Release v1.10.0

Tutorials translation === mc_rtc website and tutorials are now available in [Japanese](https://jrl-umi3218.github.io/mc_rtc/jp/) (#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)
jrl-umi3218 · Apr 6, 2022 · b272cf3 · b272cf3
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -2,6 +2,41 @@
 
 ## [Unreleased]
 
+## [1.10.0] - 2022-04-06
+
+### Tutorials translation
+
+mc_rtc website and tutorials are now available in [Japanese](https://jrl-umi3218.github.io/mc_rtc/jp/) (#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
@@ -391,7 +426,8 @@
 
 Initial release
 
-[Unreleased]: https://github.com/jrl-umi3218/mc_rtc/compare/v1.9.0...HEAD
+[Unreleased]: https://github.com/jrl-umi3218/mc_rtc/compare/v1.10.0...HEAD
+[1.10.0]: https://github.com/jrl-umi3218/mc_rtc/releases/tag/v1.10.0
 [1.9.0]: https://github.com/jrl-umi3218/mc_rtc/releases/tag/v1.9.0
 [1.8.2]: https://github.com/jrl-umi3218/mc_rtc/releases/tag/v1.8.2
 [1.8.1]: https://github.com/jrl-umi3218/mc_rtc/releases/tag/v1.8.1

diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -12,7 +12,7 @@ endif()
 
 set(PROJECT_NAME mc_rtc)
 set(PROJECT_DESCRIPTION mc_rtc)
-set(PROJECT_VERSION 1.9.0)
+set(PROJECT_VERSION 1.10.0)
 set(PROJECT_URL https://gite.lirmm.fr/multi-contact/mc_rtc)
 set(PROJECT_DEBUG_POSTFIX "_d")
 set(PROJECT_USE_KEYWORD_LINK_LIBRARIES TRUE)

diff --git a/debian/changelog b/debian/changelog
@@ -1,3 +1,9 @@
+mc-rtc (1.10.0-1debian1) unstable; urgency=medium
+
+  * Update upstream: see CHANGELOG.md
+
+ -- Pierre Gergondet <[email protected]>  Wed, 06 Apr 2022 14:15:04 +0800
+
 mc-rtc (1.9.0-1debian1) unstable; urgency=medium
 
   * Update upstream: see CHANGELOG.md

diff --git a/debian/control b/debian/control
@@ -20,7 +20,6 @@ Build-Depends: debhelper (>= 9),
                libboost-timer-dev,
                libtasks-qld-dev|libtasks-dev,
                libeigen-quadprog-dev,
-               libmc-rbdyn-urdf-dev,
                libstate-observation-dev,
                libgeos++-dev,
                mc-rtc-data,
@@ -38,8 +37,6 @@ Build-Depends: debhelper (>= 9),
                cython3,
                python-tasks,
                python3-tasks,
-               python-mc-rbdyn-urdf,
-               python3-mc-rbdyn-urdf,
                libnanomsg-dev,
                libndcurves-dev,
                libyaml-cpp-dev,
@@ -64,7 +61,6 @@ Depends: cmake,
          libboost-timer-dev,
          libtasks-qld-dev|libtasks-dev,
          libeigen-quadprog-dev,
-         libmc-rbdyn-urdf-dev,
          libstate-observation-dev,
          libgeos++-dev,
          libnanomsg-dev,
@@ -135,7 +131,7 @@ Description: mc-rtc - API documentation
 Package: python-mc-rtc
 Section: python
 Architecture: any
-Depends: ${python:Depends}, ${misc:Depends}, ${shlibs:Depends}, python-all, python-tasks, python-mc-rbdyn-urdf
+Depends: ${python:Depends}, ${misc:Depends}, ${shlibs:Depends}, python-all, python-tasks
 Description: mc_rtc - Python bindings
  mc_rtc is an interface for simulated and real robotic systems suitable for
  real-time control.  It provides programmers with a simple interface to build
@@ -147,7 +143,7 @@ Description: mc_rtc - Python bindings
 Package: python3-mc-rtc
 Section: python
 Architecture: any
-Depends: ${python3:Depends}, ${misc:Depends}, ${shlibs:Depends}, python3-all, python3-tasks, python3-mc-rbdyn-urdf
+Depends: ${python3:Depends}, ${misc:Depends}, ${shlibs:Depends}, python3-all, python3-tasks
 Description: mc_rtc - Python bindings
  mc_rtc is an interface for simulated and real robotic systems suitable for
  real-time control.  It provides programmers with a simple interface to build