CHANGELOG
Changelog
All notable changes to this project will be documented in this file.
The format is based on Keep a Changelog.
Unreleased
3.4.0 - 2025-02-12
Added
Add parsing meshes with vertices for MJCF format (#2537)
Fixed
Fix mjcf Euler angle parsing: use xyz as a default value for eulerseq compiler option (#2526)
Fix variable naming in Python (#2530)
Fix aba explicit template instantiation (#2541)
CMake: fix RPATH on macos (#2546)
Fix aba explicit template instantiation (#2541)
Fix mjcf parsing of keyframe qpos with newlines (#2535)
Fix sites parsing for MJCF format (#2548)
Fix register
std::shared_ptr<{,Geometry}{Model,Data}>
in bindings (#2566)Removed useless uses of
PINOCCHIO_WITH_CXX11_SUPPORT
(#2564)
3.3.1 - 2024-12-13
Added
Add
pinocchio_python_parser
target (#2475)
Fixed
Fix mjcf parsing of armature and of the default tag in models (#2477)
Fix undefined behavior when using the site attribute in mjcf (#2477)
Fix the type of image paths when loading textures in the meshcat visualizer (#2478)
Fix meshcat examples ([#2503])[https://github.com/stack-of-tasks/pinocchio/pull/2503]
Fix
pinocchio-test-cpp-parallel-geometry
when built with Coal (#2502)Fix scaling support for meshcat (#2511)
Changed
3.3.0 - 2024-11-06
Added
Default visualizer can be changed with
PINOCCHIO_VIEWER
environment variable (#2419)Add more Python and C++ examples related to inverse kinematics with 3d tasks (#2428)
Add parsing of equality/connect tag for closed-loop chains for MJCF format (#2413)
Add compatibility with NumPy 2
__array__
API (#2436)Added argument to let users decide of root joint name when parsing models (urdf, mjcf, sdf) (#2402)
Allow use of
pathlib.Path | str
for paths in python bindings (#2431)Add Pseudo inertia and Log-cholesky parametrization (#2296)
Add Pixi support (#2459)
Fixed
Fix linkage of Boost.Serialization on Windows (#2400)
Fix mjcf parser appending of inertias at root joint (#2403)
Fix unit tests with GCC 13.3 (#2406
Fix class abstract error for Rviz viewer (#2425)
Fix compilation issue with MSCV and C++17 (#2437)
Fix
pinocchio-test-py-robot_wrapper
when building with SDF and collision support (#2437)Fix crash when calling
Inertia::FromDynamicParameters
in Python with wrong vector size (#2296)Fix
examples/cassie-simulation.py
andexamples/talos-simulation.py
(#2443)Fix build with CppAd 2024 (#2459)
Fix
pinocchio-test-cpp-mjcf
unittest with Boost 1.86 (#2459)Fix
pinocchio-test-cpp-constraint-variants
uninitialized values (#2459)Fix mixing library symbols between Pinocchio scalar bindings (#2459)
Fix bug for get{Joint,Frame}JacobianTimeVariation (#2466)
Changed
3.2.0 - 2024-08-27
Fixed
Append pinocchio optional libraries into pkg-config file (#2322)
Fixed support of DAE meshes with MeshCat (#2331)
Fixed pointer casts in urdf parser (#2339)
Remove CMake CMP0167 warnings (#2347)
Fixed urdfdom in ROS packaging (#2341)
Fixed overview-urdf cpp example (#2384)
Fixed mjcf model without a base link parsing (#2386)
Fixed talos-simulation.py, simulation-contact-dynamics.py and simulation-closed-kinematic-chains.py examples (#2392)
Added
Add getMotionAxis method to helical, prismatic, revolute and ubounded revolute joint (#2315)
Add initial compatiblity with coal (coal needs
-DCOAL_BACKWARD_COMPATIBILITY_WITH_HPP_FCL=ON
) (#2323)Add compatibility with jrl-cmakemodules workspace (#2333)
Add
collision_color
parameter toMeshcatVisualizer.loadViewerModel
(#2350)Add
BuildFromMJCF
function to RobotWrapper (#2363)Add more CasADi examples (#2388)
Removed
Remove deprecated headers related to joint constraints (#2382)
Changed
3.1.0 - 2024-07-04
Fixed
Fix
appendModel
when joints after the base are in parallel (#2295)Fix
appendModel
build when called with template arguments different than the ones fromcontext
(#2284)Fix
TransformRevoleTpl::rotation
andTransformHelicalTpl::rotation
build (#2284)Fix compilation issue for Boost 1.85 (#2255)
Fix python bindings of
contactInverseDynamics
(#2263)Deactivate
BUILD_WITH_LIBPYTHON
when building with PyPy (#2274)Fix Python bindings cross building with
hpp-fcl
(#2288)Fix build issue on Windows when a deprecated header is included (#2292)
Fix build issue on Windows when building in Debug mode (#2292)
Fix visualization of meshes in meshcat (#2294)
Fix Anymal simulation test (#2299)
Fix contact derivatives and impulse dynamics tests (#2300)
Fix CMake compatibility with old console_bridge version (#2312)
Added
Removed
Remove header
list.hpp
include for bindings of model and rnea (#2263)
3.0.0 - 2024-05-27
Added
Automatic differentiation
Full support of Casadi in the main library by @jcarpent and @ManifoldFR
