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Changelog

Unreleased

2.12.0 - 2024-02-29

Added

  • [cmake] Add AUTOLOAD setting to the add_plugin macro to enable autoload (#436)
  • [mc_rbdyn] Add addForceSensor to Robot (#433/#434)

Changes

  • [cmake] The add_plugin macro no longer defaults to AUTOLOAD=ON (#436)

Fixes

  • [cmake] Uninstall autoload files when plugin autoload option is disabled (#436)
  • [mc_control] Trim autoload files so they can be edited manually (#436)
  • [mc_rbdyn] Fix a bug in addBodySensor (#433)

2.11.0 - 2024-02-05

Added

  • [mc_rbdyn/GUI] Add helpers to visualize surfaces and convexes (#431)
  • [mc_rtc/GUI] Added RobotMsg: a complete view of the robot state (#425)
  • [mc_rtc] Add path helpers (#431)
  • [utils/RobotVisualizer] Add a new tool to visualize a robot built on mc_rtc GUI (#431)

Changes

  • [mc_rtc/GUI] Send scale vector for visual mesh instead of scalar (#430)

Fixes

  • [mc_rbdyn] Always use default_attitude to initialize the attitude (#424)
  • [mc_tasks] Clarify usage of targetSurface/targetFrame in ImpedanceTask

2.10.0 - 2024-01-17

Added

  • [mc_control] Support for renaming the main robot via the configuration (#423)
  • [mc_rbdyn] Add addBodySensor to mc_rbdyn::Robot (#419)
  • [mc_rtc] Add support for any fixed size vector to Schema (#422)
  • [mc_rtc] Add std::map<std::string, T> support in Schema (#412)
  • [mc_solver] Add support for inactive joints in a collision (#416)

Fixes

  • [StabilizerTask] Fix disabling when the robot is in the air (#411)

2.9.3 - 2023-10-16

Added

  • [mc_bin_utils] Add an option to show the initial configuration of the robot
  • [mc_bin_utils] Add an option to show the calibration data used by the robot

Fixes

  • [mc_control] Correctly resume logging on reset
  • [mc_control/FSM] Only start the idle state on the first reset
  • [Replay] Only remove robots published by the controller
  • [StabilizerTask] Use a non-throwing variant of Robot::zmp
  • [utils/mc_log_ui] Stop the animation before saving it

2.9.2 - 2023-10-16

Fixes

  • [ROS] Correctly initialize ros2
  • [ROS2] Publish description and parameters as topics rather than parameters

2.9.1 - 2023-10-13

Fixes

  • [debian] Package dependency fix in Jammy and later releases
  • [cmake/ROS] Do no let ament intefere with the uninstall target

2.9.0 - 2023-10-11

Added

  • [mc_rtc] Added beta version of mc_rtc::Schema (#396)
  • [mc_rtc] Logs now contain the initial configuration of the robot (#398)
  • [mc_rtc] Logs now contain the force sensors' calibration parameters (#398)

Fixes

  • [debian] Fix the ros-@ROS_DISTRO@-mc-rtc-plugin package in ROS2
  • [Replay] Use new information in the logs to improve replay accuracy (#398)
  • [utils/mc_log_ui] Fix comparison loading in Python 3

2.8.0 - 2023-09-19

Added

  • [mc_control] Added motor status to joint sensor (#395)
  • [mc_control/FSM] Posture tasks' reset can be disabled (#389)
  • [mc_rtc/Configuration] Added support for std::variant (#393)
  • [mc_rtc/Configuration] Added Configuration::find (#393)
  • [mc_rtc/GUI] Added form elements to provide more complex forms (#394)

Changes

  • [mc_control/FSM] FSM embedded in a Meta state no longer reset the posture at transition by default (#389)

Fixes

  • [mc_observers] KinematicInertial uses the correct function from state-observation (#391)
  • [mc_solver] Fix a crash in monitor activation
  • [mc_tvm] Correctly include refAccel in Orientation|PositionFunction

2.7.0 - 2023-09-06

Added

  • [bindings] Add bindings for ControllerClient (#384)
  • [mc_rtc] Allow to override existing log entries (#383)
  • [mc_rtc] Allow "chunky" XY plot updates (#386)
  • [mc_solver] ConstraintSet now has an update mechanism (#381)
  • [Samples: CoM] Support the Pepper robot

Changes

  • [StabilizerTask] Improve force distribution and CoP horizon reference (#375)
  • [mc_rbdyn] Convex objects are now automatically updated (#385)
  • [mc_solver] Collision constraint automatically display distance arrows when the distance falls below the interaction distance (#381)

