Charts

Motor Driver

General

Bootloader

LogViewer

Monitoring

General

Motor Driver

Monitoring

Motor Driver

Imitation

General

Monitoring

General

Dashboard

Monitoring

Motor Driver

Bootloader

Imitation

Motor Driver

LogViewer

General

Lookup

Imitation

General

Motor Driver

LogViewer

3D Viewer

General

General

LogViewer

Minor Changes and Bugfixes

General

LogViewer

Gains

Runtime

General

Packaging

Monitoring

Packaging

General

LogViewer

HRDF Viewer

Log Viewer

Imitation Devices

Firmware Updates

Monitoring

General

Bugfixes

General

Plotting (2D)

Bugfixes

Plotting (2D)

Plotting (3D)

General

Monitoring

Runtime

MacOS

General

General

Monitoring

General

Bugfixes

General

Monitoring

Bugfixes

New Issues

Dashboard

Monitoring

General

Minor Changes

Bugfixes

Monitoring

General

Monitoring

General

Dashboard

Gains

General

Monitoring

Gains

Firmware Update

Bugfixes

Monitoring

IO Tab

General

Bugfixes

Monitoring

Device

General

Info

Monitoring

General

General

Monitoring

General

Monitoring

Gains

Info

General

General

Monitoring

Gains

Update Dialog

General

Monitoring

Gains

Device

General

Gains

Fixed an SSL certificate issue related to firmware updates

Changed name of Main GUI to "Scope"

Added auto-update

Added standalone binaries for mac, linux, windows

Removed all "unsafe" buttons from the device tab

Added scrollbars to all tabs to avoid issues with low resolution screens

Removed deprecated debug buttons

HebiGroup

HebiKinematics

HebiKinematics

HebiTrajectoryGenerator

HebiKinematics

Added support for hrdf 1.5 (gear_ratio on custom joints)

Added additional checks to make sure that a target rotation matrix is a valid

HebiArm

Added utilities to better load plugins from configs

HebiMobileIO

Added a sendLayout method that blocks and can support large layout files

Minor fixes

Changed weight calculations to match C++ / Python. There is no practical difference, but it may affect 3rd party unit tests

Removed linear joints from the initial distance IK objective

HebiLookup

HebiUtils

HebiKinematics

HebiGroup

HebiArm

General

Bugfixes

Bugfixes

HebiMaps

General

HebiUtils

HebiKinematics

New Classes / APIs

HebiTrajectory

HebiTrajectoryGenerator

General

HebiLookup

General

HebiKinematics

HebiTrajectoryGenerator

HebiUtils

General

HebiGroup

HebiKinematics

Bugfixes

HebiLookup / HebiGroup

Bugfixes

Bugfixes

HebiLookup

HebiGroup

GainStruct

HebiKinematics

HebiUtils

HebiGroup

HebiKinematics

HebiGroup

HebiKinematics

HebiUtil

Logging

Bugfixes

Bugfixes

HebiKinematics

General

HebiLookup

HebiGroup

HebiKinematics

HebiUtils

General

Bugfixes

General

HebiUtils

HebiGroup

General

HebiUtils

HebiLookup

HebiGroup

HebiKinematics

HebiTrajectoryGenerator

Bugfixes

HebiKinematics

HebiTrajectoryGenerator

Bugfixes

General

HebiUtils

HebiLookup

HebiGroup

HebiKinematics

HebiGroup

HebiTrajectoryGenerator

HebiKinematics

HebiPoseFilter

General

HebiLookup

HebiGroup

HebiGroup

HebiKinematics

HebiGroup

HebiKinematics

HebiPoseFilter (not a supported API)

HebiTrajectory

HebiKinematics

HebiLookup

HebiTrajectoryGenerator

HebiKinematics

HebiTrajectoryGenerator

Added Trajectories to the API

Bugfixes

changed HdrHistogram conversion to combine all output files into a single file with multiple tags

minor performance improvements

Bugfixes

HebiLookup

HebiGroup API

HebiKinematics General

HebiKinematics Bodies

HebiKinematics IK

Added support for logical vectors in reset/boot commands

Changed logical inputs to only allow 0 or 1 values to avoid ambiguity

Changed default naming of logs to use absolute wall-clock time

Minor performance improvements

Added getBaseFrame() to kinematics

Added basic support for I/O Board (commands, feedback, logging struct)

Minor performance improvements

Added support for high-res position

Added support for setting position limits (virtual hard stop)

Minor performance improvements

Changed getJacobian() output to 6xNxM matrices to be consistent with getForwardKinematics()

Changed getAccelCompTorques name to getDynamicCompTorques

Internal performance improvements

Bugfixes

Added getAccelCompTorques to HebiKinematics

Added command lifetime safety feature to mitigate risks on unexpected interruptions (requires firmware upgrade to work)

Cleaned up auto-complete

Changed display of empty groups to be more appropriate

Added GenericLink to HebiKinematics

Bugfixes

Improved display for HebiLookup and HebiGroup

Extensive API rework

Added fields for reading Force/Torque from sensors and setting Force/Torque on haptic devices (currently TouchX)

Fix bug in Lookup when passed a single string rather than a list. Now handles both cases.