Full support of Casadi for Python bindings by @jcarpent
Full support of Boost.Multiprecision in the main library by @jcarpent
Full support of Boost.Multiprecision for Python bindings by @jcarpent
Full support of CppAD and CppADCodeGen in the main library by @jcarpent
Full support of CppAD and CppADCodeGen for Python bindings by @jcarpent and @proyan
Core features
Full support of constrained dynamical systems by @jcarpent
Full support of derivatives of constrained dynamical systems by @jcarpent and @proyan
Extended algorithms for constrained dynamics: constrained ABA, PV solvers, etc. by @jcarpent and @AjSat
Add frictional contact solvers (PGS, ADMM) by @jcarpent
Add contact inverse dynamics by @quentinll
Full support of broadphase algorithms in Pinocchio by @jcarpent
New joint supports (Helicoidal, Universal) by @fabinsch and @MegMll
Add new algorithms for supporting Delassus factorizations for sparse, dense and tree-based systems by @jcarpent
Add full OpenMP support for many algorithms (ABA, RNEA, collision detection, etc.) by @jcarpent
Full support of GeometryModel, GeometryObject serialization by @jcarpent
Extended support of Meshcat by @jcarpent, @ManifoldFR and @jorisv
Extended testing and support of Lie groups operations by @jcarpent and @ManifoldFR
Full support of AVX512 and AVX2 vectorization for Python bindings by @jcarpent
Full support of the robot armature in RNEA, CRBA and ABA
Extended formulation of CRBA and ABA using WORLD convention for reduced computational burden in the derivative algorithms
Parsers
Extra Algorithms
Added reachable workspace computation and vizualisation in collaboration with @askuric based on pycapacity by @MegMll and @jorisv
Packaging
Compatibility
Add
PINOCCHIO_ENABLE_COMPATIBILITY_WITH_VERSION_2
define to activate compatibility with Pinocchio 2 API
Changed
C++
Change minimum required version of C++ to C++11. Check for compatibility here: https://en.cppreference.com/w/cpp/compiler_support/11
Replace
pinocchio::BiasZeroTpl
bypinocchio::MotionZeroTpl
Replace
pinocchio::fusion::JointVisitorBase
bypinocchio::fusion::JointUnaryVisitorBase
Replace
pinocchio::fusion::push_front
bypinocchio::fusion::append
Replace
pinocchio::regressor::computeStaticRegressor
bypinocchio::computeStaticRegressor
Replace
pinocchio::jointJacobian
bypinocchio::computeJointJacobian
Replace
pinocchio::frameJacobian
bypinocchio::computeFrameJacobian
Replace
pinocchio::framesForwardKinematics
bypinocchio::updateFramePlacements
Replace
pinocchio::kineticEnergy
bypinocchio::computeKineticEnergy
Replace
pinocchio::potentialEnergy
bypinocchio::computePotentialEnergy
Replace
pinocchio::computeCentroidalDynamics
bypinocchio::computeCentroidalMomentum
andpinocchio::computeCentroidalMomentumTimeVariation
Replace
pinocchio::centerOfMass(const ModelTpl&, DataTpl&, int, bool)
bypinocchio::centerOfMass(const ModelTpl&, DataTpl&, KinematicLevel, bool)
Replace
pinocchio::copy(const ModelTpl&, const DataTpl&, DataTpl&, int)
bypinocchio::copy(const ModelTpl&, const DataTpl&, DataTpl&, KinematicLevel)
Replace
pinocchio/algorithm/dynamics.hpp
bypinocchio/algorithm/constrained-dynamics.hpp
Change the order of arguments in some of
pinocchio::GeometryObject
’s constructorsDeprecate
pinocchio/algorithm/parallel/geometry.hpp
moved atpinocchio/collision/parallel/geometry.hpp
Deprecate
pinocchio/spatial/fcl-pinocchio-conversions.hpp
moved atpinocchio/collision/fcl-pinocchio-conversions.hpp
Deprecate
pinocchio/parsers/sample-models.hpp
moved atpinocchio/multibody/sample-models.hpp
Deprecate
pinocchio/math/cppad.hpp
moved atpinocchio/autodiff/cppad.hpp
Deprecate
pinocchio/math/cppadcg.hpp
moved atpinocchio/autodiff/cppadcg.hpp
Deprecate
pinocchio/math/casadi.hpp
moved atpinocchio/autodiff/casadi.hpp
Deprecate
pinocchio::FrameTpl::parent
replaced bypinocchio::FrameTpl::parentJoint
Deprecate
pinocchio::FrameTpl::previousFrame
replaced bypinocchio::FrameTpl::parentFrame
Deprecate
pinocchio/algorithm/contact-dynamics.hpp
algorithms replaced bypinocchio/algorithm/constrained-dynamics.hpp
Python
Replace
pinocchio.utils.skew
bypinocchio.skew
Replace
pinocchio.utils.se3ToXYZQUAT
bypinocchio.SE3ToXYZQUATtuple
Replace
pinocchio.utils.XYZQUATToSe3
bypinocchio.XYZQUATToSE3
Replace
pinocchio.robot_wrapper.RobotWrapper.frameClassicAcceleration
bypinocchio.robot_wrapper.RobotWrapper.frameClassicalAcceleration
Replace
pinocchio.robot_wrapper.RobotWrapper.jointJacobian
bypinocchio.robot_wrapper.RobotWrapper.computeJointJacobian
Replace
pinocchio.robot_wrapper.RobotWrapper.frameJacobian
bypinocchio.robot_wrapper.RobotWrapper.computeFrameJacobian
