Changelog

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

Unreleased

Added

Bullet utility function to compute the center of mass of a robot
Bullet utility function to compute the total robot mass
Bullet utility function to compute the world position of a robot link
BulletInterface: Add floating-base orientation and position getters
BulletInterface: Monitor IMU velocity
BulletInterface: Report the base state that can be used for training RL agents.
BulletInterface: Unit test for IMU monitoring
Interface: Introduce process_action function for additional behaviors
docs: Start a dedicated page for observers

Changed

Interface: Remove the redundant data argument to all cycle functions

2.4.0 - 2024-05-27

Added

BulletInterface: Unit test for contact monitoring
Python: Expose SpineInterface from top-level module
observers: History observer

Changed

Update palimpsest to v2.1.0

Fixed

Spine: Cast logger_.last_size() explicitly to uint32_t (thanks to @ubgk)

2.3.0 - 2024-05-02

Added

Build test for the pi3hat interface
BulletInterface: internal get_link_index memoization
BulletInterface: introduce "monitor" configuration dictionary
BulletInterface: report contacts to bodies specified in configuration
CICD: Add a workflow for the pi3hat build test
Introduce observe method in actuation interfaces

Changed

CICD: Rename bazel.yml to ci.yml for consistency with other repos
Pi3HatInterface: make get_angular_velocity private
Pi3HatInterface: make get_attitude private
Pi3HatInterface: make get_linear_acceleration private
Pi3HatInterface: make imu_data private

Fixed

CICD: Clean up redundant Python build jobs
SpineInterface: Remove leading slashes from shared memory object names

Removed

Clean up unused MockInterface::get_angular_velocity
Clean up unused MockInterface::get_attitude
Clean up unused MockInterface::get_linear_acceleration
Remove imu_data getter from actuation interfaces
Remove observe_imu function from observations

2.2.2 - 2024-03-28

Added

BulletInterface: Set a default servo temperature of 20 °C
BulletInterface: Set a default servo voltage of 18 V

2.2.1 - 2024-02-20

Added

BulletInterface: Add a switch the load the floor plane URDF.

Fixed

Unregister shared-memory management in Python spine interface

2.2.0 - 2024-02-09

Added

BulletInterface: Add a new parameter env_urdf_paths to allow environment URDFs.

Changed

BulletInterface: Rename urdf_path to robot_urdf_path.
CICD: Match Python versions with project description
Move exceptions to a dedicated namespace
Raise a SpineError when the spine does not reply in time
Replace posix-ipc by the shared-memory class from Python standard library

Fixed

Unregister shared-memory management in Python spine interface

Removed

Bazel: dependencies based on pip_parse from rules_python
BulletInterface: Removed hardcoded ground plane URDF

2.1.0 - 2024-01-03

Added

Base class VulpException for all exceptions
Check that msgpack is not running the pure-Python implementation
Optional performance check parameter in SpineInterface constructor
Take feedforward torque commands into account in all actuation interfaces

2.0.0 - 2023-11-15

Added

BulletInterface: Model joint kinetic friction
BulletInterface: Unit tests for joint torque computations
Log configuration dictionary every time the spine is reset

Removed

Breaking: Narrow down Bullet interface to a single control mode (torque)
Breaking: Remove pi32_config as 64-bit is the new default

1.5.0 - 2023-10-16

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

1.4.0 - 2023-08-22

Added

SpineInterface: retries parameter to wait for the spine to start
observers: Keyboard source (thanks to @ubgk)

Changed

Bazel: Compile coverage and test targets in debug by default
Refactor project directories for simpler Bazel and PyPI distributions

1.3.0 - 2023-07-24

Added

Portable and SSH-compatible Keyboard source
Support macOS operating systems (with help from @ubgk)
Virtual destructor to the main Interface class

Changed

Set default compilation mode to optimized rather than fast build

Fixed

Bazel: Only run lint tests when --config lint is provided

1.2.1 - 2023-07-07

Added

Improve test coverage

Fixed

Bullet interface now reports the IMU orientation in the proper ARS frame

1.2.0 - 2023-06-06

Added

Bullet: Floor parameter
Bullet: Gravity parameter
Bullet: Initial orientation parameter
Optional constructor parameter to require the joystick to be present
Unit tests for the internal agent interface

Changed

Avoid the posix_ipc.O_RDWR flag in the Python spine interface
Remove mypy_integration
Update mpacklog to v2.1.0

Fixed

Find clang-format path on macOS (thanks to @ubgk)
Only apply the -lrt linker flag on Linux
Shared-memory file permissions

1.1.1 - 2023-03-13

Changed

Remove setuptools from Python dependencies

1.1.0 - 2023-03-06

Added

CPU temperature observer: disabled state
Distribute a PyPI package
Spine state machine documentation
Unit tests for ObserverError
Unit tests for Source

Changed

Bazel: Update PyPI dependencies to a requirements lock
CI: Merge into a single workflow with multiple jobs
CPU temperature observer: Read from custom file
Moved Python serialize function to utils
Moved logging to mpacklog.cpp
Removed unused //models
Switch from aiorate to loop-rate-limiters
Update mpacklog dependency

Fixed

Bazel: Clean up unused models and redundant targets
Bullet interface test
Clean up empty observation and observers directories
Fix calls to mpacklog logger functions

1.0.0 - 2022-06-10

First release of the project.