iDynTree 4.4.0 (2022-02-08)

Added

• Implement idyntree-model-view-meshcat application (#961).

Fixed

• Fix loading material and color information from URDF files (#961).
• Make sure that pip is aware of the idyntree Python package if iDynTree is installed just via CMake (#963).

iDynTree 4.3.1 (2022-01-10)

[4.3.1] - 2022-01-10

Fixed

• Fixed iDynTree::ModelExporter class and idyntree-model-simplify-shapes utility to generate specification-conforming URDF files, by adding huge velocity and effort limits to joints, as these limits are currently not stored inside the iDynTree::Model class (#957, #955).

iDynTree 4.3.0 (2021-11-22)

[4.3.0] - 2021-11-22

Added

• Added support for exporting joint position limits to URDF for 1-DoF joints (prismatic and revolute).
• Added pybind11 python bindings for adding and reading joint limits.
• Added the ModelTransformsSolidShapes.h header in the iDynTree::idyntree-solid-shapes library. At the moment, this header contains just the iDynTree::approximateSolidShapesWithPrimitiveShape function, useful to approximate the solid shapes of a given iDynTree::Model to a series of bounding boxes (#941).
• Added idyntree-model-simplify-shapes command line tool. This tool is useful to take in input a model, and return in output the same model, but with all the geometries of the model approximated with their axis aligned bounding boxes (#933, #941).

Fixed

• In the URDF exporter, export only frames attached to the exported traversal #914.
• Fixed handling of the AMENT_PREFIX_PATH environment variable (#915).
• __is_mesh in the MeshcatVisualizer now returns false for non-meshes, and instead was raising an error (#925).

Deprecated

• The option IDYNTREE_COMPILES_YARP_TOOLS, that was already deprecated in iDynTree 3, is now set to OFF by default. It will be removed in iDynTree 5, please use the repo https://github.com/robotology/idyntree-yarp-tools instead (#919).

iDynTree 4.2.0 (2021-07-23)

[4.2.0] - 2021-07-23

• Add the possibility to pass the zmq url to the meshcat visualizer, to simplify its use in Google Colab (#905).

iDynTree 4.1.0 (2021-07-22)

[4.1.0] - 2021-07-22

Added

• Add the MeshcatVisualizer Python class (#901). This class uses meshcat to visualize the state of a model either in a browser or in a Jupyter cell. Check the example in examples/python/MeshcatVisualizerExample.ipynb.

iDynTree 4.0.0 (2021-07-16)

[4.0.0] - 2021-07-16

Added

• Add the visualization of labels in the visualizer (#879)

Removed

• Remove headers iDynTree/Core/AngularForceVector3.h, iDynTree/Core/AngularMotionVector3.h, include/iDynTree/Core/ForceVector3.h, iDynTree/Core/LinearForceVector3.h, include/iDynTree/Core/LinearMotionVector3.h, include/iDynTree/Core/MotionVector3.h. They were deprecated in iDynTree 2.0 (#708, #885).
• The method ModelVisualization::getWorldModelTransform() was removed, it was deprecated in iDynTree 3.0.1 .

iDynTree 3.3.1 (2021-07-16)

[3.3.1] - 2021-07-16

Fixed

• Fixed the possibility of installing the bindings of iDynTree (bindings directory) on their own, against an already compiled system iDynTree (#896).

iDynTree 3.3.0 (2021-07-08)

[3.3.0] - 2021-07-08

Added

• Add the is/asPrismaticJoint methods in the bindings (#881, #882)
• Add the possibility of building the binding of iDynTree (bindings directory) on their own, against an already compiled system iDynTree (#892, robotology/robotology-superbuild#817).

Deprecated

• The tools that depend on YARP (urdf2dh, yarprobotstatepublisher, idyntree-sole-gui, iDynTreePlotter) have been moved in idyntree-yarp-tools and their use in iDynTree has been deprecated. The option IDYNTREE_COMPILES_YARP_TOOLS has been introduced to disable their compilation. This option is set by default to ON on iDynTree 3, will exist but default to OFF in iDynTree 4, and will be removed in iDynTree 5.

iDynTree 3.2.1 (2021-06-07)

[3.2.1] - 2021-06-07

Fixed

• The example file examples/python/KinDynComputationsTutorial.py has been fixed to work with Python 3 and iDynTree >= 2.0 (#873).
• Fix of a bug introduced by #845 and present in iDynTree 3.1.0 and 3.2.0 in the visualization of boxes (#874)

iDynTree 3.2.0 (2021-05-15)

[3.2.0] - 2021-05-15

Changed

• The SwigRef.m, SwigMem.m and SwigGet.m MATLAB files are now named iDynTreeSwigRef.m, iDynTreeSwigMem.m and iDynTreeSwigGet.m. This ensure prevent the possibility that other libraries (such as CasADi) install files with the same name in the MATLAB path with incompatible content (#865, #868).