Replace
pinocchio.robot_wrapper.RobotWrapper.initDisplay
bypinocchio.robot_wrapper.RobotWrapper.initViewer
Replace
pinocchio.robot_wrapper.RobotWrapper.loadDisplayModel
bypinocchio.robot_wrapper.RobotWrapper.loadViewerModel
Replace
pinocchio.deprecated.se3ToXYZQUATtuple
bypinocchio.SE3ToXYZQUATtuple
Replace
pinocchio.deprecated.se3ToXYZQUAT
bypinocchio.SE3ToXYZQUAT
Replace
pinocchio.deprecated.XYZQUATToSe3
bypinocchio.XYZQUATToSE3
Replace
pinocchio.deprecated.buildGeomFromUrdf(model, filename, [str])
bypinocchio.buildGeomFromUrdf(model, filename, type, package_dirs, mesh_loader)
Replace
pinocchio.rpy.npToTTuple
bypinocchio.utils.npToTTuple
Replace
pinocchio.rpy.npToTuple
bypinocchio.utils.npToTuple
Replace
pinocchio.jacobianSubtreeCoMJacobian
bypinocchio.jacobianSubtreeCenterOfMass
Removed
C++
Remove
pinocchio::setGeometryMeshScales
Remove some
pinocchio::forwardDynamics
signaturesRemove some
pinocchio::impulseDynamics
signatures
Python
Remove
pinocchio.utils.cross
Remove
pinocchio.robot_wrapper.RobotWrapper.initMeshcatDisplay
Remove
pinocchio.deprecated.setGeometryMeshScales
bypinocchio
2.7.1 - 2024-04-26
Changed
Fixed
CMake now uses Relative Path instead of Absolute (#2202)
Order of frames in
ReducedModel
is now the same as in the full model (#2160)Remove a lot of warnings (#2139)
MeshcatVisualizer
doesn’t crash anymore when there is no collision model defined (#2147)Fix MSVC build (#2155)
Fix stub generation (#2166)
Clean up empty documentation pages and sections (#2167)
Fix SO(3) title and cross-section reference in the documentation (#2210)
Added
2.7.0 - 2024-01-23
Added
Add
GeometryObject::meshMaterial
attribute (#2084)Add Parser for mujoco mjcf models
pinocchio::mjcf::buildModel
andpinocchio::mjcf::buildGeom
Fixed
Use bp::ssize_t for recent version of Windows compilers (#2102)
Fix missing include for Boost >= 1.83 (#2103)
Remove f-strings to fix install with python 2 (#2110)
CMake: stop exporting CppAd/cppadcodegen & fetch submodule if not available (#2112)
Fix malloc issue in CRBA algo (#2126)
Fix build cppad and cppadcg with Boost < 1.77 (#2132)
2.6.21 - 2023-11-27
Added
Fixed
Re-initialize
Ycrb[0]
incrbaMinimal
(#2040)Fix custom scalar use in
log
function (#2047)Raise exception on wrong input size in
XYZQUATToSE3
Python binding function (#2073)Remove memory leak in
buildGeomFromUrdf
andbuildGeomFromUrdfString
Python binding functions (#2082https://github.com/stack-of-tasks/pinocchio/pull/2082)Fix Panda3D viewer examples (#2087)
Fix centroidal dynamics derivatives with respect to time (#2094))
Changed
Removed
Remove support to
hpp-fcl
< v2.0.0 (#2086)
2.6.20 - 2023-08-09
What’s Changed
Fix support of recent versions of Boost for CppAD and CppADCodeGen by @jcarpent in https://github.com/stack-of-tasks/pinocchio/pull/2000
build(deps): bump ros-industrial/industrial_ci from afbf77f39db26785371161d5691ab435b31bb3ba to 1e0c5aff1147d50d58bf4185a55ff564c9b6e027 by @dependabot in https://github.com/stack-of-tasks/pinocchio/pull/2007
Enabled copy and deepcopy by @cmastalli in https://github.com/stack-of-tasks/pinocchio/pull/1882
build(deps): bump ros-industrial/industrial_ci from afbf77f39db26785371161d5691ab435b31bb3ba to 9f963f67ebb889792175776c5ee00134d7bb569b by @dependabot in https://github.com/stack-of-tasks/pinocchio/pull/2013
Sync submodule cmake by @jcarpent in https://github.com/stack-of-tasks/pinocchio/pull/2029
2.6.19 - 2023-06-19
What’s Changed
Add Motion::toHomogeneousMatrix by @stephane-caron in https://github.com/stack-of-tasks/pinocchio/pull/1946
The insatiable English teacher PR 🧙 by @stephane-caron in https://github.com/stack-of-tasks/pinocchio/pull/1957
require C++14 for Boost >= 1.81 by @nim65s in https://github.com/stack-of-tasks/pinocchio/pull/1949
CMake: an example require python 3 by @nim65s in https://github.com/stack-of-tasks/pinocchio/pull/1966
Fix IK example in the documentation by @stephane-caron in https://github.com/stack-of-tasks/pinocchio/pull/1963
Issue templates by @stephane-caron in https://github.com/stack-of-tasks/pinocchio/pull/1971
build(deps): bump ros-industrial/industrial_ci from 4b78602d67127a63dce62926769d9ec4e2ce72e4 to afbf77f39db26785371161d5691ab435b31bb3ba by @dependabot in https://github.com/stack-of-tasks/pinocchio/pull/1976
Enhance CMake packaging for Windows by @jcarpent in https://github.com/stack-of-tasks/pinocchio/pull/1984
Documentation by @drewhamiltonasdf in https://github.com/stack-of-tasks/pinocchio/pull/1986
Add support for ccache on Conda build by @jcarpent in https://github.com/stack-of-tasks/pinocchio/pull/1987
