opensourceleg: v3.3.0

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 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

• 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](3a07c5f...