Fix bug in SO3 matrix validation when passing a numpy array rather than list

Update C API dependency to 2.22.1

Internal refactoring

Expose functions to get/set endeffector payload

Fix direction of gravity vector for gravity comp functions. Required the user to provide a vector pointing straight up, now fixed to expect a vector pointing in the direction of gravity.

Fix hebi-config 1.1 command lifetime parsing to expect value in units of seconds instead of milliseconds

Internal refactoring

Update C API to v2.21

provides C API functions for gravity and dynamics effort compensation, speeding up the corresponding arm plugins.

Max group feedback frequency is now 1kHz, which is the practical limit, rather than 10kHz which was not reachable on most platforms.

Speedup to Jacobian computation (roughly 2x)

Clearer exception message when IK fails to solve due to an invalid objective.

Set proper velocity/acceleration defaults if the user does not provide them when building a Trajectory from a Goal

Fix issue that would hang when a Lookup was recreated on a different network interface.

Fixed bug in RobotModel repr, table now prints properly

Added time heuristic functions for choosing waypoint times (also exposed in Python API along with trajectory time conversion methods)

Unicast addresses can be passed into the Lookup object in addition to broadcast interfaces

Added RobotModel.get_max_speeds and get_max_efforts functions to get max speeds and efforts for DoFs

Added Group.log_user_state function to write up to 9 timestamped float values directly to the log file (can be viewed in Scope plots)

Added Trajectory.get_min_max_position, get_max_velocity, and get_max_acceleration functions to get extrema of the trajectory without needing to sample

Support v1.1 of the [HEBI robot config format](https://github.com/hebirobotics/robot-config), adding command lifetime and feedback frequency parameters to the config file

Update C API to v2.20

drops support for Ubuntu 20.04

provides C API functions/fixes for unicast addresses, max speed/effort retrieval, and trajectory min/max position/velocity/acceration features listed above

Fix MobileIO resetUI function to set all slider snaps to 0 rather than clearing them

Add is_stale flag to Lookup entries

Update Core API to Version 2.19.0

FFI refactor + autogeneration

Update pyproject.toml

Remove python2 syntax

Fix numerical error in Impedance Controller plugin when using imitation groups

HEBI-Core 2.19.0 fixes incorrect Jacobian when kinematics include linear DoFs

Supports HRDF 1.6

Upgrade C-API to 2.0.17, fixes bracket kinematics error

Added checks for trajectory times to avoid numerical errors when times are invalid

Fixed bug where arms with a double shoulder would not enter compliant mode properly with both shoulder actuators

Supports HRDF 1.5

Cleanup/rework of docs build process, simplified packaging

Fixed bug when disabling impedance controller plugin that would also disable gravity compensation

Better handle edge cases when converting rotation matrix to axis-angle in plugins

Can now set LED state of a single module using the Command class. Previously had to set the whole group’s LED state using a GroupCommand object.

New functions added to lookup Arm Plugins by type and by name

regression on Ubuntu 20.04 with glib symbols is fixed

Now properly loads yaml configs in a way that matches other API behavior

Configuration object now properly builds the path to other files relative to the config file location.

Fixed display bug when printing the kinematics object. End Effectors were being treated as Degrees of Freedom, which was not intended and could cause masses to be reported for the wrong frame. Numerical results were not effected by this, and the only change is to the table appearance.

Arm plugin behavior updated to better match MATLAB and C++ APIs in a few edge cases where differences were noticed (Impedance and DoubledJointMirror Plugins).

Internal rework of how mobileIO layouts are sent

Cleanup/rework of docs build process

Improved yaml config loading

Dropped support for Ubuntu 20.04 due to issue with glibc symbols (plan to fix in next release)

Now finds imitation devices communicating over loopback to match new Scope default behavior

More checks to prevent malformed SO3 matrices from being passed into IK solver

Fixed issue where two instances of gravcomp could be configured at once when loading from config

Cleanup/rework of build process, simpler and faster now

Now supports HRDF v1.4, including support for T-Series modules

Use unified binary for macOS

Fixed issues with logging and plotting logs

Fixed segfault from bad ffi function definition

Fix extra char at end of send_label string

Report IP addresses on Lookup entries

Added new function send_layout to MobileIO class for setting widget locations in MobileIO 2, experimental

Fixed "sticky" mobileIO behaviors when setting slider snap/values.

Fix extra char at end of send_label strings

Moved some functions in the LogFile class out of the public interface

Fixed bug when trying to clear previously commanded field

Fixed "sticky" mobileIO behaviors when setting slider snap/values.

