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

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

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

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.

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 precious 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; see corresponding C++ documentation for more information.

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

"Accelerometer includes gravity" toggle supported for IMU feedback

Punch term of PID controller now based on target, not error

Initial Release of R8A firmware

Added reset button state to returned feedback

Added atmospheric pressure feedback (in kPa, for supporting module types)

Improved performance of motor control at low speeds

Improved performance of the pose filter

Fixed cases where the pose filter could initialize poorly or return NaNs in the feedback

Initial release of X5-8I firmware.

LED state for manually setting static IP via reset button now overrides "searching for IP" green/orange blink

Added effort gain scaling with deflection for nonlinear springs.

Actuator velocity and effort safety limits (settable via Scope and some APIs)

Changeable position limit strategies — "hold", "motor off", "damped spring", or "disabled"

Can reset IP address if reset button is held down

Module reports static/dynamic IP address state

Motor velocity limiting implementation is less noisy

Add support for nonlinear springs in calibration and effort calculation

Can offset deflection and position calibration

Disallow setting torque reference to non-zero values

Fixed issue that could cause slower response/packet loss on certain modules in conjunction with recent (>=1.1) C-family APIs

Initial release of X5-8G firmware.

Fixed problem where modules could occasionally boot up incorrectly when DHCP is enabled.

Module reports orientation feedback from onboard pose filter.

Module now returns "module state" feedback (e.g., joint limit, m-stop, temperature limiting state).

DHCP fully supported in app mode; supports new bootloaders which skip the "waiting to boot" phase.

Reduce IP renewal problems on routers with short lease times.

Allow commands which drive a robot back to "inside" the joint limit range, even if the module booted up "outside" of this zone.

Joint limit LED state no longer shown if module is close to joint limit but not actively limiting commanded output.

Adjusted performance curves.

Encoder resolution no longer reduced at large number of rotations.

Reduced packet loss at high command and feedback request load.

Initial release of X5-8F firmware.

Corrected sign when setting non-zero effort offsets.

Ki and Kd gains now have SI units. In particular time-scaling was changed from millieseconds to seconds.

Feedforward gain change: 1.0 is now the appropriate default gain value for velocity and effort loops that output PWM.

Deadzone is changed to not accumulate integral error. Error outside of deadzone is now shifted to start at zero instead of being a discontinous jump.

Additional feedback sensor: motorPosition

Direct PWM control strategy now has settable min/max target PWM values.

Improved parameters of onboard gyro zero-update

Improved internal safety controllers to better protect the modules when running voltages above 24V

Improved motor winding thermal estimation

Improved stability of software position safety limits

Improved performance under high network communications loads

Initial release of X5-8E firmware.

Processed network packets more efficiently to improve responsiveness under high load.

Improved onboard thermal model by accounting for more secondary electronic effects.

Improved control stability of X8 while near velocity limits.

Internal calibration procedure updates

Internal calibration procedure updates

Firmware now supports X8 and X5 modules

Added 3-mode M-stop functionality (disabled, 'hold', and 'off' modes)

Improved onboard thermal limiting for the motor based on additional experimental data

Fixed an issue with the onboard timer that could theoretically lead to occasional very large, inaccurate reported time steps

Updated gyro low pass filter

Fixed an issue in the thermal model that could cause a motor to overheat after a reset under continuous load

Fixed an issue in the safety controller that could cause a motor to spin faster in one direction

Initial release of X5-8_D firmware.

Added auto-voltage scaling so that gains behave the same way under any voltage

Improved accelerometer bias (requires calibration)

Added a filter to continuously estimate and compensate for the gyro bias

Fixed an issue in the thermal model that could cause a motor to overheat after a reset under continuous load

Fixed an issue in the safety controller that could cause a motor to spin faster in one direction

Improved factory calibration for position and torque

Initial release of X5-8_C firmware.

Initial release; duplicate of SEA_D release 2 except for electronics updates

Update thermal model

Limit LED brightness to ensure safe steady-state performance

Initial release

Auto gyro-unbiasing in IMU

Addition of settable accelerometer bias

Gains auto-scaled when supply voltage changes

Automatically persist name/family when these values are changed

New calibration routine that includes automatic determination and sanity checking of spring constant to help detect early spring failure

Added support for "command lifetime" feature

Updated default gains

Added user-settable torque offset (via GUI "zero torque" button)

Fixed an issue in the thermal model that could cause a motor to overheat after a reset under continuous load

Improved motor current estimate and IMU filtering settings

Compatible with bootloaders >= v10 (dynamic IP address support in application mode)

Reports static/dynamic IP address state

Initial release

Address packet loss at moderate to high feedback rates

Initial release

By default, boot to application directly. DHCP is now handled by application code (>12 for X5_8)

Added support for new modules (internal)

Processed network packets more efficiently to improve responsiveness under high load

Disabled clearing of internal storage via the reset button

Updated version number display

Added support for new modules (internal)

Added support for new modules (internal)

Fixed an issue that caused IMU calibration to be cleared after a database erase

Added support for new modules (internal)

Added "auto-update"

Added support for new modules (internal)

Initial release