robot_descriptions - v1.19.0

This release adds 8 robot descriptions, along with the robot_description pull command, contributed by @haixuantao :+1:, to fetch and cache descriptions from the command line.

Added

• CLI: Add pull command to robot_description and cache it (thanks to @haixuantao)
• Description: BamBot (URDF)
• Description: Booster T1 (MJCF)
• Description: Booster T1 (URDF)
• Description: Fourier GR-1 (URDF)
• Description: SO ARM 101 (MJCF) (thanks to @haixuantao)
• Description: SO ARM 101 (URDF) (thanks to @haixuantao)
• Description: WL P311D (URDF)
• Description: WL P311E (URDF)

Changed

• Rename leap_hand_v1 to leap_hand_v1_description
• Rename so_arm100 to so_arm100_description

- Python
Published by stephane-caron 8 months ago

robot_descriptions - v1.18.0

This release adds 5 robot descriptions, allows passing keyword arguments to the yourdfpy loader, and fixes the piper_mj_description for consistency with the other MJCF descriptions.

Thanks to @jonzamora, @kevinzakka and @sea-bass for contributing to this release :+1:

Added

• Description: Dynamixel 2R (MJCF)
• Description: Fourier N1 (MJCF)
• Description: Fourier N1 (URDF)
• Description: RSK omnidirectional robot (MJCF)
• Description: YAM (MJCF) (thanks to @kevinzakka)

Changed

• Update piper_mj_description to load piper.xml instead of scene.xml (thanks to @jonzamora)
• Allow passing kwargs to yourdfpy.load_robot_description (thanks to @sea-bass)

- Python
Published by stephane-caron 8 months ago

robot_descriptions - v1.17.0

This release adds 4 new descriptions, 3 arms and 1 humanoid, and updates repository info to use commit IDs rather than tags.

Thanks to @jonzamora for contributing to this release :+1:

Added

• Description: Adam Lite (MJCF)
• Description: ARX L5 (MJCF) (thanks to @jonzamora)
• Description: Kinova Gen3 Lite (URDF)
• Description: Low-cost robot arm (MJCF)

Changed

• Update baxter_common repository with a commit ID rather than a tag
• Update talos-data repository with a commit ID rather than a tag

- Python
Published by stephane-caron 10 months ago

robot_descriptions - v1.16.0

This release adds 5 new descriptions and updates 3 existing ones. It adds a tags attribute to robot descriptions, with two examples illustrating how to use those to load all quadrupeds or load all humanoids:

An example also lands for the new Candlewick visualizer:

Thanks to @drfenixion and @traversaro for contributing to this release :+1:

Added

• Add tags attribute to Description class
• Description: Ability Hand (MJCF)
• Description: Ability Hand (URDF)
• Description: Apptronik Apollo (MJCF)
• Description: BXI Elf2 (MJCF)
• Description: BXI Elf2 (URDF)
• Example: Load all humanoid robot descriptions
• Example: Load all quadruped robot descriptions
• Example: Show any robot description in the Candlewick viewer
• Export DESCRIPTIONS dictionary from top-level module

Changed

• CICD: Update checkout actions to v4
• Update MuJoCo Menagerie repository commit
• Update eDO description repository
• Update ergoCub description model to SN002 (thanks to @traversaro)
• Update ergocub-software repository to v0.7.7 (thanks to @traversaro)
• Update simple-humanoid-description repository commit (thanks to @drfenixion)

- Python
Published by stephane-caron 11 months ago

robot_descriptions - v1.15.0

This release adds the AgileX PiPER, ANYmal D, Robot Soccer Kit and Robotiq 2F-85 descriptions. It also refactors command-line usage to directly show a description:

console python -m robot_descriptions show_in_meshcat <robot_description>

Thanks to @peterdavidfagan for contributing to this release 👍

Added

• Description: AgileX PiPER (MJCF)
• Description: AgileX PiPER (URDF)
• Description: ANYmal D
• Description: Robot Soccer Kit
• Description: Robotiq 2F-85 (MJCF V4) (thanks to @peterdavidfagan)
• CLI: Add show_in_meshcat command
• CLI: Add show_in_mujoco command
• CLI: Add show_in_pybullet command

Changed

• Enable command-line to run from python -m robot_descriptions
• CLI: Rename show command to show_in_yourdfpy

Fixed

• minor: Use single backticks for inline command-line instructions

- Python
Published by stephane-caron 12 months ago

robot_descriptions - v1.14.0

This release adds two robot descriptions and fixes a race condition when importing the same description from multiple threads.

