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Changelog

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

Unreleased

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:

  • A1
  • Aliengo
  • Allegro Hand
  • ANYmal B
  • ANYmal C
  • Atlas
  • Baxter
  • Bolt
  • Cassie
  • Crazyflie 2.0
  • Double Pendulum
  • e.DO
  • FingerEdu
  • Gen2
  • HyQ
  • iCub
  • iiwa 14
  • JVRC-1
  • Laikago
  • Mini Cheetah
  • Minitaur
  • Panda
  • PR2
  • Reachy
  • Romeo
  • Simple Humanoid
  • Solo
  • TALOS
  • TIAGo
  • Upkie
  • UR10
  • UR3
  • UR5

Added

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