bipedal-locomotion-framework 0.2.0

[GiulioRomualdi]

bipedal-locomotion-framework 0.2.0 Release Notes

Added

• Implement IRobotControl python bindings (Implement IRobotControl python bindings #200)
• Implement ISensorBridge python bindings (Implement ISensorBridge python bindings #203)
• Implement LeggedOdometry class as a part of FloatingBaseEstimators library and handle arbitrary contacts in FloatingBaseEstimator. (Allow FloatingBaseEstimator to handle multiple contacts, Implement Legged Odometry and favor iDynTree KinDynComputations instead of Model #151)
• Implement the possibility to set a desired reference trajectory in the TimeVaryingDCMPlanner. (Add the possibility to pass a reference DCM trajectory to the DCMPlanner #208)
• Implement SchmittTriggerDetector python bindings (Add python bindings for SchmittTriggerDetector class #213)
• Implement ModelComputationsHelper for quick construction of KinDynComputations object using parameters handler (Add ModelComputationsHelper to constuct KinDynComputations object #216)
• Implement FloatingBaseEstimator and LeggedOdometry python bindings (Add python bindings for FloatingBaseEstimator and LeggedOdometry  #218)
• Add spdlog as mandatory dependency of the project (Start using spdlog in the repo #225)
• Implement ICameraBridge and IPointCloudBridge interface classes as a part of PerceptionInterface library. (Add Perception pipeline with RealSense driver and Improve RobotInterface with ICameraBridge and IPointCloudBridge #165)
• Implement RealSense driver class as a part of PerceptionCapture library. (Add Perception pipeline with RealSense driver and Improve RobotInterface with ICameraBridge and IPointCloudBridge #165)
• Implement realsense-test utility application. (Add Perception pipeline with RealSense driver and Improve RobotInterface with ICameraBridge and IPointCloudBridge #165)
• Implement the inverse kinematics component (Implement the Inverse kinematics in the repository #229)
• Implement LinearizedFrictionCone class (Implement LinearizedFrictionCone class #244)
• Added a check on whether the installed public headers have the correct folder structure (Check on if the install and build paths coincide #247)
• Implement python bindings for VariablesHandler class (Implement python bindings for VariablesHandler class #234)
• Implement PerceptionFeatures library and implement ArucoDetector. (Add PerceptionFeatures library and implement ArucoDetector class #159)
• Implement FixedBaseDynamics class (General improvement of DynamicalSystem and implementation of FixedBaseDynamics  #242)
• Implemented Sink and Source classes (Refactoring of advanceable #267)
• Implement the IClock, StdClock and YarpClock classes (Implement Clock class #269)
• Implement YarpCameraBridge class for Yarp implementation of ICameraBridge (Add YarpCameraBridge to PerceptionInterfaceYarpImplementation library #237)
• Implement PointCloudProcessor class and modify realsense-test to test point clouds handling with Realsense. (Add a PointCloudProcessor class to the PerceptionFeatures library #236)
• Implement AdvanceableRunner and SharedResource classes in System component (Introduce Advanceable Runner and SharedResource #272)
• Implement handleQuitSignals() function in System component (Implement handleQuitSignals() function in System component #277)
• Implement TaskSpaceInverseDynamics interface (Implement TaskSpaceInverseDynamics interface #279)
• Implement Wrench class (Implement TaskSpaceInverseDynamics interface #279)
• Implement SO3Task in TSID component (Implement SO3 task in TSID #281)
• Implement clone method in ParametersHandler classes (Implement clone method in ParametersHandler classes #288)
• Implement VariablesHandler::clear() and VariablesHandler::initialize() (Add the possibility to initialize the VariablesHandler with the ParametersHandler #291)
• Implement the possibility to set the default contact in the ContactList class (Add the possibility to set the dafault contact in ContactList class #297)
• Implement FixedFootDetector class (Implement FixedFootDetector class #284)
• Implement QPFixedBaseTSID class (Implementation of Fixed Base Task Space Inverse Dynamics #251)
• Implement YarpImplementation::setFromFile() (Implement IParameterHandler::YarpImplementation::setFromFile() #307)
• Implement CoMTask in TSID (Implement CoMTask in TSID #304)
• Implement YarpParametersHandler bindings (Implement YarpParametersHandler bindings #309)
• Implement contactListMapFromJson() and contactListMapToJson() methods and python bindings (Implement contactListMapFromJson() and contactListMapToJson() methods #316)
• Implement a matioCpp-based strain2 sensors' FT-IMU logger example device (Add matioCpp-based FTIMULogger example device #326)
• Implement TomlImplementation in ParametersHandler (Add the support to toml in the parameters handler #328)
• Implement blf_calibration_delta_updater.py application (Implement blf_calibration_delta_updater.py application #332)