build(deps): bump ros-industrial/industrial_ci from 4b78602d67127a63dce62926769d9ec4e2ce72e4 to afbf77f39db26785371161d5691ab435b31bb3ba by @dependabot in https://github.com/stack-of-tasks/pinocchio/pull/1988
Enhance compatibility with new Python versions by @jcarpent in https://github.com/stack-of-tasks/pinocchio/pull/1996
New Contributors
@drewhamiltonasdf made their first contribution in https://github.com/stack-of-tasks/pinocchio/pull/1986
2.6.18 - 2023-04-29
What’s Changed
Support force in pybind11 by @cmastalli in https://github.com/stack-of-tasks/pinocchio/pull/1868
Fix some Python bindings signatures and add stub generation. by @duburcqa in https://github.com/stack-of-tasks/pinocchio/pull/1869
Fix IK example by @stephane-caron in https://github.com/stack-of-tasks/pinocchio/pull/1875
Remove empty examples by @stephane-caron in https://github.com/stack-of-tasks/pinocchio/pull/1878
build(deps): bump ros-industrial/industrial_ci from 6a8f546cbd31fbd5c9f77e3409265c8b39abc3d6 to 4b78602d67127a63dce62926769d9ec4e2ce72e4 by @dependabot in https://github.com/stack-of-tasks/pinocchio/pull/1890
add static-contact-dynamics example by @PepMS in https://github.com/stack-of-tasks/pinocchio/pull/1891
Update documentation of
JointModel.shortname
in python bindings by @Danfoa in https://github.com/stack-of-tasks/pinocchio/pull/1892update doc by @fabinsch in https://github.com/stack-of-tasks/pinocchio/pull/1898
Document that joints need to be added in depth-first order by @traversaro in https://github.com/stack-of-tasks/pinocchio/pull/1899
fix INSTALL_RPATH on ROS & OSX by @nim65s in https://github.com/stack-of-tasks/pinocchio/pull/1908
Python example: update joint placements after loading a URDF by @stephane-caron in https://github.com/stack-of-tasks/pinocchio/pull/1911
Remove more empty sections from the docs by @stephane-caron in https://github.com/stack-of-tasks/pinocchio/pull/1912
Sync submodule cmake by @jcarpent in https://github.com/stack-of-tasks/pinocchio/pull/1914
update doc for fixed joint by @fabinsch in https://github.com/stack-of-tasks/pinocchio/pull/1920
doc: more information about frames on cheatsheet by @fabinsch in https://github.com/stack-of-tasks/pinocchio/pull/1930
Define operational frames in the documentation by @stephane-caron in https://github.com/stack-of-tasks/pinocchio/pull/1929
Remove support of np.matrix by @jcarpent in https://github.com/stack-of-tasks/pinocchio/pull/1941
Fix other np.matrix issues by @jcarpent in https://github.com/stack-of-tasks/pinocchio/pull/1942
New Contributors
2.6.17 - 2023-02-15
What’s Changed
Fix Jlog6 documentation by @stephane-caron in https://github.com/stack-of-tasks/pinocchio/pull/1857
Add documentation to Jlog3 by @stephane-caron in https://github.com/stack-of-tasks/pinocchio/pull/1858
[python/visualize] Extend visualizer features and implement them for MeshcatVisualizer by @ManifoldFR in https://github.com/stack-of-tasks/pinocchio/pull/1845
Second-order RNEA derivatives by @jcarpent in https://github.com/stack-of-tasks/pinocchio/pull/1860
Sync submodule CMake by @jcarpent in https://github.com/stack-of-tasks/pinocchio/pull/1863
Fix support of AVX2. by @duburcqa in https://github.com/stack-of-tasks/pinocchio/pull/1865
2.6.16 - 2023-02-02
What’s Changed
2.6.15 - 2023-01-31
What’s Changed
More documentation for getJointJacobian by @stephane-caron in https://github.com/stack-of-tasks/pinocchio/pull/1836
Error when integrating SE3 with the same vector given as input and output by @duburcqa in https://github.com/stack-of-tasks/pinocchio/pull/1775
Documentation for Jlog6 by @stephane-caron in https://github.com/stack-of-tasks/pinocchio/pull/1842
remove useless header by @nim65s in https://github.com/stack-of-tasks/pinocchio/pull/1846
Fix issue with recent change on master branch for ROS-CI by @jcarpent in https://github.com/stack-of-tasks/pinocchio/pull/1847
Fix issue with old version of Boost and eigenpy >= 2.9.0 by @jcarpent in https://github.com/stack-of-tasks/pinocchio/pull/1851
2.6.14 - 2023-01-13
What’s Changed
Fix registration of ptr to Python by @jcarpent in https://github.com/stack-of-tasks/pinocchio/pull/1832
2.6.13 - 2023-01-12
What’s Changed
build(deps): bump goanpeca/setup-miniconda from 1 to 2 by @dependabot in https://github.com/stack-of-tasks/pinocchio/pull/1790
Skip collision pairs between geom on same joint in appendGeometryModel by @jmirabel in https://github.com/stack-of-tasks/pinocchio/pull/1791
Fix issue with Boost 1.78 on OSX systems by @jcarpent in https://github.com/stack-of-tasks/pinocchio/pull/1792