Added new fields for controlling motor drivers

Stale modules can be removed from Lookup objects by calling reset()

Added faster versions of kinematics and dynamics math functions, which are used by default by the Arm API internally

Comma separated number strings are not valid inputs for most math functions (previously was allowed)

Fixed offset error in IO pins when working with IO boards

Fixed miscellaneous arm API trajectory bugs

Fix sending of unicode strings for text fields

Fix setting multiple command field entries with single value

Type hint support for most of public API

Updated to v2.3.0 of the C API (from 2.1.0)

Improved string display of various HEBI Python objects

Experimental Mobile IO wrapper tweaks (note backwards incompatible changes to experimental API!)

Fix arm API nan check when setting joint limits

Fix arm API tip axis IK objective

Fix start/end default trajectory waypoints

Fix handling of single-element name/family lists when creating groups

Updated to use C API 2.1.0

Experimental Arm API fixes:

Experimental Arm API release

Fix text spacing on plots

Mobile IO updates

Added MobileIO API

Fix a bug where flag field message getters and setters could raise an exception

Fix a bug where bool field message getters and setters could raise an exception

Fix a bug where enum field message getters could raise an exception

Fix a bug where creating a group by mac addresses would raise an exception

Fix a bug where hebi.util.plot_logs would modify the state of the input LogFile object

Use a different kind of timestamp for log file reading, to be consistent with the other HEBI APIs

Added GroupFeedbackView and GroupCommandView classes

Add ability to set enum type fields by a string which corresponds to a specific value in the enumeration

Fix bug where trajectory generator would raise exception if no velocity or acceleration were passed in as an argument

Fix bug where non-present message fields sometimes appeared to be present

Fix bug where string fields could not be cleared

Fix bug where string fields could not be accessed in non-group container

Fix bug where vector3f and quaternionf fields could not be accessed without raising exception in non-group container

Fix Python 3.5 incompatibility issues

Fix bug where LED fields could not be properly retrieved

Fix bug where control_strategy could not be set using a string

Fix bug where reuse_fbk parameter of LogFile.get_next_feedback was always ignored

Fix bug where input frame type was missing from RobotModel API

Improve PyPy3 support

Add RobotModel element metadata API

More informative repr() for the RobotModel API

About a dozen new fields in the command, feedback, and info APIs

R Series actuator support

Add ability to load HRDF from a raw string

Target C API 2.0.0

Change RobotModel methods to return numpy.ndarray instead of numpy.matrix

Drop Python 2 support

C/Python FFI layer performance improvements

Target C API 1.6.0

battery_level field for feedback

pwm_command field for feedback

Significantly faster trajectory generation with packaged C API binary (see C API 1.5.0 changelog)

Fix TypeError being raised when attempting to set module controlled LED color

Target C API 1.5.0

Added human readable representations (i.e., repr()) for most public facing class instances

Implemented hebi.util.plot_trajectory

Implemented hebi.util.plot_logs

Fix erroneous raised exception when hebi.trajectory.create_trajectory is passed a non None velocity or acceleration

Fix an AttributeError related to missing weakref slot in LogFile - exceptions would be raised when invoking feedback_iterate

Fix an AttributeError raised when using LogFile instances when HEBI_DEBUG is enabled

Fix an AttributeError raised when using Lookup instances when HEBI_DEBUG is enabled

added util.clear_all_groups to explicitly dispose of all groups, which can be helpful in environments such as IPython

Add an atexit handler which explicitly finalizes all groups created (resolves some crashing python scripts)

Fix a memory leak which doesn’t properly dispose of unreachable group instances

Fix a bug where lookup.lookup_frequency would always throw an exception

API memory footprint should be smaller due to using __slots__ in many internal structures

Add human readable output (repr()) for more objects in the API

Lookup frequency is now settable

Added motor_position field to feedback

Added mobile feedback fields (i.e., ar_position, ar_orientation and ar_quality)

Added HRDF support

Added ability to query Python and C API versions at runtime

Some objects defined in the hebi package now have human readable representations (repr())

Update targeted C API version to 1.4.2

Automatically append .hebilog file extension in Group.start_log if no extension was given

Fix a bug in the trajectory generator which fixes invalid default velocity and acceleration values

Update targeted C API version to 1.3.0

Significantly improved RobotModel forward kinematics performance

Improved source code documentation

Add an opt-in C API profiler to help detect computational bottlenecks outside Python code

Add optional output parameters in RobotModel API methods

Improve RobotModel API performance

Improve RobotModel thread local caches

Added boot, position_limit and reset fields to GroupCommand

Added clear method to GroupCommand

Added orientation, limit, m_stop and state fields to GroupFeedback

Added microsecond alternative fields for timestamps in GroupFeedback

Added getter fields for commonly used fields, allowing the user to reuse an already allocated numpy array

