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Release 1.1.0
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@fvalenza fvalenza released this 04 Feb 12:15
· 8440 commits to master since this release
v1.1.0
8173716

Summary

New Features

  • Spatial classes now follow the CRTP Design Pattern, for performance reasons.
  • JointModels are now exposed in Python. This feature enables one to load a URDF model with a precise root joint and to create his/her own model.
  • Python models can now be created by hand ( ex: buildEmptyModel() + calls to addBody() )
  • Added utility tools to check an urdf model ( same as check_urdf but dislpay the Pinocchio model created from urdf parsing)
  • Add unaligned prismatic joint
  • Add geometry through Flexible Collision Library (hpp-fcl)
    • Add dedicated structs to handle geometry. GeometryModel (list of geometry objects and its relation wrt kinematic model) and GeometryData
    • When parsing urdf, meshes can be read from collada files and handled in Pinocchio
    • Created parser that handles geometry and exposed it in python
    • Add algorithms to update the geometry kinematics, to compute the distances for pairs of collision or if they are colliding or not.
  • Added algorithms to compute the kinetic energy, the potential energy and exposed it in python
  • The complete documentation is in progress

API modifications

  • Change name of kinematics algorithms: now forwardKinematics instead of previous geometry, kinematics and dynamics.

Minor

  • SimpleHumanoid is now built with joint limits
  • Handle floating joints in urdf parsing
  • Slight separation between joints and body in Model to avoid confusion
  • Internally, Motion and Force classes now use a 6D-vector instead of two 3D-vectors for linear and angular part

Bugs Fixed

  • Fixed a bug when trying to merge a link with its parent in case of fixed joint. Now merge only if it has an inertial tag.
  • All the algorithms are now set to inline
  • Fix compilation errors

Installation

The source of the release are available in the file pinocchio-1.1.0.tar.gz just below along with a binary version for 64-bits Debian architecture of Pinocchio pinocchio_1.1.0_amd64.deb and its dependencies. For information, those packages will be installed in /opt/openrobots directory.

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