Update links to the model documentation

upkie · Jan 28, 2025 · b41c711 · b41c711
1 parent 7b67f61
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Showing 6 changed files with 24 additions and 23 deletions.
diff --git a/README.md b/README.md
@@ -3,7 +3,7 @@
 <img src="https://user-images.githubusercontent.com/1189580/169594012-2d685579-2b66-4470-9def-57bd0656b420.png" align="right" width="300">
 
 [![Packaging](https://img.shields.io/github/actions/workflow/status/upkie/upkie_description/packaging.yml?branch=main)](https://github.com/upkie/upkie_description/actions)
-[![Documentation](https://img.shields.io/badge/docs-wiki-brightgreen?style=flat)](https://github.com/upkie/upkie_description/wiki)
+[![Documentation](https://img.shields.io/badge/docs-wiki-brightgreen?style=flat)](https://upkie.github.io/upkie/index.html)
 [![Conda version](https://img.shields.io/conda/vn/conda-forge/upkie_description.svg)](https://anaconda.org/conda-forge/upkie_description)
 [![PyPI version](https://img.shields.io/pypi/v/upkie_description)](https://pypi.org/project/upkie_description/)
 
@@ -13,6 +13,7 @@ The Upkie documentation also details properties of this model and how it was con
 
 - [Joint limits](https://upkie.github.io/upkie/kinematics.html#joint-limits)
 - [Location of the IMU](https://github.com/upkie/upkie_description/wiki/IMU-frame)
+- [Model conventions](https://upkie.github.io/upkie/kinematics.html#model-conventions)
 
 ## Python module
 

diff --git a/urdf/upkie.urdf b/urdf/upkie.urdf
@@ -8,7 +8,7 @@ Copyright 2023 Inria
 This file was generated from `upkie.xacro`.
 
 Conventions in this file are detailed in:
-https://github.com/upkie/upkie_description/wiki/Model-conventions/
+https://upkie.github.io/upkie/kinematics.html#model-conventions
 
 -->
 <robot name="upkie">
@@ -40,7 +40,7 @@ https://github.com/upkie/upkie_description/wiki/Model-conventions/
     <color rgba="0.93 0.64 0.52 0.8"/>
   </material>
   <link name="base">
-    <!-- virtual link: https://github.com/upkie/upkie_description/wiki/Model-conventions#virtual-links -->
+    <!-- virtual link: https://upkie.github.io/upkie/kinematics.html#virtual-links -->
     <visual>
       <geometry>
         <box size="0 0 0"/>
@@ -78,7 +78,7 @@ https://github.com/upkie/upkie_description/wiki/Model-conventions/
   </joint>
   <!-- IMU -->
   <link name="imu">
-    <!-- virtual link: https://github.com/upkie/upkie_description/wiki/Model-conventions#virtual-links -->
+    <!-- virtual link: https://upkie.github.io/upkie/kinematics.html#virtual-links -->
     <visual>
       <geometry>
         <box size="0 0 0"/>
@@ -445,7 +445,7 @@ https://github.com/upkie/upkie_description/wiki/Model-conventions/
     <origin rpy="3.141592653589793 0 0" xyz="0 0 -0.0015"/>
   </joint>
   <link name="left_anchor">
-    <!-- virtual link: https://github.com/upkie/upkie_description/wiki/Model-conventions#virtual-links -->
+    <!-- virtual link: https://upkie.github.io/upkie/kinematics.html#virtual-links -->
     <visual>
       <geometry>
         <box size="0 0 0"/>
@@ -544,7 +544,7 @@ https://github.com/upkie/upkie_description/wiki/Model-conventions/
     <origin rpy="0 0 0" xyz="0 0 0.0209"/>
   </joint>
   <link name="left_contact">
-    <!-- virtual link: https://github.com/upkie/upkie_description/wiki/Model-conventions#virtual-links -->
+    <!-- virtual link: https://upkie.github.io/upkie/kinematics.html#virtual-links -->
     <visual>
       <geometry>
         <box size="0 0 0"/>
@@ -564,7 +564,7 @@ https://github.com/upkie/upkie_description/wiki/Model-conventions/
     <origin rpy="1.5707963267948966 0 0" xyz="0 0.047 0"/>
   </joint>
   <link name="left_wheel_center">
-    <!-- virtual link: https://github.com/upkie/upkie_description/wiki/Model-conventions#virtual-links -->
+    <!-- virtual link: https://upkie.github.io/upkie/kinematics.html#virtual-links -->
     <visual>
       <geometry>
         <box size="0 0 0"/>
@@ -881,7 +881,7 @@ https://github.com/upkie/upkie_description/wiki/Model-conventions/
     <origin rpy="3.141592653589793 0 0" xyz="0 0 -0.0015"/>
   </joint>
   <link name="right_anchor">
-    <!-- virtual link: https://github.com/upkie/upkie_description/wiki/Model-conventions#virtual-links -->
+    <!-- virtual link: https://upkie.github.io/upkie/kinematics.html#virtual-links -->
     <visual>
       <geometry>
         <box size="0 0 0"/>
@@ -980,7 +980,7 @@ https://github.com/upkie/upkie_description/wiki/Model-conventions/
     <origin rpy="0 0 0" xyz="0 0 0.0209"/>
   </joint>
   <link name="right_contact">
-    <!-- virtual link: https://github.com/upkie/upkie_description/wiki/Model-conventions#virtual-links -->
+    <!-- virtual link: https://upkie.github.io/upkie/kinematics.html#virtual-links -->
     <visual>
       <geometry>
         <box size="0 0 0"/>
@@ -1000,7 +1000,7 @@ https://github.com/upkie/upkie_description/wiki/Model-conventions/
     <origin rpy="1.5707963267948966 0 0" xyz="0 0.047 0"/>
   </joint>
   <link name="right_wheel_center">
-    <!-- virtual link: https://github.com/upkie/upkie_description/wiki/Model-conventions#virtual-links -->
+    <!-- virtual link: https://upkie.github.io/upkie/kinematics.html#virtual-links -->
     <visual>
       <geometry>
         <box size="0 0 0"/>

