Release v2.5.0

Added

• [mc_control] GenericGripper now computes alphaOut (#365)
• [StabilizerTask] Add a new method for force distribution based on horizon reference (#359)
• [mc_rtc_ticker] Add an option to continue after the replay
• [utils/mc_log_ui] Show a warning before displaying many plots at once

Fixes

• [doc] Fix schema resolution issue to display the documentation correctly
• [mc_tasks/BSplineTrajectoryTask] Use frame instead of surface
• [Replay] Fix issues with datastore replay
• [Replay] Add a GUI to control the iterations outside of the ticker (#367)
• [StabilizerTask] Put kappa in gamma computation, avoids issue far from the origin
• [Ticker] Use outputRobots for the input
• [Ticker] Correctly enfore with-inputs option
• [Ticker] Do not run as fast as possible after a failure
• [utils/mc_log_ui] Show correct order for numerical entries of size > 9
• [utils/mc_log_ui] Show the grid when only right-side graphs are selected

Release v2.4.0

Changes

• The debug loader suffix now defaults to the empty string on non Windows platform, meaning debug components can be installed along a release install (#356)

Added

• [cmake] Add the MC_RTC_LOADER_DEBUG_SUFFIX option, allow to override globally or locally the debug suffix (#356)
• [cmake] Add the MC_RTC_HONOR_INSTALL_PREFIX option, allow to install components outside of mc_rtc install tree (#356)
• [mc_control] Introduce a built-in ticker with replay capabilties (#357)
• [mc_control] Allow to check that a collision is active
• [mc_control] Add support for wildcard collision removals

Fixes

• [GUI] When passing a source to GUI elements, pass the same source to all elements added in this call
• [mc_control] Correctly remove collision monitor buttons
• [mc_control] Log the output robot rather than the control robot for a clearer view on the output of mc_rtc
• [mc_tvm] Uses the convex's parent rather than the convex's frame

Release v2.3.0

Changes

• [mc_control] r1 and/or r2 are now optional when specifying a contact via YAML, it is interpreted as MainRobot (#349)

Added

• [mc_rtc] Add simple queries for Configuration (isArray, isObject, isString, isNumeric)
• [mc_rtc] Introduce helpers for working with member variables in GUI (#299)
• [mc_rtc] Introduce helpers to work with visual elements in GUI (#299)
• [mc_rtc] Add support for std::optional<T> in Configuration (#349)

Fixes

• [bindings] Unhandled Python exceptions thrown from Python controllers and states are now shown
• [bindings] GUI Transform callbacks now receive a sva.PTransformd object instead of an empty list
• [doc] Documentation fixes (#344/#354)
• [mc_control] Fix lifetime bugs introduced by robot's specific configuration handling
• [mc_control_client] Correctly detect strings in Table formatting
• [mc_control_client] Improve handling of Trajectory messages
• [mc_filter] Fix LowPassFiniteDifferences reset
• [mc_rbdyn] Fix various issues with handling of collision transforms (#347)
• [mc_solver] Handle continuous joints in TVM backend
• [mc_solver] Fix joint velocity limits in TVM backend
• [utils] Avoid apt upgrades

Release v2.2.0

Added

• [mc_control] Add support for robot's specific configuration automated loading (#327)
• [mc_control] Add support for configuration overwrite (#339)

Changes

• [mc_rtc] Change notification emergency level so they disappear automatically

Fixes

• [bindings] Improve incremental builds (#340)
• [mc_control] Fix potential segfault on exit due to libraries unloading
• [mc_control] Expose constructors for backend specific controllers
• [mc_solver] Fix inSolver logic for ConstraintSet

Release v2.1.0

Added

• [mc_tasks] Added an option to disable CoP constraints in the stabilizer (#335)
• [mc_tasks] Added FirstOrderImpedanceTask (#332)

Fixes

• [mc_control_client] Fix polyhedron handling (#336)
• [utils] Fix usage of matplotlib in older versions

Release v2.0.1

Changes

• [mc_rtc] Update logging format for performance purposes (#330)
• [utils] Updated style of generated controllers (#328)

Fixes

• [debian] Correctly superseeds the libmc-rtc1 package
• [mc_tasks] Initialize target wrench in ImpedanceGains

Release v2.0.0

General

The TVM backend is now available (#322). When this backend is used, one can access the extra functionalities provided by [TVM].

mc_tvm is also introduced. This provides [TVM] robotic functions using mc_rtc components.

mc_control::TasksController (resp. mc_control::fsm::TasksController for the FSM) and mc_control::TVMController (resp. mc_control::fsm::TVMController) are available to use a specific backend and make their extra functionalities readily available.

Added

• [mc_rtc] Added mc_rtc::log::notify which sends a desktop notification (#311)
• [mc_log_ui] Add plot of RPY angles time derivative (#317)
• [mc_tasks] Add a DCM bias accessor to the stabilizer (#310)
• [mc_tasks] Make foot force difference control 3D in the stabilizer (#310)
• [mc_tasks] Add PostureTask::jointWeights (#316)

Changes

• [mc_control] FSM executor cannot be moved or copied to prevent misuse (#324)
• [mc_control] Default constraints use an std::unique_ptr wrapper to prevent misuse (#313)

Fixes

• [mc_log_ui] Fix 3D plots for recent matplotlib (#323)
• [mc_log_ui] Fix saving of user plots for XY and 3D plots

Release v1.14.2

Fixes

• Ensure the context backend is always set in the controller run/reset function
• Safeguards against inclusion of different backend's constraints

Release v1.14.1

Fixes

• [HalfSitController] Do not reset the self collision constraint pointer to zero

Release v1.14.0

Changes

• [mc_control] Introduced output robots that allow to decouple the control model from the output model (#303)
• [mc_rbdyn] Sensors' data is now shared among all instances of a "same" robot (i.e. control/real/output/outputReal) (#303)
• [mc_rbdyn] Sensors' data can no longer be set through the Robot interface (#303)
• [mc_solver] QPSolver is now an abstract class, many implementation details of tasks/constraints are now hidden (#254)

Fixes

• [GUI] Live plots now contain all data regardless of the GUI timestep (#300)
• [mc_tasks] Make the DCM estimator compatible with external wrenches in the stabilizer (#301)
• [mc_observers] Fix kinematic inertial IMU pose (#306)