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Changelog

This file documents notable changes to this project done before November 2023. For changes after that date, plase refers to the release notes of each release at https://github.com/robotology/walking-controllers/releases .

0.8.0 - 2023-11-15

Added

  • Add the configuration files to run the walking controller on ergoCubGazeboV1_1 (#152)
  • Add the configuration files to run the walking controller on ergoCubSN001 (#153)

Changed

  • Implement populateData lambda function to easily populate the BipedalLocomotion::VectorsCollection (#147)
  • Tune the parameters for ergoCubSN000 (#149 #157)

Fixed

  • Fix non initialized variable used to remove the ZMP offset (#149)

Removed

  • Removed deprecated IK solvers (#150)
  • Remove qpOASES dependency (#156)

0.7.0 - 2023-03-07

Added

  • Now the IK problem can be solved by BipedaLocomotion::IK::QPInverseKinematics (#118)
  • Add the configuration files to run the walking controller on ergoCubGazeboV1 (#139)
  • Add the possibility to remove the ZMP-CoM offset when the controller is started (#137)
  • Add the configuration files to run the walking controller (with and without reargeting) on ergoCubSN000 (#137 , #140)

Changed

  • Add the possibility to control the root height instead of the CoM height (#118)
  • [iCubGenova09] Tune the gains (#118)
  • Print the timers status every 10 seconds (#123)
  • Modify the interface with the planner to allow the walking to run at 500Hz (#127, #136)
  • Update vendored AddUninstallTarget.cmake to YCM v0.15.1 version (#141)

Fixed

  • Fix WalkingModule::setPlannerInput() when a new input is set from the joypad (#129)

0.6.1 - 2022-09-14

Added

  • Enable the lateral walking (#119)

Changed

  • Remove the Loggermodule and the LoggerClient if favor of YarpRobotLoggerDevice (#120)
  • Make all the dependencies required (#120)

Fixed

  • Fixes a compilation problem on Windows relative to the use of std::min (#121)

0.5.2 - 2022-09-05

Added

  • Enable the minimum jerk trajectory for the first DS phase (#117)

Changed

  • [iCubGenova09] Update the configuration files (#114)
  • Ask for UnicyclePlanner v0.4.3 (#117)

0.5.1 - 2022-05-01

Fixed

  • [iCubGenova09] Fix the name of the torso frame in the forwardKinematics.ini
  • Remove logger from iCubGazeboV3 configuration (#105)
  • Fix yarp deprecation of methods like asDouble (#112)

0.5.0 - 2022-02-01

Added

  • Add the possibility to use the walking-module with iCubGenova09 (#80)
  • Add the possibility to use the FreeSpaceEllipse in the TrajectoryPlanner (#82)
  • Enable the iFeel retargeting pipeline (#87)
  • Bipedal locomotion v0.6.0 is now required to compile the project (#97)
  • Add the possibility to control the root link height instead of the CoM height (#93 and #96)

Changed

  • Add the possibility to handle multiple wrenches in the RobotInterface/Helper class (#80)
  • Using the feetYawDelta and the slowWhenBackwardFactor in the TrajectoryPlanner (#89)
  • WalkingModule logs the data through bipedal locomotion framework logger (#97)

Fixed

  • Fixed missing link library in WholeBodyControllers component (#81).

0.4.1 - 2020-02-04

Added

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)

0.4.0 - 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

0.3.3 - 2020-11-23

Added

Changed

  • Including Eigen as a private dependency in all targets using EigenHelpers (#62)
  • Copied the parameters of hand_retargeting in joypad_control (#63)

0.3.2 - 2020-03-21

Changed

  • Add missing includes in TimeProfiler (#60)

0.3.1 - 2020-03-18

Changed

  • Fix the windows compilation (#59)

0.3.0 - 2020-03-16

Added

  • The CHANGELOG.md file
  • Implement the WalkingControllersFindDepencies.cmake
  • Adding the possibility of selecting Stiff/Compliant mode in joint level.

Changed

  • General refactoring of the library. The WalkingModule is now split in several library. Namelly:
    • YarpUtilities: utilities for using YARP
    • StdUtilities: utilities related to std library
    • iDynTreeUtilities: utilities related to iDynTree
    • TimeProfiler: library for time profiling
    • SimplifiedModelControllers library related to simplified model controllers
    • WholeBodyControllers library related to controller based on the entire robot model
    • TrajectoryPlanner library related to trajectory planner
    • KinDynWrapper iDynTree KinDynComputation wrapper.
    • RetargetingClient client for the retargeting

0.2.0 - 2019-10-24

Added

  • Implement the first version of the hand retargeting (i.e. RetargetingClient)
  • Is it possible running different mode of the WalkingModules by changing the main configuration file
  • Add versioning to the project (0.2.0)

Changed

  • The time profiler is moved to the utilities library
  • The required version of osqp-eigen the is now 0.4.0 (before was 0.3.0)
  • Update the MPCSolver class to be compatible with osqp-eigen v0.4.0
  • Update the WalkingQPInverseKinematics to take into account the hand retargeting (the setPhase method is implemented)
  • WalkingLogger is now in a separate library
  • Parameters on iCubGenova04 are tuned
  • Parameters on icubGazeboSim are tuned
  • Set default build type to release
  • Avoid using Eigen::VectorXd in the evaluate gradient and bounds

Fixed

  • Initialize the zmpLeft and zmpRight vectors in the evaluateZMP method
  • Fix the initialization of the inverseKinematicsQPSolverOptions bottle in the WalkingModule.cpp

Removed

  • Remove Stance state from WalkingFSM

0.1.0 - 2019-10-21

Added

  • cmake/FindEigen3.cmake file in order to improve the compatibility with Windows operating system
  • implement getNumberFromSearchable in Utils.cpp file

Changed

  • Improve the description of the errors in the WalkingLoggerModule
  • Fix typos in README.md
  • Implement the stopWalking and the pauseWalking commands
  • Parameters on iCubGazeboV2_5 are tuned
  • Parameters on iCubGenova04 are tuned
  • The required version of the unicycle planner is now 0.1.2 (before was 0.1.102)
  • the WalkingQPIK_qpOASES and WalkingQPIK_osqp now inherits from the WalkingQPIK class

Fixed

  • Fix the close function in the WalkingLoggerModule
  • Add missing includes in TimeProfiler.cpp and WaldkingDCMModelPredictiveController.cpp`
  • The joypad control mapping is now fixed

Removed

  • onTheFly feature for the WalkingModule application
  • iCubGenova02 is no more supported

0.0.1 - 2018-12-18

Added

  • Implement the first version of the WalkingModule
  • Implement the first version of the WalkingLoggerModule
  • Implement the first version of the WalkingJoypadModule