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CHANGELOG.md

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Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

Unreleased

1.7.1 - 2024-08-26

  • Fix a typo in ex_4_walking
  • check solver status, set eps_abs to 1e-6, fix seed
  • CMake: require >= 3.10
  • add changelog
  • setup ruff & fix isort pre-commit config
  • update ROS CI

1.7.0 - 2023-05-13

  • expose SE3ToVector and vectorToSE3
  • remove warnings
  • Enhance Python target packaging
  • Add CI with GitHub Action for conda
  • Add support for proxqp and osqp solver
  • Clean and update contributors list
  • pre-commit autoupdate
  • Expose TaskJointPosVelAccBounds
  • Expose AddMotionTask for TaskJointPosVelAccBounds
  • Fix qpmad
  • Add clang-format Google style
  • Add Measured force as an external force task with moving objects
  • update CMake: fetch submodule, set default build type, fix RPATH
  • fix for eigenpy v3
  • np.matrix → np.array
  • tooling: setup black isort & toml-sort

1.6.3 - 2022-11-02

  • Require C++17
  • fix tests in 18.04
  • update pinocchio use

1.6.2 - 2022-09-05

  • update python tests for np array
  • add task actuation equality
  • use generated headers
  • Choose floating-base (or not) when creating a robot wrapper
  • Add optional support of qpmad solver
  • update packaging for eigenpy 2.7.12

1.6.1 - 2021-10-19

This new release is mostly a maintenance release, including fixes for the recent version of Eigen 3.4.

1.6.0 - 2021-03-18

  • Add bindings for method Contact6d::getMotionTask
  • Add Center of Pressure Taks
  • fix warnings

1.5.0 - 2021-03-03

  • [py] Add config variable to specify whether end-effector task should be formulated in local frame or world frame.
  • [C++] Standardize names of methods to get and set mask in motion tasks.
  • [py] Add accessors masks in TaskCOM and TaskSE3Equality.
  • bugfixes

1.4.2 - 2020-11-26

  • Add a mask to task-com-equality
  • Fix bug in Contact6d::setRegularizationTaskWeightVector
  • CMake: fix configure without tests

1.4.1 - 2020-09-25

  • fix memory leaks thanks to shared_ptr
  • fix warnings
  • fix package.xml for ROS

1.4.0 - 2020-09-09

  • add setGravity
  • stop using StdVec in python to make code more user friendly
  • add 6d contact with motion constraint at priority level 1 in python
  • use example-robot-data in notebooks

1.3.1 - 2020-06-05

  • fix license
  • fix generated tsid.pc

1.3.0 - 2020-05-26

  • reactive test
  • add package.xml
  • add CheatSheet
  • updates for numpy.array & python 3
  • updateRigidContactWeights: fix and add to python API
  • use eiquadprog
  • fix compatibility with pinocchio v2.4.5

1.2.3 - 2020-03-30

  • renamed tests dir
  • fix python tests
  • CMake: export project and use exports from dependencies
  • CMake: keep minimal required instructions

1.2.2 - 2020-03-01

  • add angular momentum equality task
  • update to pinocchio changes
  • Python 3 compatibility
  • add some documentation
  • fix python issue

1.2.1 - 2019-09-19

  • fix compatibility with recent pinocchio versions

1.2.0 - 2019-03-06

  • Pinocchio v2, fix #31
  • Fix demo_romeo for pinocchio v2
  • Pull request for use TSID in python.
  • Add missing includes, fix #18

1.1.0 - 2018-10-10

This release updates to non backward-compatibles changes in pinocchio v1.3.0

1.0.2 - 2018-06-12

This release is mostly a maintenance release. It fixes some bug with respect to Pinocchio. It also fixes some issues with respect to the packaging.

1.0.1 - 2018-01-12

  • [joint-posture-task] Fix bug in computation of task matrix from mask
  • [task-se3-equality] Add method to get frame-id
  • [Robot] Add missing evaluation of the center of mass acceleration provided zero joint acceleration
  • [Math] Fix bug related to Eigen undefined function set_is_malloc_allowed
  • [CMake] Correct minimal version of Eigen3
  • [inv-dyn-form-acc-force] Fix potential bug in removal of contact constraint
  • [task-se3-equality] Fix small bug in computaiton of acceleration (just used for debugging)
  • [contact-6d] Add methods to set reference force and weight vector
  • [inv-dyn-form-acc-force] Fix bug: weight of force regularization task was not updated
  • [robot-wrapper] Fix bug in mass matrix: copy upper triangular part to lower triangular part (before this it was set to zero)
  • [formulations] Remove debug prints
  • [formulations] Fix bug in update of task weights
  • [robot-wrapper] BUG FIX: compute center of mass acceleration in computeAllTerms (before it was not computed so we were introducing random number in the CoM task)
  • [tsid-formulations] Add method to change the weight of a task.
  • [eigquadprog-fast] In DEBUG, in case a constraint is not verified, set the status flag to ERROR (even if the solver said the problem has been solved)
  • [task-com-equality] Fix little bugs in methods to get pos/vel references and errors, and in method to get desired acceleration
  • [math-utils] Add function to check if matrix/vector contains NaN
  • [math-utils] Pass JacobiSVD by reference in function solveWithDampingFromSvd
  • [math-utils] Add function to solve linear system of equations from svd decomposition

1.0.0 - 2017-06-16

This is the first release of TSID. This release includes minimal features for the torque control of humanoid robots such as HRP-2.