v0.10.0

What's Changed

• Added trintrin dependency and basic CI by @S-Dafarra in #206
• Add walking files for ergoCubSN003 and bump version to 0.10.0 by @MSECode in #209

New Contributors

• @MSECode made their first contribution in #209

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

walking-controllers 0.9.0

What's Changed

• Enable the usage of VectorsCollectionMetadata in the WalkingModule by @GiulioRomualdi in #158
• [ergoCubSN001] Add the configuration file to improve the overall walking and enable the retargeting by @GiulioRomualdi in #160
• Remove solver_name from configuration file by @G-Cervettini in #159
• Change backward velocity and steplandingvelocity to reduce bumping effect by @isorrentino in #161
• Fix YARP_DATA_DIRS and setGoal in readme by @S-Dafarra in #166
• Fix logging of the data by @GiulioRomualdi in #162
• Modify time profiler by @davidegorbani in #164
• Some tuning of the walking-controller plus the possibility to use the autonomus walking feature by @GiulioRomualdi in #170
• Allow setting the dcm stillness by @S-Dafarra in #169
• Remove the TimeProfiler and use the one of BipedalLocomotionFramework by @GiulioRomualdi in #171
• Cleanup README.md removing reference to resetOffset and reduce references to iCub by @traversaro in #172
• Allow using the keyboard device in the JoypadModule by @S-Dafarra in #173
• Improved keyboard configuration file to use joypad inputs as well by @S-Dafarra in #176
• 🤖 [ergoCubSN002] Add configuration files by @GiulioRomualdi in #175
• Edit the way the joypad connect to ports by @S-Dafarra in #177
• [ergoCubSN002] Run the walking controller at 1khz by @GiulioRomualdi in #178
• Restructure the approaching machinery in RetargeringHelper by @GiulioRomualdi in #179
• Added retrieval of raw positions as they come from HDE by @S-Dafarra in #180
• [ergoCubSN001] Update the config files to run the walking at 1kHz by @GiulioRomualdi in #182
• fetch Catch2 and update include statements by @LoreMoretti in #184
• Reduced the number of warnings when compiling by @S-Dafarra in #181
• License the repo under the BSD-3-Clause license by @traversaro in #186
• Revamp of COM retargeting by @S-Dafarra in #187
• Add type config option and possibility to use pedals by @mebbaid in #188
• Fix the generation of the torso reference in case of additional chest rotation different from the identity by @GiulioRomualdi in #190
• Adding files for walking autonomous on SN000 by @S-Dafarra in #193
• Update frequency of the WalkingModule to 1 KHz for ergoCubSN000 by @isorrentino in #196
• Added possibility to publish frames in a transform server by @S-Dafarra in #197
• Bump minimum CMake version for tests to 3.10 by @LoreMoretti in #199
• Reduced 001 walking speed by @S-Dafarra in #200
• Remove version constraint for Eigen3 package for Eigen3 5.0.0 compat by @traversaro in #202
• Delete FindEigen3.cmake for Eigen3 5.0.0 compatibility by @traversaro in #203
• Preparation for release by @S-Dafarra in #205

New Contributors

• @G-Cervettini made their first contribution in #159
• @davidegorbani made their first contribution in #164
• @LoreMoretti made their first contribution in #184

Full Changelog: v0.8.0...v0.9.0

walking-controllers 0.8.0

What's Changed

• Create CODEOWNERS by @S-Dafarra in #146
• Enable the logging of the root link information and of the stance foot by @GiulioRomualdi in #147
• Fix not initialized variable in the evaluation of the measured ZMP and some tuning on ergoCubSN000 by @GiulioRomualdi in #149
• Remove deprecated IK solvers by @GiulioRomualdi in #150
• 🤖 [ergoCubGazeboV1_1] Add the configuration files for ergoCubGazeboV1_1 by @GiulioRomualdi in #152
• 🤖 [ergoCubSN001] Add the configuration files for the walking_with_joypad application by @GiulioRomualdi in #153
• Use BipedalLocomotion::GlobalCoPEvaluator to compute the global CoP by @GiulioRomualdi in #155
• Clean dependency by @GiulioRomualdi in #156
• 🤖 [ergoCubSN000] Use the stiff mode for the robot shoulder while teleoperated by @GiulioRomualdi in #157

