Release Notes

Future releases

See issues on github at


  • Now supports Python 3.


  • Pinned the bicycle example to specific dependencies.
  • Added
  • Removed Mayavi print statements.
  • Added badges to the README.
  • Added citation note to the README.


  • Added two examples, PRs #98, #101.


  • Fixed somersault mispelling, issue #67.
  • Now, configuration variables indicate proper sense. For example, flexion means flexion; not extension.
  • Fixed serious bug in the computation of inertia tensors in different reference frames. The calculation of all solids’ and segments’ inertia tensors in the global frame was incorrect, PRs #79, #80.
  • Now, use a consistent definition for rotation matrices: now, all rotation matrices R are of the form v_a = R * v_b, PR #88.
  • Added a center of mass sphere to the GUI visualization, PR #95.
  • Made mass center sphere and inertia ellipsoid off by default in the GUI, PR #93.
  • Fixed default orientation of human in GUI visualization, PR #93.
  • Improved the printing of human, segement, and solid properties, PR #81.
  • Renamed rotate3_inertia to rotate_inertia and changed its definition to match the rotation matrix definitions in the rest of the software, PR #79.
  • Setuptools now recommended, PR #72.
  • yeadon.__version__ now works, PR #69.
  • Fixed Sphinx warnings in the docs.


  • Fairly thorough unit tests.
  • Clarified documentation and docstrings.
  • Improved the way rotation matrices are formed.
  • Moved visualization to the MayaVi library, and introduced a GUI.
  • Introduced the yeadon.human.Human.inertia_transformed() method.
  • Use of python properties for inertia properties and other important attributes.
  • Improved setup/build/installation process.

v0.8 on 18 July 2011

This is the first release.