This release switches the right leg from bus 2 to bus 3, along with a batch of fixes to the Bullet spine and Gymnasium environments. It also moves agents (aside from the demo PID balancer) to their own repositories:
- MPC balancer: balance in place using model predictive control.
- Pink balancer: an extended PID balancer than can crouch and lift its legs.
- PPO balancer: balance in place with a policy trained by reinforcement learning.
Added
- Add
--build
argument to the simulation script - CICD: Run ShellCheck on scripts
- Clear shared-memory when starting the Bullet spine
- Script to dump all servo motor-driver configurations
Changed
- dependencies: Update Upkie description to 1.5.0
- dependencies: Update Vulp to 2.2.1
- Don't build simulation spine if execution fails
- Move agents'
requirements.txt
files to optional project dependencies - palinode: Rename
run_pid_balancer.sh
totry_pid_balancer.sh
😊 - Rename top-level run script to
run_pid_balancer.sh
Fixed
- Fix Gymnasium API in the readme example (thanks to @araffin)
- Handle closing of GUI window in simulation script
- Make sure all
UpkieServos
box observations are proper arrays
Removed
- Move MPC balancer to its own repository
- Move PPO balancer to its own repository