v2.0.0

This release refactors the description into a Xacro source compiled to URDF, with both distributed in the repository. This allows the distribution of URDF variants, along with the addition of a variant keyword argument when loading the description:

robot = upkie_description.load_in_pinocchio(variant="camera")

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

Changed

• Breaking: Uppercase paths in Python for consistency with robot_descriptions.py
• Refactor the URDF generation process using Xacro and xacrodoc

v1.6.0

This release sets velocity and torque limits according to motor specs. It also zeros out inertia matrices of virtual links, and adds an example to compute and display the center of mass of the robot.

Added

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

Changed

• 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

v1.5.0

This release makes sure the Python distribution of the robot description has no dependencies (outside the Python standard library).

Changed

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

Fixed

• Make Pinocchio an optional dependency

v1.4.0

This release updates the IMU orientation to be consistent with Upkie's assembly instructions. It also updates joint position and velocity limits, summarized in the README.

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

v1.3.0

This release adds two examples and updates velocity limits that were too low for practical use.

Added

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

Changed

• Update velocity limits to more reasonable values

v1.2.0

This release fixes the IMU orientation to match the pi3hat convention. Thanks to @G-Levine for pointing this out 👍

While we are at it, this release ships a convenience script to display frames in MeshCat:

python examples/display_frames.py --only imu

Added

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

Fixed

• Orientation of the IMU frame

v1.1.1

This minor release renames the "chassis" part to "torso".

Now it is also possible to load the description from robot_descriptions to get an instance directly usable in robotics software:

from robot_descriptions.loaders.pinocchio import load_robot_description

robot = load_robot_description("upkie_description")

v1.1.0

This release introduces a Python distribution: pip install upkie_description

Python distribution

Once installed, the model can be imported by import upkie_description. It provides paths to the files and folders in the description:

upkie_description.path

Path to the upkie_description folder itself.

upkie_description.meshes_path

Path to the meshes folder.

upkie_description.urdf_path

Path to the upkie.urdf URDF file of the model.

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

v1.0.0

This is the initial release of the robot model, including:

• 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