Release notes

New features:

• [Definition] Ability to use OBJ mesh files for defining collisions. The mesh is converted in a convex hull, such that if the given OBJ represent a concave mesh the resulting collision shape will be a coarse approximation.

Bugfix:

• [URDF] The approach used to figure out parent/child relation while dealing with composed URDF is not thorough enough. Added lazy breaks to make the current approach more straightforward. The only condition for the parent/child relation to be sorted out nicely is to define the root body as the first body in the URDF files which typically the standard.

Release notes

Bugfix:

• [GUI]: Attempt at fixing the ghost robot yoGraphic which doesn't update reliably
• [Share-Memory]: Fixing the name cropping for registries containing multiple variables.

0.25.2-java-17

Bugfix:

• [Sim]: YoMatrix would add elements for fixed-joint
• [Log]: Robot model loader would fail to unzip archive containing explicitly defined folders.

Dependencies:

• ihmc-yovariables: 0.11.1 -> 0.12.0

Release notes

Bugfix:

• [GUI] Fixed some edge-case where the configuration would fail to save because of some null pointer exception.

0.25.0-java-17 Release notes

Changes:

• [GUI] New YoGraphic to display a robot loaded from URDF file and which state is backed by yoVariables. The new yoGraphic is available through the menu YoGraphic menu > YoGraphic properties....
• [URDF] Composable URDF feature: URDFTools can now create a single URDF model from multiple URDF files. The files must follow a parent-child format, where the root body of the child must be defined in the parent.

Bugfixes:

• [GUI] YoVariable text fields for editor YoGraphics now use unique short names.
• [Symbolic] Bugfix: would throw an exception when starting equation with a parenthesis.
• [GUI] Bugfixes: equations weren't saved properly because of poor session management.
• [GUI] Bugfix: Some search fields wouldn't validate yoVariables when editing yoGraphics.
• [GUI] Re-ordered graphics so transparent YoGraphic do not hide robot/terrain.

Updated dependencies:

0.24.0-java-17 Release notes

Changes:

• [URDF] Made URDF definition of a revolute twins joint more flexible. It can now be implicitly defined as 2 regular revolute joints and one with a mimic tag.
• [GUI] New unique-short-name for yoVariable. It corresponds to the yoVariable's unique-name with intermediate namespaces collapsed with an ellipsis when possible.
• [GUI] New show/hide y-axis option in the YoChart menu. It allows to show/hide the y-axis for all the charts in the window.

Bugfixes:

• [MCAP] Fixed null pointer exception when opening a log that has no transforms and a robot. The robot won't be updated and errors are printed.
• [MCAP] Fixed null pointer exception when trying to parse a message which has an array/sequence of strings as a field.

0.23.2-java-17 Release notes

Bugfix:

• [MCAP] Fixed sluggishness when reading MCAP introduced with 0.23.0.

0.23.1-java-17 Release notes

Bugfix:

• MutableChunk would not compile in Eclipse.
• [GUI] Fixed a null-pointer exception occurring when creating yoGraphics.

Updated dependencies:

• ihmc-yovariables: 0.11.0 -> 0.11.1
• mecano: 17-0.18.0 -> 17-0.18.1
• ihmc-robot-data-logger: 0.28.8 -> 0.28.9
• ihmc-graphics-description: 0.25.0 -> 0.25.1

0.23.0-java-17 Release notes

New standalone application from terminal: MCAPRepackApplication for reconstructing a MCAP file, can help recover corrupted files.

Changes:

• [GUI, MCAP] crop a MCAP log through the session visualizer GUI.
• [GUI, MCAP] add manual delay on video streams to help synchronize with data.
• [MCAP] can repack a MCAP log file to help with log files that are corrupted, e.g. inconsistent timestamps or index records.
• [CLI] Switched away from JSAP to Apache Commons CLI to parse command line arguments.

Updated dependencies:

• [GUI] Added me.tongfei:progressbar 0.10.0
• [GUI] Added commons-cli:commons-cli 1.6.0

0.22.2-java-17 Release notes

Bugfix:

• [MCAP] Fixed loading ZSTD compressed chunks.