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Release v1.3.0
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@github-actions github-actions released this 07 May 03:34
· 2046 commits to master since this release
v1.3.0
6d25785
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gergondet Pierre Gergondet
GPG key ID: 220D644C64666806
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Learn about vigilant mode.

Added

  • mc_tasks::MomentumTask
  • mc_rbdyn::RobotModule can specify a different URDF for showing the real robot
  • mc_log_ui now has an icon and a dedicated .desktop file

Changes

  • mc_solver::QPSolver always makes sure to udpate the problem size
  • Many tasks throw as documented when pre-conditions are not met (e.g. surface does not exist or has no sensor attached)

Changes

  • Improve gripper handling so that MCGlobalController handles gripper update
  • All robots' grippers are loaded and run by the controller
  • Gripper interface is available from the Robot class
  • Gripper logging and publishing are correctly handled in a way transparent to the controller
  • Gripper joints are hidden from the posture task GUI
  • Gripper safety settings can be provided at the Gripper definition level or at the RobotModule level

Fixes

  • Enforce the list of supported robots provided by a controller
  • Throws an error if selected joints do not exist
  • Correctly handle default case in Contact GUI menu
Assets 4
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