builds reuse the committed illustrations.

Default colors, model geometry, collisions, kinematics, dynamics, controls and
cameras remain unchanged. Model/assets/documentation licensing stays CC BY 4.0;
support code stays Apache-2.0.

Robot descriptions v2.16.0

Shared color palette

Edit source/appearance/colors.json to change colors across PAR6, PAROL6,
standalone MSG and standalone SSG48 in URDF and MuJoCo. Common structure/motor
colors, individual-part overrides, all jaw colors, pneumatic colors and the
PAR6 badge palette are supported.

Run python tools/build.py --models-only --render after an appearance edit.
The build applies the palette, rebakes the badge, refreshes review snapshots,
validates the models and exports all eight packages. OpenGL is needed only for
refreshing screenshots. Each package carries its applied palette in
docs/colors.json; model loading requires no theme parser or extra process.

The initial palette preserves the existing look. Geometry, collision surfaces,
kinematics, masses, COM, inertia, actuation and cameras retain their definitions.
Non-default-theme regression checks verify all compiled physical/mesh arrays
and all URDF non-visual definitions stay unchanged.

Models/assets/documentation remain CC BY 4.0; support code stays Apache-2.0.
Hardware accuracy/calibration work remains deferred.

Robot descriptions v2.15.1

Robot descriptions v2.15.1

Adds simulated views from MSG's existing msg_camera for Solid and Soft TPU jaws. The previews use the unchanged open-jaw orange-box grasp fixtures, with brighter demo headlighting. Images are native 1280 x 720 renders at the model's 51.5-degree vertical FOV, without cropping, camera reorientation or geometry changes.

The camera guide and both PNGs are bundled in all six arm/MSG packages. Product guides link to them, and the MSG guide embeds both views. The guide includes a Python rendering example, the URDF camera/optical frame names, and a clear distinction between modeled views and real camera calibration.

Corrects old PAR6 appearance notes that said 90 degrees. No model camera settings, kinematics, geometry, collision shapes, masses, inertias or controls change. CC BY 4.0 model licensing and Apache-2.0 support-code licensing are retained.

Eight independent model ZIPs, the review PDF, manifest and SHA256SUMS are included. SSG48 standalone packages contain no camera.

Robot descriptions v2.15.0

Robot descriptions v2.15.0

Model licensing

PAR6, PAROL6, MSG and SSG48 model descriptions, meshes, physical data, textures, previews and documentation are now CC BY 4.0. Each of the eight downloads carries the full license and a Source Robotics attribution example. Python/ROS support code remains Apache-2.0, with a separate notice in URDF packages. Earlier published releases retain their original licenses and are not rewritten.

Appearance documentation

The new docs/COLORS.md guide covers named motor/lens/jaw materials, HEX palettes, RGBA examples and regeneration. It explicitly describes which settings are centralized and which still require model/generator edits. All product guides link to it.

The PAROL6 six-configuration gallery now contains only the robot renders and end-effector labels; its dimension/estimate footer is removed. Model geometry, kinematics, physical properties and controls are unchanged.

Eight independent model ZIPs, the dimensioned review PDF, release manifest and checksums are provided.

Robot descriptions v2.14.0

Robot descriptions v2.14.0

A clearer package layout for PAR6, PAROL6, MSG and SSG48 in both formats.

• docs/ contains detailed model notes, comparison diagrams and dimensioned review sheets.
• previews/ contains catalog/model PNGs; package metadata points to their new paths.
• Model and scene entry files remain at the root. Mesh/texture paths, joint definitions, masses, COM, inertia, collisions and actuator settings are unchanged.
• ROS installation and all generators preserve the new layout. Package checks validate local documentation and preview links after extraction.
• PAR6/PAROL6 getting-started guides have prominent images; loose repository feature PNGs are grouped in docs/images/.

Eight independent ZIPs are provided, plus the twelve-page kinematic review PDF, release manifest and SHA256SUMS. Existing releases remain available.

Robot descriptions v2.13.0

Robot and standalone gripper descriptions v2.13.0

Eight self-contained downloads, each including meshes, materials, collisions,
joints, frame definitions and physical properties:

Product	MuJoCo	URDF
PAR6, all six mounted tools	par6_mujoco.zip	par6_urdf.zip
PAROL6, all six mounted tools	parol6_mujoco.zip	parol6_urdf.zip
MSG only: Solid / Soft TPU jaws	msg_mujoco.zip	msg_urdf.zip
SSG48 only: Solid / Fin-ray jaws	ssg48_mujoco.zip	ssg48_urdf.zip

The new gripper-only exports reuse the maintained tool subtrees at the physical
flange frame. Local inertials, mass targets, joint origins/axes/limits,
coupling, collision surfaces and materials are preserved. MSG's camera is
included. A fixed native mounting frame supports standalone visualization;
there is no arm or grasp-test fixture in the gripper models.

The original PAR6/PAROL6 definitions and physical settings remain unchanged.
MSG retains its existing opposing-jaw contact before the mathematical joint
limit; physical close/open checks verify contact and reopening. Tool COM/inertia,
motor rotor inertia and some control parameters remain uncalibrated estimates.
Soft TPU and Fin-ray material deformation is not simulated.

Validation covers four standalone jaw profiles, both formats' FK and physical
properties, finite native close/open behavior, and all four relocated gripper
packages. Existing arm, collision and grasp regressions and the full independent
build remain part of release validation. ZIPs are extracted and checked without
referring back to the authoring repository. Checksums and the source commit are
recorded in SHA256SUMS and release_manifest.json.

For product-specific instructions, open description/ in the corresponding
hardware repository, or choose a guide from the shared repository's README.