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iDynTree 4.3.0 (2021-11-22)

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@traversaro traversaro released this 22 Nov 12:05
· 436 commits to master since this release
v4.3.0
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[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

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