Releases · upkie/upkie

@Tordjx

This release adds collision observations to simulation environments, pixi-pack integration and additional unit tests. It is a major release as get_reward functions have been removed from all Gymnasium environments. Otherwise comes a regular batch of fixes and additions to the documentation.

Thanks to @Tordjx for contributing to this release 👍

Added

Add pixi-pack integration
actuation: Add collision-with-environment observation (thanks to @Tordjx)
docs: Start Kinematics page
utils: Add clear_shared_memory utility function

Changed

Bazel: Treat warnings as errors (except the one we can't avoid)
Minimum Python version is now 3.9
envs: Observation-based reward wrapper
envs: Unit test for the base step function
examples: Group simulation-related examples in a sub-directory

Fixed

Bazel: Ignore .pixi directory as it can contain unrelated Bazel files
Fix unused variable warning in Bullet interface

Removed

Breaking: Remove get_reward functions from all environments
Makefile: Remove conda packing rules, now deprecated in favor of pixi

@Tordjx

This release adds link inertia randomization to the Bullet interface contributed by @Tordjx 👍 as well as non-major API updates and a regular batch of fixes.

Added

Configure pixi in pyproject.toml
Handle GLIBC version incompatibility in start_simulation.sh
Spine: Throw an exception when a servo reply has invalid torque
Update downloaded simulation spine in cache if outdated
actuation: Added link inertia randomization to the Bullet interface (thanks to @Tordjx)
actuation: Check maximum torques before sending commands
cpp: Add ServoError exception
model: Static model for joints with position, velocity and torque limits
pixi: Task to generate the documentation by pixi -e docs make

Changed

CICD: Build release spines with Ubuntu 20.04 rather than 22.04
CICD: Switch to pixi for documentation workflow
CICD: Update upload-artifact action to v4
Remove layout argument to actuation interfaces
actuation: Rename Interface::initialize_action to Interface::reset_action
actuation: Rename Interface::servo_joint_map to Interface::servo_name_map
deps: Upate to palimpsest 2.2.1

Fixed

examples: Lying genuflection example (thanks to @one-for-all)
examples: Unwrap environments to get their neutral actions
Update start_simulation.sh for systems where -v is not defined

Removed

env: Remove unused leg_return_period and hard-code it to one second
env: Replace contingent parse_first_observation by a reset override
model: Remove C++ upkie::model namespace
observers: Remove upper-leg and wheel joints from configurable parameters

@Tordjx

This release gives one more careful 👀 to spine cycles, with the main two updates:

Combine action and observation steps in the spine-agent IPC protocol, halving the number of waiting intervals between the two.
Fix observation consistency between the run and simulate spine functions: thanks to @Tordjx for pointing this out 👍

This iteration also produced some more design documentation in the following discussions:

Added

Makefile: Conda environment packing and unpacking rules
Support Python 3.12
tools: Add ps_thread command

Changed

Breaking: Spine and spine interface revisions:
- Observations are now returned upon reset and step
- Spine: Remove separate observation state and observation request
- SpineInterface: Setting an action now returns an observation
- SpineInterface: Starting the spine now returns an observation
- StateMachine: Rename spine FSM state from "act" to "step"
- docs: Update spine FSM specification in the documentation
Breaking: actuation: Move resolution to static configuration
Breaking: actuation: Move servo layout to static configuration
Breaking: envs: Rename LowPassFilterAction to AddLagToAction
CICD: Pin Ubuntu workflows to 22.04
Default kd gain for wheel servos is now 0.3
Move Python spine exceptions to upkie.exceptions
docs: Turn environment page into an index
tools: Make output directory an argument in dump_servo_configs
tools: Simplify servo configuration script

Fixed

BulletInterface: Fix typo in a comment
CICD: Install Doxygen with specific version from conda-forge
Spine: Fix observation consistency between run and simulate
envs: Clamp ground velocity action in UpkieGroundVelocity

Removed

Bazel: Remove legacy rules for PyPI dependencies
Move PID balancer to its own repository
deps: Remove dependency on PyYAML
examples: Remove Bazel BUILD file
model: Remove duplicate maximum torque constant

@Tordjx

This release adds several features to the Bullet simulation spine (custom initial configuration, uncertainty on measurements) as well as a random-push wrapper contributed by @Tordjx, thanks 👍

