bipedal-locomotion-framework 0.16.1

What's Changed

• Fixed compilation on Windows of fmt formatter for Eigen types. by @GiulioRomualdi in #762
• [ergoCubSN000] Update the YarpRobotLogger configuration file to be compliant with robots-configuration v2.5.2 by @GiulioRomualdi in #763

Full Changelog: v0.16.0...v0.16.1

bipedal-locomotion-framework 0.16.0

What's Changed

• Add the possibility to control a subset of coordinates in TSID::CoMTask by @traversaro in #724
• Fix changelog-checker CI check by @traversaro in #728
• Fix dimension of A and b matrices in TSID's CoMTask by @traversaro in #727
• Set a maximum number of accepted deadline miss the the AdvanceableRunner by @GiulioRomualdi in #726
• Distance and gravity tasks by @S-Dafarra in #717
• Add the possibility to control a subset of linear coordinates in TSID::SE3Task by @xela-95 in #738
• Add last version of RobotDynamicsEstimator code used for the paper - PR1 by @isorrentino in #731
• Add the getControllerOutput method to the TSID::SE3Task class by @Gio-DS in #740
• CMake: Permit to explictly specify Python installation directory by @traversaro in #741
• Remove outdated tests - PR2 by @isorrentino in #742
• Modify ci to install and test RobotDynamicsEstimator library by @isorrentino in #746
• Implement GlobalCoPEvaluator in contact Component by @GiulioRomualdi in #745
• Restructure the balancing-position-control script by @GiulioRomualdi in #716
• 🤖 [ergoCubSN001] Add the configuration file for YarpRobotLoggerDevice by @GiulioRomualdi in #747
• Add tests for already merged classes of RDE library - PR3 by @isorrentino in #743
• Fix timestamp logging for the cameras by @GiulioRomualdi in #748
• Avoid to download the robot and the network models if the tests are not enabled in ML component by @GiulioRomualdi in #749
• Implement inequality operator for the PlannedContact class by @GiulioRomualdi in #750
• Update the CMakeLists.txt to be compliant with python 3.12 by @GiulioRomualdi in #752
• Fix inequality operator in PlannedContact bindings by @GiulioRomualdi in #753
• Add state/measurement models and RDE main class - PR4 by @isorrentino in #744
• Add Python bindings for RDE library - PR5 by @isorrentino in #755
• added mass matrix regularziation in TSID joint dynamic task by @CarlottaSartore in #722
• Add missing include(FetchContent) in bindings/python/RobotInterface/CMakeLists.txt by @traversaro in #757
• Implement RobotDynamicsEstimatorDevice - PR6 by @isorrentino in #756
• Fix some typos in the README by @GiulioRomualdi in #758

New Contributors

• @xela-95 made their first contribution in #738
• @Gio-DS made their first contribution in #740

Full Changelog: v0.15.0...v0.16.0

bipedal-locomotion-framework 0.15.0

What's Changed

• conda-forge CI: Remove manifpy strict pin by @traversaro in #704
• Use std::chrono::nanoseconds in clock and AdvanceableRunner by @GiulioRomualdi in #702
• Give the possibility to set an external wrench in the CentroidalDynamics by @GiulioRomualdi in #705
• Add config files to log ergoCubGazeboV1 by @isorrentino in #690
• Fix the time logging in YarpRobotLogger device by @GiulioRomualdi in #708
• Remove duplicated find_package for BayesFilters by @isorrentino in #709
• Implement RK4 integrator in ContinuousDynamicalSystem component and expose the Python bindings by @GiulioRomualdi in #711
• Implement blf-balancing-torque-control by @GiulioRomualdi in #707
• Add the possibility to call MANN + Centroidal MPC in python by @GiulioRomualdi in #712
• Attempt to use the c version of qhull by @GiulioRomualdi in #713
• Camera bridge bindings by @GiulioRomualdi in #695
• Fix handling of feedforward acceleration in BipedalLocomotion::TSID::JointTrackingTask::setSetPoint by @traversaro in #719
• Change FT sensors names for compatibility with icub-models >= 2.0.0, robots-configuration >= 2.5.0 and ergocub-software >= 0.3.4 by @traversaro in #720

Full Changelog: v0.14.1...v0.15.0 and here

bipedal-locomotion-framework 0.14.1

What's Changed

• Fix standalone Python bindings workflow by @traversaro in #698
• Fix python bindings compilation when toml is not installed by @GiulioRomualdi in #700
• Fix YarpRobotLoggerDevice if YARP_ROBOT_NAME is not defined by @GiulioRomualdi in #701

