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.