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CHANGELOG.md

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Changelog

All notable changes to this project will be documented in this file.

Unreleased

Added

  • 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

Changed

  • docs: Update documentation links
  • examples: Rename example to "show in neutral configuration"

Fixed

  • Frame visualization example

2.1.0 - 2024-07-31

Added

  • 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

Changed

  • Replace the virtual_link_inertia Xacro macro by virtual_link

Fixed

  • Rendering of the IMU frame orientation in MeshCat
  • Rendering of virtual-link frames in MeshCat

2.0.0 - 2024-07-25

Added

  • 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

Changed

  • 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

Added

  • Example to display the center of mass
  • Filter frame names in frame display example

Changed

  • 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

Removed

  • Remove dummy "orange" color from materials
  • Remove collision meshes of virtual links
  • Remove visualization meshes of virtual links

1.5.0 - 2024-02-20

Changed

  • Shorten source headers using SPDX license identifiers
  • Update project links

Fixed

  • Make Pinocchio an optional dependency

1.4.0 - 2023-07-19

Added

  • Summary of joint limits in the README

Changed

  • 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

Added

  • Example: display joint frames from the URDF description
  • Example: load Upkie in Pinocchio

Changed

  • Update velocity limits to more reasonable values

1.2.0 - 2023-03-14

Added

  • Example: display frames from the URDF description
  • Function to load the description directly in Pinocchio

Fixed

  • Orientation of the IMU frame (thanks to @G-Levine)

1.1.1 - 2023-02-13

Changed

  • Rename "chassis" to "torso"

1.1.0 - 2022-05-23

Added

  • Build file to use the model in Bazel projects
  • Illustration to the README
  • Link to the mjbots quad chassis
  • Python distribution of the model

Changed

  • Relicense the project to Apache 2.0
  • Turn IMU 180 degrees around the base yaw axis

Fixed

  • Cleaned dangling Bazel reference to //tools/lint
  • Links to Printables.com
  • Project name for CMake

1.0.0 - 2022-03-17

Initial robot description.

Added

  • 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