diff --git a/urdf/upkie_camera.urdf b/urdf/upkie_camera.urdf
@@ -8,7 +8,7 @@ Copyright 2023 Inria
 This file was generated from `upkie.xacro`.
 
 Conventions in this file are detailed in:
-https://github.com/upkie/upkie_description/wiki/Model-conventions/
+https://upkie.github.io/upkie/kinematics.html#model-conventions
 
 -->
 <robot name="upkie">
@@ -40,7 +40,7 @@ https://github.com/upkie/upkie_description/wiki/Model-conventions/
     <color rgba="0.93 0.64 0.52 0.8"/>
   </material>
   <link name="base">
-    <!-- virtual link: https://github.com/upkie/upkie_description/wiki/Model-conventions#virtual-links -->
+    <!-- virtual link: https://upkie.github.io/upkie/kinematics.html#virtual-links -->
     <visual>
       <geometry>
         <box size="0 0 0"/>
@@ -78,7 +78,7 @@ https://github.com/upkie/upkie_description/wiki/Model-conventions/
   </joint>
   <!-- IMU -->
   <link name="imu">
-    <!-- virtual link: https://github.com/upkie/upkie_description/wiki/Model-conventions#virtual-links -->
+    <!-- virtual link: https://upkie.github.io/upkie/kinematics.html#virtual-links -->
     <visual>
       <geometry>
         <box size="0 0 0"/>
@@ -170,7 +170,7 @@ https://github.com/upkie/upkie_description/wiki/Model-conventions/
     <child link="camera"/>
   </joint>
   <link name="camera_eye">
-    <!-- virtual link: https://github.com/upkie/upkie_description/wiki/Model-conventions#virtual-links -->
+    <!-- virtual link: https://upkie.github.io/upkie/kinematics.html#virtual-links -->
     <visual>
       <geometry>
         <box size="0 0 0"/>
@@ -487,7 +487,7 @@ https://github.com/upkie/upkie_description/wiki/Model-conventions/
     <origin rpy="3.141592653589793 0 0" xyz="0 0 -0.0015"/>
   </joint>
   <link name="left_anchor">
-    <!-- virtual link: https://github.com/upkie/upkie_description/wiki/Model-conventions#virtual-links -->
+    <!-- virtual link: https://upkie.github.io/upkie/kinematics.html#virtual-links -->
     <visual>
       <geometry>
         <box size="0 0 0"/>
@@ -586,7 +586,7 @@ https://github.com/upkie/upkie_description/wiki/Model-conventions/
     <origin rpy="0 0 0" xyz="0 0 0.0209"/>
   </joint>
   <link name="left_contact">
-    <!-- virtual link: https://github.com/upkie/upkie_description/wiki/Model-conventions#virtual-links -->
+    <!-- virtual link: https://upkie.github.io/upkie/kinematics.html#virtual-links -->
     <visual>
       <geometry>
         <box size="0 0 0"/>
@@ -606,7 +606,7 @@ https://github.com/upkie/upkie_description/wiki/Model-conventions/
     <origin rpy="1.5707963267948966 0 0" xyz="0 0.047 0"/>
   </joint>
   <link name="left_wheel_center">
-    <!-- virtual link: https://github.com/upkie/upkie_description/wiki/Model-conventions#virtual-links -->
