bipedal-locomotion-framework 0.3.0

[GiulioRomualdi]

bipedal-locomotion-framework 0.3.0 Release Notes

Added

• Implement CubicSpline class (Implement cubic spline class #344)
• Implement PWM control in RobotControl class (Implement PWM control in IRobotControl #346)
• Implement ContactWrenchCone class in Math component (Implement Contact wrench Cone in math component  #352)
• Implement skew function in Math component (Implement Contact wrench Cone in math component  #352)
• Implement QPTSID class (Implement Floating base TSID #366)
• Implement motor pwm, motor encoders, wbd joint torque estimates, pid reading in YarpSensorBridge(Stream motor state, joint torques and PID state in SensorBridge #359).
• Implement FeasibleContactWrenchTask for TSID component (Implement FeasibleContactWrenchTask for TSID component #369).
• Implement python bindings for QPInverseKinematics class (Implement QPInverseKinematics python bindings #303)
• Implement ControlTask in for System component (Add the possibility to disable the proportional controller in the IK::SE3Task #373).
• Allow changing the log verbosity (Allow changing the log verbosity #385)
• Implement the CoMZMP controller (Implement the CoMZMP controller #387)

Changed

• Add common Python files to gitignore (Add common Python files to gitignore #338)
• General improvements of blf-calibration-delta-updater (Generalize the blf-calibration-delta-updater script #361)
• Add the possibility to control a subset of coordinates in IK::SE3Task (Add the possibility to control a subset of coordinates in IK::SE3Task  #356)
• Add the possibility to control a subset of coordinates in IK::CoMTask (Add the possibility to control a subset of coordinates in IK::CoMTask #357)
• Reduce the duplicate code in IK and TSID (Reduce the duplicate code in IK and TSID #364)
• QPFixedBaseTSID now inherits from QPTSID (Implement Floating base TSID #366)
• Enable the Current control in RobotInterface class (Enable the Current control in RobotInterface class #375)
• Add the possibility to disable and enable the PD controllers in IK::SE3Task (Add the possibility to disable the proportional controller in the IK::SE3Task #373).
• Add the possibility to use manif objects in the ForwardEuler integrator (Add the possibility to use manif objects in the ForwardEuler integrator #379).

Fix

• Fixed the crashing of YarpSensorBridge while trying to access unconfigured control board sensors data by adding some checks (YarpSensorBridge: add checks in control board getter methods #378)
• Fixed the compilation of Python bindings (enabled by the FRAMEWORK_COMPILE_PYTHON_BINDINGS CMake option) when compiling with Visual Studio (Enable Python bindings in conda-forge CI and fix Python bindings compilation and tests on MSVC #380).
• Fixed the TOML and YARP implementation of the parameters handler when a std::vector<bool> is passed to the setParameter() method (Fix the TOML and YARP implementation of the parameters handler when a std::vector<bool> is passed to the setParameter()  #390).

Contributors

This is a list of people that contributed to this release (generated from the git history using git shortlog -ens --no-merges v0.2.0..v0.3.0):

   108  Giulio Romualdi
    11  Paolo
     9  Silvio Traversaro
     7  Paolo Viceconte
     6  Diego Ferigo
     6  Ines
     2  Prashanth

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This discussion was created from the release bipedal-locomotion-framework 0.3.0.

[GiulioRomualdi]

@dic-iit/dynamic-interaction-control