Added linear joints to the RobotModel API

Added the "custom objective" function to the RobotModel API

Update targeted C API version to 1.2.0

Fix bug where the translation vector was incorrect for X8 series actuators

Improve memory usage at ctypes layer

Add thread local caches for the RobotModel API

Various small performance improvements

Improve PyPy 2.7 and 3.3 support

Fixed edge case when RobotModel had no degrees of freedom

Improved memory usage at ctypes layer

Improved error message readability

Added more argument safety checks for internal components

Changed versioning convention to include a revision version

Added name and family fields in the GroupCommand class

Added gains API For GroupCommand and GroupInfo

Updated targeted C API version to 1.0.0

Fixed a buffer overflow issue in the Lookup class

Improved source code documentation

Added more value and type checks in internal components

Add cartesian force/torque Vector3f members to command and feedback messages

Add drivetrain status and motor hall state to feedback messages

Update C API dependency to 2.22.0 to support additional feedback types listed above

Null characters in UserSettings bytes payloads no longer terminate the string early (from C API update 2.22.0)

Reduced warnings and comment typos. Public interface changes are limited to:

changing int to size_t for Group and LogFile size() functions

changing float to double for Arm::enabledRatio() and Arm::rampTime()

More smoothly restart trajectory in the case of an Arm which does not have an actual goal, but for which the modules have a pre-existing command (e.g., command lifetime "0" given before creation of the Arm object, such as inchwork end switching). Internally done by using existing commanded position/velocity/effort values from module feedback as starting point before relying on sensed feedback values.

Add "build trajectory" logic in arm::Goal class, allowing introspection on resulting trajectory without needing to access private Arm member variables

Use C API functions for gravity compensation and dynamics compensation torques (simplifying C++ API code and reducing copied data)

Added functions to add end effector payloads (and separate CoM for these payloads, which default to input of the end effector frame). Gravity compensation and dynamics compensation torques take the payload masses into account. Also added Payload frame type.

Update C API to 2.21.0; features include

Gravity/dynamics compensation torques and payload functions to support features listed above

Approximately doubled the speed of the getJacobians call

Improved validity checks for SO3 matrices in HRDF and potential errors in hebiIKSolve calls

Address parsing bug in config file ( >= v1.1). Values in config files are in seconds, not milliseconds

Remove unnecessary temporary buffers and new/delete calls in various C interface wrapping functions, including lookup, logging, trajectories, and kinematics. Performance increase is marginal, but fixes a small memory leak (on the order of 6MB per hour for code generating trajectories at 100Hz).

From C API 2.21.0 update:

Updated CMake minimum version to avoid warnings

Trapezoidal trajectory heuristic scaling fix

Limited maximum group frequency to 1kHz

Address miscellaneous warnings

Add non-const Group and EndEffector getters to Arm class, and Group getters to EndEffector class

Added Arm.setEndEffector function to allow explicitly adding an end effector to an Arm object after construction

Improved joint limit objective function stability/behavior; C++ API now has additional tuning parameter to control edge behavior

Added time heuristic functions for choosing waypoint times (also exposed in C++ API along with trajectory time conversion methods)

Unicast addresses can be passed into the hebiLookup object in addition to broadcast interfaces

Added RobotModel.getMaxSpeeds and .getMaxEfforts functions to get max speeds and efforts for DoFs

Added Group.logUserState function to write a timestamped UserState event directly to the log file (can be viewed in Scope plots)

Added Trajectory.getMinMaxPosition, getMaxVelocity, and getMaxAcceleration functions to get extrema of the trajectory without needing to sample

Update CMake minimum version to 3.10 to avoid compatibility/deprecation warnings on more recent versions

Support v1.1 of the [HEBI robot config format](https://github.com/hebirobotics/robot-config), adding command lifetime and feedback frequency parameters to the config file

add enums for T-5/8 and R/T-25 actuators and accessories. These are used with functional RobotModel construction methods as well as getting RobotModel metadata

Update C API to v2.20

C API update includes various fixes:

Included "arm" prefix in arm.hpp #includes

Updated C API to v2.16.3

Changed hebi::Arm API to be non-experimental. This includes breaking changes to the EndEffector classes.

Updated C API to v2.16.2

Adds dynamics compensation plugin by default for hebi::Arm objects that are not created through a configuration file.

Update C API to 2.16.1

Update C API to 2.16.0

Ensure Eigen include directory is publicly exposed in CMake

Fix "isAbsolute" file util function for windows systems

add dynamics comp + doubled joint plugins

add getters/setters for impedance control plugin

parse "user data" values as same parameter types as for plugins instead of saving as strings (minor change in experimental arm class)

store absolute path for robot config file within RobotConfig structure

try to load/set default gains when creating arm from config

update C API to 2.15.0 from 2.13.0

added control strategy 5 to ControlStrategy enum

added helpers to optionally create Arm and MobileIO objects using an existing Lookup object

access "Runtime Data" in "Extra" info packets, including number of seconds a module has been on and/or commanded. Note — requires firmware support, and count will only include time for module since first updating to firmware with this feature.

