Add RAFT, the teleoperation leader arm for PAR6 (v2.19.0)

.github/workflows/models.yml

@@ -81,14 +81,14 @@ jobs:
             libgl1-mesa-dri python3-pyqt5 python3-pil \
             ros-${ROS_DISTRO}-launch-ros ros-${ROS_DISTRO}-rviz2 \
             ros-${ROS_DISTRO}-joint-state-publisher-gui
-      - name: Build four packages and relocate the install
+      - name: Build the description and MoveIt packages and relocate the install
         shell: bash
         run: |
           source /opt/ros/${ROS_DISTRO}/setup.bash
           task_ws=${RUNNER_TEMP}/description_ros2_ws
           mkdir -p "${task_ws}/src"
           colcon list --names-only --base-paths "${GITHUB_WORKSPACE}" > "${task_ws}/packages.txt"
-          python3 -c 'import pathlib,sys; assert set(pathlib.Path(sys.argv[1]).read_text().split()) == {"par6_description","parol6_description","msg_description","ssg48_description","par6_moveit_config","parol6_moveit_config"}' "${task_ws}/packages.txt"
+          python3 -c 'import pathlib,sys; assert set(pathlib.Path(sys.argv[1]).read_text().split()) == {"par6_description","parol6_description","msg_description","ssg48_description","raft_description","par6_moveit_config","parol6_moveit_config"}' "${task_ws}/packages.txt"
           cp -a urdf/. "${task_ws}/src/"
           cd "${task_ws}"
           colcon build --merge-install --event-handlers console_cohesion+

CHANGELOG.md

@@ -1,5 +1,16 @@
 # Changelog - Source Robotics robot descriptions
 
+## 2.19.0 - 2026-11-06
+
+- Added RAFT, the teleoperation leader arm for PAR6: `mujoco/raft` and `urdf/raft_description`, with PAR6's joint names,
+  torque actuators, the trigger, the optional J2 counterbalance tendon, `home`/`parked` keyframes, ROS 2 display support
+  and two downloadable ZIPs. Joint ranges come from the measured mechanical stops and a CAD sweep.
+- Built from RAFT's model reference (`source/raft/`, imported from the RAFT repository by `tools/import_raft_reference.py`),
+  the same source as RAFT's firmware model; both formats are checked against its kinematics and gravity torques.
+- RAFT's printed parts, servos, horns and screws are separate visual pieces coloured by the shared palette: new keys
+  `raft_structure`, `raft_trigger`, `raft_horns`, `raft_fasteners`; the servos follow `motors` or the `raft_motors` override.
+- Linux ROS 2 checks and the release now include `raft_description` and the two RAFT ZIPs.
+
 ## 2.18.1 - 2026-11-03
 
 - Organized reports by appearance, dynamics, grippers, kinematics, package checks and historical milestones; moved generated JSON out of the tools folder.

CITATION.cff

@@ -1,15 +1,15 @@
 cff-version: 1.2.0
 message: "If you use Source Robotics robot descriptions in your work, please cite it as below."
-title: "Source Robotics robot descriptions: URDF and MuJoCo models of PAR6, PAROL6, MSG and SSG-48"
+title: "Source Robotics robot descriptions: URDF and MuJoCo models of PAR6, PAROL6, RAFT, MSG and SSG-48"
 type: software
 authors:
   - name: Source Robotics
     website: https://source-robotics.com
   - given-names: Petar
     family-names: Crnjak
 abstract: "URDF and MuJoCo models, meshes and generation tools for the Source Robotics arms and grippers, each robot with its end-effector configurations, ready for simulation."
-version: v2.18.1
-date-released: 2026-11-03
+version: v2.19.0
+date-released: 2026-11-06
 repository-code: https://github.com/Source-Robotics/robot_descriptions
 url: https://github.com/Source-Robotics/robot_descriptions
 license:

README.md

@@ -12,15 +12,17 @@ collision geometry, joints and mass properties, ready to open without a CAD buil
 