Thanks to @JafarAbdi for contributing to this release :+1:

Added

• Description: SO-ARM100 (MJCF) (thanks to @JafarAbdi)
• 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

- Python
Published by stephane-caron about 1 year ago

robot_descriptions - v1.13.0

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

Thanks to @kevinzakka for contributing to this release :+1:

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

- Python
Published by stephane-caron over 1 year ago

robot_descriptions - 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! :yum:)

Thanks to @kevinzakka and @lvjonok for their contributions to this release :+1:

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

- Python
Published by stephane-caron over 1 year ago

robot_descriptions - v1.11.0

This release adds 6 robot descriptions thanks to @lvjonok and @kevinzakka :+1: 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

- Python
Published by stephane-caron over 1 year ago

robot_descriptions - 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! :+1:

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)

- Python
Published by stephane-caron almost 2 years ago

robot_descriptions - v1.9.0

This release adds 8 MJCF descriptions, along with minor fixes for 3 existing ones, thanks to @kevinzakka :+1: 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

- Python
Published by stephane-caron almost 2 years ago

robot_descriptions - v1.8.1

This patch release updates the example-robot-data repository to version 4.0.9 thanks to @htadashi :+1:

- Python
Published by stephane-caron about 2 years ago

robot_descriptions - v1.8.0

This release adds the Skydio X2, Unitree H1 and Unitree Z1 descriptions, thanks to @lvjonok :+1: 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

- Python
Published by stephane-caron about 2 years ago

robot_descriptions - v1.7.0

This release adds the UR10e (MJCF) description, as well as the UNITREE Go2 and H1 descriptions thanks to @lvjonok :+1:

Added

• Description: UNITREE Go2 (MJCF)
• Description: UNITREE Go2
• Description: UNITREE H1 (MJCF)
• Description: UNITREE H1
• Description: UR10e (MJCF)

- Python
Published by stephane-caron about 2 years ago

robot_descriptions - 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 :+1:
• Description: Gen3
• Description: TriFingerEdu

Changed

• Update Stretch description to v1.0.0

- Python
Published by stephane-caron almost 3 years ago

robot_descriptions - 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 :+1:
• Description: Stretch, thanks @arjung128 :+1:
• Frame selector in URDF frame display example
• README: Conda installation instructions

Changed

• Update Upkie description to v1.2.0

- Python
Published by stephane-caron almost 3 years ago

robot_descriptions - v1.4.1

This release adds the Draco3 and ergoCub descriptions.

