v2.0.0

This release moves description metadata (robot name, maker, repository, license, ...) into the registry itself, using it to generate the README tables automatically. Thanks to @nickswalker for contributing this 👍

This is a major update since the Description dataclass signature has changed in the process. This update also surfaced a number of license inaccuracies that are now corrected.

This release also adds 5 robot descriptions, and allows overriding xacro args when calling load_robot_description. Thanks to @brnikita and @nickswalker for those 👍

Added

• Description: Flexiv Rizon4 (MJCF)
• Description: Flexiv Rizon4 (Xacro)
• Description: Franka descriptions added XACRO_ARGS_NO_HAND property (thanks to @nickswalker)
• Description: Robotiq 2F-85 v4 (URDF) (thanks to @nickswalker)
• Description: SO-ARM101 Parallel Gripper (URDF) (thanks to @brnikita)
• Loaders: Allow overriding XACRO_ARGS via load_robot_description (thanks to @nickswalker)

Changed

• Breaking: Description constructor no longer takes a single Format as its first argument; pass formats as a set instead
• Breaking: Description instances are now frozen
• Breaking: Description now requires a robot field
• Description metadata: Add robot name, maker, DOF, repository, and license fields to the registry (thanks to @nickswalker)
• Description: Alphabetize description tables (thanks to @nickswalker)
• Migrate Description(Format.URDF, tags={...}) to Description(formats={Format.URDF}, ...)
• README: Alphabetize description tables (thanks to @nickswalker)
• README: Generate description tables from registry metadata and keep them alphabetized (thanks to @nickswalker)

Fixed

• README: Correct and backfill license metadata (thanks to @nickswalker)
• security: Bump gitpython to 3.1.49

Migration notes

If you are updating code with custom Description instances to this new release, you should replace Description(Format.URDF, tags={...}) with Description(formats={Format.URDF}, robot="...", tags={...}).