Changelog for package hebi_cpp_api

3.16.0 (2026-01-07)

• Added function to rescale trajectory duration
• Add function to create a trapezoidal-like trajectory with minimum jerk acceleration and deceleration phases (e.g., "Jerkazoidal")
• Update C API dependency to 2.23.1 to fix various issues and enable trajectory rescaling and jerkazoidal functionality listed above
• Add settable acceleration and velocity limits to hebi::Arm object. By default these are set based on the module types in the HRDF file, defaulting to infinity for basic "joint" types. When setting a new goal, these limits are respected and the trajectory timestamps are rescaled if necessary to prevent exceeding the limits.
• Add several new arm::Goal constructors allowing creation of a goal by defining position and velocity but not accelerations
• Do not limit unicast lookup addresses to current network interface address ranges (from C API update 2.22.1)
• Fixed RX sequence number of receive timestamps on GroupFeedback objects read from log files (from C API update 2.23.0)
• Performance optimization when writing logfiles, and other improved internal error handling (from C API update 2.23.0)
• Contributors: Hariharan Ravichandran, Matthew Tesch

3.15.0 (2025-09-29)

• Update HEBI C++ API to version 3.15.0
• 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
• Contributors: Hariharan Ravichandran

3.13.1 (2025-07-28)

• Fix for unset environment variables in hebi/CMakeLists.txt
• Contributors: Hariharan Ravichandran

3.13.0 (2025-07-18)

• Add non-const Group and EndEffector getters to Arm class, and Group getters to EndEffector class
• Added [Arm.setEndEffector]{.title-ref} 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]{.title-ref} and [.getMaxEfforts]{.title-ref} functions to get max speeds and efforts for DoFs
• Added [Group.logUserState]{.title-ref} function to write a timestamped UserState event directly to the log file (can be viewed in Scope plots)
• Added [Trajectory.getMinMaxPosition]{.title-ref}, [getMaxVelocity]{.title-ref}, and [getMaxAcceleration]{.title-ref} 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
• Suppressed uninitialized member warnings
• Contributors: Hariharan Ravichandran, Matthew Tesch, G.V. Keerthi

3.12.3 (2025-02-10)

• Fixed CMakeLists.txt to include proper C API files
• Contributors: Hariharan Ravichandran

3.12.2 (2025-02-07)

• Update HEBI C++ API to 3.12.2
• Contributors: Hariharan Ravichandran

3.10.1 (2025-02-03)

• Fix colcon build with symlink error
• Fix symlink for major version
• Contributors: David Conner, Hariharan Ravichandran

3.10.0 (2024-08-30)

• Features/Changes:
  • add dynamics comp + doubled joint plugins
  • add getters/setters for impedance control plugin
  • use doubles instead of floats in arm plugins (minor change in experimental arm class)
  • 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 withing RobotConfig

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