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CHANGELOG.md

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Changelog

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

Unreleased

  • Add an example for recording joint angle data to the simulation documentation
  • Add the JointRecorder process to record and plot joint trajectories
  • Document joint acceleration limits in inverse kinematics
  • Examples are now part of the documentation
  • Updated VHIP stabilization example to match ICRA 2020 video

[1.2.0] - 2019/10/26

Added

  • Body: pos, rotation_matrix and transform aliases
  • Body: compute the adjoint matrix in body.adjoint_matrix
  • Contact: contact.normal alias
  • Contact: set_wrench() function that switches a contact to managed mode
  • Contact: wrench_at() function to get wrench at a given point in the world frame
  • Contact: wrench, force and moment attributes
  • Example: external force acting on the right hand of the humanoid
  • Example: stabilization with height variations
  • InvertedPendulum: draw center of pressure by draw_point
  • Manipulator: wrench, force and moment attributes
  • Robot: stance binding creates a new robot.wrench_distributor process
  • Simulation: can now unschedule() a process
  • StanceWrenchDistributor class to distribute contact wrenches of a stance

Changed

  • CameraRecorder: wait_for() does not require sim argument any more
  • InvertedPendulum: clamping is enabled/disabled by self.clamp
  • InvertedPendulum: clamping is now the default behavior for set_cop and set_lambda
  • RobotWrenchDrawer became RobotDiscWrenchDrawer (discrete velocity differentiation)
  • RobotWrenchDrawer now fetches results from stance wrench distributor
  • License: switched to GPL as cddlib (and thus pypoman) is GPLv2
  • Updated qpsolvers submodule to v1.0.7

Fixed

  • GUI: don't draw zero wrenches
  • Video recording and conversion script

[1.1.0] - 2019/04/30

Added

  • Example: horizontal walking by linear model predictive control
  • IK: can now take joint acceleration limits into account
  • IK: upgraded with Levenberg-Marquardt damping
  • IK: warm-start parameter to solve()
  • Point: new attribute point.pdd for the acceleration
  • Point: new function point.integrate_constant_jerk()
  • Robot model gets a get_link() function
  • Simulation gets set_camera_transform() function
  • SwingFoot type: a polynomial swing foot interpolator
  • This change log
  • ZMP support areas can now take optional contact pressure limits

Changed

  • Contact: copy() now takes optional hide keyword argument
  • GUI: default point size is now 1 cm
  • GUI: renamed draw_polyhedron() to draw_polytope()
  • IK: task strings now print both weight and gain coefficients
  • MPC: can now pass optional arguments to the QP solver in solve()
  • MPC: no need to call the build() function any more
  • Removed outdated Copra wrapper
  • Stance: now bind end-effector links as well
  • Stance: simplified prototype of compute_zmp_support_area

Fixed

  • IK: singularity fix from Pfeiffer et al.
  • Knee joint names in JVRC-1 model
  • Python 3 compatibility
  • Restore initial settings in IK solve()

[1.0.0] - 2018/10/17

Added

  • Initial release of the project. Let's take it from there.