Added

• Description: Draco3, thanks @shbang91 :+1:
• Description: ergoCub

Changed

• CI: switch to ruff

- Python
Published by stephane-caron almost 3 years ago

robot_descriptions - v1.4.0

This release adds the ability to load a robot description at a specific commit from the underlying repository. This can be useful e.g. to allow version-pinning in projects that use robot_descriptions.py for continuous integration.

```python from robotdescriptions.loaders.pinocchio import loadrobot_description

robot = loadrobotdescription("upkie_description", commit="731c5125806f70a4202ea6a118b4550a18862401") ```

Also included in this release: recovery from invalid git repository errors in the cache.

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

- Python
Published by stephane-caron about 3 years ago

robot_descriptions - v1.3.1

This release adds the Unitree B1 and Z1 descriptions.

Added

• Description: B1
• Description: Z1

Changed

• A1: use original URDF from unitree_ros
• Updated unitree_ros repository

- Python
Published by stephane-caron about 3 years ago

robot_descriptions - v1.3.0

This release gives the iDynTree loader the ability to build reduced models (by specifying a list of joints) as well as specifying package directories for meshes.

Changed

• iDynTree: loader now supports package directories, thanks @GiulioRomualdi :+1:
• Update example-robot-data repository to v4.0.3

Fixed

• CI: check code style

- Python
Published by stephane-caron about 3 years ago

robot_descriptions - v1.2.0

This release adds the iDynTree loader, along with CI checks validating that it loads all URDF descriptions successfully.

Added

• Loader: iDynTree, thanks @GiulioRomualdi :+1:

- Python
Published by stephane-caron about 3 years ago

robot_descriptions - v1.1.0

This release adds the RoboMeshCat loader, 1 robot description, and refactors the CI to support more robot loaders going forward.

Added

• Description: Spryped
• Loader: RoboMeshCat, thanks @petrikvladimir for support :+1:

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

- Python
Published by stephane-caron about 3 years ago

robot_descriptions - v1.0.0

This is v1.0.0 for robot_descriptions.py, now at 60 different descriptions. Armed, legged, wheeled, and combinations thereof :smiley:

This release adds four robot descriptions. Thanks to the contributors of the project who made them available in the first place.

Added

• Description: JAXON
• Description: Kinova Gen3
• Description: NEXTAGE
• Description: SigmaBan, thanks @Gregwar :+1:
• Unit tests for repository cloning

Changed

• MuJoCo examples: try mj_description suffix rather than description
• Update Cassie URDF description to an MIT-licensed repository, thanks @kevinzakka :+1:

Fixed

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

- Python
Published by stephane-caron over 3 years ago

robot_descriptions - v0.6.0

This release adds the yourdfpy loader, and CI checks to monitor that it loads all URDF descriptions successfully.

Added

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

- Python
Published by stephane-caron over 3 years ago

robot_descriptions - v0.5.0

This release adds the MuJoCo loader, 4 robot descriptions, and CI checks to monitor that all MJCF descriptions load successfully.

:loudspeaker: Robot descriptions are also available in C++ with robot_descriptions.cpp.

```python from robotdescriptions.loaders.mujoco import loadrobot_description

robot = loadrobotdescription("shadowhandmj_description") ```

Thanks to the contributors and maintainers of bhand_model, halodi-robot-models, nasa-urdf-robots and val_description, who made the new descriptions available in the first place.

Added

• 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

- Python
Published by stephane-caron over 3 years ago

robot_descriptions - v0.4.0

This release adds the PyBullet loader, as well as CI checks to monitor that all URDF descriptions load successfully in PyBullet.

```python from robotdescriptions.loaders.pybullet import loadrobot_description

robot = loadrobotdescription("poppytorsodescription") ```

There are two new robot descriptions from the Poppy Project as well. Thanks to the contributors of the project who made them available in the first place.

Added

• 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

- Python
Published by stephane-caron over 3 years ago

robot_descriptions - v0.3.0

This release adds 14 robot descriptions, and the Pinocchio loader to get Pinocchio robot models directly from a description name:

```python from robotdescriptions.loaders.pinocchio import loadrobot_description

robot = loadrobotdescription("myrobotdescription") ```

Thanks to the contributors and maintainers of GingerURDF, mujoco_menagerie, pepper_description, roboschool and robot-assets, who made these robot descriptions available in the first place.

Added

• 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

- Python
Published by stephane-caron over 3 years ago

robot_descriptions - v0.2.0

This release adds examples with MuJoCo, Pinocchio, PyBullet, MeshCat and yourdfpy, as well as three MJCF descriptions.

Thanks to @rohanpsingh for creating these descriptions, as well as mujoco-python-viewer.

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

- Python
Published by stephane-caron over 3 years ago

robot_descriptions - v0.1.1

This release fixes robot_descriptions -h, so that users can discover by happenstance the joy of robot_descriptions animate [robot] :slightlysmilingface:

Fixed

• Command line usage instructions
• Upload coverage results based on USING_COVERAGE setting

- Python
Published by stephane-caron over 3 years ago

robot_descriptions - v0.1.0

This is the first release of robot_descriptions, a Python module to import open source robot descriptions like Python module. The wrapper automatically downloads and cache files at first import. Most Awesome Robot Descriptions are available.

This release includes the following 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

New robot descriptions are welcome! Check out the guidelines then open a PR!

Added

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

- Python
Published by stephane-caron over 3 years ago