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)
• line numbers in fsm example quotes (7f131cd)
• lint and format updates. (3687884)
• 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 (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 copy icon to code snippets, fix build and coverage badges (89bec4e)
• add logger tutorial (c05b62a)
• add permission denied troubleshooting note (cf55b4c)
• 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)
• update .all-contributorsrc [skip ci] (41cf5da)
• update .all-contributorsrc [skip ci] (46f1de3)
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• update .all-contributorsrc [skip ci] (35234aa)
• update .all-contributorsrc [skip ci] (be90146)
• update .all-contributorsrc [skip ci] (774cee2)
• update README.md [skip ci] (7e928ee)
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• updated examples and navigation structure (52559ac)