bipedal-locomotion-framework 0.20.0

What's Changed

• Use conda-forge's catch2 in CI to avoid build failures, set OMP_NUM_THREADS=1 and updated catch2's used by FetchContent to 3.7.1 by @traversaro in #884
• Add USE_SYSTEM_tiny-process-library CMake option to use tiny-process-library found in system by @traversaro in #891
• Fix bug joint torque control device by @isorrentino in #890
• [ergoCubSN001] Enable the logging of the external wrenches of the legs and the arms IMUs by @GiulioRomualdi in #888
• Implement low-pass filter for estimated friction torque by @isorrentino in #892
• Switch from actions/checkout@v2 to actions/checkout@v4 by @GiulioRomualdi in #893
• Add basic test for YarpRobotLoggerDevice by @traversaro in #862
• Add motor current tracking application by @LoreMoretti in #894
• Add optional initialization of base pose and feet pose in the Unicycle Trajectory Generator by @LoreMoretti in #887
• Fix bug related to prepare_data() method calling by @fils99 in #895
• Fix the normal force limit constraint in the CentroidalMPC by @GiulioRomualdi in #898
• Add software position limits to motor current tracking application by @LoreMoretti in #901
• Add PI-ADHERENT framework to ML by @evelyd in #889
• Change device jtcvc to use motor velocity and joint velocity in input to PINN models by @isorrentino in #903
• Fix loading of Python bindings on Windows when installed in arbitrary directory by @traversaro in #905
• Set the system timer resolution to the minimum value for higher precision on Windows by @GiulioRomualdi in #907
• [ergoCubSN000] update config files of the logger device by @LoreMoretti in #913
• Add option FRAMEWORK_COMPILE_Ros1Publisher and deprecate BipedalLocomotion::YarpUtilities::RosPublisher class by @traversaro in #914
• Estimate motor and joint velocities through KF by @isorrentino in #909
• Add rpc commands to YarpLoggerDevice by @LoreMoretti in #915

New Contributors

• @fils99 made their first contribution in #895
• @evelyd made their first contribution in #889

Full Changelog: v0.19.0...v0.20.0

bipedal-locomotion-framework 0.19.0

What's Changed

• Use IMU measurements to set submodel base state in RDE by @isorrentino in #793
• 🤖 [ergoCubSN001] Add streaming of arm fts by @isorrentino in #803
• Add configuration files to log data from ergoCubGazeboV1_1 by @isorrentino in #806
• 🤖 [ergoCubGazeboV1_1] Enable the logging of the feet FT IMU by @GiulioRomualdi in #808
• 🤖 [ergoCubGazeboV1_1] Fix logging configuration file by @GiulioRomualdi in #809
• 🤖 [ergoCubSN001] Add logging of the wrist and fix the name of the waist imu by @GiulioRomualdi in #810
• Fix the barrier logic for threads synchronization by @LoreMoretti in #811
• Fixed setting of target include directories for the yarp devices by @S-Dafarra in #814
• add UnicyclePlanner unit test by @mebbaid in #815
• Export the CoM velocity and the angular momentum trajectory in the CentroidalMPC by @GiulioRomualdi in #818
• Add member function to set gravity vector in centroidal dynamics system by @LoreMoretti in #821
• Add the possibility to set the exogenous signal for the IK::CoMTask by @GiulioRomualdi in #824
• Add getJointTorques to python bindings by @isorrentino in #825
• RT Capabilities Part 1 - YARP Logger Device by @nicktrem in #817
• Adding time profiler to BLF. by @G-Cervettini in #826
• Add the possibility to programmatically build a TSID problem from config file by @GiulioRomualdi in #828
• Constraint pybind11 version to fix conda-forge Windows CI by @traversaro in #831
• Remove homebrew job from CI by @GiulioRomualdi in #822
• Resolve iDynTree deprecation warnings and require iDynTree v10.0.0 by @GiulioRomualdi in #832
• InstallBasicPackageFiles: Fix bug of OVERRIDE_MODULE_PATH that corrupt CMAKE_MODULE_PATH values set by blf transitive dependencies by @traversaro in #827
• Refactor YarpRobotControl::setReferences function to include optional current joint values and avoid to switch control mode in YarpRobotControl::setReferences by @GiulioRomualdi in #833
• Add support for testing if a portion of code allocates memory via MemoryAllocationMonitor by @traversaro in #768
• InstallBasicPackageFiles: Fix OVERRIDE_MODULE_PATH with CMake >=3.29.1 by @traversaro in #835
• Implement ZeroOrderSpline and add the possibility to get only position or position/velocity from the spline by @GiulioRomualdi in #834
• Add the possibility to set the number of threads used by onnxruntime in MANN by @GiulioRomualdi in #836
• Automatic update .github/labeler.yml file 🚀 by @github-actions in #837
• Implement ButterworthLowPassFilter by @GiulioRomualdi in #838
• Add maximum admissible time step parameter to YarpRobotLoggerDevice by @GiulioRomualdi in #839
• Implement the python bindings for the Butterworth low pass filter by @GiulioRomualdi in #840
• set gravity vector as an input argument of the CentroidalMPC by @LoreMoretti in #823
• Implement the prewrapping in the butterworth filter by @GiulioRomualdi in #841
• Implement Conversions::toiDynTreeRot function by @GiulioRomualdi in #842
• Fix the ergoCubSN001 logging by @GiulioRomualdi in #848
• Fix signal logging in YarpRobotLoggerDevice by @GiulioRomualdi in #849
• Fix VectorsCollectionClient.read_data(False) to provide collection as output and avoid segmentation fault by @FabioBergonti in #850
• Create python bindings of VectorsCollection by @FabioBergonti in #854
• Add vector size check for joint values in setReferences in YarpRobotControl.cpp by @giotherobot in #852
• Modify the unicycle planner by @LoreMoretti in #844
• [ergoCubSN002] Add configuration file for the logging by @GiulioRomualdi in #857
• Add simple notebook example for joint control by @giotherobot in #855
• Switch from mamba to conda by @traversaro in #858
• Update documentation for vector collection server by @GiulioRomualdi in #863
• Fix Changelog checker by @giotherobot in #856
• add setControlModeAsync member function by @LoreMoretti in #860
• Add Unicycle Trajectory Generator by @LoreMoretti in #845
• conda-forge-ci: Do not install unneeded cdt packages by @traversaro in #861
• Update yarp-robot-logger.xml for ergocubSN002 by @LoreMoretti in #865
• Fix link to deprecated CMake target YARP::YARP_OS by @traversaro in #864
• Update blf-logger-with-audio.sh script to support different logger launch file by @giotherobot in #867
• Add method to get joint limits from control board by @LoreMoretti in #868
• Bump manif in CI to 0.0.5 by @traversaro in #874
• Make joint encoder acceleration reading optional by @LoreMoretti in #876
• Added missing logData for vectorSignals and TextLogging by @S-Dafarra in #869
• Add joint velocity limits task by @davidegorbani in #879
• Implement joint torque control device and friction estimation through PINN by @isorrentino in #866
• Add the possibility to set the fixed joint configuration in balancing-torque-control app by @GiulioRomualdi in #880