build(deps): bump goanpeca/setup-miniconda from 1 to 2 by @dependabot in https://github.com/stack-of-tasks/pinocchio/pull/1793
Add helper functions for computing supported inertia and force by frames by @EtienneAr in https://github.com/stack-of-tasks/pinocchio/pull/1796
Follow-up : Supported inertia by frame by @EtienneAr in https://github.com/stack-of-tasks/pinocchio/pull/1797
build(deps): bump goanpeca/setup-miniconda from 1 to 2 by @dependabot in https://github.com/stack-of-tasks/pinocchio/pull/1799
[pre-commit.ci] pre-commit autoupdate by @pre-commit-ci in https://github.com/stack-of-tasks/pinocchio/pull/1801
build(deps): bump goanpeca/setup-miniconda from 1 to 2 by @dependabot in https://github.com/stack-of-tasks/pinocchio/pull/1802
build(deps): bump goanpeca/setup-miniconda from 1 to 2 by @dependabot in https://github.com/stack-of-tasks/pinocchio/pull/1809
Sync submodule cmake by @jcarpent in https://github.com/stack-of-tasks/pinocchio/pull/1811
Fix Python issues by @jcarpent in https://github.com/stack-of-tasks/pinocchio/pull/1821
Allow to use std::shared_ptr by @florent-lamiraux in https://github.com/stack-of-tasks/pinocchio/pull/1822
2.6.12 - 2022-11-06
What’s Changed
Elevate check for ambiguous input argument to an exception by @wxmerkt in https://github.com/stack-of-tasks/pinocchio/pull/1781
Fix packaging issues + sync submodule CMake by @jcarpent in https://github.com/stack-of-tasks/pinocchio/pull/1782
Fix issue with clang by @jcarpent in https://github.com/stack-of-tasks/pinocchio/pull/1784
2.6.11 - 2022-10-25
What’s Changed
URDF: fix loading relative mesh path in urdf by @fabinsch in https://github.com/stack-of-tasks/pinocchio/pull/1748
Sync submodule cmake by @jcarpent in https://github.com/stack-of-tasks/pinocchio/pull/1750
Add @note to difference documentation by @stephane-caron in https://github.com/stack-of-tasks/pinocchio/pull/1753
Configuration limits for joints and model by @fabinsch in https://github.com/stack-of-tasks/pinocchio/pull/1756
Address remaining warnings + speed-up build for BUILD_TESTING=OFF by @wxmerkt in https://github.com/stack-of-tasks/pinocchio/pull/1764
Add status of ROS builds to README by @wxmerkt in https://github.com/stack-of-tasks/pinocchio/pull/1770
pinocchio/visualize: Add support for cone shape in meshcat dispaly by @whtqh in https://github.com/stack-of-tasks/pinocchio/pull/1769
Updates README by @nikoandpiko in https://github.com/stack-of-tasks/pinocchio/pull/1776
Enhance cmake packaging by @jcarpent in https://github.com/stack-of-tasks/pinocchio/pull/1777
New Contributors
@stephane-caron made their first contribution in https://github.com/stack-of-tasks/pinocchio/pull/1753
@whtqh made their first contribution in https://github.com/stack-of-tasks/pinocchio/pull/1769
@nikoandpiko made their first contribution in https://github.com/stack-of-tasks/pinocchio/pull/1776
2.6.10 - 2022-09-14
What’s Changed
fix syntax for python 2 by @nim65s in https://github.com/stack-of-tasks/pinocchio/pull/1734
Expose
removeGeometryObject
in python binding by @Jiayuan-Gu in https://github.com/stack-of-tasks/pinocchio/pull/1736Fix relocalable by @jcarpent in https://github.com/stack-of-tasks/pinocchio/pull/1738
Fix relative path in urdf by @fabinsch in https://github.com/stack-of-tasks/pinocchio/pull/1742
Sync submodule CMake by @jcarpent in https://github.com/stack-of-tasks/pinocchio/pull/1744
New Contributors
@Jiayuan-Gu made their first contribution in https://github.com/stack-of-tasks/pinocchio/pull/1736
2.6.9 - 2022-08-12
What’s Changed
build(deps): bump actions/checkout from 2 to 3 by @dependabot in https://github.com/stack-of-tasks/pinocchio/pull/1669
build(deps): bump actions/cache from 2 to 3 by @dependabot in https://github.com/stack-of-tasks/pinocchio/pull/1670
Sync example-robot-data by @jcarpent in https://github.com/stack-of-tasks/pinocchio/pull/1671
update to pybind11 v2.9.2 by @nim65s in https://github.com/stack-of-tasks/pinocchio/pull/1674
build(deps): bump actions/checkout from 2 to 3 by @dependabot in https://github.com/stack-of-tasks/pinocchio/pull/1678
build(deps): bump actions/cache from 2 to 3 by @dependabot in https://github.com/stack-of-tasks/pinocchio/pull/1677
[pre-commit.ci] pre-commit autoupdate by @pre-commit-ci in https://github.com/stack-of-tasks/pinocchio/pull/1679
build(deps): bump actions/checkout from 2 to 3 by @dependabot in https://github.com/stack-of-tasks/pinocchio/pull/1692
build(deps): bump actions/cache from 2 to 3 by @dependabot in https://github.com/stack-of-tasks/pinocchio/pull/1691
Fix bug in appendModel by @jcarpent in https://github.com/stack-of-tasks/pinocchio/pull/1693