MobileIO class now has "sendLayout" and "sendLayoutBuffer" functions, allowing layout configurations to be sent to MobileIO devices

prevent certain large info messages returned from modules from getting dropped (included in C API update)

use doubles instead of floats in arm plugins (minor change in experimental arm class)

update minimum required CMake to 3.5 to reduce cmake warnings from newer versions

added const attribute for a number of getters

small refactoring for readability, minor cleanup and formatting

update calls for C IK functions from internally deprecated ones to equivalent new ones

address a number of compiler warnings, while making warning checking more strict for GCC and clang

ignore warnings given by included Eigen library

Update internal C API version from 2.12.0 to 2.13.0

NOTE: removed support for Windows x86 and Linux armhf

Added basic Robot Config File support for the Arm API

Add several fields to command/info messages:

Update C API from 2.9.0 to 2.12.0

Make objectives non-copyable and pass by reference; prevents segfault if objectives are freed when copied in

Update bundled Eigen dependency to v3.4.0

Clean up various warnings

Add subtree support for RobotModel class

Implement several Lookup updates:

Return mesh frames from RobotModel FK and Jacobians

Added "getMeshPaths" function to RobotModel

Support universal binary on macOS systems

Update C API from 2.3.1 to 2.9.0

Added subviews for command and feedback.

Fix build warnings

Change include paths in some files so that everything is relative to root C++ API source folder

Update C API to fix trajectory crash

Fix off-by-one error in Mobile IO "getButtonDiff"

Extend Mobile IO creation wait time

Mobile I/O API finalization and update

Updated C API dependency to 2.3.0 (for "set label" functionality)

Added inner effort command field to feedback message

Added MacOS ARM64 build for Mac M1 compatibility.

Support HRDF 1.3

Updated C API to 2.2.0

Add "Arm API" docs to C++ API documentation

Addressed library symbol visibility issues causing problems when linking with some ROS 2 programs.

Fixed edge cases in FK commands for models with no DoF (see C API changes)

Experimental Mobile I/O Wrapper: Added getPosition and getOrientation functions to more easily access commonly used AR data

Experimental Arm API: Can now add end effectors with custom COM, interia, mass, and output frame

"Nightly" builds are now created on every repo change between official releases; visible in the "archive" folder. These cannot be guaranteed to maintain backwards compatibility, but can provide bugfixes and features faster than waiting for a full versioned release.

Added RobotModel::loadHRDFString function to create a RobotModel object from a string, not just a file.

Added ability to retrieve RX sequence number from feedback packets

added experimental high-level "Arm API" to enable easier control of robotic arm systems

Fix incorrect behavior when getting and setting IO pin values

explicitly set CMake policy to prevent CMake warning

Reduce conversion needs by adding (deprecated) overloads for:

Fix multiple definition error

Robot Model:

Robot Model:

Fixed bug when setting IO pins in commands; commands would sometimes affect other pins.

Added ability to set and clear text in the experimental mobile IO API

Added ability to get raw feedback from experimental mobile IO API

Removed deprecated Jenkinsfile

Updated various messages:

Add "robot element metadata" that allows for introspection of RobotModel objects.

Import/Export safety parameters from/to a file into/from GroupCommand objects

Export safety parameters to a file from GroupInfo objects

Added "experimental" namespace intended for feature-preview items

Added "mobile io wrapper" to experimental namespace that allows for easier interface with Mobile IO devices

Update core C API from 1.4.2 to 1.8.0

Removed i686 linux build (due to C API update)

Cleaned up code style:

Added "FunctionCallResult" used when importing safety parameter files to allow error message to be accessed

Bugfixes fixed in core C API from 1.4.2 to 1.8.0 update

Updated to C API v1.4.2 to fix initial feedback frequency bug.

Add HRDF 1.1.0 import capabilities

Feedback additions: mobile feedback and motor position

GroupCommands now have a "Clear" function.

GroupFeedback has a "getTime" function (in seconds or microseconds), getting the timestamp of the last received packet in the GroupFeedback object.

Discovery/Lookup frequency can be retrieved and set.

Custom objectives can be added when using IK.

Added functions for retrieving C and C++ API version numbers

CMake update - better workflow, including hebi xdk support for cross compiling

timestamps, and sender ID moved from hebi::Feedback.actuator() to hebi::Feedback

Code format standardized

Update kinematics functions to use internal C API actuator/link/bracket helper functions

Update internal C API from 1.2.0 to 1.4.1.

Cleanup extraneous comments and code (e.g., reference to outdated examples, trajectory start/end conditions now handled in C API)

Added module state feedback and filtered module orientation estimate

Added commandable position safety limits, and returned current value in info.

Added reset/boot/stop boot commands

Tweaks to cleanup compilation warnings

Update underlying C library to v1.2.0 from v1.0.0 (includes support for 64-bit ARM on linux)

Fixed bug in actuator COM position

Initial full release; backwards compatibility will be maintained in future 1.0 releases.

Updated to v1.0.0 C API.

Improved examples and documentation; created basic "tutorial" examples.

Updated to v0.16 C API.

Added explicit "Eigen" namespace before Vector classes to disambiguate name references during compilation.

Easier deployment

Added initial version of a kinematics API.

