From b272cf3d68711236f241b670f9298cf5776139de Mon Sep 17 00:00:00 2001 From: Pierre Gergondet Date: Wed, 6 Apr 2022 14:40:45 +0800 Subject: [PATCH] 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) --- CHANGELOG.md | 38 +++++++++++++++++++++++++++++++++++++- CMakeLists.txt | 2 +- debian/changelog | 6 ++++++ debian/control | 8 ++------ 4 files changed, 46 insertions(+), 8 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 946b4bec7a..c1c8be7a44 100644 --- 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 index 355bf4cf8d..4c088bc40a 100644 --- 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 index cddb1efb6d..b1a624bfc1 100644 --- 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 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 index f6abb743d8..eb8ff42fd8 100644 --- 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