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Release Notes

Overview

This document records the release history, major updates, improvements, and known issues of the PI Plus platform.

Each release follows a structured format to ensure traceability and clarity for developers and users.

Versioning Scheme

The platform uses a semantic versioning format:

MAJOR.MINOR.PATCH
  • MAJOR: Breaking changes or major architectural updates
  • MINOR: New features and improvements
  • PATCH: Bug fixes and minor adjustments

[v1.0.0] - Initial Release

Highlights

  • First stable release of PI Plus platform
  • Full configuration-driven architecture
  • Joint-centric control model implemented
  • CAN-FD based motor communication supported
  • Basic humanoid configuration (25 DOF) supported

Features

Core System

  • Modular system architecture (hardware → control → behavior → intelligence)
  • Configuration-driven robot definition:
  • robot_param.yaml
  • joints.yaml
  • URDF integration
  • Multi-robot variant support via robot_type

Control

  • Joint-level control interface
  • PD controller support (kp, kd configurable per joint)
  • Joint limits enforcement
  • Direction mapping and offset calibration

Hardware Interface

  • CAN-FD communication support
  • Multi-CAN port architecture
  • Motor abstraction layer

Simulation Compatibility

  • Consistent joint definition with URDF
  • Sim-to-real compatible joint ordering and mapping

Improvements

  • Improved configuration clarity and structure
  • Unified joint naming conventions
  • Better separation between hardware and control layers

Known Issues

  • No built-in state estimator (EKF/UKF not included)
  • Limited built-in debugging tools
  • Manual tuning required for gains (kp/kd)
  • Some configuration fields lack validation

Notes

  • This release is designed primarily for developers and researchers
  • Not optimized for plug-and-play usage
  • Recommended to verify configuration before deployment

Future Plans

Planned Features

  • State estimation module (EKF / sensor fusion)
  • Improved debugging and visualization tools
  • Auto-calibration utilities
  • Higher-level behavior APIs

Long-Term Direction

  • Better integration with AI agent systems (e.g., OpenClaw)
  • Improved sim-to-real transfer pipelines
  • Enhanced multi-robot scalability

Contribution

If you find issues or want to contribute:

  • Submit bug reports
  • Propose improvements
  • Contribute new modules or configurations

Summary

This release establishes the foundation of the PI Plus platform:

  • Modular
  • Configurable
  • Extensible
  • Ready for integration with modern robotics and AI systems