DSFE v0.8.0r-alpha Implicit Integration release

What's Changed

• Add/full rigid body dynamics - moving from diagonal to full model by @SaltyJoss in #68
• Synchronise merge by @SaltyJoss in #69
• Revise Todo List format and item status by @SaltyJoss in #70
• Refactor of RobotSystem.cpp by @SaltyJoss in #72
• Refactor/code seperation by @SaltyJoss in #73
• refactor: refactored robot joint state naming and add energy metrics by @SaltyJoss in #74
• Add/implement energy metrics by @SaltyJoss in #75
• DSFE Architecture Refactor: Batch Parallelisation, GUI and Core seperation, and general QoL (anti-smell 😄) updates by @SaltyJoss in #76
• Update README with task completion and new references by @SaltyJoss in #77
• Dev by @SaltyJoss in #79
• Update README with DSFE running instructions by @SaltyJoss in #80
• Revise disclaimers and project motivation section by @SaltyJoss in #81
• Fix formatting and improve clarity in README by @SaltyJoss in #82
• Dev by @SaltyJoss in #84

Full Changelog: v0.7.1r-alpha...v0.8.0r-alpha

v0.7.1r-alpha

What's Changed

• merge(Dev); General fixes to correct path mistakes by @SaltyJoss in #62
• fixes: buffer-based logging for robot sim and trajectory refs by @SaltyJoss in #63
• refactor: improved sim settings and UI dt controls, added gravity param by @SaltyJoss in #64
• fixes: telemetry results page fixes, improving first size, first position, and general pipeline by @SaltyJoss in #65
• Revise project details and roadmap in README by @SaltyJoss in #66
• Add/full rigid body dynamics - replacing old by @SaltyJoss in #67
• Update Readme by @SaltyJoss in #71

Full Changelog: v0.6.3r-alpha...v0.7.1r-alpha

Disclaimer:
I used githubs copilot to generate this release summary, as its the quickest way for me attach this release!
I you need more information, feel free to contact me (@SaltyJoss).

DSFE v0.7.0r-alpha corrected physics report release

What's Changed

• Revise project details and roadmap in README by @SaltyJoss in #66
• Add/full rigid body dynamics - replacing old diagonal model, by @SaltyJoss in #67

More Info:

Full Changelog: v0.6.0r-alpha...v0.7.0r-alpha

DSFE v0.6.3r-alpha full-body matrix pre-release

Whats Changed:

• Replaced the previous diagonal dynamic rigid-body model with a full-matrix model
• Introduces increased physical realism
• Moves from effectively decoupled oscillators to coupled Hamilitonian dynamics

Notes:

• Still very much a work in progress
• Much more complex
• I (@SaltyJoss) am still learning, and honestly feel out of my depth, but testing wise this seems to be outputting more transparent results!

Full Changelog: v0.6.0r-alpha...v0.6.3r-alpha

DSFE v0.6.0r-alpha Report Release

(v0.6.0r-alpha):

Dissertation Report Release

What does this mean?

• Unless specified, this is the release used in @SaltyJoss's final year dissertation.
• It contains all the features and logic necessary to conduct numerical analysis of each explicit integration method used with the simulated dynamical system (robotic arm).

Important:

• If any mistakes are found, please let @SaltyJoss know.
• If any licenses or relevant mentions have been missed, please let @SaltyJoss know.

---

What's Changed

• refactor: improved sim settings and UI dt controls, added gravity param by @SaltyJoss in #64
• fixes: telemetry results page fixes, improving first size, first position, and general pipeline by @SaltyJoss in #65

Full Changelog: v0.5.3-alpha...v0.6.0r-alpha

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DISCLAIMER:
This Whats Changed section of this summary was generated by GitHubs Copilot, and fully checked by @SaltyJoss.

DSFE v0.5.3-alpha technical preview

What's Changed

• update dev inline with Main branch by @SaltyJoss in #42
• Feature/joint friction remodel by @SaltyJoss in #44
• Refactor/robot metrics by @SaltyJoss in #46
• Updating dev with critical Main changes by @SaltyJoss in #52
• Fixes/fix robotic arm model transforms by @SaltyJoss in #53
• Add H1 robotic system and VISPA model references by @SaltyJoss in #58
• fixes: rk45 integration method implementation corrected to produce re… by @SaltyJoss in #59
• UI/tweak plots and general UI fixes by @SaltyJoss in #60
• merge(dev): integrate rendering updates, robotics models, and integrator fixes into main by @SaltyJoss in #61
• merge(Dev); General fixes to correct path mistakes by @SaltyJoss in #62
• fixes: buffer-based logging for robot sim and trajectory refs by @SaltyJoss in #63

Full Changelog: v0.5.0-alpha...v0.5.3-alpha

DISCLAIMER:
These release notes were generated from my own commits, I believe they are sufficient.
However if more information is needed, please let me know!

