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Release v1.6.0
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@github-actions github-actions released this 16 Oct 10:20
· 1583 commits to master since this release
v1.6.0
bc8b92b
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gergondet Pierre Gergondet
GPG key ID: 220D644C64666806
Learn about vigilant mode.

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
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