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New packages mujoco/raft and urdf/raft_description, with PAR6's joint names, torque actuators, the trigger, the optional J2 counterbalance tendon, home and parked keyframes, native ROS 2 display support and raft_mujoco.zip / raft_urdf.zip. - source/raft/ holds RAFT's model reference (frames, mass properties, measured joint ranges, keyframes, actuation, sample poses with FK and gravity torques), the CAD meshes, their visual pieces, the package documents and previews. tools/import_raft_reference.py imports it from a RAFT checkout; the normal build needs none. - tools/build_raft.py builds both packages; tools/verify_raft.py checks both formats against the reference's kinematics and gravity torques (8e-11), the ranges against the measured stops, keyframes, palette and pieces; tools/render_raft_previews.py refreshes the pictures. - Shared palette: raft_structure, raft_trigger, raft_horns, raft_fasteners; RAFT's servos follow motors or the raft_motors override. - RAFT joins the ROS support, packaging, release, guide export and the Linux ROS 2 checks; README, guides and maintenance notes list it. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
Version 2.19.0 in every package, release notes, changelog and citation; the release instructions and prepare_release.py count RAFT's packages. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
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Adds RAFT, Source Robotics' teleoperation leader arm for PAR6, as the fifth product, and prepares release v2.19.0.
mujoco/raftandurdf/raft_description(raft_mujoco.zip,raft_urdf.zip), with PAR6's joint names, torque actuators, the trigger, the optional J2 counterbalance tendon,home/parkedkeyframes and ROS 2 display support.source/raft/holds RAFT's model reference (exported by RAFT's firmware generator, the same source as the firmware's model), the CAD meshes and their visual pieces.tools/import_raft_reference.pyimports it from a RAFT checkout; the normal build needs none.tools/build_raft.pybuilds both packages;tools/verify_raft.pychecks both formats against the reference's kinematics and gravity torques (agree to 8e-11), the ranges against the measured stops, the keyframes, palette and pieces.raft_structure,raft_trigger,raft_horns,raft_fasteners; RAFT's servos followmotorsor theraft_motorsoverride.guides/raft.md, changelog and v2.19.0 release notes.PAR6, PAROL6, MSG and SSG48 models are unchanged apart from the version.
Checked locally: full
tools/build.py, 249 tests,prepare_release.py --tag v2.19.0.🤖 Generated with Claude Code