Added - Added a new Berdy variant that accounts for estimating the external link wrenches independently of the internal joint torque estimates (https://github.com/robotology/idyntree/pull/991).
Changed - Changed signature of the method `BerdyHelper::serializeDynamicVariables` in order to serialize also the `RCM_SENSOR` (https://github.com/robotology/idyntree/pull/991).
5.3.0
Added - Additional functionalities for pybind11 bindings (https://github.com/robotology/idyntree/pull/1001): - `Twist` class - `ModelLoader` class - Basic kinematics support in `KinDynComputations`
Changed - No warning is printed if a sensor not supported by iDynTree is found in an URDF file (https://github.com/robotology/idyntree/pull/997).
Fixed - Fix `iDynTreeWrappers.loadReducedModel` when `model_path` argument does not end in `\` (https://github.com/robotology/idyntree/pull/1126).
5.2.1
Fixed - Fixed compatibility with YARP 3.7 (https://github.com/robotology/idyntree/pull/992).
5.2.0
Added - Added `DHChain` class to the bindings (https://github.com/robotology/idyntree/pull/984).
Fixed - Fixed problems of running two (or more) times the `iDynTree.Visualizer` class on Windows when using SDL >= 1.2.52 (https://github.com/robotology/idyntree/pull/988, https://github.com/robotology/idyntree/pull/986).
5.1.0
Added - Expose some Rotation conversion functions for pybind11 bindings (https://github.com/robotology/idyntree/pull/973).
Fixed - Fixed compatibility at CMake level on macOS with MATLAB R2021a and R2021b (https://github.com/robotology/idyntree/pull/978).
5.0.1
Fixed
- Avoid to use iDynTree material (for example the one specified in URDF) when `.obj` meshes are loaded in the Irrlicht visualizer (https://github.com/robotology/idyntree/pull/974). - Fix crash on `Visualizer::close` on Windows (https://github.com/robotology/idyntree/pull/976). The fix works only if the used Irrlicht is compiled with SDL support.