Merge branch 'master' into yrldtest

.github/workflows/conda-forge-ci.yml

@@ -37,7 +37,7 @@ jobs:
         conda config --remove channels defaults
         # Dependencies
         conda install cmake compilers make ninja pkg-config \
-                      "idyntree>=8.0.0" "yarp>=3.5.0" libmatio libmatio-cpp librobometry \
+                      "idyntree>=12.2.1" "yarp>=3.5.0" libmatio libmatio-cpp librobometry \
                       liblie-group-controllers eigen qhull "casadi>=3.5.5" cppad spdlog \
                       nlohmann_json manif manifpy pybind11 numpy pytest scipy opencv pcl \
                       tomlplusplus libunicycle-footstep-planner "icub-models>=1.23.4" \

CHANGELOG.md

@@ -1,7 +1,7 @@
 # Changelog
 All notable changes to this project are documented in this file.
 
-## [unreleased]
+## [0.19.0] - 2024-09-06
 ### Added
 - Added Vector Collection Server for publishing information for real-time users in the YARPRobotLoggerDevice (https://github.com/ami-iit/bipedal-locomotion-framework/pull/796)
 - Set submodel states from IMUs in RDE and add friction torques as measurement (https://github.com/ami-iit/bipedal-locomotion-framework/pull/793)
@@ -29,6 +29,7 @@ All notable changes to this project are documented in this file.
 - Add the test for the `YarpRobotLoggerDevice` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/862)
 - Implement joint torque control device and friction estimation through PINN (https://github.com/ami-iit/bipedal-locomotion-framework/pull/866)
 - Add a task in the IK to set the joint velocity limits (https://github.com/ami-iit/bipedal-locomotion-framework/pull/879)
+- Add the possibility to set the fixed joint configuration in `balancing-torque-control` app (https://github.com/ami-iit/bipedal-locomotion-framework/pull/880)
 
 ### Changed
 - 🤖 [ergoCubSN001] Add logging of the wrist and fix the name of the waist imu (https://github.com/ami-iit/bipedal-locomotion-framework/pull/810)
@@ -574,7 +575,8 @@ All notable changes to this project are documented in this file.
 - Added `mas-imu-test` application to check the output of MAS IMUs (https://github.com/ami-iit/bipedal-locomotion-framework/pull/62)
 - Implement motor currents reading in `YarpSensorBridge`. (https://github.com/ami-iit/bipedal-locomotion-framework/pull/187)
 
-[unreleased]: https://github.com/ami-iit/bipedal-locomotion-framework/compare/v0.18.0...master
+[unreleased]: https://github.com/ami-iit/bipedal-locomotion-framework/compare/v0.19.0...master
+[0.19.0]: https://github.com/ami-iit/bipedal-locomotion-framework/compare/v0.18.0...v0.19.0
 [0.18.0]: https://github.com/ami-iit/bipedal-locomotion-framework/compare/v0.17.0...v0.18.0
 [0.17.0]: https://github.com/ami-iit/bipedal-locomotion-framework/compare/v0.16.1...v0.17.0
 [0.16.1]: https://github.com/ami-iit/bipedal-locomotion-framework/compare/v0.16.0...v0.16.1

CMakeLists.txt

@@ -6,7 +6,7 @@ cmake_minimum_required(VERSION 3.16.0)
 
 ## MAIN project
 project(BipedalLocomotionFramework
-  VERSION 0.18.100)
+  VERSION 0.19.0)
 
 list(APPEND CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
 

cmake/BipedalLocomotionFrameworkDependencies.cmake

@@ -17,8 +17,8 @@ endif()
 ################################################################################
 ########################## Mandatory dependencies ##############################
 
-find_package(iDynTree 10.0.0 REQUIRED)
-dependency_classifier(iDynTree MINIMUM_VERSION 10.0.0 IS_USED TRUE PUBLIC)
+find_package(iDynTree 12.2.1 REQUIRED)
+dependency_classifier(iDynTree MINIMUM_VERSION 12.2.1 IS_USED TRUE PUBLIC)
 
 find_package(Eigen3 3.2.92 REQUIRED)
 dependency_classifier(Eigen3 MINIMUM_VERSION 3.2.92 IS_USED TRUE PUBLIC)

docs/config.toml

@@ -3,26 +3,31 @@ main_page = "docs/pages/main-page.dox"
 additional_pages = ["docs/pages/python-additional-info.md", "docs/pages/so3-minjerk.md"]
 src_folder = "src"
 
-['v0.18.0']
+['v0.19.0']
 main_page = "docs/pages/main-page.dox"
 additional_pages = ["docs/pages/python-additional-info.md", "docs/pages/so3-minjerk.md"]
 src_folder = "src"
 
-['v0.17.0']
+['v0.18.0']
 main_page = "docs/pages/main-page.dox"
 additional_pages = ["docs/pages/python-additional-info.md", "docs/pages/so3-minjerk.md"]
 src_folder = "src"
 
-['v0.16.1']
+['v0.17.0']
 main_page = "docs/pages/main-page.dox"
 additional_pages = ["docs/pages/python-additional-info.md", "docs/pages/so3-minjerk.md"]
 src_folder = "src"
 
-['v0.15.0']
+['v0.16.1']
 main_page = "docs/pages/main-page.dox"
 additional_pages = ["docs/pages/python-additional-info.md", "docs/pages/so3-minjerk.md"]
 src_folder = "src"
 
+# ['v0.15.0']
+# main_page = "docs/pages/main-page.dox"
+# additional_pages = ["docs/pages/python-additional-info.md", "docs/pages/so3-minjerk.md"]
+# src_folder = "src"
+
 # ['v0.14.1']
 # main_page = "docs/pages/main-page.dox"
 # additional_pages = ["docs/pages/python-additional-info.md", "docs/pages/so3-minjerk.md"]