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Release v1.7.0
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@github-actions github-actions released this 31 Mar 09:39
· 1266 commits to master since this release
v1.7.0
3f79869
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gergondet Pierre Gergondet
GPG key ID: 220D644C64666806
Learn about vigilant mode.

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)
Assets 4
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