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Versions are additive: every file valid under an earlier version stays valid. A version adds fields, and an overlay that uses a field from a later version than its spec_version is rejected with a rule naming the version it needs.

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1.1 · October 2026

One body model for every embodiment.
  • platform.kind names the body class: vehicle, heavy_vehicle, manipulator, mobile_robot, humanoid or human, or omitted for a sensor-only recording. It replaces mount, which stays accepted with a warning when it agrees with kind.
  • platform.body_dimensions gives the footprint of any body with a moving base. It replaces vehicle_dimensions.
  • platform.embodiment is allowed on any kind.
  • platform.parts describes arms, hands, legs, head, torso and whole-body skeletons, each with joints, end_pose, keypoints, grip and force slots.
  • New message nomadic.Skeleton for 3D keypoints.
  • force accepts one wrench per contact (e.g. per fingertip).
  • Recognised embodiment sharpa_wave_bimanual.

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Additions to 1.0 and 1.1 · September–October 2026

Valid under either version:
  • recording.task (instruction, scene, success_criteria) and recording.segments.
  • The navigation_instruction signal.
  • GPS as foxglove.LocationFix.

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1.0 · August 2026

Initial version: Foxglove-native MCAP with the nomadic_spec overlay; views, point clouds and nomadic.Signal signals; the vehicle frame; mount; the nomadic.driving.v1 and nomadic.yam_bimanual.v1 profiles.