Changelog

Unreleased

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

Added

New benchmark for task allocation performance

Fixes

Fix and upgrade benchmarks compilation

1.3.0 - 2020-05-07

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

1.2.1 - 2020-03-18

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

1.2.0 - 2020-03-17

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)

1.1.0 - 2020-01-15

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

1.0.1 - 2020-01-02

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

1.0.0 - 2019-12-23

Initial release