Fixes

  • [bindings] Fix build for Cython >= 3.0.0
  • [cmake] Fix issue with yaml-cpp >= 0.8.0
  • [mc_control] Fix logging of plugin performances (#383)
  • [mc_observers] KinematicInertial uses function from state-observation (#388)
  • [mc_rbdyn] Fix loading of devices with canonical robots (#379)
  • [mc_rbdyn] Fix compilation with geos >= 3.12.0
  • [Replay] Fix output replay on fixed-based robots
  • [Replay] Avoid precision issue when comparing controller timestep with replay timestep

2.6.0 - 2023-06-13

General

This release is the first to support ROS2. Packages are provided for the ROS2 iron distribution under Ubuntu Jammy.

Added

  • [mc_control] FSM's state output can be set from a PythonState
  • [mc_observer] Add general configuration files and robot-specific configuration files for observers (#373)
  • [mc_rtc] It is now possible to log arbitrary fixed size vectors (#369)
  • [mc_solver] Allow to select active joints in CoMIncPlaneConstr (#374)

Changes

  • The mc_observers physical library has been removed. The symbols are now part of the mc_control library. For backward compatibility purposes, the mc_rtc::mc_observers target is still available.

Fixes

  • Avoid a crash when switching between two Python states (#372)

2.5.0 - 2023-05-22

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

2.4.0 - 2023-04-17

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

2.3.0 - 2023-03-07

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

2.2.0 - 2023-02-08

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

2.1.0 - 2023-01-25

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

2.0.1 - 2023-01-20

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

2.0.0 - 2023-01-13

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

1.14.2 - 2022-12-06

Fixes

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

1.14.1 - 2022-12-01

Fixes

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

1.14.0 - 2022-11-29

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)

1.13.0 - 2022-10-16

Changes

  • [general] mc_rtc now uses C++17 (#297)

Added

  • [mc_control] Publish joint sensors in ROS (#293)
  • [mc_rbdyn] Add a non throwing version of ZMP computations (#292)
  • [mc_rbdyn] Add const accessor for grippers (#298)
  • [mc_rtc] Add gui::Polyhedron element (#296)
  • [mc_tasks] DCM derivative gains are now 2D (#295)

Fixes

  • [mc_control] Fix gripper initialization issue (#291)
  • [mc_control] Fix assumption around robot.hasJoint
  • [mc_tasks] Set roll and pitch target of torso to 0 in StabilizerTask (#175)
  • [mc_tasks] Fix foot force difference control issue in StabilizerTask (#290)

1.12.0 - 2022-09-07

Changes

  • [mc_control] GUI can be accessed from a const controller (#282)

Added

  • [mc_control] Add EnableController callback in Datastore and the EnableController state (#278)
  • [mc_control] Add JointSensor and related interfaces (#279)
  • [mc_rbdyn] Load compound joints description from RobotModule yaml/json files (#273)
  • [mc_solver] Allow to specify compound joint constraints outside of the RobotModule (#273)
  • [mc_tasks] Datastore calls to set external wrenches for the stabilizer and set the CoP admittance gains (#276)

Fixes

  • [general] Fix build for fmt >= 0.9.0 and Python >= 3.9
  • [mc_control] Fixes oberved state on controller switch (#276)
  • [mc_control] Fixes about initialization of the robot attitude when specified in the controller (#275/#286)
  • [mc_log_ui] Fixes animations on right side in Python 3
  • [mc_log_ui] Fix a bug when NaN values are explicitly logged
  • [mc_log_ui] Avoid failed imports in headless environments
  • [mc_tasks] Do not filter the feedforward velocity in admittance tasks (#261)
  • [mc_tasks] Reset of StabilizerTask when already active (#276)
  • [mc_tasks] Fix a stabilizer issue when standing far from the origin (#285)

1.11.0 - 2022-07-08

Highlights

mc_rbdyn::Frame and mc_rbdyn::RobotFrame have been introduced. This removes the unnecessary distinction between bodies and surfaces that has existed in the framework. (#247)

API breaks

  • mc_rbdyn::Robots cannot be created directly anymore, one has to go through a factory function (#247)
  • mc_rbdyn::Robots stores indiviual robot as pointer and in particular robots.robots() returns a self reference instead of vector<Robot>, Robots behaves a little more like a vector now to mitigate the impact of this change (#247)
  • EndEffectorTask and co. cannot use a bodyPoint in their constructor anymore, proper frames should be used instead (#247)
  • VectorOrientationTask and co. cannot set or get the bodyVector after the fact anymore (#247)