DSFE v0.5.0-alpha technical preview

What's Changed

• General house keeping improvements by @SaltyJoss in #55
• Add robotic models section to README by @SaltyJoss in #56
• Graphical and UI improvements / Comparitive analysis plots added by @SaltyJoss in #57

Full Changelog: v0.4.0-alpha...v0.5.0-alpha

v0.4.0-alpha

Whats Changed:

• Added 3 new robotic arm model, courtesy of:
  • Google Deepmind's https://github.com/unitreerobotics/unitree_ros repo for open source models used in the MuJoCo Engine
  • StandforASL's https://github.com/StanfordASL/PandaRobot.jl repo for Panda
  • Unitree Robotics's https://github.com/unitreerobotics/unitree_ros for the Z1 and UR5e robotic arms)
• assimp toolset mismatch by @SaltyJoss in #51
• fixes: release build pipeline, correcting debug linked libraries in the release programs, and improving overall stability of program structure @SaltyJoss in #51
• Fixes/fix robotic arm model transforms + implementation of new robotic models by @SaltyJoss in #54

Full Changelog: v0.3.0-alpha...v0.4.0-alpha

v0.3.0-alpha

What's Changed

• Refactor of Robot Joint and Reference metrics by @SaltyJoss in #46
• Computation of Gravity Torque, and integration with current model-based PID controller by @SaltyJoss in #49

Full Changelog: v0.2.0-alpha...v0.3.0-alpha

Notes:

• Correction of model-based PID Controller

  • Model idea (generalised, conceptual):
    $\tau = \left( K_p e(t) + K_i \eta(\tau) + K_d \dot e(t) \right) + \left( M(q)\ddot{q} + C(q,\dot{q})\dot{q} + G(q) \right) - \left(\tau_c + \tau_f \right)$

  • Where:

    • $K_p$ = Proportional Gain
    • $K_i$ = Integral Gain
    • $K_d$ = Derivative Gain
    • $M(q)\ddot{q}$ = Mass Matrix
    • $C(q,\dot{q})\dot{q}$ = Coriolis Matrix/Centrifugal Force
    • $G(q)$ = Gravity Vector
    • $\tau_c$ = viscous damping
    • $\tau_f$ = Coulomb friction

  • Before:
    $\tau = \left( K_p e(t) + K_d \dot{e(t)} \right) + I_{\text{eff}} \alpha_{\text{ref}} - c\dot{q} - \mu \tanh!\left(\frac{\dot{q}}{v_{\varepsilon}}\right) - \tau_C$

  • Where:

    • $I_{\text{eff}}$ = Effective Inertia
    • $\alpha_{\text{ref}}$ = reference joint acceleration
    • $\tau_C$ = Coriolis/Centrifugal Torque

  • After:
    $\tau = \left( K_p e(t) + K_i \eta(\tau) + K_d \dot{e(t)} \right) + \left( I_{\text{eff}} \alpha_{\text{ref}} + \tau_C + \tau_G \right) - \left( c\dot{q} + \mu \tanh!\left(\frac{\dot{q}}{v_{\varepsilon}}\right) \right)$

  • Where:

    • $\eta(t) = \int_{0}^{t} e(s), ds$, where $(s)$ is a dummy integration variable representing time.
    • $\dot{\eta}(t)$ = $e(t)$
    • $I_{\text{eff}}$ = Effective Inertia
    • $\alpha_{\text{ref}}$ = reference joint acceleration
    • $\tau_C$ = Coriolis/Centrifugal Torque
    • $\tau_G$ = Gravity Torque

Disclaimer: I have approached my current release by using that generalised formula, and applying it computationally, please correct me if you see anything wrong!

• New scripts created, intitial templated made by GitHub Copilot, then checked and edited by @SaltyJoss.

DSFE v0.2.0-alpha technical preview

What's Changed

• Update author information and release date by @SaltyJoss in #41
• final preperation for alpha release v0.1.0 by @SaltyJoss in #40
• Update Main with dev changes by @SaltyJoss in #43
• Coriolis addition, Code cleanup and refactoring by @SaltyJoss in #45

Notes:

• Improves physical realism, stability, and robustness of joint-level simulation under high gains and aggressive trajectories
• Introduction of a state-consistent joint-space dynamics model, including an energy-consisten Coriolis/Centrifugal approximation
• Resolves numerical instability seen under explicit integration by aligning dynamics evaluation with the integrator state

Full Changelog: v0.1.0-alpha...v0.2.0-alpha