From b56739bc997ee65cd1fa1c97797ac09944012fdc Mon Sep 17 00:00:00 2001 From: Guilhem Saurel <guilhem.saurel@laas.fr> Date: Sun, 3 Dec 2023 13:51:10 +0100 Subject: [PATCH] add changelog --- CHANGELOG.md | 183 +++++++++++++++++++++++++++++++++++++++++++++++++++ 1 file changed, 183 insertions(+) create mode 100644 CHANGELOG.md diff --git a/CHANGELOG.md b/CHANGELOG.md new file mode 100644 index 00000000..7dd2bb37 --- /dev/null +++ b/CHANGELOG.md @@ -0,0 +1,183 @@ +# Changelog + +All notable changes to this project will be documented in this file. + +The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/), +and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html). + +## [Unreleased] + +- Fix a typo in ex_4_walking +- check solver status, set eps_abs to 1e-6, fix seed +- CMake: require >= 3.10 +- add changelog + +## [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. + +[unreleased]: https://github.com/stack-of-tasks/tsid/compare/v1.7.0...HEAD +[1.7.0]: https://github.com/stack-of-tasks/tsid/compare/v1.6.3...v1.7.0 +[1.6.3]: https://github.com/stack-of-tasks/tsid/compare/v1.6.2...v1.6.3 +[1.6.2]: https://github.com/stack-of-tasks/tsid/compare/v1.6.1...v1.6.2 +[1.6.1]: https://github.com/stack-of-tasks/tsid/compare/v1.6.0...v1.6.1 +[1.6.0]: https://github.com/stack-of-tasks/tsid/compare/v1.5.0...v1.6.0 +[1.5.0]: https://github.com/stack-of-tasks/tsid/compare/v1.4.2...v1.5.0 +[1.4.2]: https://github.com/stack-of-tasks/tsid/compare/v1.4.1...v1.4.2 +[1.4.1]: https://github.com/stack-of-tasks/tsid/compare/v1.4.0...v1.4.1 +[1.4.0]: https://github.com/stack-of-tasks/tsid/compare/v1.3.1...v1.4.0 +[1.3.1]: https://github.com/stack-of-tasks/tsid/compare/v1.3.0...v1.3.1 +[1.3.0]: https://github.com/stack-of-tasks/tsid/compare/v1.2.3...v1.3.0 +[1.2.3]: https://github.com/stack-of-tasks/tsid/compare/v1.2.2...v1.2.3 +[1.2.2]: https://github.com/stack-of-tasks/tsid/compare/v1.2.1...v1.2.2 +[1.2.1]: https://github.com/stack-of-tasks/tsid/compare/v1.2.0...v1.2.1 +[1.2.0]: https://github.com/stack-of-tasks/tsid/compare/v1.1.0...v1.2.0 +[1.1.0]: https://github.com/stack-of-tasks/tsid/compare/v1.0.2...v1.1.0 +[1.0.2]: https://github.com/stack-of-tasks/tsid/compare/v1.0.1...v1.0.2 +[1.0.1]: https://github.com/stack-of-tasks/tsid/compare/v1.0.0...v1.0.1 +[1.0.0]: https://github.com/stack-of-tasks/tsid/releases/tag/v1.0.0