Deprecations

  • Usage of body or surface in JSON/YAML is deprecated in favor of frame, the doc will only show frame but it should continue to work with all old JSON/YAML files (#247)
  • Idem for specifications of relative targets (#247)

Changes

  • [mc_control] Many functionalities of FSM controllers -- notably simplified contact and collision manipulations and configuration based initialization -- are now available in basic controllers (#250)

Added

  • [mc_control] Controllers can specify extra frames in their configuration frame (#251)
  • [mc_control] Controllers can specify different init_pos for different MainRobot (#251)
  • [mc_rbdyn] Add an overload to load a robot module with a custom name
  • [mc_rtc_utils] mc_rtc::shared is a wrapper around std::enabled_shared_from_this to allow reference-style API where the data is backed by a shared pointer (#247)
  • [mc_tasks] All tasks (when it makes sense) can accept a frame at construction (#247)
  • [mc_solver] mc_solver::BoundedSpeedConstr can be used to constraint a frame velocity (#247)
  • [mc_solver] Active joints in a collision can be specified via mc_rbdyn::Collision objects (#262)
  • [utils] build_and_install now supports Ubuntu Jammy (22.04) (#248)
  • [utils] build_and_install can now install the Panda module (#249)

Fixes

  • [debian] Python bindings now include mc_observers
  • [fsm::Meta] Fix missed iterations at the start of meta states (#257)
  • [mc_control] Make robot position initialization consistant (#245)
  • [mc_rbdyn] Fix initialization of the default body sensor (#258)
  • [utils] Fix issues with pip/pip3 on Ubuntu Focal (#246)
  • [utils] Honor forced selection of Python for mc_log_ui

1.10.0 - 2022-04-06

Tutorials translation

mc_rtc website and tutorials are now available in Japanese (#225/#231)

Removed

  • mc_rbdyn_urdf is no longer used by mc_rtc, all related APIs that were deprecated have been removed in this release (#243)

Added

  • [mc_tasks/Stabilizer] Add CoM correction using bias estimation (#227)
  • [mc_rtc] A source can be provided when adding GUI elements to simplify cleanup code (#237)
  • [mc_solver] Added FeedbackType::ClosedLoopIntegrateReal (#240)
  • [bindings] RPY utils are now available in mc_rbdyn bindings (#236)

Changes

  • [mc_control] Improve handling of metric grippers
  • [mc_control] mc_control::fsm::State::configure now has a reasonable default implementation based on existing practice (#238)
  • [mc_control] Data is now logged for all active robots in the controller automatically (#241)
  • [mc_rtc] log_error_and_throw now defaults to std::runtime_error and includes a stacktrace (#224)

Fixes

  • [mc_control] env/ground is used as the new default environment module
  • [mc_rbdyn] Normalize the rotation provided to posW for fixed base robots
  • [mc_rbdyn] RobotModule::init(rbd::parsers::ParserResult) does not overwrite the reference joint order if it was already provided
  • [mc_rbdyn] RobotModule::expand_stance does not include the Root joint
  • [mc_tasks] Align posture task gains' GUI with other tasks
  • [mc_tasks] Avoid cutoff period overwrite in impedance tasks (#227)
  • [mc_tasks] Conserve dimWeight value when joints' selection is changed
  • [ROS] Ensure all published quaternions are normalized (#242)

1.9.0 - 2022-02-10

New build tool

  • Introduce mc-rtc-superbuild a new tool to replaced the build_and_install script
    • See #221 for a list of benefits of mc-rtc-superbuild over build_and_install
    • build_and_install will be maintained and should keep working for a while but new users are advised to use the superbuild tool instead
    • You can start using mc-rtc-superbuild if you are using build_and_install already but this will require a full rebuild

Changes

  • hpp-spline has been dropped in favor of the actively maintained ndcurves (#210)
  • Ubuntu Xenial (16.04) is no longer actively supported
  • [mc_control] Allow plugin loaded at the controller level (#198)
    • See the global plugins tutorial for caveats and details regarding configuration
  • [mc_control_fsm] A state final name is now correctly state when it enters ::configure for the first time (#218)
  • [mc_log_ui] Autoscaling has been improved (#222)
  • [mc_rbdyn/mc_control_fsm] Contacts now compare equal regardless of the robots' order (i.e. r1::s1/r2::s2 == r2::s2/r1::s1) (#202)
  • [mc_rtc] YAML improvments (#208/#213)
    • Allow to use the merge key from YAML 1.1
    • Disable y/n and yes/no bool conversion
  • [mc_rtc] ObjectLoader sandboxing has been removed (#217)