 ## Meet the models
 
-| **[PAR6](guides/par6.md)** | **[PAROL6](guides/parol6.md)** |
-| :---: | :---: |
-| ![PAR6 with MSG Soft TPU jaws, isometric view](docs/images/robots/par6_msg_soft_tpu_isometric.png) | ![PAROL6 with pneumatic gripper, isometric view](docs/images/robots/parol6_pneumatic_isometric.png) |
-| Six end-effector configurations | Six end-effector configurations |
+| **[PAR6](guides/par6.md)** | **[PAROL6](guides/parol6.md)** | **[RAFT leader arm](guides/raft.md)** |
+| :---: | :---: | :---: |
+| ![PAR6 with MSG Soft TPU jaws, isometric view](docs/images/robots/par6_msg_soft_tpu_isometric.png) | ![PAROL6 with pneumatic gripper, isometric view](docs/images/robots/parol6_pneumatic_isometric.png) | ![RAFT teleoperation leader arm, isometric view](docs/images/robots/raft_isometric.png) |
+| Six end-effector configurations | Six end-effector configurations | Teleoperation leader for PAR6, with a trigger |
+
 | **[MSG gripper](guides/msg.md)** | **[SSG48 gripper](guides/ssg48.md)** |
+| :---: | :---: |
 | ![Standalone MSG with Soft TPU jaws](source/grippers/previews/msg_soft_tpu.png) | ![Standalone SSG48 with Fin-ray jaws](source/grippers/previews/ssg48_fin_ray.png) |
 | Solid jaws · Soft TPU jaws | Solid jaws · Fin-ray jaws |
 
-Both arms support **Flange only**, **MSG / Solid jaws**, **MSG / Soft TPU jaws**,
+PAR6 and PAROL6 support **Flange only**, **MSG / Solid jaws**, **MSG / Soft TPU jaws**,
 **SSG48 / Solid jaws**, **SSG48 / Fin-ray jaws** and **Pneumatic gripper**.
 Standalone gripper downloads include both of that gripper's jaw options.
 MSG and SSG48 default to Solid jaws.
@@ -36,6 +38,7 @@ needed.** The product guides list every scene and URDF filename.
 | **[PAROL6](guides/parol6.md)** | [parol6_mujoco.zip](https://github.com/Source-Robotics/robot_descriptions/releases/latest/download/parol6_mujoco.zip) | [parol6_urdf.zip](https://github.com/Source-Robotics/robot_descriptions/releases/latest/download/parol6_urdf.zip) |
 | **[MSG — gripper only](guides/msg.md)** | [msg_mujoco.zip](https://github.com/Source-Robotics/robot_descriptions/releases/latest/download/msg_mujoco.zip) | [msg_urdf.zip](https://github.com/Source-Robotics/robot_descriptions/releases/latest/download/msg_urdf.zip) |
 | **[SSG48 — gripper only](guides/ssg48.md)** | [ssg48_mujoco.zip](https://github.com/Source-Robotics/robot_descriptions/releases/latest/download/ssg48_mujoco.zip) | [ssg48_urdf.zip](https://github.com/Source-Robotics/robot_descriptions/releases/latest/download/ssg48_urdf.zip) |
+| **[RAFT — leader arm](guides/raft.md)** | [raft_mujoco.zip](https://github.com/Source-Robotics/robot_descriptions/releases/latest/download/raft_mujoco.zip) | [raft_urdf.zip](https://github.com/Source-Robotics/robot_descriptions/releases/latest/download/raft_urdf.zip) |
 
 The [latest release](https://github.com/Source-Robotics/robot_descriptions/releases/latest)
 also includes the dimensioned review PDF, checksums and optional MoveIt packages.
@@ -69,7 +72,7 @@ The [PAR6](guides/par6.md), [PAROL6](guides/parol6.md), [MSG](guides/msg.md) and
 <details>
 <summary><strong>Using ROS 2, RViz or MoveIt?</strong></summary>
 
-All four URDF packages install with colcon and provide RViz views and joint
+All five URDF packages install with colcon and provide RViz views and joint
 sliders. Follow the [ROS 2 setup guide](docs/ROS2.md) for Humble or Jazzy, then run:
 
 ```bash

REPOSITORY_GUIDE.md

@@ -18,8 +18,8 @@
 ```text
 robot_descriptions/
   guides/       Product-specific getting-started pages
-  mujoco/       Four portable MuJoCo model packages
-  urdf/         Four portable URDF/ROS description packages
+  mujoco/       Five portable MuJoCo model packages
+  urdf/         Five portable URDF/ROS description packages
   moveit/       Two optional MoveIt configuration packages
   docs/         Usage guides, images, PDF, maintenance notes and releases
   source/       Editable inputs, original exports and checked caches
@@ -56,17 +56,17 @@ See [the move list](docs/maintenance/FOLDER_CHANGES.md) for older paths.
 
