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iDynTree "Summer 2022 Edition"!

traversaro

Inverse Kinematics solver for iCub visuomanip

15

Hi, I am trying to configure the IK solver for controlling the iCub right hand using [this urdf model](https://github.com/robotology/icub-models/blob/master/iCub_manual/robots/iCubGazeboV2_5_visuomanip/model.urdf) and the python bindings of iDynTree installed via pip (version 5.0.0)....

fedeceola

Unable to open idyntree meshcat visualizer

9

We installed the superbuild by enabling the python profile on a pc of the iCub3 setup. when I try to open the the `MeshcatVisualizer` the web server seems correctly running...

GiulioRomualdi

getRotation() does not work as expected in python

2

The function `getRotation()` returns a reference but the python does not have the ownership. Let’s consider these lines of code that are part of a function. ```python H = self.kindyn.getWorldTransform(imu)...

isorrentino

Automatically compute inertial parameters from link shapes

8

Inertial parameters (mass, center of masses and inertia matrices) of rigid bodies are a fundamental quantity in model-based control and simulation of robots that can be considered as composed by...

traversaro

Wrong type returned when calling FromPython function

2

Here an example. If I run this code: ```python x_py = numpy.zeros(6) x_idyn = idyn.JointPosDoubleArray(6) x_idyn = x_idyn.FromPython(x_py) ``` `x_idyn` becomes a `VectorDynSize` object. Maybe, this happens because the `FromPython`...

isorrentino

Problem when asking to reach a specific target with the right hand and the left hand

9

@Nicogene and I are using iDynTree within Blender to allow to the robot to reach a cartesian target (xyz-rpy). We define the base frame and the end-effector frame and we...

marcello-goccia

🚧 Implement pybind11 bindings for the KinDynComputations object

1

The PR is still in draft since I've to implement the bindings for the twist and I've to add the tests This is an example of usage ```python import idyntree.pybind...

GiulioRomualdi

iDynTree MATLAB bindings failing with "SDL_SetWindowResizable missing in SDL2 library" error message when using sdl 1.2.52, working with sdl 1.2.15

40

**EDIT by @traversaro: for people only looking for the workaround, the workaround is to rename the file `C:\Program Files\MATLAB\R2021b\bin\win64\SDL2.dll` to `C:\Program Files\MATLAB\R2021b\bin\win64\SDL2.dll.back` and restart MATLAB.** Trying to run a Simulink...

antonellopaolino

Support package:// or model:// URIs when specifying a model location on the command line

2

While writing https://github.com/robotology/idyntree/pull/941#issuecomment-968108486, I noticed that it could be useful to support the `package://` or `model://` URIs in the file location that are specified to command line tools. For example...

traversaro