YARP 3.12.1 (2025-08-26)

Table of Contents

• YARP 3.12.1 Release Notes
  • New Features
    • yarpRerun
    • yarpRobotDescriptionInfo
    • Library
      • <tt>libYARP_os</tt>
    • Portmonitor
      • <tt>libYARP_dev</tt>
  • Fixes
    • Bindings
    • Executables
    • GUIs
      • yarpmotorgui
    • Devices
    • Library
      • <tt>libYARP_os</tt>
      • <tt>libYARP_robotinterface</tt>
  • Breaking Changes
    • GUIs
      • yarpmotorgui
    • Library
      • <tt>libYARP_dev</tt>
  • Contributors

YARP 3.12.1 Release Notes

A (partial) list of bug fixed and issues resolved in this release can be found here.

New Features

yarpRerun

• Added new executable tool yarpRerun. The tool log data received on yarp port using rerun.io framework)

yarpRobotDescriptionInfo

• Added new executable yarpRobotDescriptionInfo. This tool generate a .dot file which describes a graph representing all the devices used by yarpobotinterface and their connections.

Library

<tt>libYARP_os</tt>

• LogForwarder: added new method getLogPortName()
• Added new test LogForwarderTest to check that all forwarded messages are caught by the logger engine.

Portmonitor

• Added new portmonitor simulated_network_delay to add a delay in the network communication.
• Used by LogForwarderTest to test the logger under various network delay conditions.

<tt>libYARP_dev</tt>

• Added new tests to check IImpedanceControl interface.

Fixes

Bindings

• Added bindings for IJointCoupling interface.
• Added bindings for yarp::dev::LLM_Message.
• Added bindings for yarp::dev::ReturnValue.
• Fixed bindings for Python callbacks. Added examples.
• Strip trailing newline from CMAKE_INSTALL_PYTHON3DIR.

Executables

• yarpActionsPlayer Fixed erratic behavior during the first movement of each sequence.

GUIs

yarpmotorgui

• Improved yarpmotorgui to handle forceOffset of IImpedanceControl interface: the value is sent only if the table has changed.

Devices

• ControlBoardRemapper: fixed wrong buffer resize in resizeSubControlBoardBuffers.

Library

<tt>libYARP_os</tt>

• LogForwarder: now using a separated thread (class ThreadedPort) to prevent the loss of log messages during stress condition.

<tt>libYARP_robotinterface</tt>

• libYARP_robotinterface: does not show error message if device does not derive from IDeviceDriverParams.

Breaking Changes

GUIs

yarpmotorgui

• Add timers and callbacks for pwm and current control to keep sending references.

Library

<tt>libYARP_dev</tt>

• SensorMeasurments datatype moved from multipleAnalogSensorsMsgs to lib libYARP_dev

Contributors

This is a list of people that contributed to this release (generated from the git history using git shortlog -ens --no-merges v3.12.0..v3.12.1):

19  Marco Randazzo <marco.randazzo@iit.it>
 3  Jacopo Losi <jacopo.losi@iit.it>
 2  Bartek Łukawski <bwmn.peter@gmail.com>
 2  Jacopo <jacopo.losi@iit.it>
 2  Nicolò Genesio <nicolo.genesio@iit.it>
 2  Pasquale <pasquale.marra.pro@gmail.com>
 2  robotology-bot (Tag Repository Action) <robotology@iit.it>
 1  Bartek Łukawski <PeterBowman@users.noreply.github.com>
 1  Silvio Traversaro <silvio.traversaro@iit.it>