Full Changelog: v0.14.0...v0.14.1

bipedal-locomotion-framework 0.14.0

What's Changed

• Implement a class to perform inference with the MANN network by @GiulioRomualdi in #652
• Remove FRAMEWORK_COMPILE_tests leftovers by @traversaro in #657
• Add missing test test_fixed_foot_detector.py to Python tests by @traversaro in #658
• Automatic update .github/labeler.yml file 🚀 by @github-actions in #660
• Implement robot dynamics estimator - PR1 by @isorrentino in #661
• Fix CHANGELOG.md by @GiulioRomualdi in #663
• Fix RobotDynamicsEstimator compilation dependencies by @GiulioRomualdi in #665
• Implement robot dynamics estimator - PR2 by @isorrentino in #662
• Add accelerometer and gyroscope dynamic models by @isorrentino in #666
• Add process model for friction torque and measurement model for motor current by @isorrentino in #667
• Restructure application folders of YarpRobotLoggerDevice by @GiulioRomualdi in #670
• Add fts and imus of the legs to YarpRobotLoggerDevice by @isorrentino in #671
• 🤖 [ergoCubSN000] Clean the mas remapper files of the YarpRobotLoggerDevice by @GiulioRomualdi in #673
• Add workaround for conda-forge manifpy and GCC 12 problem by @traversaro in #675
• Enable depth logging in YarpRobotLoggerDevice by @GiulioRomualdi in #672
• Add the possibility to use MANN in autoregressive fashion by @GiulioRomualdi in #659
• Findonnxruntime: improve header detection by @traversaro in #677
• Avoid to set the trajectory length in MANN by @GiulioRomualdi in #678
• Fix macOS compilation of FeasibleContactWrenchTask by @GiulioRomualdi in #680
• Add UkfState class by @isorrentino in #669
• Implement MANNTrajectoryGenerator in ML component by @GiulioRomualdi in #668
• Implement a bash script to automatically log the audio by @GiulioRomualdi in #681
• Implement QuadraticBezierCurve and MANNAutoregressiveInputBuilder by @GiulioRomualdi in #683
• Use schmitt trigger to detect the contat activation and deactivation in MANN by @GiulioRomualdi in #684
• Implement the CentroidalMPC controller in ReducedModelControllers component by @GiulioRomualdi in #645
• Expose the CoM trajectory and the angular momentum trajectory as std::vector in MANNTrajectoryGenerator by @GiulioRomualdi in #687
• Add UnicyclePlanner to the list of dependency to disable in CI to check if build works fine anyhow by @traversaro in #435
• Automatic update .github/labeler.yml file 🚀 by @github-actions in #689
• MANN: support Windows by @traversaro in #686
• Add the possibility to change the orientation of the foot in the swing foot planner when the contact is not active by @GiulioRomualdi in #688
• Fix CentroidalMPC documentation by @GiulioRomualdi in #691
• Implement BaseEstimatorFromFootIMU by @G-Cervettini in #641
• Make the YarpSensorBridge compatible with MAS that use the same name between gyro ac magn and orientation by @GiulioRomualdi in #692
• Make InputPort, OutputPort, Advanceable, Sink and Source obey rule of 5 by @prashanthr05 in #397
• Rename the audio in blf-logger-with-audio only if the mat and the wav files have been created by @GiulioRomualdi in #693
• Python bindings for : Centroidal MPC, Centroidal Dynamics and Contacts by @CarlottaSartore in #650
• Use the Cmake targets in the python bindings generation by @GiulioRomualdi in #697

New Contributors

• @G-Cervettini made their first contribution in #641

Full Changelog: v0.13.0...v0.14.0

bipedal-locomotion-framework 0.13.0

What's Changed

• Update the IK tutorial to use QPInverseKinematics::build by @GiulioRomualdi in #621
• Return an error if an invalid KinDynComputations object is passed to QPInverseKinematics::build() by @GiulioRomualdi in #622
• Update InverseKinematics example README by @GiulioRomualdi in #623
• Handle the case without force/torque sensors by @isorrentino in #625
• Implement the DiscreteGeometryContact in Contacts component by @GiulioRomualdi in #626
• Restructure ContactDetector machinery by @GiulioRomualdi in #624
• Refactor how the time is handled in the entire framework by @GiulioRomualdi in #630
• Modify SubModelCreator test and SubModelKinDynWrapper test by @isorrentino in #631
• Looking for c++17 for python bindings by @GiulioRomualdi in #635
• fix documentation for QPTSID.h by @CarlottaSartore in #634
• Add the possibility to update the contact list in the swing foot trajectory planner by @GiulioRomualdi in #637
• Fix error message for contact wrench variable by @CarlottaSartore in #639
• Fix compilation when using CMake 3.26.1 and pybind11 2.4.3 (for example on Ubuntu 20.04 GitHub Actions image) by @traversaro in #643
• Implement NamedTuple and the CentroidalDynamics classes by @GiulioRomualdi in #642
• Update the inverse_kinematics example to be compliant the new version of ContinousDynamicalSystem by @GiulioRomualdi in #648
• Speed up the GitHub CI compilation by using all the cores of the GitHub runner by @GiulioRomualdi in #647
• Update the code to be compatible with LieGroupControllers v0.2.0 by @GiulioRomualdi in #653
• Allow use of vectors for task gains by @RiccardoGrieco in #654
• Catch2 is now downloaded with fetchcontent if BUILD_TESTING is set to on by @GiulioRomualdi in #655
• Add the possibility to set vectorial gains in CoM IK and TSID tasks by @GiulioRomualdi in #656

