v1.23.0

[stephane-caron]

This release adds support for xacro-based robot descriptions, as well as a cache optimization that only fetches the required commit of a description instead of cloning the full repository. Both were contributed by @nickswalker, thanks!

This release also adds 35 robot descriptions contributed by @daipom, @nickswalker and @Woojin-Crive 👍

Added

• Add support for xacro-based descriptions (thanks to @nickswalker)
• Description: OMX-F (URDF) (thanks to @Woojin-Crive)
• Description: OMX-L (URDF) (thanks to @Woojin-Crive)
• Description: OMY-3M (URDF) (thanks to @Woojin-Crive)
• Description: OMY-F3M (URDF) (thanks to @Woojin-Crive)
• Description: OMY-L100 (URDF) (thanks to @Woojin-Crive)
• Description: OpenArm v1 (MJCF) (thanks to @daipom)
• Description: OpenMANIPULATOR-X (URDF) (thanks to @Woojin-Crive)
• Description: FER (URDF) (thanks to @nickswalker)
• Description: Franka FR3 (URDF) (thanks to @nickswalker)
• Description: Franka FR3 v2 (URDF) (thanks to @nickswalker)
• Description: Franka FR3 v2.1 (URDF) (thanks to @nickswalker)
• Description: Stretch SE3 (URDF) (thanks to @nickswalker)
• Description: xArm6 (URDF) (thanks to @nickswalker)
• Description: xArm7 (URDF) (thanks to @nickswalker)
• Description: Kinova Jaco2 j2n4s300 (URDF) (thanks to @nickswalker)
• Description: Kinova Jaco2 j2n6s200 (URDF) (thanks to @nickswalker)
• Description: Kinova Jaco2 j2n6s300 (URDF) (thanks to @nickswalker)
• Description: Kinova Jaco2 j2n7s300 (URDF) (thanks to @nickswalker)
• Description: Kinova Jaco2 j2s6s200 (URDF) (thanks to @nickswalker)
• Description: Kinova Jaco2 j2s6s300 (URDF) (thanks to @nickswalker)
• Description: Kinova Jaco2 j2s7s300 (URDF) (thanks to @nickswalker)
• examples: Add uv script dependencies to all examples
• Description: UR3e (URDF) (thanks to @nickswalker)
• Description: UR5e (URDF) (thanks to @nickswalker)
• Description: UR7e (URDF) (thanks to @nickswalker)
• Description: UR8 Long (URDF) (thanks to @nickswalker)
• Description: UR10e (URDF) (thanks to @nickswalker)
• Description: UR12e (URDF) (thanks to @nickswalker)
• Description: UR15 (URDF) (thanks to @nickswalker)
• Description: UR16e (URDF) (thanks to @nickswalker)
• Description: UR18 (URDF) (thanks to @nickswalker)
• Description: UR20 (URDF) (thanks to @nickswalker)
• Description: UR30 (URDF) (thanks to @nickswalker)
• Description: UR3 official (URDF) (thanks to @nickswalker)
• Description: UR5 official (URDF) (thanks to @nickswalker)
• Description: UR10 official (URDF) (thanks to @nickswalker)

Changed

• Bump minimum Python version to 3.10
• CICD: Update .gitattributes for pixi.lock
• Description: UR10 (URDF) now warns that it is deprecated and will switch to the official model in v2 (thanks to @nickswalker)
• Description: UR3 (URDF) now warns that it is deprecated and will switch to the official model in v2 (thanks to @nickswalker)
• Description: UR5 (URDF) now warns that it is deprecated and will switch to the official model in v2 (thanks to @nickswalker)
• cache: Optimize pinned-revision cloning by initializing the repository locally, shallow-fetching the requested revision (depth=1), and checking it out (thanks to @nickswalker)

Fixed

• CICD: Update Python version to 3.10 (thanks to @daipom)
• Description: Kinova Gen3 (URDF) now resolves from ros2_kortex xacro, instead of incorrect Jaco2 URDF (thanks to @nickswalker)

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This discussion was created from the release v1.23.0.