Version 0.7

Klamp't version 0.7 is now available! Please note that in this version, the Python API is NOT backwards compatible with 0.6.x. The change-over should be relatively painless, and instructions are found in the FAQ section of http://klampt.org/.

New features in 0.7 include:

• Improved simulation stability, including adaptive time stepping and instability detection/recovery.
• Simulated visual, depth, and laser range sensors are now fully supported.
• ROS sensor simulation broadcasting is enabled in Klampt/IO/ROS.h.
• World XML files can now be saved to disk.
• The proprietary .tri geometry file format has been replaced with the Object File Format (OFF) for better compatibility with 3D modeling packages.
• Robot sensors and controllers can be attached directly to a robot model using the sensors / controller properties in the robot’s .rob or .urdf file.
• The motion planning structure in KrisLibrary has been completely revamped in preparation for support of optimal and kinodynamic planning, but this should be a mostly transparent change to Klamp’t users.
• The Python interface is now better organized. However, the module structure is incompatible with code developed for versions 0.6.2 and earlier. In particular, math modules (vectorops, so3, se3) are now in the klampt.math subpackage, and visualization modules (glprogram, glrobotprogram, etc) are now in the klampt.vis subpackage.
• Custom Python simulations of sensors, actuators, and force appliers that work on fast simulation rates are easier to integrate with slower control loops in the klampt.sim.simulation module.
• Revamped and enhanced Python visualization functionality in the klampt.vis module. Multiple windows, simultaneous viewports, trajectory visualization, custom in-visualization plotting, automatic viewport determination, and thumbnail saving are now supported.
• Cartesian trajectory generation, file loading utilities are added to Python.

v0.6.1

Version history:

0.6.1 Latest version (3/21/2015)
• Added functionality in Python API to load/save/edit resources, manipulate transforms and robot configurations via widgets, change appearance of objects, and run programs through Qt.
• Removed the Python collide module. All prior functionality is now placed in the Geometry3D class in the standard klampt module.
• Real-time planning interface has been greatly simplified.
• The MilestonePathController class will be deprecated, use PolynomialPathController instead.
• Minor bug fixes

0.6. (7/4/2014)
• CMake build system makes it easier to build across multiple platforms
• Easy connections with external controllers via ROS or a serial protocol
• More user-friendly Qt application front ends
• More demos, example code, and tutorials
• Direct loading of URDF files with XML tag
• More calibrated robots: Baxter, RobotiQ 3-finger adaptive gripper
• Unification of locomotion and manipulation via the GeneralizedRobot mechanism
• Fixed build for Cygwin
• More sophisticated logging capabilities in SimTest (contacts, commanded/actual/sensed paths)
• Miscellaneous debugging throughout

0.5. Initial release (11/17/2013)