Added

BulletInterface: Apply custom initial joint configuration, if provided
BulletInterface: Report velocity of the base link in groundtruth
BulletInterface: Torque control noise to joint-property configuration
BulletInterface: Torque measurement noise to joint-property configuration
BulletInterface: Uncertainty on IMU accelerometer and gyroscope measurements
Forward command-line arguments to the spine in start_simulation.sh
ImuData: Add linear velocity field
envs: Add a random-push wrapper (thanks to @Tordjx)
examples: Apply an external force to lift an Upkie in sim
examples: Custom initial state with a non-zero joint configuration
examples: Simulation with joint friction
examples: Simulation with sensor noise
spines: Add variant argument to BulletSpine

Changed

BulletInterface: Move simulation body poses to sim.bodies
BulletInterface: Rename internal unit-test getters
actuation: Log simulation groundtruth to sim

Fixed

BulletInterface: Fix application of external forces
CICD: Enable stable-baselines3 environment-check unit tests
docs: Add missing documentation pages
docs: Document Gym environment wrappers
envs: Handle spine errors raised in base env constructor
envs: Register UpkieServoPositions and UpkieServoTorques environments

Removed

CICD: Remove pycodestyle as we now use ruff for Python linting
BulletInterface: Remove unused orientation/position unit-test getters

@Tordjx

This release adds logging of raw IMU measurements, two new UpkieServoPositions and UpkieServoTorques environments contributed by @Tordjx (thanks! 👍), and a sizable batch of fixes and safety checks.

Added

actuation: Additional check on maximum torques for each command
actuation: Extend ImuData with raw measurements
actuation: Log raw IMU measurements from pi3hat interface
envs: Add UpkieServoPositions child environment (thanks to @Tordjx)
envs: Add UpkieServoTorques child environment (thanks to @Tordjx)
envs: Add a model attribute to all Upkie environments
envs: Start reward submodule with a wheeled inverted pendulum reward
envs: Use wheel torque limits from model in UpkieGroundVelocity
envs: Wheeled inverted pendulum environment for reduced-model testing
exceptions: Add PositionCommandError exception
model: Add rotation_ars_to_world and rotation_base_to_imu
model: Add upper_leg_joints list
tools: Add update command to upkie_tool
utils: Add unit tests for Raspberry Pi utility functions
utils: Raise an exception when trying to configure agent from an interpreter

Changed

Avoid using numpy.typing for compatibility with older versions of NumPy
PID balancer: Fix dependencies for running on systems without conda
PID balancer: Update filenames of the two main scripts
actuation: Throw PositionCommandError rather than stopping a servo on error
deps: Update to palimpsest 2.2.0
envs: Refactor internal reward of UpkieGroundVelocity environment
envs: Use torque limits from model in UpkieGroundVelocity environment
examples: Make wheeled balancing example a bit more complex and more stable
examples: wheeled inverted pendulum model example
exceptions: Move to the top-level Python module

Fixed

actuation: Correct inline of two Bullet utility functions
actuation: Fix IMU acceleration in Bullet upon resets
envs: Make sure action values are floating-point numbers (thanks to @Tordjx)
exceptions: Make all exceptions derive from UpkieError
model: Fix type of upper-leg and wheel joint lists
spine: Handle deserialization exceptions when beginning a cycle

Removed

actuation: Remove unused IMU data from mock interface

This patch release fixes a bug of the contact detection function, which wasn't (gasp!) and is now covered by a unit test.

Fixed

envs: Fix missing return value in fall detection function

@ubgk

This major release merges all C++ code (previously: vulp) into upkie, which simplifies Python–C++ development. It also exposes body coordinates from simulation, refactors upkie.model, improves tooling, and brings a healthy supply of fixes.

Thanks to @ubgk and @Tordjx for contributing to this release 👍

NB: the IPC shared-memory file is now named /upkie. If you encounter an error that /vulp is not found, you will need to update either your spine or your upkie Python package.