Full Changelog: v0.7.0...v0.8.0

walking-controllers 0.7.0

What's Changed

• Add the possibility to use BLF IK in walking module by @GiulioRomualdi in #118
• Print the timers status every 10 seconds by @GiulioRomualdi in #123
• RetargetingHelper: Remove spurious blf include by @traversaro in #125
• Reduce start delay by @S-Dafarra in #127
• Add the possibility to disable the pause condition in the TrajectoryGenerator.cpp by @GiulioRomualdi in #128
• Fix WalkingModule::setPlannerInput() when a new input is set from the joypad by @GiulioRomualdi in #129
• added walking configuration files for ergoCubGazeboV1 by @mebbaid in #134
• [iCubgenova09] Increase the frequency of the walking-controller to 500Hz by @GiulioRomualdi in #136
• Add the possibility to use the blf-ik with ergoCubGazeboV1 by @GiulioRomualdi in #139
• ErgoCubSN000 by @GiulioRomualdi in #137
• Update vendored AddUninstallTarget.cmake to YCM v0.15.1 version by @traversaro in #141
• 🤖 [ergoCubSN000] [ergoCubGazeboV1] Add configuration files for the iFeel retargeting by @GiulioRomualdi in #140

New Contributors

• @mebbaid made their first contribution in #134

Full Changelog: v0.6.1...v0.7.0

walking-controllers 0.6.1

What's Changed

• CMake Refactoring by @GiulioRomualdi in #120
• Added some defines for the Windows case. by @S-Dafarra in #121

Full Changelog: v0.6.0...v0.6.1

walking-controllers 0.5.2

What's Changed

• Walking parameter tuning @GiulioRomualdi in #111
• Walking parameter tuning and improvements on the unicycle ellipsoid by @S-Dafarra in #114
• Enable the minimum jerk trajectory for the DCM first DS phase by @GiulioRomualdi in #117

Full Changelog: v0.5.1...v0.5.2

walking-controllers 0.5.1

What's Changed

• Add blf dependency in README by @traversaro in #101
• Remove logger from iCubGazeboV3 configuration by @lrapetti in #105
• Update README documentation by @lrapetti in #108
• Fix yarp deprecation of methods like asDouble by @S-Dafarra in #112
• Bump minor version for Release by @S-Dafarra in #113

New Contributors

• @lrapetti made their first contribution in #105

Full Changelog: v0.5.0...v0.5.1

walking-controllers 0.5.0

What's Changed

• Add Eigen3 link library in WholeBodyControllers component by @valentino-razza in #81
• Add the possibility to use the walking-module with iCubGenova09 by @GiulioRomualdi in #80
• Consider the free space ellipsoid by @S-Dafarra in #82
• Update README.md by @nunoguedelha in #88
• Fix/icub3 sim by @S-Dafarra in #86
• Config files to use iFeel retargeting added for iCubGenova04 by @isorrentino in #87
• Using the feetYawDelta and the slowWhenBackwardFactor. by @GiulioRomualdi in #89
• Use the telemetry logger in the WalkingModule by @paolo-viceconte in #97
• Clean the hacks introduced when controlling the root link by @S-Dafarra in #96
• Control the root link height instead of the CoM and avoid to use the DCM controller by @GiulioRomualdi in #93
• Add possibility to set two ellipsoids to avoid collisions by @S-Dafarra in #98
• Bumped UnicyclePlanner required version. by @S-Dafarra in #99

New Contributors

• @valentino-razza made their first contribution in #81
• @nunoguedelha made their first contribution in #88
• @isorrentino made their first contribution in #87
• @paolo-viceconte made their first contribution in #97

Full Changelog: v0.4.1...v0.5.0

walking-controllers v0.4.1 (2021-02-04)

walking-controllers v0.4.1 (2021-02-04)

Changed

• Bugfix while resetting the hand smoother in the RetargetingClient (#75)
• Fixed compilation if iDynTree 3 is used (#77, #78).
• Fix missing include in ZMPController.h (#76)

walking-controllers v0.4.0 (2020-12-01)

Added

• Adding the possibility to use Gazebo base data inside the walking controller
• TrajectoryGenerator class of the TrajectoryPlanner library includes now
  the method getWeightPercentage to retrieve the amount of weight on each foot
  requested by the planner.

Changed

• Adding the use_external_robot_base parameter inside the dcm_walking_with_joypad.ini
• Adding the Gazebo base data port inside the robotControl.ini
• Tunning the zmpControllerParams.ini and dcmReactiveControllerParams.ini
• Modifying the follwoing classes for geting and using Gazebo base data:
  • /KinDynWrapper/Wrapper
  • RobotInterface/Helper
  • TrajectoryPlanner/TrajectoryGenerator
  • WalkingModule
• Tune gains for iCubGenova04