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@stephane-caron stephane-caron released this 05 Jul 13:37
· 100 commits to main since this release
v1.6.0
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stephane-caron Stéphane Caron
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Learn about vigilant mode.

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
Assets 2
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