🚀 iDynTree 3.1.0 Released

[traversaro]

A new minor feature release of iDynTree was released last week and can be found at https://github.com/robotology/idyntree/releases/tag/v3.1.0 .

If you use conda, you can install iDynTree binaries for the new 3.1.0 release with the following command:

conda install -c conda-forge -c robotology idyntree

Otherwise, the library can be compiled from source, on its own as any other CMake project or via the robotology-superbuild.

Changes

The changes in this release can be found in the following:

Added

• Add the possibility to use MatrixView and Span as input/output objects for InverseKinematics class (Add MatrixView and Span in InverseKinematics idyntree#822).
• Add the possibility to get frame trasform from the visualizer, and to use frame/link name in place of indices (Add get frame transform in visualizer idyntree#849).
• Add IDYNTREE_DETECT_ACTIVE_PYTHON_SITEPACKAGES CMake option (default value: OFF) to detect and install in the active site-package directory the Python bindings (Add IDYNTREE_DETECT_ACTIVE_PYTHON_SITEPACKAGES CMake option idyntree#852).
• Add inverseDynamicsWithInternalJointForceTorques method to KinDynComputations, this method permits to compute the inverse dynamics, but providing as an output the internal joint 6D force/torque for each joint ( KinDynComputations: Add inverseDynamicsWithInternalJointForceTorques method  idyntree#857).

Changed

• The wheels uploaded to PyPI are now manylinux_2_24 compliant (Build manylinux_2_24 compliant wheels idyntree#844)

Fixed

• Dynamics: In RNEA Dynamic Loop, return zero for wrench corresponding to non-existing parent joint of base link ( KinDynComputations: Add inverseDynamicsWithInternalJointForceTorques method  idyntree#857).
• Fixed compilation when using Eigen 3.4 (InverseKinematicsNLP: Do not use using namespace iDynTree to fix Eigen 3.4 compatibility idyntree#861).

Acknowledgement

Thanks a lot to the contributors (in code, documentation, reviews or suggestions) to this iDynTree release.