[pre-commit.ci] pre-commit autoupdate by @pre-commit-ci in https://github.com/stack-of-tasks/pinocchio/pull/1695
Fix geometry color default value by @jcarpent in https://github.com/stack-of-tasks/pinocchio/pull/1699
Add python example appending Urdf and another model by @fabinsch in https://github.com/stack-of-tasks/pinocchio/pull/1698
SO3 diff impl use quaternion instead of rotation matrix by @Toefinder in https://github.com/stack-of-tasks/pinocchio/pull/1702
add cheat sheet to doc by @fabinsch in https://github.com/stack-of-tasks/pinocchio/pull/1705
cmake/utils: no need for python here by @nim65s in https://github.com/stack-of-tasks/pinocchio/pull/1709
Add header only target by @fabinsch in https://github.com/stack-of-tasks/pinocchio/pull/1712
cmake: relocatable package for recent CMake versions by @nim65s in https://github.com/stack-of-tasks/pinocchio/pull/1716
cmake: modernize header-only lib by @nim65s in https://github.com/stack-of-tasks/pinocchio/pull/1718
ROS2/Colcon integration by @wxmerkt in https://github.com/stack-of-tasks/pinocchio/pull/1719
CMake: update to eigenpy 2.7.10 by @nim65s in https://github.com/stack-of-tasks/pinocchio/pull/1720
Fix weird test failure on Conda by @jcarpent in https://github.com/stack-of-tasks/pinocchio/pull/1723
[pre-commit.ci] pre-commit autoupdate by @pre-commit-ci in https://github.com/stack-of-tasks/pinocchio/pull/1727
ROS2 release support by @wxmerkt in https://github.com/stack-of-tasks/pinocchio/pull/1681
Sync submodule CMake by @jcarpent in https://github.com/stack-of-tasks/pinocchio/pull/1732
New Contributors
@fabinsch made their first contribution in https://github.com/stack-of-tasks/pinocchio/pull/1698
2.6.8 - 2022-06-06
What’s Changed
[pre-commit.ci] pre-commit autoupdate by @pre-commit-ci in https://github.com/stack-of-tasks/pinocchio/pull/1648
Fix integrate method for SO2 by @Toefinder in https://github.com/stack-of-tasks/pinocchio/pull/1652
[pre-commit.ci] pre-commit autoupdate by @pre-commit-ci in https://github.com/stack-of-tasks/pinocchio/pull/1653
[pre-commit.ci] pre-commit autoupdate by @pre-commit-ci in https://github.com/stack-of-tasks/pinocchio/pull/1658
Extend current Coriolis computations to account for Cristoffel symbol of first kind by @jcarpent in https://github.com/stack-of-tasks/pinocchio/pull/1665
Fix method play() of rviz_visualizer by @danielcostanzi18 in https://github.com/stack-of-tasks/pinocchio/pull/1667
chore: Included githubactions in the dependabot config by @nathannaveen in https://github.com/stack-of-tasks/pinocchio/pull/1659
Enable ubuntu 22.04 on CI by @jcarpent in https://github.com/stack-of-tasks/pinocchio/pull/1668
New Contributors
@pre-commit-ci made their first contribution in https://github.com/stack-of-tasks/pinocchio/pull/1648
@Toefinder made their first contribution in https://github.com/stack-of-tasks/pinocchio/pull/1652
@danielcostanzi18 made their first contribution in https://github.com/stack-of-tasks/pinocchio/pull/1667
@nathannaveen made their first contribution in https://github.com/stack-of-tasks/pinocchio/pull/1659
2.6.7 - 2022-05-03
What’s Changed
add dummy .pre-commit-config.yaml by @nim65s in https://github.com/stack-of-tasks/pinocchio/pull/1629
Avoid triggering multi-line comment in Latex formula by @wxmerkt in https://github.com/stack-of-tasks/pinocchio/pull/1630
Make Pinocchio v2 compatible with HPP-FCL v2 by @wxmerkt in https://github.com/stack-of-tasks/pinocchio/pull/1631
Add example of collision with a point cloud by @jcarpent in https://github.com/stack-of-tasks/pinocchio/pull/1636
follow up on hpp-fcl v2 by @nim65s in https://github.com/stack-of-tasks/pinocchio/pull/1637
Fix pickling for Boost >= 1.7.4 by @jcarpent in https://github.com/stack-of-tasks/pinocchio/pull/1640
2.6.6 - 2022-03-22
What’s Changed
Support HPP-FCL for ROS binaries & introduce ROS2 ament integration by @wxmerkt in https://github.com/stack-of-tasks/pinocchio/pull/1622
2.6.5 - 2022-02-14
What’s Changed
Fix warning issue in Python by @jcarpent in https://github.com/stack-of-tasks/pinocchio/pull/1546
RVizVisualizer update by @EtienneAr in https://github.com/stack-of-tasks/pinocchio/pull/1549
Correct link to examples. Removed python subdirectory in the link as the directory does not exist anymore by @olivier-stasse in https://github.com/stack-of-tasks/pinocchio/pull/1561
Add CONTRIBUTING.md file for newcomers by @olivier-stasse in https://github.com/stack-of-tasks/pinocchio/pull/1563
Add list of projects based on Pinocchio by @olivier-stasse in https://github.com/stack-of-tasks/pinocchio/pull/1566