 | Format | Packages |
 | --- | --- |
-| MuJoCo | `mujoco/par6`, `mujoco/parol6`, `mujoco/msg`, `mujoco/ssg48` |
-| URDF | `urdf/par6_description`, `urdf/parol6_description`, `urdf/msg_description`, `urdf/ssg48_description` |
+| MuJoCo | `mujoco/par6`, `mujoco/parol6`, `mujoco/msg`, `mujoco/ssg48`, `mujoco/raft` |
+| URDF | `urdf/par6_description`, `urdf/parol6_description`, `urdf/msg_description`, `urdf/ssg48_description`, `urdf/raft_description` |
 | MoveIt | `moveit/par6_moveit_config`, `moveit/parol6_moveit_config`; each uses its matching URDF package. |
 
 The arm packages include all six tool configurations. Standalone gripper
 packages contain both jaw options. Runtime meshes are repeated where necessary
 so each model package can be downloaded or moved independently.
 
 Hardware repositories contain ordinary product-guide folders named
-`par6_description`, `parol6_description`, `msg_description` and
-`ssg48_description`. Those are guide pages and previews. The actual model
+`par6_description`, `parol6_description`, `msg_description`,
+`ssg48_description` and `raft_description`. Those are guide pages and previews. The actual model
 packages with those names live under this repository's `urdf/` folder.
 
 ## Inside a MuJoCo package
@@ -106,11 +106,11 @@ SSG48.
 
 Detailed notes are grouped in `docs/`, which has its own clickable index.
 Only the README, license, package metadata and model/scene entry files stay at
-the root. This layout is shared by all eight runtime packages.
+the root. This layout is shared by all ten runtime packages.
 
 ## Inside a URDF package
 
-The four folders are `urdf/par6_description/`, `urdf/parol6_description/`,
+The five folders are `urdf/par6_description/`, `urdf/parol6_description/`,
 `urdf/msg_description/` and `urdf/ssg48_description/`.
 
 | File or folder | Purpose |

docs/COLORS.md

@@ -3,8 +3,8 @@
 [Back to the repository](../README.md)
 
 **Edit one file: [`source/appearance/colors.json`](../source/appearance/colors.json).**
-The build applies it to PAR6, PAROL6, standalone MSG and standalone SSG48, in
-both URDF and MuJoCo, including every tool/jaw option and the grasp fixtures.
+The build applies it to PAR6, PAROL6, standalone MSG, standalone SSG48 and RAFT,
+in both URDF and MuJoCo, including every tool/jaw option and the grasp fixtures.
 The starting palette keeps the existing appearance.
 
 ## Quick example
@@ -38,7 +38,7 @@ python tools/build.py --models-only --render
 
 This uses the existing CAD meshes, applies the palette, rebakes the badge,
 refreshes the dimensioned review snapshots, validates the models and exports
-all eight packages to `dist/`. `--render` needs working OpenGL. Normal builds
+all ten packages to `dist/`. `--render` needs working OpenGL. Normal builds
 reuse the checked snapshots without OpenGL; refresh them after changing colors.
 If you also changed CAD/geometry, omit `--models-only`.
 
@@ -57,7 +57,7 @@ arrays; replacing one with a HEX color is fine.
 | Key inside `colors` | Parts controlled |
 | --- | --- |
 | `structure` | Both robot housings, MSG/SSG48 bodies, flange and the PAR6 badge's surrounding cover |
-| `motors` | J1/J2/J3 motor + gearbox and the MSG motor |
+| `motors` | J1/J2/J3 motor + gearbox, the MSG motor and RAFT's seven servos |
 | `camera_lens` | MSG lens |
 | `msg_solid_jaws` | MSG Solid jaws, including the moving carriage geometry |
 | `msg_soft_holders` | MSG Soft TPU black holders and carriages |
@@ -66,6 +66,10 @@ arrays; replacing one with a HEX color is fine.
 | `ssg48_fin_ray_jaws` | SSG48 Fin-ray jaws and carriage geometry |
 | `pneumatic_body` | Pneumatic gripper housing |
 | `pneumatic_jaws` | Both pneumatic fingers |
+| `raft_structure` | RAFT's printed parts, except the trigger |
+| `raft_trigger` | RAFT's printed trigger |
+| `raft_horns` | RAFT's seven aluminium servo horns |
+| `raft_fasteners` | RAFT's servo screws and its M3 stop and lid screws |
 