+    <!-- virtual link: https://upkie.github.io/upkie/kinematics.html#virtual-links -->
     <visual>
       <geometry>
         <box size="0 0 0"/>
@@ -923,7 +923,7 @@ https://github.com/upkie/upkie_description/wiki/Model-conventions/
     <origin rpy="3.141592653589793 0 0" xyz="0 0 -0.0015"/>
   </joint>
   <link name="right_anchor">
-    <!-- virtual link: https://github.com/upkie/upkie_description/wiki/Model-conventions#virtual-links -->
+    <!-- virtual link: https://upkie.github.io/upkie/kinematics.html#virtual-links -->
     <visual>
       <geometry>
         <box size="0 0 0"/>
@@ -1022,7 +1022,7 @@ https://github.com/upkie/upkie_description/wiki/Model-conventions/
     <origin rpy="0 0 0" xyz="0 0 0.0209"/>
   </joint>
   <link name="right_contact">
-    <!-- virtual link: https://github.com/upkie/upkie_description/wiki/Model-conventions#virtual-links -->
+    <!-- virtual link: https://upkie.github.io/upkie/kinematics.html#virtual-links -->
     <visual>
       <geometry>
         <box size="0 0 0"/>
@@ -1042,7 +1042,7 @@ https://github.com/upkie/upkie_description/wiki/Model-conventions/
     <origin rpy="1.5707963267948966 0 0" xyz="0 0.047 0"/>
   </joint>
   <link name="right_wheel_center">
-    <!-- virtual link: https://github.com/upkie/upkie_description/wiki/Model-conventions#virtual-links -->
+    <!-- virtual link: https://upkie.github.io/upkie/kinematics.html#virtual-links -->
     <visual>
       <geometry>
         <box size="0 0 0"/>

diff --git a/xacro/upkie.xacro b/xacro/upkie.xacro
@@ -8,7 +8,7 @@ Copyright 2023 Inria
 This file was generated from `upkie.xacro`.
 
 Conventions in this file are detailed in:
-https://github.com/upkie/upkie_description/wiki/Model-conventions/
+https://upkie.github.io/upkie/kinematics.html#model-conventions
 
 -->
 <robot name="upkie" xmlns:xacro="http://ros.org/wiki/xacro">

diff --git a/xacro/upkie_camera.xacro b/xacro/upkie_camera.xacro
@@ -8,7 +8,7 @@ Copyright 2023 Inria
 This file was generated from `upkie.xacro`.
 
 Conventions in this file are detailed in:
-https://github.com/upkie/upkie_description/wiki/Model-conventions/
+https://upkie.github.io/upkie/kinematics.html#model-conventions
 
 -->
 <robot name="upkie" xmlns:xacro="http://ros.org/wiki/xacro">

diff --git a/xacro/utils/virtual_link.xacro b/xacro/utils/virtual_link.xacro
@@ -3,7 +3,7 @@
 <robot name="utils" xmlns:xacro="http://ros.org/wiki/xacro">
     <xacro:macro name="virtual_link" params="name">
         <link name="${name}">
-            <!-- virtual link: https://github.com/upkie/upkie_description/wiki/Model-conventions#virtual-links -->
+            <!-- virtual link: https://upkie.github.io/upkie/kinematics.html#virtual-links -->
             <visual>
                 <geometry>
                     <box size="0 0 0" />