Added

CICD: Build jobs for x86 and ARM64 macOS spines
CICD: Packaging job for conda-forge
Import and adapt C++ code from Vulp (vulp namespace is now upkie:cpp)
Log received actuation replies in spine cycles
PID balancer: Conda environment file
bazelisk: Add support for ARM64 CPUs
envs: Add left_wheeled parameter to the UpkieGroundVelocity environment
examples: Tuning the gains of a standard two-task PI balancer
model: Add joints submodule
setup: Add micromamba installation script
setup: Automate process of building new system images
spine: Print out configuration dictionary upon reset
spines: Expose environment body poses in Bullet spine (thanks to @Tordjx)
tools: Configure servo gains during setup

Changed

Breaking: rename the default shared-memory file to /upkie
CICD: Switch to Micromamba for unit testing
Makefile: Separate rule to set the raspi date
PID balancer: default to hostname for the agent configuration
Put hostname before spine name in log file names
bazelisk: Update bazelisk version to 1.20.0
deps: Update Upkie description to 2.1.0
deps: Update pi3hat dependency to latest commit
docs: Sort documentation pages by expected discovery steps
envs: Warn when a fall is detected
examples: Rename direct servo control example

Fixed

CICD: Release jobs for x86 and ARM64 macOS spines
CICD: Update macOS x86 runner images (thanks to @ubgk)
actuation: Fix duplicate data_ attribute in pi3hat actuation interface
observers: Read configuration matrix in base orientation observer
raspunzel: argv0 when executing the target is now the same as bazel run
setup: Fix configuration-write order in servo config script

Removed

utils: Pinocchio utility functions
deps: Dependency on separate Vulp project
docs: Remove PID balancer from the documentation

This release adds the env.bullet_extra() to exert additional actions like external forces in simulation. It adds developer notes to the documentation, and makes the following API-breaking changes:

The Python upkie.observers submodule has been removed and its content moved to C++
The API for env logging is now env.log("field_name", values)
The Gym observation space of the UpkieServos environment is now restricted to servo sensors

Below is the complete changelog.

Added

PID balancer: Monitor both tire contacts in simulation examples
docs: Developer notes
envs: Add the env.bullet_extra function for magic actions in sim
envs: Parameter to disable frequency checks during frequency regulation
observers: Base orientation observer
utils: Factor get_log_path function

Changed

dependencies: Update Vulp to 2.5.0
envs: Bump UpkieServos version number to 4
envs: Change API of logging function to env.log(name, entry)
envs: Restrict observation space of UpkieServos to servos

Fixed

PID balancer: Fix shared-memory opening in standalone Bullet script
dist: Exclude unnecessary files from Python packages
envs: Stop the spine when deleting an environment instance

Removed

Optional dependencies for balancers that now have their own repositories
observers: Python version of the base orientation observer

@araffin

This release switches the right leg from bus 2 to bus 3, along with a batch of fixes to the Bullet spine and Gymnasium environments. It also moves agents (aside from the demo PID balancer) to their own repositories:

MPC balancer: balance in place using model predictive control.
Pink balancer: an extended PID balancer than can crouch and lift its legs.
PPO balancer: balance in place with a policy trained by reinforcement learning.

Added

Add --build argument to the simulation script
CICD: Run ShellCheck on scripts
Clear shared-memory when starting the Bullet spine
Script to dump all servo motor-driver configurations

Changed

dependencies: Update Upkie description to 1.5.0
dependencies: Update Vulp to 2.2.1
Don't build simulation spine if execution fails
Move agents' requirements.txt files to optional project dependencies
palinode: Rename run_pid_balancer.sh to try_pid_balancer.sh 😊
Rename top-level run script to run_pid_balancer.sh

Fixed

Fix Gymnasium API in the readme example (thanks to @araffin)
Handle closing of GUI window in simulation script
Make sure all UpkieServos box observations are proper arrays

Removed

Move MPC balancer to its own repository
Move PPO balancer to its own repository

@ubgk

This release brings a script to guide new users in running standard agents, and adds an option to the Bullet spine to load extra URDFs. Under the hood, it switches from posix-ipc to the standard library for shared-memory management.

Added

Script to run any of the standard agents
spines: bullet_spine accepts extra URDFs as arguments (thanks to @ubgk 👍)

Changed

dependencies: Bump loop-rate-limiters to 1.0.0
dependencies: Replace posix-ipc by shared-memory from the standard library
envs: Redirect logging to /env prefix
envs: Rename default action in UpkieServos to neutral, its position is NaN
Minimum Python version is now 3.8

Removed

Script to compile and run the PID balancer
utils: ActionError exception

Releases: upkie/upkie

v7.0.0

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