 A color applies to an existing visual partition. For example, a jaw and its
 carriage cannot get separate colors if they share one visual mesh.
@@ -100,7 +104,8 @@ blue:
 ```
 
 Supported keys are `j1_motor`, `j2_motor`, `j3_motor`, `msg_motor`, `msg_body`,
-`ssg48_body`, `flange`, `par6_structure`, `parol6_structure` and `par6_panel`.
+`ssg48_body`, `flange`, `par6_structure`, `parol6_structure`, `par6_panel` and
+`raft_motors` (RAFT's servos, which otherwise follow `motors`).
 Remove an override to return that part to its common color. Tool colors stay
 the same whether the tool is standalone or mounted on either robot.
 

docs/ROS2.md

@@ -2,7 +2,7 @@
 
 [Back to the model instructions](../README.md)
 
-The four URDF packages provide native `ament_cmake` installation and a ROS 2
+The five URDF packages provide native `ament_cmake` installation and a ROS 2
 `display.launch.py` launcher. Choose a tool or jaw option, then view it in RViz
 and move its joints with sliders. Linux CI checks ROS 2 **Humble / Ubuntu 22.04**
 and **Jazzy / Ubuntu 24.04**, including installed assets, TF, mimic joints and
@@ -55,7 +55,7 @@ colcon build --base-paths src/robot_descriptions/urdf
 source install/setup.bash
 ```
 
-This builds all four packages. Run colcon against the `urdf/` packages; there
+This builds all five packages. Run colcon against the `urdf/` packages; there
 is no need to run `tools/build.py` to use the committed models. After opening a
 new terminal, source both `/opt/ros/<distro>/setup.bash` and your workspace's
 `install/setup.bash` again.
@@ -93,6 +93,7 @@ ros2 launch msg_description display.launch.py jaws:=solid
 ros2 launch msg_description display.launch.py jaws:=soft_tpu
 ros2 launch ssg48_description display.launch.py jaws:=solid
 ros2 launch ssg48_description display.launch.py jaws:=fin_ray
+ros2 launch raft_description display.launch.py
 ```
 
 Each launcher opens RViz and a joint-slider window. The two fingers retain

docs/maintenance/BUILDING.md

@@ -76,13 +76,17 @@ extracting each ZIP, so the organized downloads remain portable.
 10. Exports independent MSG/SSG48 packages with both jaw options, compares
    their tool-relative FK, inertials, controls and contacts against the mounted
    models, and runs finite close/open cycles.
-11. Generates native ROS 2 support for all four URDF packages, then separate
+11. Builds RAFT's two packages from `source/raft` (RAFT's model reference, CAD
+   meshes and visual pieces) and checks both formats against the kinematics and
+   gravity torques in that reference. Generates native ROS 2 support for all
+   five URDF packages, then separate
    `par6_moveit_config` / `parol6_moveit_config` packages. MoveIt adds planning
    limits, SRDF groups/TCP/collision rules and mock-control launch support;
    it does not rewrite the saved physical models.
-12. Writes and extracts all eight model ZIPs: `par6_mujoco.zip`, `par6_urdf.zip`,
+12. Writes and extracts all ten model ZIPs: `par6_mujoco.zip`, `par6_urdf.zip`,
    `parol6_mujoco.zip`, `parol6_urdf.zip`, `msg_mujoco.zip`, `msg_urdf.zip`,
-   `ssg48_mujoco.zip` and `ssg48_urdf.zip`. Each uses only its own assets.
+   `ssg48_mujoco.zip`, `ssg48_urdf.zip`, `raft_mujoco.zip` and `raft_urdf.zip`.
+   Each uses only its own assets.
    Also writes `par6_moveit_config.zip` and `parol6_moveit_config.zip`, which
    require the matching URDF package and contain no duplicate geometry.
 

docs/maintenance/RELEASING.md

@@ -1,6 +1,6 @@
 # Publishing a description release
 
-This repository is the source for eight model distributions and two MoveIt
+This repository is the source for ten model distributions and two MoveIt
 configuration distributions. Model changes and
 generation tools belong here. Hardware repositories contain product guides,
 previews and release links. Software consumers can pin this repository as a
@@ -34,7 +34,7 @@ git push origin v2.13.0
 ```
 
 The GitHub Actions workflow tests and builds that tag, checks every ZIP's
-version against it, and publishes eight model ZIPs, two MoveIt ZIPs, the review PDF, a source
+version against it, and publishes ten model ZIPs, two MoveIt ZIPs, the review PDF, a source
 manifest and SHA-256 checksums. Only the tag's release job has repository
 write permission. Release publishing waits for the portable build, ROS display
 tests and MoveIt planning/mock-execution tests on both Humble and Jazzy.
@@ -50,6 +50,7 @@ Hardware repositories contain guide folders, without model copies or submodules:
 | PAROL6 | `parol6_description/` |
 | MSG | `msg_description/` |
 | SSG48 | `ssg48_description/` |
+| RAFT | `raft_description/` |
 
