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@stephane-caron stephane-caron released this 22 Dec 17:41
· 311 commits to main since this release
v3.1.0
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stephane-caron Stéphane Caron
SSH Key Fingerprint: qIeJTT6SAE2ctvVlOTUCsQIdkrWAWw+r/N11L+sqvY8 Learn about vigilant mode.

This release update the UpkieServos Gymnasium environment to dictionary action and observation spaces, enabling feedforward torques and direct torque control. A new wheeled_balancing_torque_control.py example is added to illustrate this control mode.

Added

  • envs: Take feedforward torque commands into account in UpkieServos environment
  • examples: Wheeled balancing with wheel torque control
  • utils: ActionError exception
  • utils: ModelError exception

Changed

  • Rename start_pid_balancer.sh to try_pid_balancer.sh
  • envs: Make parsing of first observation optional for non-base environments
  • envs: Rename info key to "spine_observation" in all environments
  • envs: Switch UpkieServos env to dictionary action and observation
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