Release v1.2 of the controller

stephane-caron · Oct 11, 2019 · c141a6b · c141a6b
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -2,7 +2,13 @@
 
 All notable changes to this project will be documented in this file.
 
-## Unreleased (will be v1.2)
+## [v1.2] - 2019/10/11
+
+The main change in this release is the switch from ZMP to DCM derivative term
+in DCM tracking, following [Biped locomotion control for uneven terrain with
+narrow support region](https://doi.org/10.1109/SII.2014.7028007) (Morisawa _et
+al._, 2014). The DCM derivative is computed from DCM and ZMP measurements using
+a model-based estimator.
 
 ### Added
 
@@ -22,9 +28,9 @@ All notable changes to this project will be documented in this file.
 - Cleaned up legacy code
 - Footstep plans are now robot-specific
 - Removed legacy mass estimation phase
+- Stabilizer: switch from ZMP to DCM derivative term in DCM tracking
 - Updated CMake configuration
 - Updated copra and mc\_rtc dependencies
-- Stabilizer: switch from ZMP to DCM derivative term in DCM tracking
 
 ## [v1.1] - 2019/04/15
 

diff --git a/COMMITS.md b/COMMITS.md
@@ -3,9 +3,9 @@ This file lists dependency commits of a consistent build of the project:
 * [SpaceVecAlg](https://github.com/jrl-umi3218/SpaceVecAlg): ``05a9c4434f30aa4672666719f7f9fd894b7654ca``
 * [RBDyn](https://github.com/jrl-umi3218/RBDyn/): ``a678191687d9fbc90433570a44f6e6dea9d372c5``
 * [eigen-lssol](https://gite.lirmm.fr/multi-contact/eigen-lssol): ``05f7b8c38b0b446aec55a39d3ca20181e87b72b9``
-* [eigen-qld](https://github.com/jrl-umi3218/eigen-qld): ``2fa168a6165ee1e90939b288e1a152f9043ce391``
+* [eigen-qld](https://github.com/jrl-umi3218/eigen-qld): ``a99d101964df71705739e033e218239a67fcdf20``
 * [sch-core](https://github.com/jrl-umi3218/sch-core): ``7b48107fd125f4b9653d222960cc3fe6bf35381a``
-* [Tasks](https://github.com/jrl-umi3218/Tasks/): ``e9de595133f9a29db4c02ae0599751c76b497f46``
+* [Tasks](https://github.com/jrl-umi3218/Tasks/): ``82ff4ff6c520e6654b026bb2c11bfdbfecf0dc5c``
 * [mc\_rbdyn\_urdf](https://github.com/jrl-umi3218/mc_rbdyn_urdf): ``6e01aa79670087797df6616f2bfab61cf00bb4af``
 * [copra](https://github.com/vsamy/copra): ``22c9dfce60ab5c0017abf7f83fd992c34665cfe7``
 * [mc\_rtc\_ros\_data](https://gite.lirmm.fr/multi-contact/mc_rtc_ros_data): ``2d27fcc8eba13f65823788a0b538c70ea0a0dfdd``