Changelog

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

Unreleased

Fixed

Fix broken documentation links

2.1.0 - 2024-04-02

Added

Function get_transform in the Configuration class
Task: relative frame task, where target is w.r.t another robot frame

Changed

Configuration: update function now accepts a configuration vector argument
Costs: setting cost in relative frame task now accepts plain float

2.0.0 - 2024-03-05

Added

Add gain keyword argument to all task constructors where is makes sense
Damping task that minimizes joint velocities
Distribute package on conda-forge
Example on how differential IK may converge to a local constrained optimum
Expose all tasks from the top-level pink module
Handle unbounded joints in custom configuration vectors
Unit test for posture task Jacobian

Changed

Breaking: Define task Jacobian as derivative of the task error
Breaking: Rename BodyNotFound exception to FrameNotFound
Breaking: Rename FrameTask.body to FrameTask.frame

Removed

Body-minus utility function
Spatial-minus utility function

1.1.0 - 2024-01-22

Changed

Don't check configuration limits when building IK matrices

Fixed

Configuration limits when model has unbounded revolute joints

1.0.0 - 2023-06-22

Added

Example: UR5 arm
Example: flying dual-arm with UR3
General linear holonomic task (thanks to @ymontmarin)

Changed

Cost vector is now defined for all tasks
Drop support for Python 3.7
Levenberg-Marquardt damping is now defined for all tasks
Update joint-coupling task to derive from general linear holonomic task

Fixed

Example: Draco 3 numerical stability

0.11.0 - 2023-05-01

Added

Example: Stretch RE1

Changed

Handle all frames, including non-body frames (thanks to @proyan)
Rename BodyTask to FrameTask

0.10.0 - 2023-03-30

Added

Base class Limit for configuration and velocity limits
In-place integration of a velocity from a configuration
Unit tests for configuration limits
Unit tests for velocity limits

Changed

Add pink.limits submodule
Configuration and velocity limits are now stacked rather than pre-reduced
Move configuration limit to ConfigurationLimit class
Move velocity limit to VelocityLimit class

0.9.0 - 2023-03-15

Added

Example: Draco 3 humanoid by @shbang91
Joint-coupling task by @shbang91
Linear holonomic task by @shbang91
Unit tests for joint-coupling and linear holonomic tasks by @shbang91

Changed

Refactor apply_configuration into Configuration constructor
Refactor assume_configuration into Configuration constructor
Refactor task dynamics into compute_error and compute_jacobian

0.8.0 - 2023-02-09

Added

BodyNotFound exception
Document spatial and body minus between transforms
Example: SigmaBan humanoid
Forward keyword arguments of solve_ik to the backend QP solver

Changed

Return type of compute_velocity_limits now includes optionals
VectorSpace type is now immutable

Fixed

Jacobian of the body task

0.7.0 - 2023-01-16

Added

Bounded subspace of tangent space, that is, restricted to bounded joints
CI: test on both Ubuntu and macOS images
Tangent space from Pinocchio model

Changed

Example: UR3 arm
Expose pink.Task from top-level module
Improve joint limit computations

Fixed

Empty inequalities when model has no bounded joint

0.6.0 - 2022-12-01

Added

Example: Omnidirectional three-wheeled robot

Changed

Example: reduce Upkie model in leg extension example
Solver keyword argument is now mandatory

0.5.0 - 2022-09-26

Added

Body task targets can be read directly from a robot configuration
Example: double pendulum
Example: Kinova Gen2 arm
Example: loading a custom URDF description
Example: visualization in MeshCat
Example: visualization in yourdfpy
Generalize configuration limits to any root joint
Handle descriptions that have no velocity limit
Handle general root joint in configuration limits
Handle general root joint in posture task
Handle unbounded velocity limits in QP formulation
Posture task targets can be read directly from a configuration
Simple rate limiter in pink.utils

Changed

Raise an error when querying a body that doesn't exist
Transition from pink.models to robot_descriptions
Update reference posture in Upkie wheeled biped example
Warn when the backend QP solver is not explicitly selected

Fixed

Unbounded velocities when the backend solver is CVXOPT

0.4.0 - 2022-06-21

Added

Coveralls for continuous coverage testing
Document differential inverse kinematics and task targets
Single-task test on task target translations mapped to IK output translations

Changed

Argument to build_from_urdf functions is now the path to the URDF file
Bumped status to beta
Examples use the jvrc_description and upkie_description packages
Use jvrc_description and upkie_description packages from PyPI
Task is now an abstract base class

Fixed

Unit tests for robot models

0.3.0 - 2022-03-30

Added

Joint velocity limits
Configuration limits

Changed

Bumped status to alpha
Configuration limit check now has a tolerance argument

0.2.0 - 2022-03-29

Added

Check configuration limits against model
Mock configuration type for unit testing
Tangent member of a configuration
Unit test the body task

Changed

Specify path when loading a model description
Switch to the Apache 2.0 license
build_jvrc_model is now build_from_urdf

Fixed

Don't distribute robot models with the library
IK unit test that used robot instead of configuration

0.1.0 - 2022-03-17

Added

Body task
Humanoid example

Changed

ConfiguredRobot(model, data) type is now Configuration(model, data, q)

Fixed

Add floating base joint when loading JVRC model

0.0.2 - 2022-03-16

Added

Base class for kinematic tasks
Box minus operator
ConfiguredRobot type in which we can query frame transforms and Jacobians
Document joint limits API
Use JVRC model for unit testing

Fixed

Documentation reads versions from the main module
Remove unused mock imports

0.0.1 - 2022-02-06

Python package infrastructure.