# Changelog
## [3.0.6] - 2025-08-04
### Fixed
- Natural Frequency and Damping Ratio computations
- unresponsive UI when bulk editing min step value

## [3.0.5] - 2025-07-02
### Changed
- fixed refresh when robot changes on stage
- fixed batch editing when tuning gains
- removed "strength" and use stiffness/damping
- Pop up a warning asking for confirmation when save Gains to Physics Layer
- Make frames and table resizable and add scroll bar

## [3.0.4] - 2025-05-19
### Changed
- Update copyright and license to apache v2.0

## [3.0.3] - 2025-05-16
### Changed
- Make extension target a specific kit version

## [3.0.2] - 2025-05-14
### Changed
- Fix deregiter of action when extension is shutdown without version number

## [3.0.1] - 2025-05-12
### Changed
- register action without version number

## [3.0.0] - 2025-05-09
### Changed
- Update extension to use new Core Prim API and Robot Schema
- Redesigned the UI to be more user friendly and intuitive

### Added
- Added a new "Save Gains to Physics Layer" button to the UI
- Added new Sequential mode to the gains test
- Added Natural Frequency and Damping Ratio fields to the gains tuning mode.
- Added automatic selection between Position and Velocity command based on the joint gains
- Added switching between Acceleration and Force modes for the joint setting.

## [2.0.7] - 2025-05-07
### Changed
- switch to omni.physics interface

## [2.0.6] - 2025-04-04
### Changed
- Version bump to fix extension publishing issues

## [2.0.5] - 2025-03-26
### Changed
- Cleanup and standardize extension.toml, update code formatting for all code

## [2.0.4] - 2025-03-24
### Changed
- Migrate to Events 2.0

## [2.0.3] - 2025-01-21
### Changed
- Update extension description and add extension specific test settings

## [2.0.2] - 2024-12-03
### Changed
- Isaac Util menu to Tools->Robotics menu

## [2.0.1] - 2024-10-24
### Changed
- Updated dependencies and imports after renaming

## [2.0.0] - 2024-10-01
### Changed
- Extension renamed to isaacsim.robot_setup.gain_tuner.

## [1.1.2] - 2024-06-13
### Fixed
- Fixed bug where robot with zero-gains causes a math error in trying to take log(0).

## [1.1.1] - 2024-04-23
### Fixed
- Fixed post-test behavior where an Articulation is left with a non-zero velocity command.

## [1.1.0] - 2024-04-16
### Fixed
- Fixed bug where Gains Test Settings Panel had multiple ways of accumulating or forgetting state between tests when switching robots or toggling STOP/PLAY

### Added
- Added fields to add position and velocity impulses to the start of the robot trajectory.

## [1.0.1] - 2024-03-14
### Fixed
- Fixed logic around selecting Articulation on STOP/PLAY given new behavior in Core get_prim_object_type() function.

### Added
- Added helper text telling the user to click the play button to get started.
- Added more text clarifying Gains Test settings.

## [1.0.0] - 2024-03-08
### Added
- Initial version of Gain Tuner Extension