Fixes

  • [build_and_install] Fix permissions issues on ninja logs
  • [cmake] Handle building on aarch64 (#217)
  • [cmake] Honor GNUInstallDirs (#217)
  • [mc_control] Fix crash on controller restart/reset (#206)
  • [mc_control] Fix issues with removeRobot (#207)
  • [mc_log_ui] Fix many functionalities when running in Python 3 (#222)
  • [mc_rbdyn] Fix stabilizer configuration loading (#206)
  • [mc_solver] Automatically swap contact order if the first robot has no dof (#202)
  • [mc_tasks] Correct name setting for EndEffectorTask

Added

  • [GUI] Forms can now have dynamic elements (#197)
  • [GUI] New plots can be added to a plot after it has been added (#197)
  • [mc_bin_utils/mc_log_ui] It is now possible to extract some keys from a log (#209)
  • [mc_control] Added a multi-robot aware init method for mc_control::MCGlobalController (#206)
  • [mc_control] Added a reset method for mc_control::MCGlobalController (#206)
  • [mc_control] alphaOut (command velocity) and alphaDOut (command acceleration) are now logged by default (#222)
  • [mc_control_fsm] API have been added to allow writing FSM tools (#222)
  • [mc_rtc] Added mc_rtc::ConfigurationFile to simplify save/reload of configuration files (#222)
  • [mc_tasks] MetaTask now has an iterInSolver method (#200)

1.8.2 - 2021-10-15

New package

Fixes

  • [mc_control] Fix message ordering in the FSM (#193)
  • [mc_rbdyn] Fix Robot::copy (#188)
  • [mc_solver] Prevent a crash when doing contacts manipulation after a solver run (#196)
  • [mc_tasks] Correctly set mimic joint target in PostureTask (#194)
  • [Python] Allow Python controllers to be interrupted
  • [utils] Fix a file descriptor leak that could occur in mc_log_ui

Added

  • [mc_rbdyn] Allow to iterate over all devices in a robot
  • [mc_tasks] Add dimWeight support in the stabilizer configuration (#191)

1.8.1 - 2021-08-10

Fixes

  • Fix a unit test that prevent successfull packaging

1.8.0 - 2021-08-10

New distribution channels

Changes

  • [GUI] Improve handling of default values in form (#164 #178)
  • [mc_control] Change collision management for FSM controllers
    • Work-around Tasks issue when adding a collision where the first robot is non-actuated and the second is
    • Use the same manager for r1/r2 and r2/r1 collisions
    • Throw an exception if a wildcard collision does not create actual collisions
  • [mc_solver] Always call robot.forwardAcceleration()
  • [mc_tasks] The MetaTask::name(const std::string &) method is now virtual, this allows to rename sub-tasks as needed
  • [plugins] Give finer control over plugin run behavior (#168)
  • [utils] Use ninja to build projects when possible (only affects new builds)

Added

  • [global] Add MC_RTC_DEVELOPER_MODE option
  • [GUI] Add the Visual element (#159)
  • [Logging] Add support for Eigen::Ref
  • [mc_rbdyn] Allow a RobotModule to specify extra collision objects from sch primitives (#163)
  • [mc_robots] objects now have a dummy FloatingBase sensor
  • [mc_solver] Add support for jerk bounds (#173)
  • [mc_tasks] Add holding strategy for mc_tasks::ImpedanceTask (#143)
  • [mc_tasks] PostureTask now supports refVel and refAccel (#165)
  • [mc_tasks] PostureTask now supports dimWeight (#174)

Fixes

  • [Logger] Emit a warning if the logger queue is outrun in threaded mode; under normal circumstances this would indicate a hardware issue
  • [mc_control] Correctly stop GUI sockets
  • [mc_observers] Fix orientation transform issue between IMU and base link
  • [mc_rbdyn] Avoid re-loading calibrator in Robot::robotCopy
  • [mc_rbdyn] Save/Load material from JSON for visual elements
  • [mc_rtc] Improve YAML -> JSON conversion
  • [mc_tasks] Renaming the stabilizer task correctly renames its managed tasks (#171)
  • [mc_tasks] Fix stabilizer disabling (#155)
  • [ROS] Prevent crash on restart
  • [utils] Fix string display in mc_log_ui (#180)
  • [utils] Fix branch selection

