> ## Documentation Index
> Fetch the complete documentation index at: https://docs.nomadicml.com/llms.txt
> Use this file to discover all available pages before exploring further.

# Changelog

> Changes to the Nomadic MCAP Specification.

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.

## 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`.

## 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`.

## 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.


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