Fix constrained dynamics formula by @jcarpent in https://github.com/stack-of-tasks/pinocchio/pull/1567
Append “/share” to AMENT_PREFIX_PATH by @proyan in https://github.com/stack-of-tasks/pinocchio/pull/1568
Expose dIntegrateTransport by @ManifoldFR in https://github.com/stack-of-tasks/pinocchio/pull/1572
[timings] Reduce allocations in finite-difference baselines by @wxmerkt in https://github.com/stack-of-tasks/pinocchio/pull/1583
[computeAllTerms] Add missing noalias to avoid temporary allocation by @wxmerkt in https://github.com/stack-of-tasks/pinocchio/pull/1582
Missing
noalias
by @duburcqa in https://github.com/stack-of-tasks/pinocchio/pull/1585[multibody/model] add joint arg validation by @proyan in https://github.com/stack-of-tasks/pinocchio/pull/1586
[multibody/geometry] Add method to remove an object. by @florent-lamiraux in https://github.com/stack-of-tasks/pinocchio/pull/1588
Fix bug in ABAChecker by @jcarpent in https://github.com/stack-of-tasks/pinocchio/pull/1599
Update README.md by @jmirabel in https://github.com/stack-of-tasks/pinocchio/pull/1604
allow
robot_wrapper
to share data with itsviz
by @vnghia in https://github.com/stack-of-tasks/pinocchio/pull/1606
New Contributors
2.6.4 - 2021-11-02
What’s Changed
Change ‘typedef’ to ‘using’, add curly braces by @the-raspberry-pi-guy in https://github.com/stack-of-tasks/pinocchio/pull/1476
[CMake] set INSTALL_RPATH for python on linux by @nim65s in https://github.com/stack-of-tasks/pinocchio/pull/1482
[visualize] captureImage() method by @ManifoldFR in https://github.com/stack-of-tasks/pinocchio/pull/1480
ci: update ROS CI by @jcarpent in https://github.com/stack-of-tasks/pinocchio/pull/1483
Fix issue with Pool when FCL is missing by @jcarpent in https://github.com/stack-of-tasks/pinocchio/pull/1485
fix module name by @nim65s in https://github.com/stack-of-tasks/pinocchio/pull/1487
Add RVizVisualizer by @EtienneAr in https://github.com/stack-of-tasks/pinocchio/pull/1488
fix reshape issues by @kozakromch in https://github.com/stack-of-tasks/pinocchio/pull/1489
Remove useless reference to L-GPL + remove of useless files by @jcarpent in https://github.com/stack-of-tasks/pinocchio/pull/1500
Update old function, remove mobile robot wrapper by @kozakromch in https://github.com/stack-of-tasks/pinocchio/pull/1490
Allows the display of {COLLISION,VISUAL} in MeshCat by @jcarpent in https://github.com/stack-of-tasks/pinocchio/pull/1502
Delete submodule travis by @jcarpent in https://github.com/stack-of-tasks/pinocchio/pull/1509
Add citation by @jcarpent in https://github.com/stack-of-tasks/pinocchio/pull/1511
badges: add PyPI by @nim65s in https://github.com/stack-of-tasks/pinocchio/pull/1510
Add support of Convex within MeshCat + improve GeometryObject bindings by @jcarpent in https://github.com/stack-of-tasks/pinocchio/pull/1530
[python] Fix BaseVisualizer constructor. by @jmirabel in https://github.com/stack-of-tasks/pinocchio/pull/1533
[python] Add pybind11 header. by @jmirabel in https://github.com/stack-of-tasks/pinocchio/pull/1519
make copy of supports during model cast by @rubengrandia in https://github.com/stack-of-tasks/pinocchio/pull/1536
[python] Simplify buildGeomFromUrdf and allow to build from string. by @jmirabel in https://github.com/stack-of-tasks/pinocchio/pull/1538
Sync submodule by @jcarpent in https://github.com/stack-of-tasks/pinocchio/pull/1542
Turn off automatic documentation generation by @wxmerkt in https://github.com/stack-of-tasks/pinocchio/pull/1541
New Contributors
@the-raspberry-pi-guy made their first contribution in https://github.com/stack-of-tasks/pinocchio/pull/1476
@ManifoldFR made their first contribution in https://github.com/stack-of-tasks/pinocchio/pull/1480
@EtienneAr made their first contribution in https://github.com/stack-of-tasks/pinocchio/pull/1488
@kozakromch made their first contribution in https://github.com/stack-of-tasks/pinocchio/pull/1489
@rubengrandia made their first contribution in https://github.com/stack-of-tasks/pinocchio/pull/1536
2.6.3 - 2021-07-27
This new release fixes bugs in MeshCat rendering, loading of ROS path and in the Centroidal dynamics derivatives
2.6.2 - 2021-07-05
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
2.6.1 - 2021-06-08
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
2.6.0 - 2021-04-11
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
2.5.6 - 2021-01-23
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.
2.5.5 - 2021-01-07
This maintenance release enhances the whole CMake packaging of the project and provides additional features for the Python bindings.
