Pinocchio 2.9.1

This is a maintenance release.

This release covers:

1. CI fixes on 2.9.0
2. Fixes on the SDF support
3. Using boost::filesystem to handle ROS package lookup
4. Fixes on Meshcat loading of BVH models

Release of version 2.9.0

Introducing Pinocchio 3

Pinocchio3 is released for development under the branch pinocchio3-preview on the main github repository.
With Pinocchio3, multiple new features are introduced in Pinocchio, such as:

• Sparse Solution of Constrained Dynamics (Published in Robotics: Science and Systems 2021)
• Constrained Dynamics Derivatives (In pre-publishing stages)
• Constraint Models for handling loop constraints.
• Full casadi support in python and C++
• Introduction of pinocchio.casadi module
• Increased support of CppAD and CppADCodeGen
• New SDF parser.
• Enhanced LOCAL_WORLD_ALIGNED and LOCAL frame support
• Support for motor armature in algorithms
• Mechanical Energy of the system
• Classical and Point Accelerations and Derivatives
• Full Serialization support
• and much more...

Pinocchio developers are highly encouraged to check out the new features. However, please keep in mind that this remains a development branch, and thus the API between 2.9.x and 2.9.{x+1} could change without backward compatibility.

The new constrained dynamics algorithm can be cited by the following publication:

@inproceedings{carpentier:hal-03271811,
  TITLE = {{Proximal and Sparse Resolution of Constrained Dynamic Equations}},
  AUTHOR = {Carpentier, Justin and Budhiraja, Rohan and Mansard, Nicolas},
  URL = {https://hal.inria.fr/hal-03271811},
  BOOKTITLE = {{Robotics: Science and Systems 2021}},
  ADDRESS = {Austin / Virtual, United States},
  YEAR = {2021},
  MONTH = Jul,
  PDF = {https://hal.inria.fr/hal-03271811/file/rss-proximal-and-sparse.pdf},
  HAL_ID = {hal-03271811},
  HAL_VERSION = {v1},
}

Pinocchio 2.6.2

This new release provides fixes include orders in the unit tests due to recent versions of Boost.
It also provides more content to the Readme.
This new release prefigures the new Pinocchio 3.x

Pinocchio 2.6.1

Enhancement:

• extended support of serialization of FCL primitives
• extended support of Boost.Variant in Python

Fixes:

• fix bug when loading URDF on Windows
• fix handling of Frame inertia

Pinocchio 2.6.0

This new release provides:

• improvement for handling collision/distance requests
• support of parallel computations for ABA, RNEA and collisions algorithms (more to come soon)
• additional features for the RobotWrapper in Python
• support of Capsule for Meshcat
• happened Inertia information to Frames
• fixes for doc issues
• improve numerical robustness when two inertias are Zero

Pinocchio 2.5.6

This new release comes with a more consistent ABA algorithm (data.a_gf used instead of classic data.a) and more outcomes for computeAllTerms. In addition, it provides some extended supports to PyPy.

Pinocchio 2.5.5

This maintenance release enhances the whole CMake packaging of the project and provides additional features for the Python bindings.

Pinocchio 2.5.4

This new release enhances the compatibility of Pinocchio with former distributions, provides better support to Euler angles and fixes some bugs.

Pinocchio 2.5.3

This new release fixes some issues with the Python bindings, add new examples and extend the whole tests.

Pinocchio 2.5.2

This new release enhances the compatibility with Windows, provides new tools eitheir to work on joint configurations and also to compute the kinematic regressors.