1.7.0 - 2021-03-30

New packages

Changes

  • [Grippers] Allow to specify per-joint target angle and enforce joint limits in such cases (#125)
  • [mc_log_ui] Greatly improve animation support (#126)
  • [mc_rbdyn] Aliases are preserved as loading parameters for the RobotModule
  • [mc_rtc] Allow to specify a data source for logging, entries can then be removed through this source (#115)
  • [mc_rtc] When deserializing a Quaternion object, accept matrix and RPY representations
  • [meta] Template projects for new controllers and robot modules are now available under the mc-rtc organization https://github.com/mc-rtc/
  • [observers] Allow to specify optional observers and potentially failing observers (#123)
  • [QHull] Update to QHull 2020.2 (#87)
  • [Stabilizer] Add the possibility to estimate DCM bias (#105)
  • [Stabilizer] Can now handle external forces (#95)
  • [utils] Make Python executable modifiable, defaults on python3 for Ubuntu 20.04

Added

  • [global] Add MC_RTC_DISABLE_NETWORK option and MC_RTC_BUILD_STATIC option, allow to build a wasm version of the framework (#88)
  • [GUI] LineConfig can be provided for Polygon elements (#118)
  • [GUI] Add the Robot type to publish robots to non-ROS GUI
  • [mc_rtc] Add support for logging sva::ImpedanceVecd
  • [mc_tasks] Added ImpedanceTask (#100)
  • [utils] Allow to specify a different (potentially absolute) build directory (#82)
  • [utils] Auto-completion support for build-and-install (#83)
  • [utils] Added support for HRP4CR (#106)

Fixes

  • [mc_rtc] Performance improvement for writing sva::ForceVecd and sva::MotionVecd in the log
  • [ROS] Fix an issue where the publication rate was not enforced properly (#133)
  • [Stabilizer] Fix min/max bug in contact computation (only affected logging/GUI) (#114)
  • [Stabilizer] Fix speed() method (#124)
  • [Stabilizer] Improve consistency when loading the configuration (#122)
  • [utils] Correctly set DISABLE_ROS option in every case
  • [web] Various typos in tutorials and website (#99, #107, #108, #116, #128, #132)
  • [Windows] Fix pragma warnings and add /bigobj flag (#129)

1.6.0 - 2020-10-16

Changes

  • [cmake/loader] When mc_rtc is build in debug mode it will look for loadable libraries (controllers, robots, observers and plugins) in the debug sub-folder of the standard installation location (#78)
  • [cmake/loader] On Windows, mc_rtc will now look for loadable libraries in the bin/mc_[component] folder instead of lib/mc_[component] and install helper libraries in the bin folder (#81)
  • [FSM] RemovePostureTask is now DisablePostureTask, it disables either all FSM posture tasks for the state's duration if it is set to true or disable only the posture tasks for the provided robots (#80)
  • [FSM] RemovePostureTask is kept for backward compatibility, it has the same capabilities as DisablePostureTask (#80)

Added

  • [FSM] Posture state has been introduced to interact with the global posture (#67)
  • [FSM] HalfSitting can now handle any robot (#67)
  • [mc_robots] Generate env aliases for the objects (#67)
  • [mc_tasks] Add a simple constructor for StabilizerTask (#69)
  • [cmake] Export mc_rtc observers as targets so they can be used as a base class
  • [mc_rtc] Introduce mc_rtc::debug() (#78)
  • [FSM] constraints can be used to load extra-constraints in any state (#80)
  • [FSM] tasks can be used to load extra-tasks in any state (#80)
  • [mc_trajectory] Introduce SequenceInterpolator to do linear interpolation between values over a time-sequence (#64)
  • [mc_tasks] SplineTrajectoryTask can use SequenceInterpolator to use varying gains during the task execution (#64)

Fixes

  • [mc_observers] Fix configuration reading for anchor frame configuration (#69)
  • Typo in CMake macros for controller build in catkin workspace (#75)
  • Load libraries from a symlink (#76)
  • [mc_log_ui] The open_log function returns a ditionnary as documented
  • [mc_rtc] Configuration::empty() correctly returns false if the Configuration hold a value
  • [mc_rtc] Configuration::load() does not (wrongly) load the full document under some circumstances

1.5.1 - 2020-09-14

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

1.5.0 - 2020-09-09

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)

1.4.0 - 2020-06-11

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

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