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iDynTree 9.0.0 (2023-05-11)
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@traversaro traversaro released this 11 May 09:18
· 223 commits to master since this release
v9.0.0
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[9.0.0] - 2023-05-11

Fixed

  • Fix export of iDynTree::PrismaticJoint in iDynTree::getRandomModel (#1057).

Changed

  • Binary wheels available on PyPI now target manylinux_2_28, and the options IDYNTREE_USES_ASSIMP, IDYNTREE_USES_IPOPT and IDYNTREE_USES_IRRLICHT are disable in binary wheels on PyPI. If you need these options enabled, please use conda-forge binaries or build iDynTree from source (#1068).
  • Compilation with IDYNTREE_USES_IRRLICHT set to ON now requires glfw library. Furthermore, now IDYNTREE_USES_IRRLICHT on Windows requires irrlicht to be compiled with SDL support. This changes have been done to support resizable visualizer windows on Windows (#1070, #1071).
  • Use iDynTree::InverseKinematicsRotationParametrizationRollPitchYaw as default parametrization in iDynTree::InverseKinematics (#1058).

URDF XML parser change

The XML parser API has changed. Now an additional XMLParserState context object is propagated while parsing.
To catch logic errors (which are not pure XML errors that are currently caught by the parser itself) the XMLParserState contains a bool variable. Further logic can be added to the context state.

The following errors are currently check:

  • Duplicate joints in the URDF will cause an error.

Added

  • Build and deploy PyPI wheels for Python 3.10 (#1061)
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