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Changelog

3.4.0 (2025-08-28)

Features

  • add offline tutorial for osl (e397081)
  • move offline mode methods to a common module to make it generalizeable across actuators and sensors (f2d2437)
  • offline mode, fixes #266 (141039d)

Bug Fixes

  • add i2t fault counts and thresholds to overcome pseudo ex bit triggers (f92be1f)
  • limit number of attempts in ADC's update method to 1000 (042afe5)
  • move FOS to I2R term instead of I; add generalized _filter_sensor method (8ae963f)
  • move pi3hat warning to MoteusInterface (dae3db6)
  • mypy errors on base (87b3634)
  • refactor units' classes and methods in walking_compiled_controller example script (8ff3a5f)
  • remove statistical outlier detection, use min-max bounds only; add consecutive fault count tracking for current and case temp; throw an exception if data packets are corrupted for more than half a second (6abf422)
  • remove WMA filter (8ded24a)
  • reset fault count to zero for every successful data read; move status-ex fault checking to a separate method (8c5a6fa)
  • update thermal model unit tests (e87b86c)
  • update unit tests for thermal model and add a few more test (7a98d07)

Documentation

  • remove deprecated mkdocs option; address docs-test errors (b928bf4)

3.3.0 (2025-07-24)

Features

  • [Moteus Interface] Pi3Hat Update and Stop Feature to be Improved #258 (c3f32a9)
  • ability to untrack multiple vars as a list. (5294194)
  • add context manager option to profiler. Updates required docs and tests (a193f21)
  • add doc for basic motion example (0c4da4c)
  • add docs and tutorial on softstart (3a8057c)
  • add docs for compiled controller (576701c)
  • add docs for compiled FSM controllers (1d47f63)
  • add docs for fsm example walking controller python implementation (1f48651)
  • add examples, tutorials, getting started docs (27c53ba)
  • add exception for broken load cell wire detected (21fbd7d)
  • Add generators module (05e29d4)
  • add iterators and with context (0fd091c)
  • add methods to scale state machine (0e9fcaf)
  • add more logger docs (a99c33b)
  • add new banner (8803f4d)
  • add repography plots to README (7f602ae)
  • add sensor tutorial files (186a1e7)
  • add signal generator framework (44a1035)
  • add softstart tutorial (9c40cfd)
  • add tests and tutorials for generators module; modify data replay generator to support interpolation; allow kwargs within update calls; modify behavior of expression evaluator class to accept eval time variables (3eb287f)
  • add thread safety to logger (551a84e)
  • add time tutorials (51b2c57)
  • added ability to pass multiple variables to the logger track_variable method (867d4f8)
  • added docs for profiler (34c7015)
  • added example docstrings to profiler.py (33a85ec)
  • added heirarchical structure for documentation (49792a6)
  • added method for tracking attributes of object. (21e41de)
  • added more logger unit tests (838c96c)
  • added unit tests for logger methods. (5408818)
  • docs for state machine (6fc6323)
  • include encoder map calls to actuators (9646620)
  • initial add of dephy loadcell amp via actpack (1cd56a5)
  • initial commit of fsm basic tutorial (0bf0697)
  • initial commit of profiling code. (b67e393)
  • minor overhaul of srtl. Now includes default non original phase (841b314)
  • more examples for actuators module (53340e2)
  • move smbus from communication extra to native (6e0505b)
  • new fsm controller and a torque trajectory controller example (caeb3ec)
  • test fsm controller with hardware (446685b)
  • transition to uv for development (1860e77)
  • updated docstrings in softrealtimeloop (a7ef25f)
  • updates to profiler unit tests. (927715d)
  • upgrade fsm to support general use cases (54b65b8)