Added trajectory API to assist in generation of smooth trajectories for robot motion.

Added I/O pin command and feedback support

Added API for programmatically retrieving the current contents of the module lookup object

Added support for macOS and ARM

Added ability to set command lifetime through the C++ API.

For commands and feedback, added convenience get and set functions for position, velocity, and torque fields; these function use Eigen double vectors (Eigen::VectorXd).

Updated to v0.15 C API.

Added path for log directory when logging.

Removed the "module" object based on customer feedback.

Separated out the libraries into platform specific directories (e.g., lib/winx64) to allow a single download for all platforms.

Fixed bug in GetString calls that would sometimes return uninitialized memory.

Added a number of "const" versions of getter function to allow better use within const-correct parent structures and classes.

Documentation updates.

Added dependency on Eigen v3.3.3. Included for convenience with downloaded packages.

Added index operator to mac address class.

Do not limit unicast lookup addresses to current network interface address ranges

Add XYZ force/torque wrench to feedback and command object. Appropriate to encapsulate end effector force/torque measurements, such as a 6-DOF F/T sensor, or to be used for haptic device input commands

Add "drivetrain state" enum to feedback messages

Change the format of the "build number" in development releases. The timestamp format previously used would overflow the int32 container and provide a large negative number; precision was reduced to keep this within the positive range of the integer for clarity

Fix bug where strings with null characters in them were truncated when reading message fields. Most noticable in UserSettings fields that are expected to be binary data, but null characters in other strings are now possible as well

Update CMake minimum version to 3.10 to avoid deprecation warning on newer CMake versions

Added ability to get and set end effector payload mass and payload center of mass. Note that these masses are considered independently from those returned by hebiRobotModelGetMasses

Added internal implementations of gravity and dynamics comp (hebiRobotModelGetGravityCompensationTorques and hebiRobotModelGetDynamicsCompensationTorques). These implementations DO take end effector payloads into consideration

Added HebiFrameTypePayload enum value, providing API access to necessary frames for user computation of compensation torques for payloads as well

Add verification of SO3 matrix validity when importing HRDF files and creating SO3 objectives

Fix trapezoidal trajectory heuristic; it was off by factor of sqrt(2)

hebiIKSolve will fail with invalid argument if current objectives are invalid (e.g., no end effector in robot when optimizing an EndEffector constraint, or a joint angle constraint with incorrect number of joint angles)

Maximum Group Feedback Frequency is now 1kHz, not 10kHz (which is not useful and not achievable on most platforms)

Improved performance of getJacobian call (now approximately twice as fast) via internal optimizations

Unicast addresses can be passed into the hebiLookup object in addition to broadcast interfaces

Added functions to get max speeds and efforts for DoFs in HebiRobotModel objects

Added function to write a timestamped UserState event directly to the log file, which can be viewed in Scope

Addressed issue with matrix ordering in hebiEstimateSegmentTimes so that is assumes row-major order

Added functions to get min/max position, max velocity, and max acceleration of a trajectory

Fixed bug in jacobian computation for translational joints

Support for Ubuntu 20.04 has been removed, as the OS is out of support/service range; Linux support is for Ubuntu 22.04 and later

Improved joint limit objective function behavior; added new parameterized version and deprecated previous version (which now redirects to new implementation)

Added time heuristic functions for choosing trajectory waypoint times

Fix COM frame position y-axis value for R25 heavy brackets

Fix issue where hebiGroupStartLog would hang if called twice in a row with the same explicit filename

Fix race condition where hebiGroupStartLog called with “null” filename could generate non-unique filenames if called simultaneously from different threads

Fix symlink generation for mac/linux dylibs/.so files, so each points to next most explicit version instead of all pointing to most explicit version. E.g., libhebi.so.2 now points to libhebi.so.2.18 instead of libhebi.2.18.0

Support HRDF v1.6 (includes R25 and T25 actuators and accessories)

Address 2.5-5mm discrepancy in X5 and R8 series link kinematics when “twist” parameter is not equal to “pi”

Prevent unstable trajectories from being created with small or negative dt values

Addressed issues in parsing v1.4.0 and v1.5.0 HRDF files.

Added check for valid SO3 matrix when creating IK objectives.

Include module firmware info fields in logfiles.

Addressed race condition leading to possible crashes immediately after group creation

Updated to HRDF 1.5 (supports gear ratio)

Added version info to Windows DLL file

Add "offset position reference" command

Report nightly build number through API in addition to existing version retrieval functions

Addressed issues with non-Rz Jacobians

Removed initial condition objective for translational joints

Updated compatibility version info in .dylib file

Added "runtime data" retrieval in extended info messages

Windows debug symbols now available

Support multiple log files per second, enforcing independent file names

Support linux installations using glibc ⇐ 2.32 (e.g., Ubuntu 20.04)

Prevent certain large messages returned from modules from getting dropped

Lookup now searches localhost by default to work with private imitation groups from Scope

Improve IK stability, especially for redundant kinematic configurations

Add internal helper message access functions for simplication of wrapping languages

