v1.5.0

This release brings two features:

1. We can now specify a full floating-base initial state to simulations (position, orientation, linear and angular velocities). ⚠️ There is a corresponding breaking change in the Bullet configuration dictionary, see below.
2. Spines now log all the data they receive from agents, making them the main source of robot logs. This simplifies logging and monitoring, with no noticeable performance regression.

Added

• BulletInterface: Extend initial state to include the floating base velocity
• SpineInterface: Mention name of the spine we are waiting for at startup

Changed

• Breaking: Add "reset" sub-dictionary to Bullet interface config
• Action dictionaries read by the spine are now fully logged
• BulletInterface: Refactor internal reset functions
• Update mpacklog.cpp to v3.1.0
• Update palimpsest to v2.0.0

Fixed

• Clear configuration dictionary when resetting the spine