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CHANGELOG.md

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Changelog

All notable changes to this project were documented in this file.

2.5.1 - 2024-08-09

Added

  • Spine: log when dictionary logger is full

Changed

  • Archive the project
  • Update development status to classifier to inactive

Fixed

  • Fix duplicate data_ attribute in pi3hat actuation interface

2.5.0 - 2024-06-11

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 extra action to apply external forces
  • 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.