🚀 iDynTree 3.0.0 Released

[traversaro]

A new major release of iDynTree was released today and can be found at https://github.com/robotology/idyntree/releases/tag/v3.0.0 .

The new release is close to the recent release of iDynTree 2.0, but a change in the ABI was required for supporting exposing sub-blocks of existing matrices in the iDynTree::MatrixView class (robotology/idyntree#800), so a new major release has been made as iDynTree follows Semantic Versioning for both API and ABI.

Among other changes, the Irrlicht-based iDynTree Visualizer component has received a lot of important changes, including out of the box support for meshes specified by package:// URIs in URDF files (robotology/idyntree#798), so now it can be used out of the both with iCub models installed by the icub-model repo. Furthermore, optional mouse control for the camera has been implemented, permitting to easily inspect URDF models that are visualized via the idyntree-model-view command. The Irrlicht-based iDynTree Visualizer requires iDynTree to be compiled with the IDYNTREE_USES_IRRLICHT CMake option, that at the moment is not enabled in the robotology-superbuild, but enabling this option is planned in robotology-superbuild in time for the 2021.02 release.

Thanks a lot to the contributors to this iDynTree release:

• Stefano Dafarra (@S-Dafarra)
• Giulio Romualdi (@GiulioRomualdi)
• Lorenzo Rapetti (@lrapetti)
• Prashanth Ramadoss (@prashanthr05)

For extended release notes, please check https://github.com/robotology/idyntree/releases/tag/v3.0.0 .