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CHANGELOG.md

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Changelog

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

Unrelease

Added

  • Example: Stretch RE1

[0.10.0] - 2023/03/30

Added

  • Base class Limit for configuration and velocity limits
  • In-place integration of a velocity from a configuration
  • Unit tests for configuration limits
  • Unit tests for velocity limits

Changed

  • Add pink.limits submodule
  • Configuration and velocity limits are now stacked rather than pre-reduced
  • Move configuration limit to ConfigurationLimit class
  • Move velocity limit to VelocityLimit class

[0.9.0] - 2023/03/15

Added

  • Example: Draco 3 humanoid by @shbang91
  • Joint-coupling task by @shbang91
  • Linear holonomic task by @shbang91
  • Unit tests for joint-coupling and linear holonomic tasks by @shbang91

Changed

  • Refactor apply_configuration into Configuration constructor
  • Refactor assume_configuration into Configuration constructor
  • Refactor task dynamics into compute_error and compute_jacobian

[0.8.0] - 2023/02/09

Added

  • BodyNotFound exception
  • Document spatial and body minus between transforms
  • Example: SigmaBan humanoid
  • Forward keyword arguments of solve_ik to the backend QP solver

Changed

  • Return type of compute_velocity_limits now includes optionals
  • VectorSpace type is now immutable

Fixed

  • Jacobian of the body task

[0.7.0] - 2023/01/16

Added

  • Bounded subspace of tangent space, that is, restricted to bounded joints
  • CI: test on both Ubuntu and macOS images
  • Tangent space from Pinocchio model

Changed

  • Example: UR3 arm
  • Expose pink.Task from top-level module
  • Improve joint limit computations

Fixed

  • Empty inequalities when model has no bounded joint

[0.6.0] - 2022/12/01

Added

  • Example: Omnidirectional three-wheeled robot

Changed

  • Example: reduce Upkie model in leg extension example
  • Solver keyword argument is now mandatory

[0.5.0] - 2022/09/26

Added

  • Body task targets can be read directly from a robot configuration
  • Example: double pendulum
  • Example: Kinova Gen2 arm
  • Example: loading a custom URDF description
  • Example: visualization in MeshCat
  • Example: visualization in yourdfpy
  • Generalize configuration limits to any root joint
  • Handle descriptions that have no velocity limit
  • Handle general root joint in configuration limits
  • Handle general root joint in posture task
  • Handle unbounded velocity limits in QP formulation
  • Posture task targets can be read directly from a configuration
  • Simple rate limiter in pink.utils

Changed

  • Raise an error when querying a body that doesn't exist
  • Transition from pink.models to robot_descriptions
  • Update reference posture in Upkie wheeled biped example
  • Warn when the backend QP solver is not explicitly selected

Fixed

  • Unbounded velocities when the backend solver is CVXOPT

[0.4.0] - 2022/06/21

Added

  • Coveralls for continuous coverage testing
  • Document differential inverse kinematics and task targets
  • Single-task test on task target translations mapped to IK output translations

Changed

  • Argument to build_from_urdf functions is now the path to the URDF file
  • Bumped status to beta
  • Examples use the jvrc_description and upkie_description packages
  • Use jvrc_description and upkie_description packages from PyPI
  • Task is now an abstract base class

Fixed

  • Unit tests for robot models

[0.3.0] - 2022/03/30

Added

  • Joint velocity limits
  • Configuration limits

Changed

  • Bumped status to alpha
  • Configuration limit check now has a tolerance argument

[0.2.0] - 2022/03/29

Added

  • Check configuration limits against model
  • Mock configuration type for unit testing
  • Tangent member of a configuration
  • Unit test the body task

Changed

  • Specify path when loading a model description
  • Switch to the Apache 2.0 license
  • build_jvrc_model is now build_from_urdf

Fixed

  • Don't distribute robot models with the library
  • IK unit test that used robot instead of configuration

[0.1.0] - 2022/03/17

Added

  • Body task
  • Humanoid example

Changed

  • ConfiguredRobot(model, data) type is now Configuration(model, data, q)

Fixed

  • Add floating base joint when loading JVRC model

[0.0.2] - 2022/03/16

Added

  • Base class for kinematic tasks
  • Box minus operator
  • ConfiguredRobot type in which we can query frame transforms and Jacobians
  • Document joint limits API
  • Use JVRC model for unit testing

Fixed

  • Documentation reads versions from the main module
  • Remove unused mock imports

[0.0.1] - 2022/02/06

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