NOTE: removed support for Windows x86 and Linux armhf

Can use "-1" to trigger infinite command lifetime for supported devices

Fixed issue with extra field bitfield definition

Added several command and info packet fields, as well as ability to request particular "extended" data in info messages:

Added internal initial condition IK objective to keep results within a half revolution of initial point to match MATLAB API behavior

Increase numerical precision of internal kinematics calculation, resulting in better Jacobian calculation and more stable IK results

Fixed issue when reading logs from imitation groups (or other submodules)

Fixed issue where some objective weights did not take effect

Added parsing support for HRDF 1.4.0, including T-series modules and tagged frames

Added "send layout" functions to send layouts to Mobile I/O

Added function to return mesh paths and frames loaded from HRDF

Used a universal dylib for macOS instead of two separate arm64 + amd64 dylibs.

Add IP Address field to lookup table entries

Add stale state to lookup table entries

Ensure i_q and i_d commands are set properly in outgoing message

Add ability to reset current HebiLookupPtr

Add motor driver commands and feedback to messages

Initially provide "nan" for all unset float fields values in messages

Added functions to copy gains to command messages from info and command messages

Added ability to get a "subtree" of an existing robot model

Extended built-in IK methods to allow selection of frame type and index

Fixed trajectory generator segfault under certain conditions

Added Mobile IO pin label set/retrieve functions

Added MacOS ARM64 build for Mac M1 compatibility.

Added inner torque command field to feedback message

Support HRDF 1.3

Addressed library symbol visibility issues causing problems when linking with some ROS 2 programs.

Fixed edge cases in FK commands

Added info messages in log file along with feedback

Added "nightly" snapshot builds whenever there is an internal update between release cycles

Trajectory implementation is now faster and more stable

Added rx sequence number to feedback messages to enhance debugging

Addresses timestamp error when loading logfiles using the C++ API

Fixes behavior with timer frequency negatively affecting stable communication rate on new versions of Windows

Addresses bug when loading gains of size 1 into a group command of length > 1

Added "input frame" type for forward kinematics operations

Added end effector support for robot model API (custom and parallel gripper types)

Added R-series support for robot model API (actuator, link, bracket, and end effector)

Added options for link input + output type in robot model API

Added support for robot models with tree (non-chain) structures

Added functions to retrieve the robot model topology (how the tree is laid out)

Support import of HRDF format 1.2.0

Support import of HRDF via a string (not just a file)

Allowed for filtering/selection of lookup addresses

Change interface to access message (command/feedback/info) fields so that raw message data can be accessed without individual API calls (string fields are not currently handled this way)

Robot model API now only allows addition of elements which match the physical interface of the previous element

Robot model "end effector" frames not added unless an end effector is explicitly added (imports of HRDF < 1.1.0 implicitly add an end effector element now)

Remove "combine" functionality from robot model API

Update IK objective weights to have consistent type

API allows for choice of row vs. column major for passing of matrices

Documentation improvement for hebiGroupGetNextFeedback to cover behavior of failure case.

Fixed bug when setting IO pins in commands; commands would sometimes affect other pins.

Added "subaddress" support in lookup, commands, feedback, and logging.

Significantly improve performance of Jacobian computation.

Added ability to retrieve information about elements in the robot model

Added reading/writing of XML safety parameters structure

Added settings (in command and info) for:

Added ability to set strings for and clear the "log" text field in the Mobile IO apps

Adds support for full wildcard lookup when creating groups (see docs.hebi.us)

Fixed getters for motor position, ar position, ar orientation, ar quality, and battery level in feedback

Internal restructuring/improvements

Added PWM command feedback to feedback structure.

Significantly improved trajectory solver performance, especially with large numbers of waypoints.

Use Ethernet header instead of message packet content to discover modules on the network (fixes issue when using multiple interfaces - wired and wireless - on iPad or Android running HEBI Mobile I/O)

Use locale invariant conversion when reading in .xml files, such as gains and HRDF (e.g., these files always expect numbers such as "1.23" instead of "1,23", regardless of the system’s locale settings).

Internal restructuring/improvements.

Removed support for i686 (32 bit) processors

Fix race condition most commonly seen when setting feedback frequency immediately after creating a group; this potentially resulted in no received feedback until the feedback frequency was set again.

Fixed initial C API feedback frequency for imitation groups to properly be set to the default (in 1.4.0, this was either undefined or 0, depending on the platform).

Definition of anonymous structures in hebi.h was technically not compliant with ISO C++11 standard 16.6.4.3. Changed from _Hebi<Type> to Hebi<Type>_ to eliminate undefined behavior.

HRDF import - full version 1.1.0 support

added mobile feedback (AR quality, AR orientation/position, battery level) and motor position fields to the feedback struct

made lookup frequency settable

Update the default command lifetime and feedback frequency to match MATLAB API

Added ability to create HEBI robot model components directly at the C API level (actuators, links, brackets, etc)

Added support for loading files using v1.0.0 of the hebi robot description format standard (see https://github.com/HebiRobotics/hebi-hrdf )

Added custom IK objectives

Can set/get firmware position limit using command/info

Info, command, and feedback group messages are now clearable and copyable.

