CHANGELOG.md

Changelog

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

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

Unreleased

3.1.0 - 2024-10-28

Added

• Example: Upkie rolling without slipping on a horizontal floor
• Task: RollingTask for rolling without slipping on a plane

Changed

• Rename "end-effector to target" example to "inverse kinematics UR10"
• Update icon of documentation website

Fixed

• Update documentation Sphinx and theme versions
• Fix Jacobian of SelfCollisionBarrier for floating-base robots

3.0.0 - 2024-07-29

Added

• Breaking: Updated the logic for handling the joint limits:
  • Add a limits argument to build_ik and solve_ik
  • The check_limits method now includes an optional safety_break argument to control whether execution should stop on exception
  • The solve_ik function now includes the safety_break that is forwarded to check_limits
• Control Barrier Functions, namely: (thanks to @domrachev03 and @simeon-ned)
  • Abstract Barrier Barrier
  • Frame Position Barrier PositionBarrier
  • Body Spherical Barrier BodySphericalBarrier
  • Whole-body Self-Collision Avoidance Barrier SelfCollisionBarrier
• Example: UR5 manipulator and GO2 quadruped robot with PositionBarrier
• Example: YUMI two-armed manipulator with BodySphericalBarrier
• Example: G1 humanoid squatting through regulating CoM
• Limit: AccelerationLimit
• Task: ComTask for center-of-mass tracking (thanks to @simeon-ned)
• Task: LowAccelerationTask for smoother velocities

Changed

• Breaking: remove lm_damping parameter from DampingTask where it wasn't used
• CICD: Update ruff to 0.4.3
• Configuration accepts list of Control Barrier Functions
• DampingTask: Simplify implementation
• Update to Pinocchio 3 with 2.7 backward compatibility

Fixed

• PostureTask: Match implementation and documentation formula
• Fix broken documentation links

Removed

• CICD: Disable macOS checks until upstream PyPI package is fixed

2.1.0 - 2024-04-02

Added

• Function get_transform in the Configuration class
• Task: relative frame task, where target is w.r.t another robot frame

Changed

• Configuration: update function now accepts a configuration vector argument
• Costs: setting cost in relative frame task now accepts plain float

2.0.0 - 2024-03-05

Added

• Add gain keyword argument to all task constructors where is makes sense
• Damping task that minimizes joint velocities
• Distribute package on conda-forge
• Example on how differential IK may converge to a local constrained optimum
• Expose all tasks from the top-level pink module
• Handle unbounded joints in custom configuration vectors
• Unit test for posture task Jacobian

Changed

• Breaking: Define task Jacobian as derivative of the task error
• Breaking: Rename BodyNotFound exception to FrameNotFound
• Breaking: Rename FrameTask.body to FrameTask.frame

Removed

• Body-minus utility function
• Spatial-minus utility function

1.1.0 - 2024-01-22

Changed

• Don't check configuration limits when building IK matrices

Fixed

• Configuration limits when model has unbounded revolute joints

1.0.0 - 2023-06-22

Added

• Example: UR5 arm
• Example: flying dual-arm with UR3
• General linear holonomic task (thanks to @ymontmarin)

Changed

• Cost vector is now defined for all tasks
• Drop support for Python 3.7
• Levenberg-Marquardt damping is now defined for all tasks
• Update joint-coupling task to derive from general linear holonomic task

Fixed

• Example: Draco 3 numerical stability

0.11.0 - 2023-05-01

Added

• Example: Stretch RE1

Changed

• Handle all frames, including non-body frames (thanks to @proyan)
• Rename BodyTask to FrameTask

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

Added

• Python package infrastructure