All notable changes to this project will be documented in this file.
- Bazel: Export all URDF variants in
upkie_description
filegroup - examples: Show robot in a custom configuration
- examples: Visualize wheel frames while both legs move around
- docs: Update documentation links
- examples: Rename example to "show in neutral configuration"
- Frame visualization example
2.1.0 - 2024-07-31
- Add
--variant
keyword argument to all examples - Add
camera_eye
frame to the camera variant - Add an empty visual box to each virtual link
- CICD: Add Python workflow
- Replace the
virtual_link_inertia
Xacro macro byvirtual_link
- Rendering of the IMU frame orientation in MeshCat
- Rendering of virtual-link frames in MeshCat
2.0.0 - 2024-07-25
- CICD: Add changelog workflow
- CICD: Add packaging workflow
- Camera variant of the URDF
- python: Add "variant" keyword argument to
load_in_pinocchio
- Added camera support mass and camera to the "camera" variant
- Added camera eye to the "camera" variant
- Breaking: Uppercase paths in Python for consistency with
robot_descriptions.py
- Refactor the URDF generation process using Xacro and
xacrodoc
1.6.0 - 2024-07-05
- Example to display the center of mass
- Filter frame names in frame display example
- Change parent of "imu" frame from "base" to "torso"
- Increase velocity and torque limits to motor specs
- Make "base" a virtual link
- Use the same syntax everywhere for self-closing markups
- Zero out inertia matrices of virtual links
- Remove dummy "orange" color from materials
- Remove collision meshes of virtual links
- Remove visualization meshes of virtual links
1.5.0 - 2024-02-20
- Shorten source headers using SPDX license identifiers
- Update project links
- Make Pinocchio an optional dependency
1.4.0 - 2023-07-19
- Summary of joint limits in the README
- Hip position and velocity limits
- IMU orientation to be consistent with assembly instructions
- Knee position and velocity limits
- Wheel velocity limits
1.3.0 - 2023-04-05
- Example: display joint frames from the URDF description
- Example: load Upkie in Pinocchio
- Update velocity limits to more reasonable values
1.2.0 - 2023-03-14
- Example: display frames from the URDF description
- Function to load the description directly in Pinocchio
- Orientation of the IMU frame (thanks to @G-Levine)
1.1.1 - 2023-02-13
- Rename "chassis" to "torso"
1.1.0 - 2022-05-23
- Build file to use the model in Bazel projects
- Illustration to the README
- Link to the mjbots quad chassis
- Python distribution of the model
- Relicense the project to Apache 2.0
- Turn IMU 180 degrees around the base yaw axis
- Cleaned dangling Bazel reference to
//tools/lint
- Links to Printables.com
- Project name for CMake
1.0.0 - 2022-03-17
Initial robot description.
- Mesh files for the legs, wheel tire and mjbots parts
- ROS build and package files
- Robot description (kinematics, inertias, collisions) in URDF
- Scripts to compute box and cylinder inertias