Pinocchio 2.6.6

What's Changed

• Support HPP-FCL for ROS binaries & introduce ROS2 ament integration by @wxmerkt in #1622

Full Changelog: v2.6.5...v2.6.6

Pinocchio 2.6.5

What's Changed

• Fix warning issue in Python by @jcarpent in #1546
• RVizVisualizer update by @EtienneAr in #1549
• Correct link to examples. Removed python subdirectory in the link as the directory does not exist anymore by @olivier-stasse in #1561
• Add CONTRIBUTING.md file for newcomers by @olivier-stasse in #1563
• Add list of projects based on Pinocchio by @olivier-stasse in #1566
• Fix constrained dynamics formula by @jcarpent in #1567
• Append "/share" to AMENT_PREFIX_PATH by @proyan in #1568
• Expose dIntegrateTransport by @ManifoldFR in #1572
• [timings] Reduce allocations in finite-difference baselines by @wxmerkt in #1583
• [computeAllTerms] Add missing noalias to avoid temporary allocation by @wxmerkt in #1582
• Missing noalias by @duburcqa in #1585
• [multibody/model] add joint arg validation by @proyan in #1586
• [multibody/geometry] Add method to remove an object. by @florent-lamiraux in #1588
• Fix bug in ABAChecker by @jcarpent in #1599
• Update README.md by @jmirabel in #1604
• allow robot_wrapper to share data with its viz by @vnghia in #1606

New Contributors

• @duburcqa made their first contribution in #1585
• @vnghia made their first contribution in #1606

Full Changelog: v2.6.4...v2.6.5

Pinocchio 2.6.4

What's Changed

• Change 'typedef' to 'using', add curly braces by @the-raspberry-pi-guy in #1476
• [CMake] set INSTALL_RPATH for python on linux by @nim65s in #1482
• [visualize] captureImage() method by @ManifoldFR in #1480
• ci: update ROS CI by @jcarpent in #1483
• Fix issue with Pool when FCL is missing by @jcarpent in #1485
• fix module name by @nim65s in #1487
• Add RVizVisualizer by @EtienneAr in #1488
• fix reshape issues by @kozakromch in #1489
• Remove useless reference to L-GPL + remove of useless files by @jcarpent in #1500
• Update old function, remove mobile robot wrapper by @kozakromch in #1490
• Allows the display of {COLLISION,VISUAL} in MeshCat by @jcarpent in #1502
• Delete submodule travis by @jcarpent in #1509
• Add citation by @jcarpent in #1511
• badges: add PyPI by @nim65s in #1510
• Add support of Convex within MeshCat + improve GeometryObject bindings by @jcarpent in #1530
• [python] Fix BaseVisualizer constructor. by @jmirabel in #1533
• [python] Add pybind11 header. by @jmirabel in #1519
• make copy of supports during model cast by @rubengrandia in #1536
• [python] Simplify buildGeomFromUrdf and allow to build from string. by @jmirabel in #1538
• Sync submodule by @jcarpent in #1542
• Turn off automatic documentation generation by @wxmerkt in #1541

New Contributors

• @the-raspberry-pi-guy made their first contribution in #1476
• @ManifoldFR made their first contribution in #1480
• @EtienneAr made their first contribution in #1488
• @kozakromch made their first contribution in #1489
• @rubengrandia made their first contribution in #1536

Full Changelog: v2.6.3...v2.6.4

Pinocchio 2.6.3

This new release fixes bugs in MeshCat rendering, loading of ROS path and in the Centroidal dynamics derivatives

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.