Added module state feedback and info (e.g., temperature limit state, joint limit state, m-stop state, etc)

Added commands to reset, boot, and stop boot of modules

Added linear joint type for kinematics and inverse kinematics

Added orientation feedback

Clearing the persist flag now works (before this didn’t affect the send packets)

Fixed issue when sending IO commands (fixed situation which could overwrite or send command to higher-numbered IO pin)

Imitation group feedback frequency fixes - frequencies are now properly set, and 0 behaves as expected.

Trajectory start and end velocities and accelerations properly default to 0.

Refactored CMake workflow for easier inclusion in consuming projects

Added a signal handler that can be enabled to catch debug output in the event of API crashes.

Added masses and inertias to RobotModel (previously kinematics)

Can retrieve filename on "startLog" call

Add "set reference position" and "set reference effort" to command object

Modules are sorted by name when creating a group by family

Formatting tweaks to hebi.h

All arguments to API are explicit integer types (uint32_t, size_t, etc) instead of int/long

Const added to pointer types as necessary in API calls

Various small function signature changes

Kinematics API significantly refactored and changed to RobotModel

IK functions changed to allow future support of tree kinematics

RobotModel API exclusively uses double precision numbers now.

Add UInt64 fields

Disabled AVX instruction generation for Linux x86_64 library

Mac Address functions signatures changed to be compatible with FFIs

Added serial number field to info messages.

Added sender ID field to feedback messages.

Updated "lookup" calls involving mac addresses to pass structures by reference instead of value for improved portability.

Fixed bug on certain platforms where GetNextFeedback returned success and and empty feedback if no feedback had been received.

Fixed XML gain "control strategy" tag parsing

Fixed macOS compilation issues.

Fixed basic/01_lookup.c example; previously, when parsing lookup entry list, names/families that were longer than previous values would not be displayed.

requestFeedback has been removed and replaced with getNextFeedback to match the MATLAB convention

Log files: separate arguments are now included for directory and file, to increase log file location customization. Default file name is created from current time if not specified.

Added log file parsing support.

Improved/generalized IK interface; added new objectives and constraints.

Added support for reading gains from and writing gains to an XML file.

Added support for an "imitation group" which acts like a Group, but does not have a physical module backing it.

Added access to timestamps in the feedback messages (PC RX/TX and hardware RX/TX)

New Kinematics body creation helpers (light/heavy bracket)

Lookup name/family ordering switched when using hebiGroupCreateFromNames

"Torque" renamed "Effort" throughout API

Removed hebiLookupPrintTable function; programmatic access now provided via LookupEntryList functions.

Renamed platform specific "lib" directories

Refactored CMake files

All enums now have "Hebi" prepending (e.g., HebiFrameTypeOutput)

'get' functions for feedback/commands/info now return sane defaults instead of undefined behavior if 'has' not set.

Significantly faster (e.g., kinematics code has sped up at least 10X).

Condensed include files into one file (hebi.h) to simplify integration

Renamed a number of functions for consistency.

Added static keyword to variables and functions in hebi_kinematic_parameters.h

Added first version of a kinematics API.

Updating logging implementation to include output path option and packet loss statistics.

Removed the "module" object based on customer feedback

Separated out the libraries into platform specific directories (e.g., lib/winx64) to allow a single download for all platforms.

Documentation updates

Easier deployment

Added trajectory API to assist in generation of smooth trajectories for robot motion

Added API for programmatically retrieving the current contents of the module lookup object

Added I/O pin command and feedback support

Added "hebi.h" convenience header file to include the entire HEBI C API

Added support for macOS

Added separate x86 and x64 libraries for Windows

Rename several functions to improve naming consistency

Changed GetString calls to take in a buffer instead of return a pointer. Previously, return values could point to invalid memory

Updated hotfix from 1.1.0 for initialization issues

Fixed encoder position and velocity initialization; this could lead to incorrect values on power cycles and a "jump" when powering on the module when a velocity safety controller was enabled

Fixed velocity being calculated incorrectly on the first time step after initialization; this could lead to a "jump" when powering on the module when a velocity safety controller was enabled

Improved startup logic, waiting for the internal capacitor to charge

Initial support for R-25 modules

Added internally stored runtime data that tracks usage metadata. Includes a “reset” ability that works like a car “trip odometer” (returns stats since last reset in addition to lifetime stats)

Added configurable slew rate protection

When changing gains, ramp values over 1 second to avoid step changes to output

Don’t cancel commands when switching gains but including identical control strategy

Address potential cause of rare firmware hang during page swap

Improve voltage safety limit configuration parameters to prevent module damage

Improve voltage safety controller to consider current velocity direction

Initial release

Trigger e-brake on motor driver fault

Enabled rotor inertia compensation in Strategy 5