New Contributors

• @CarlottaSartore made their first contribution in #634

Full Changelog: v0.12.0...v0.13.0

bipedal-locomotion-framework 0.12.0

What's Changed

• Improvements on the MultipleAnalogSensorsRemapper handling in the framework by @GiulioRomualdi in #569
• Workaround for python brew installation by @GiulioRomualdi in #583
• Automatic polling for exogenous signals by @GiulioRomualdi in #570
• Ask for toml++ v3.0.1 by @GiulioRomualdi in #581
• [TextLogging] Allow custom logger name by @RiccardoGrieco in #582
• 🤖 [iCubGenova09] Fix the YarpRobotLogger imu and camera configuration by @GiulioRomualdi in #584
• Fix iDynTree 4.3.0 deprecations by @traversaro in #588
• Fix conda-ci GitHub Action CI by using mambaforge directly by @traversaro in #593
• Fix compatibility with OpenCV 4.7.0 by @traversaro in #589
• Use _WIN32 to check windows OS by @RiccardoGrieco in #590
• Fix gh-pages CI by @GiulioRomualdi in #594
• Add a tutorial for the inverse kinematics by @GiulioRomualdi in #596
• Implement the ROS2 sink for the TextLogging by @GiulioRomualdi in #587
• Attempt to fix macOS CI by @GiulioRomualdi in #597
• Implement QPFixedBaseInverseKinematics class by @GiulioRomualdi in #599
• 🤖 [ergoCubSN000] Add configuration files for the YarpRobotLoggerDevice by @GiulioRomualdi in #600
• Fix the documentation in the IK component by @GiulioRomualdi in #602
• Add the possibility to customize the video codec in the YarpRobotLoggerDevice by @GiulioRomualdi in #607
• Add functions to split a robot model into submodel objects by @isorrentino in #604
• Finalize the python bindings for the Spline by @GiulioRomualdi in #609
• Fix attachRemappedRemoteControlBoard in YarpSensorBridge by @GiulioRomualdi in #608
• Implement the python bindings for the iDynTree to manif conversions by @GiulioRomualdi in #610
• Implement blf-balancing-position-control application and YarpTextLogging python bindings by @GiulioRomualdi in #611
• Add SubModelKinDynWrapper class by @isorrentino in #605
• Implement the JointLimitsTask for the IK by @GiulioRomualdi in #603
• Fix conda channel used in README by @traversaro in #613
• Fix race condition in System::ClockBuilder by @traversaro in #618
• Add the possibility to programmatically build an IK problem from a configuration file by @GiulioRomualdi in #614
• Add WeightProvider factory and implement IntegrationBasedIKProblem by @GiulioRomualdi in #619

New Contributors

• @RiccardoGrieco made their first contribution in #582

Full Changelog: v0.11.1...v0.12.0

bipedal-locomotion-framework 0.11.1

What's Changed

• Use std::int64_t instead of long in TextLoggingEntry class by @GiulioRomualdi in #580

Full Changelog: v0.11.0...v0.11.1

bipedal-locomotion-framework 0.11.0

What's Changed

• Log the status of the system with tiny-process-library by @GiulioRomualdi in #571
• Add the maintainers by @GiulioRomualdi in #573
• Fix simple typo in YarpLoggerFactory docs by @traversaro in #574
• AddBipedalLocomotionYARPDevice: Enable YARP devices by deafult by @traversaro in #576
• Remove use of deprecated include yarp/dev/Wrapper.h by @traversaro in #577
• Design the ROS2 implementation for Clock class by @GiulioRomualdi in #575
• Restructure the python bindings to support official iDynTree bindings by @GiulioRomualdi in #578

Full Changelog: v0.10.0...v0.11.0

bipedal-locomotion-framework 0.10.0

What's Changed

• Add the possibility to log only a subset of text logging ports by @GiulioRomualdi in #561
• Do not redefine NEW_LINE in Python bindings CMake by @traversaro in #563
• Accept boolean as integer while getting an element from searchable in YarpUtilities by @GiulioRomualdi in #566
• Add the possibility to set the exogenous feedback for the IK::SE3Task by @GiulioRomualdi in #567
• Implement constructMultipleAnalogSensorsClient and constructMultipleAnalogSensorsRemapper functions by @GiulioRomualdi in #568
• Bump vcpkg-robotology-dependencies tag to v0.10.1 and fix qhull linking by @traversaro in #565

Full Changelog: v0.9.0...v0.10.0