Release v1.5.1

Added

• [mc_tasks] Allow to set the damping on PostureTask
• [mc_tasks] Log eval and speed in most tasks

Fixes

• [mc_control] Add missing implementation for some (multi-robot) MCGlobalController functions

Release v1.5.0

Changes

• Output torques are automatically computed when a dynamics constraint is added to the solver (#52)
• mc_rtc::Configuration error reporting now reports the source of error (#60)
• Real robots instance are now created for all robots loaded by a controller
• Observer pipelines have been overhauled (#61); see the refreshed tutorial for details
• If a RobotModule provides torque derivative or joint acceleration bounds those will be enforced by (resp.) DynamicsConstraint and KinematicsConstraint

Added

• [GUI] Added Table element with formatting support (#45/#47)
• [mc_rbdyn] Add an API to find force sensors indirectly attached to a surface
• Support for simple collision shapes described in URDF (#53)
• Suppport for wildcard collision specifications (#53)
• GUI monitoring for collisions (#53)
• User configuration for the build and install script (#48)
• Support for specifying torque derivative and joint acceleration bounds in RobotModule
• mc_naoqi public release, an interface for SoftBank Robotics robots
• Support for logging std::array<double, N> (#62)
• Wrench completion criteria for SurfaceTransformTask (#63)
• Admittance sample controller (!215)

Fixes

• Support for Ubuntu Focal/ROS noetic in utils script/CI
• Support for Debian Buster/ROS noetic in utils script/CI
• Fix several issues with special plots in mc_log_ui
• Publish up-to-date surfaces in ROS TF (#44)
• Improve documentation for completion criteria (#50)
• C-string overload for GenericLoader (fixes possibly ambiguous calls)
• Fix initialization issues
• Simplified device interface (#51)
• Fix an issue with collision transforms initialization
• Fix an issue with FSM executor perf entry logging
• Improved StabilizerTask/StabilizerState configurability (#23)

Release v1.4.0

Changes

• [FSM] Deprecates the use of robotIndex in favor of robot name robot
• bodyWrench and surfaceWrench can now be computed with joints between the sensor and body/surface
• Message state can be used to display messages in the GUI as well as the CLI
• Benchmarks can now be compiled and run with the build_and_install.sh script
• Use RBDyn::Parsers instead of mc_rbdyn_urdf
• Functions that use mc_rbdyn_urdf were kept for backwards compatibility, they will be removed in a later release
• Improve error reporting when some tasks parameters are not set correctly
• mc_rtc::log::info, mc_rtc::log::success, mc_rtc::log::warning and mc_rtc::log::error replace the respective LOG_* macros, they use the spdlog library for asynchronous logging and modern formatting support
• LOG_* macros are now deprecated, they will be removed in a later release

Added

• New benchmark for task allocation performance
• Support for std::unordered_set in mc_rtc::Configuration
• Added performance measurements to the FSM

Fixes

• Fix and upgrade benchmarks compilation
• Correctly teardown the last FSM state
• Computed contact forces are logged with a unique identifier
• Improve Python 3 compatibility for mc_log_ui

Release v1.3.0

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

Release v1.2.1

Added

• Friction support for FSM contacts

Fixes

• Bug when removing contacts from the GUI
• Loading of mc_rbdyn::Contact from YAML/JSON now supports friction

Release v1.2.0

Added

• CoM task is now optional in AddRemoveContact state
• timeout API for ControllerClient
• XY and 3D plots support in mc_log_ui
• animation support in mc_log_ui
• mc_rtc::DataStore to store arbitrary data and callbacks available across states
• Python bindings for robot().module() and controller configuration
• ZMP compensation control (ZMPCC) is now possible with the LIPMStabilizer
• Safety settings for gripper control can now be modified
• MetaTasksState can now deliver outputs relative to the completed task
• ParallelState output can be controlled more finely
• Contact friction can be set on a per-contact basis

Changes

• Simplify usage of constraint helpers
• Create a default CompoundJointConstraint for the main robot
• mc_log_ui uses PyQt5 instead of PySide

Fixes

• mc_tasks::GazeTask: fix a possible division by zero
• ROS support on macOS in build script
• Fix ROS linking issue, ensuring the ROS based tasks are available if the plugin is loaded
• Check 3rd-party CMake targets existence before creating them
• Improve constraint helpers documentation
• Fix typos in documentation and website
• Pass down mc_rtc version to Python bindings
• Improve build script ability to handle incremental updates
• Correct issue in calling MCController::loadRobot after the controller was started
• CoMTask logging correctly reports the current CoM
• Changing active/inactive joints while a task is in the solver will actually do nothing (as documented)

Release v1.1.0

Added

• mc_tasks::lipm_stabilizer::StabilizerTask and
  mc_control::fsm::StabilizerStandingState allow to use a state-of-the-art
  biped stabilizer in a stand-alone controller or as a parallel state in an FSM.
  Refer to the [stabilizer documentation] for more details
• JSON/YAML documentation for the FSM states provided by the framework

Changes

• Split interface and macros header to improve incremental compilations of the
  framework. In some cases it might require to include the macros explicitely
• virtual void update() in the mc_tasks::MetaTask interface has been
  changed to virtual void update(mc_solver::QPSolver & solver)

Fixes

• JVRC1 and env modules now correctly set _visual

Release v1.0.1

Added

• mc_rtc::MC_RTC_VERSION and mc_rtc::version() for compile/run-time discrepancies checking

Fixes

• [mc_rbdyn] Allow aliases to specify a string
• [mc_rbdyn] Allow loading aliases of aliases

Release v1.0.0

First public release

• Website
• Tutorials
• Installation