v0.11.0

Features:

• add collision detection system (#25) by James Harton

• add collision detection module by James Harton

Bug Fixes:

• pass all solver options through BB.Motion by James Harton

Improvements:

• address credo issues and refine collision detection by James Harton

v0.10.0

Features:

• add simulation mode for running robots without hardware (#21) by James Harton

• add Vec3 and Quaternion modules with Transform integration (#22) by James Harton

v0.9.0

Features:

• add diagnostic and performance telemetry by James Harton

• add structured error handling with splode by James Harton

Improvements:

• add @type t to BB.Error.Invalid.JointConfig by James Harton

• make BB.Safety.disarm/2 timeout configurable by James Harton

v0.8.0

Features:

• add param() references and wrapper GenServer pattern (#19) by James Harton

• parameters: allow setting params via start_link options by James Harton

• dsl: add param() references for topology fields by James Harton

• dsl: add param() references in actuator/sensor/controller options by James Harton

Improvements:

• fix arm/disarm actions by James Harton

v0.7.0

Features:

• safety: add hardware error reporting with auto-disarm (#16) by James Harton

v0.6.0

Features:

• add GenServer behaviours with options_schema callbacks (#15) by James Harton

v0.5.0

Features:

• add motion integration for IK solving and actuator commands (#14) by James Harton

Bug Fixes:

• move argument type docs to entity docs field by James Harton

Improvements:

• make alpha channel of color optional by James Harton

• motion: add joint state publishing and flexible target formats by James Harton

v0.4.0

Features:

• add BB.Safety system for centralised arm/disarm control (#10) by James Harton

• add BB.Safety system for centralised arm/disarm control by James Harton

Improvements:

• concurrent disarm callbacks and :disarming state by James Harton

• refactor terminate callback and add safety docs to CLAUDE.md by James Harton

v0.3.0

Features:

• add standard actuator command interface (#9) by James Harton

• add BB.Message.Actuator.EndMotion (#8) by James Harton

• add BB.Sensor.OpenLoopPositionEstimator (#7) by James Harton

v0.2.1

release v0.2.1

[v0.2.1](https://github.com/beam-bots/bb/compare/v0.2.0...v0.2.1) (2025-12-09)