 Keep the canonical guide in `guides/` here. After publishing the model release,
 export its guide and local previews to the corresponding hardware checkout:
@@ -58,7 +59,7 @@ export its guide and local previews to the corresponding hardware checkout:
 python tools/export_hardware_guide.py --product par6 --revision CENTRAL_COMMIT --output /path/to/PAR6-Collaborative-Robot-Arm/par6_description
 ```
 
-Use `parol6`, `msg` or `ssg48` for the other products. `--revision` selects the
+Use `parol6`, `msg`, `ssg48` or `raft` for the other products. `--revision` selects the
 central commit/tag for documentation and model-file links. The tool exports
 only README and preview images; it does not copy model packages. Review and
 commit those documentation files in the hardware repository. Model ZIP links
@@ -77,7 +78,7 @@ git commit -m "Pin tested robot description models"
 ```
 
 The application can select `external/robot_descriptions/mujoco/par6`,
-`mujoco/parol6`, `mujoco/msg` or `mujoco/ssg48`, or the corresponding
+`mujoco/parol6`, `mujoco/msg`, `mujoco/ssg48` or `mujoco/raft`, or the corresponding
 `urdf/PRODUCT_description` package. Every path is relative to that submodule's
 root. Clone these software consumers with `git clone --recurse-submodules URL`,
 or initialize an existing clone with `git submodule update --init --recursive`.

docs/releases/README.md

@@ -2,6 +2,7 @@
 
 [Changelog](../../CHANGELOG.md) · [Publishing instructions](../maintenance/RELEASING.md)
 
+- [v2.19.0](v2.19.0.md)
 - [v2.18.1](v2.18.1.md)
 - [v2.18.0](v2.18.0.md)
 - [v2.17.0](v2.17.0.md)

docs/releases/v2.19.0.md

@@ -0,0 +1,23 @@
+# RAFT, the teleoperation leader arm for PAR6
+
+This release adds RAFT, Source Robotics' teleoperation leader arm: PAR6's kinematic structure at 5/9 scale, with a
+trigger on its handle that drives the follower's gripper.
+
+- **Two new packages:** `mujoco/raft` and `urdf/raft_description`, downloadable as `raft_mujoco.zip` and
+  `raft_urdf.zip`. They use PAR6's joint names, so RAFT's joint angles map one to one onto PAR6's. The MuJoCo model
+  has torque actuators (RAFT's servos run in current mode), the trigger, the optional J2 counterbalance tendon and
+  `home` / `parked` keyframes. The URDF package has native ROS 2 display support:
+  `ros2 launch raft_description display.launch.py`.
+- **Built from RAFT's own model reference** (`source/raft/`), the same source as RAFT's firmware model. Both formats
+  are checked against its forward kinematics and gravity torques. One end of every joint range is a mechanical stop
+  measured on the first arm; the other comes from a sweep of the CAD.
+- **Colours from the shared palette:** RAFT's printed parts, servos, horns and screws are separate visual pieces.
+  New keys `raft_structure`, `raft_trigger`, `raft_horns` and `raft_fasteners`; RAFT's servos follow `motors` or the
+  new `raft_motors` override.
+- **Guides and checks:** a RAFT product guide and a RAFT column in "Meet the models"; the Linux ROS 2 checks, the
+  packaging and the release include `raft_description`.
+
+PAR6, PAROL6, MSG and SSG48 are unchanged: geometry, colors, kinematics, inertia, collision shapes, joint limits and
+actuation settings stay as in v2.18.1.
+
+Models/data/docs remain CC BY 4.0; support code remains Apache-2.0.

guides/README.md

@@ -8,6 +8,7 @@
 | PAROL6 | [Get started](parol6.md) | Flange, both MSG jaws, both SSG48 jaws, pneumatic. |
 | MSG | [Get started](msg.md) | Standalone or mounted; Solid and Soft TPU jaws. |
 | SSG48 | [Get started](ssg48.md) | Standalone or mounted; Solid and Fin-ray jaws. |
+| RAFT | [Get started](raft.md) | The teleoperation leader arm for PAR6, with its trigger. |
 
 Download one complete model package for your simulator. You do not need the
 authoring inputs or build tools to use it.