fix(deps): pin robot_descriptions<3.0, UR5 broke on the unpinned major bump#554
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…r bump robot_descriptions 3.0.0 (uploaded 2026-07-11) resolves "ur5" to a different upstream repo (Universal_Robots_ROS2_Description) with a different link count/ordering than 2.0.0. UR5.__init__'s gripper_link_index=7 is a raw positional index into the parsed link list - calibrated against the old vendored/local URDF from before this model switched to live robot_descriptions resolution - so it now lands on wrist_2_link (a real arm joint) instead of the intended tool attachment link, silently dropping 2 of 6 joints from self.n and breaking addconfiguration_attr's vector-length check. pyproject.toml never had an upper bound on robot_descriptions, so every fresh install picks up whatever's latest on PyPI at install time - this was going to break CI (and any user's fresh install) regardless of what branch or commit was checked out. Pinned >=2.0,<3.0, same floor+ceiling pattern already used for rtb-data. Not a full fix: compared the raw link lists between both robot_descriptions versions and confirmed all 6 real arm joint names/ isjoint status match exactly across both, and a shared "tool0" link exists in both too (just at a different index) - so a name/structure -based gripper-link lookup would survive this exact upstream change, unlike the hardcoded index. Recorded as its own tech-debt entry rather than bundling a rushed redesign into this pin. Verified: full suite green (620 passed, 72 skipped) with robot_descriptions pinned to 2.0.0. Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
Codecov Report✅ All modified and coverable lines are covered by tests. Additional details and impacted files@@ Coverage Diff @@
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…ackage Sphinx's docs-build job never caught this on PR #553 (the ET/ETS package split) because it's gated behind tests passing, and tests were failing there for the unrelated UR5/robot_descriptions reason - so docs-build never actually ran until this PR fixed that gate. arm_ets.rst and ik.rst still referenced the pre-split roboticstoolbox.robot.ETS.ETS(2) module path; ETS now lives at roboticstoolbox.ets.ETS.ETS and ETS2 at roboticstoolbox.ets.ETS2.ETS2 (separate files). Left autosummary to regenerate docs/source/IK/stubs/ (gitignored) against the corrected path. Verified: sphinx-build succeeds locally (previously a hard failure, ImportExceptionGroup: could not import roboticstoolbox.robot.ETS.ETS); remaining 4 warnings (KinematicCache, SensorBase, a guarded matplotlib Color import) are unrelated and pre-existing. Co-Authored-By: Claude Sonnet 5 <noreply@anthropic.com>
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Summary
robot_descriptions3.0.0 (uploaded 2026-07-11) resolves"ur5"to a different upstream repo (Universal_Robots_ROS2_Description) with a different link count/ordering than 2.0.0.UR5.__init__'sgripper_link_index=7is a raw positional index into the parsed link list, calibrated against the old vendored/local URDF from before this model switched to liverobot_descriptionsresolution. Under 3.0.0's structure it lands onwrist_2_link(a real arm joint) instead of the intended tool-attachment link, silently dropping 2 of 6 joints fromself.nand breakingaddconfiguration_attr's vector-length check.pyproject.tomlhad no upper bound onrobot_descriptions, so this would break on any fresh install regardless of branch/commit. Pinned>=2.0,<3.0, matching the existing floor+ceiling pattern already used forrtb-data.robot_descriptionsversions and confirmed all 6 real arm joint names/isjointstatus match exactly across both, and a shared"tool0"link exists in both (just at a different index), so a name/structure-based gripper-link lookup would survive this exact upstream change, unlike the hardcoded index.Test plan
robot_descriptions==3.0.0directly.<3.0pin (test_UR5,test_all_models_construct,test_IK_GN3all pass).