Changed

• Move all the Contacts related classes in Contacts component ( C++ refactoring of Contact #204)
• Move all the ContactDetectors related classes in Contacts component (Migrate ContactDetectors into Contacts folder #209)
• The DCMPlanner and TimeVaryingDCMPlanner initialize functions take as input an std::weak_ptr. (Add the possibility to pass a reference DCM trajectory to the DCMPlanner #208)
• Use Math::StandardAccelerationOfGravitation instead of hardcoding 9.81. (Substitute 9.81 with BipedalLocomotion::Math::StandardAccelerationOfGravitation #211)
• Convert iDynTree types in FloatingBaseEstimators component to Eigen/manif types (FloatingBaseEstimators: Replace iDynTree types with Eigen/manif #215)
• Use std::optional instead of raw pointer in ISensorBridge. (Use std::optional instead of raw pointer in ISensorBridge #226)
• Use System::LinearTask in TSID component (Move LinearTask in System component  #240)
• Restructure python bindings in submodules (Restructure python bindings in submodules #238)
• Integrators and DynamicalSystems are now in the ContinuousDynamicalSystem component (General improvement of DynamicalSystem and implementation of FixedBaseDynamics  #242)
• Add Input template class to System::Advanceable (Refactoring of advanceable #267)
• Add support for landmarks and kinematics-free estimation in FloatingBaseEstimators. (General improvements for FloatingBaseEstimators library #254)
• If FRAMEWORK_DETECT_ACTIVE_PYTHON_SITEPACKAGES is OFF, for Python bindings use installation directory provided by sysconfig Python module. (If FRAMEWORK_DETECT_ACTIVE_PYTHON_SITEPACKAGES is OFF, for Python bindings use installation directory provided by sysconfig Python module #274)
• Reduce memory allocation in YarpSensorBridge (Some improvements in sensorbridge #278)
• Use TextLogging in VariablesHandler class (Add the possibility to initialize the VariablesHandler with the ParametersHandler #291)
• Fix YarpImplementation::setParameterPrivate() when a boolean or a vector of boolean is passed (Fix YarpImplementation::setParameterPrivate() when a boolean or a vector of boolean is passed #311)
• Add foot_take_off_acceleration and foot_take_off_velocity parameters in the SwingFootPlanner class (Add foot_take_off_acceleration and foot_take_off_velocity parameters in the SwingFootPlanner class #323)
• Change the parameters handler verbosity (Change the parameters handler verbosity #330)
• Restore backward compatibility of SwingFootPlanner parameters (Restore backward compatibility of SwingFootPlanner parameters #334)
• Bump manif version to 0.0.4 (Bump manif version to 0.0.4 #339)

Fixed

• Fix missing implementation of YarpSensorBridge::getFailedSensorReads(). (Fix missing implementation of YarpSensorBridge::getFailedSensorReads(). #202)
• Fixed mas-imu-test configuration files after FW fix.
• Fixed the implementation ``YarpSensorBridge::attachAllSixAxisForceTorqueSensors()`. (bug fix: YarpSensorBridge attach FT sensors  #231)
• Avoid the "Generating the Urdf Model from" message to appear when doing ccmake. (Avoid the "Generating the Urdf Model from" message to appear when doing ccmake #243)
• Fixed the installation path of public headers related to perception libraries. (Fix installation path for public headers of perception related libraries #245)
• Fixed InstallBasicPackageFiles to avoid the same problem of Do not use find_dependency in matioCppConfig.cmake if OVERRIDE_MODULE_PATH is used matio-cpp#41 (Fixed InstallBasicPackageFiles to avoid the same problem of https://github.com/dic-iit/matio-cpp/pull/41 #253)
• Call positionInterface->setRefSpeeds() only once when a position reference is set in YarpRobotControl (Bugfix in YarpRobotControl::Impl::setReferences #271)
• Fix initialization of reference frame for world in LeggedOdometry class. ([FloatingBaseEstimator] Bug fix in initialization LeggedOdometry #289)
• LeggedOdometry::Impl::updateInternalContactStates() is now called even if the legged odometry is not initialize. This was required to have a meaningful base estimation the first time LeggedOdometry::changeFixedFrame() is called. (Bugfix in LeggedOdometry::updateKinematics() #292)
• Avoid to use the default copy-constructor and copy-assignment operator in ContactPhaseList class (Fix copy-constructor and copy-assignment operator in ContactPhaseList class #295)
• Fix toString() method of VariablesHandler class (Fix toString in VariableHandler class #302)
• Fix in YarpUtilities::getVectorFromSearchable when a vector of boolean is passed as input ( Fix in YarpUtilities::getVectorFromSearchable when a vector of boolean is passed as input #313)
• Various fixes for the yarp devices (Various fixes for the yarp devices #337)

Contributors

This is a list of people that contributed to this release (generated from the git history using git shortlog -ens --no-merges v0.1.1..v0.2.0):

   298  Giulio Romualdi
    68  Prashanth
    15  Ines
    10  Stefano
     9  Silvio Traversaro
     5  Diego Ferigo
     5  Prashanth Ramadoss
     4  Stefano Dafarra
     2  Paolo
     2  Paolo Viceconte

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This discussion was created from the release bipedal-locomotion-framework 0.2.0.

[GiulioRomualdi]

cc @dic-iit/dynamic-interaction-control