New Contributors

• @LoreMoretti made their first contribution in #811
• @mebbaid made their first contribution in #815
• @nicktrem made their first contribution in #817
• @FabioBergonti made their first contribution in #850
• @giotherobot made their first contribution in #852
• @davidegorbani made their first contribution in #879

Full Changelog: v0.18.0...v0.19.0

bipedal-locomotion-framework 0.18.0

What's Changed

• 🤖 [ergoCubSN001] Update YarpRobotLoggerDevice configuration file to exclude the head-imu and include the arms FTs by @GiulioRomualdi in #798
• Avoid to call BufferedPort::prepare every time VectorsCollectionServer::populateData is called by @GiulioRomualdi in #790
• Run distance QP-IK test only with revolute joints by @traversaro in #800
• Check that the size the gains and weights vectors are correct by @GiulioRomualdi in #797

Full Changelog: v0.17.0...v0.18.0

bipedal-locomotion-framework 0.17.0

What's Changed

• Implement ContactList::getNextContact and ContactList::getActiveContact in Contact component by @GiulioRomualdi in #764
• Restructure of the CentroidalMPC class by @GiulioRomualdi in #766
• Refactory of the swing foot planner by @GiulioRomualdi in #765
• Implement VectorsCollectionServer and VectorsCollectionClient classes by @GiulioRomualdi in #767
• CI: Bump vcpkg-robotology to v0.11.0 by @traversaro in #770
• Restructure ML component by @GiulioRomualdi in #771
• Avoid to call getMetadata if the signal is not connected in YarpRobotLoggerDevice by @GiulioRomualdi in #774
• Restructure Spline class to be compatible with different type of Eigen Vectors by @GiulioRomualdi in #773
• Add process dynamics class for external contacts by @isorrentino in #759
• 🤖 [ergoCubSN001] Update the configuration file to enable the robot logging data by @GiulioRomualdi in #772
• Position balancing logging by @GiulioRomualdi in #776
• Implement toString() methods in PlannedContact, ContactList, ContactPhase and ContactPhaseList by @GiulioRomualdi in #777
• Fix metadata collection in YarpRobotLoggerDevice by @GiulioRomualdi in #778
• Install all common mamba dependencies in a single command by @traversaro in #781
• Update the README in YarpRobotLoggerDevice by @GiulioRomualdi in #779
• Implement LinearSpline in Math component by @GiulioRomualdi in #782
• Add the support of QP problems with no constraint in QPInverseKinematics and QPTSID by @GiulioRomualdi in #784
• Add logging of jabra camera and balancing application data by @isorrentino in #783
• Add the possibility to set the SwingFootPlanner position and orientation tolerances as configuration parameters by @GiulioRomualdi in #785
• [ergoCubSN001] Enable the logging of the torso pitch joint by @GiulioRomualdi in #786
• Add plot of the joint position error by @EhsanRanjbari in #775
• Add joints grid trajectory generator application by @isorrentino in #787
• Add the possibility to resample the contact in a given contact list and force the MPC to required correctly sampled contacts by @GiulioRomualdi in #788

New Contributors

• @EhsanRanjbari made their first contribution in #775

Full Changelog: v0.16.1...v0.17.0

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