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@github-actions github-actions released this 08 Jul 13:57
· 874 commits to master since this release
v1.11.0
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gergondet Pierre Gergondet
GPG key ID: 220D644C64666806
Learn about vigilant mode.

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
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