Bug Fixes

  • 332 update contribution steps in readme. (7ff3d68)
  • 336 no concise way to log lots of variables (73f65a5)
  • add authorship to logger (f2be55c)
  • add docs on softrealtimeloop for two operating modes (88d8e4b)
  • add gear ratio as a global var and add method to assign stream terminator (6c38e42)
  • add knee trajectories to example script (82d3870)
  • add methods to set update parameters separately (43bf78a)
  • add more info to add_transition and update methods' docstrings about transition precedence (1b76710)
  • add tag and init to sensor base, add create_joint_mappings method to osl robot class (e4cd0da)
  • added profiler to init. (1cc76a2)
  • bug in profiler t0 (4d39347)
  • change type union to make tox happy (52504e8)
  • clean up torque trajectory example (b36168a)
  • docs path fix and removed old fsm tests (dc36bd1)
  • docs update (ba80c8e)
  • docs update and add del method to logger (2b3e16d)
  • docstring (e152658)
  • file_name was set to empty string in set_file_name method (ecdbd77)
  • fix #347 and update fsm example to include actuator tags (39a2dee)
  • fix #347 and update fsm example to include actuator tags (11d3f3c)
  • fixes #354 (74d0b2f)
  • handle scenario where actuator does not have a make_encoder_map func (1d2fc08)
  • inherit from encoder base (3a07c5f)
  • line numbers in fsm example quotes (adc9ea3)
  • line numbers in fsm example quotes (7f131cd)
  • lint and format updates. (3687884)
  • load encoder map as polynomial object instead of raw coefficients (8976967)
  • load encoder map as polynomial object instead of raw coefficients (34bb3c1)
  • make actuator deps optional in init (ddb0542)
  • Microstrain IMU is only compatible with specific streaming frequencies #384 (c8575f3)
  • Microstrain IMU is only compatible with specific streaming frequencies #384 (01b2f44)
  • minor changes to imu source. (093c05b)
  • minor doc update (419c985)
  • modify tutorial scripts to follow a similar pattern across various control modes (42da482)
  • move safety guidelines to getting started (d9be93e)
  • no more zero division error in time/srtl (abda2b9)
  • patches for more unit tests (b605a28)
  • prettier changed an indentation in readme (e6fc759)
  • prettier doesn't modify docs' md file (8384d04)
  • remove all references to knee, ankle, and impedance parameters (5ff0aa1)
  • remove data and use args, kwargs--wild west approach (95c0325)
  • remove duplicate LogLevel initialization and minor mypy errors (4d41ba9)
  • remove excessive typecasting from loadcell (4ba1200)
  • remove exit state; add warning before overwriting initial state; remove add_state and add_event methods (c1fe887)
  • remove joint attributes from actuators (BREAKING CHANGE), remove redundant logic from homing routine (20bdb9c)
  • remove old tests (d3ac43d)
  • remove redundant methods and complexity within signal generator ABC (ae49c2d)
  • remove trailing whitespaces (4153f26)
  • removed unit test for deprecated log method (ac127a1)
  • removed unnecessary type directive. Fixed in other pull requests that check for the os on these lines (5b74fc6)
  • rename encoder map function for clarity (71e4e8b)
  • rename set_zero to set_zero_position and use logger instead of print (1bbc70e)
  • renamed method in logger to track_function. More accurately represents what is happening. (5a9c03c)
  • replace self init with super, hardware test updates, and base class init fixes (99fb3c3)
  • repr edits to actuator and encoder (c6ae4ee)
  • repr edits to actuator and encoder (09b815e)
  • required control modes for methods are not set via an internal mapping instead of @requires (91d1e6b)
  • Resolve mypy type errors (5cb1f39)
  • resolve ruff and mypy errors (dd9c9d4)
  • resolved issues with ne operator and _custom_data attribute (fb971f8)
  • revert controllers to control (7b65813)
  • revert directory rename (c0216a4)
  • ruff (8500c23)
  • ruff update. (c05f544)
  • ruff whitespace (c8025af)
  • switch to command_motor_impedance for new Dephy API instead of command_motor_position (a72dc9b)
  • type annotations in loadcell (3b53a25)
  • types in doc for compiled control (50688ca)
  • unit tests are now compatible with new logger setup (a0d80d7)
  • unit tests for sensor classes (026bbb0)
  • update contribution steps in readme. (71501fe)
  • update default port for imu example (e44bd29)
  • update example line numbers (cd8ed40)
  • update line numbers in docs quote (22226a3)
  • update method signature now matches the entire library; fix #307 (8eed688)
  • update softrealtime loop doc (bf2f433)
  • update to demo loadcell func for i2c (c8ff5f9)
  • update to docstrings in logger (3ee930f)
  • updated mkdocs (3301f19)
  • use if conditions instead of asserts (c53e6a8)
  • use soft realtime clock instead of while loops (38d216b)
  • wait for user input before starting to home the joint (233a6ab)
  • whitespace (d1d006e)

Documentation

  • add anujtaosf as a contributor for doc, and example (dd60683)
  • add anushkarathi as a contributor for bug (8dbb769)
  • add copy icon to code snippets, fix build and coverage badges (89bec4e)
  • add esharnow as a contributor for test, bug, and doc (540b0b2)
  • add gpranav162 as a contributor for code (189df79)
  • add gpranav162 as a contributor for doc (511a88d)
  • add JapmanGill as a contributor for test, bug, and code (cbe0248)
  • add jderosia as a contributor for doc, test, and 2 more (7c11478)
  • add JerryGu-leiting as a contributor for doc (6d79186)
  • add jkotar3 as a contributor for test, bug, and code (c392f15)
  • add Katharine-Walters as a contributor for bug (64ab7ff)
  • add logger tutorial (c05b62a)
  • add matteo-crotti as a contributor for bug (6b63bec)
  • add nundinir as a contributor for bug (45d609f)
  • add permission denied troubleshooting note (cf55b4c)
  • add Robin0265 as a contributor for test, bug, and 2 more (22277e3)
  • add senthurayyappan as a contributor for infra, security, and 2 more (62eab04)
  • add shreyhas as a contributor for doc, test, and example (10a8c38)
  • add tkevinbest as a contributor for bug, test, and 2 more (f499b3e)
  • add unshrawal as a contributor for bug, and code (aa90e31)
  • add VarunSatyadevShetty as a contributor for doc, and example (259f536)
  • add zachbons as a contributor for bug (dce517b)
  • added docstrings with examples (381b270)
  • create .all-contributorsrc [skip ci] (31d341b)
  • finalize tutorials for time module (249abcd)
  • fix encoder tutorial (0eb49b9)
  • fix imu tutorial (08b55d4)
  • fix indentation (383fc35)
  • fix installation direction (c3e5894)
  • fix loadcell tutorial (5eab5de)
  • fix mkdocs errors (1b17151)
  • fix ruff errors (ba36900)
  • fixed pre-commit errors (7ff1fc9)
  • fixed type: ignore error (9d0089c)
  • incomplete sensor tutorials (e9ac0bf)
  • minor fix to encoder tutorial (5d56968)
  • minor modifications to actuator base guide, add class diagram (e490b88)
  • modified docstrings to function with mkdocs (824d4ff)
  • remove examples, fix links in time tutorials, and add contributing guidelines (c0a4a69)
  • remove old contributing section (72cefa9)
  • removed old doc formatting (0a88760)
  • update .all-contributorsrc [skip ci] (682da72)
  • update .all-contributorsrc [skip ci] (6c6c238)
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  • update README.md [skip ci] (7e928ee)
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  • updated examples and navigation structure (52559ac)