2.5.4 - 2020-11-26
This new release enhances the compatibility of Pinocchio with former distributions, provides better support to Euler angles and fixes some bugs.
2.5.3 - 2020-11-13
This new release fixes some issues with the Python bindings, add new examples and extend the whole tests.
2.5.2 - 2020-11-02
This new release enhances the compatibility with Windows, provides new tools eitheir to work on joint configurations and also to compute the kinematic regressors.
2.5.1 - 2020-10-12
This new release provides:
improvements on the whole project coverage
better support of Windows v142
support of joint friction and damping (only at the interface level)
new algorithm to retrieve the Coriolis matrix from RNEA/ABA derivatives
2.5.0 - 2020-08-31
In this new release, we have:
a full memory shared in the Python bindings, i.e. that all the Eigen object can now be changed in Python.
better handling of multiprecision arithmetic
improved CMake packaging
fix for Autodiff
2.4.7 - 2020-07-20
This new release provides:
an extended API for dealing with Lie groups and the related computations (integration, difference, derivatives, etc.)
the Lie groups have now their Python bindings for easy code prototyping
the kinematics derivatives of the Frames have been introduced as well as the extension of current Joints derivatives
the packaging of the project has been improved too.
2.4.6 - 2020-06-15
This new release of Pinocchio removes the use of pkg-config to check dependencies and provides a full compatibility and support for Windows systems.
2.4.5 - 2020-05-23
This new release extends the current frames algorithms to also consider the LOCAL_WORLD_ALIGNED reference frame. It also exposes the values of the enum_ for simplified usage.
2.4.4 - 2020-05-13
This new release provides:
new helpers function to retrieve frame velocities and accelerations
for each collision pair, it is now possible to provide specific collision checking settings
support to display convex hulls in viewers
It also fixes:
the support of Panda3d
and enhances the global CMake packaging of the project.
2.4.3 - 2020-04-24
This new release provides a new Viewer, named Panda3d, for easy code visualization in Python. It also provides additional fixes to the Code Generation support.
2.4.2 - 2020-04-21
This new release of Pinocchio provides new features for dealing with Lie groups:
improved operations over the differential operations of the integrate function
new functions for transporting some matrix between the two endpoints of the integrate function
the RPY functions are now robust over singularities
the support of autodiff frameworks has been improved to also cope with Lie groups features
This release also provides:
a packaging fixe with respect to the URDFDOM dependency
the Python bindings should now be without memory leak
2.4.1 - 2020-04-15
This new release fixes a bug introduced in Pinocchio 2.4.0 concerning the method ModelTpl::addFrame. This release also provides better support for the checking of the CppAD and CppADCodeGen versions.
2.4.0 - 2020-04-09
This new release of Pinocchio makes several improvements:
improve compatibility with hpp-fcl
improve compatibility with CppAD and notably the Lie algebra features
a better CMake >= 3.0 export of the project
new examples for Code generation
improved Python bindings
improved support for Boost.Multiprecision
reduce the memory usage when compilation unit tests
and we have started to move some dependencies like urdfdom to the pinocchio.so library to avoid additional compilations issues and to useless compilations burden.
2.3.1 - 2020-02-20
This new release provides:
some fixes with respect to minor bugs introduced in Pinocchio 2.3.0
an enhance detection of Python
improves the compilation memory overhead
2.3.0 - 2020-02-18
This new release provides:
full compatibility with CMake export
full compatibility with Numpy.Array
examples for Code generation
better support of C++11
minor bug fixes
improves coverage
uniformizes function signature
improves interoperability between Numpy and Pinocchio
add many examples
full integration of Python bindings of hpp-fcl
supports the pickling and the serialization of Data
2.2.3 - 2019-12-30
This new release provides:
pickling and serialization of Data structures
provide new algorithms to create reduce models
It also improves the compatibility with the Transform used in HPP-FCL. It also fixes various bugs. It also comes with new and detailed examples.
2.2.2 - 2019-12-11
This new release:
improves the compatibility with HPP-FCL bindings
improves the documentation of the project with more examples
fixes some bugs related to Eigen
add new algorithms to compute the centroidal matrix and its time derivatives
2.2.1 - 2019-11-25
This new release fixes the ROS package version number and updates the robot models.
2.2.0 - 2019-11-25
This new release of Pinocchio introduces:
analytical formula for Hessian of the kinematics
derivatives of the difference operation
new derivatives for static torque quantity
new models for tests and examples.
It adds some signature non-exposed in Python. It also deletes outdated function signatures that have been deprecated in 2.0.x versions. It also improves the packaging with respect to ROS or other robotics frameworks.
2.1.11 - 2019-10-27
This release fixes missing update of the ROS package.xml file with the new version.
2.1.10 - 2019-10-25
This new release allows throwing when some input arguments are not fulfilled (useful feature in Python). It also provides new support for Hessian of the kinematics. Finally, the project is now packaged for ROS integration.
2.1.9 - 2019-10-09
This is a maintenance release, with some fixes concerning the contact dynamics, better support of LOCAL_WORLD_ALIGNED option and fixes with respect to some recent versions of CppADCodeGen.
2.1.8 - 2019-09-30
This is a maintenance release providing several fixes:
remove memory allocation in ABA derivatives with contact forces
better handling of boost::Variant
better support of Majax
It also provides new features in the documentation of mathematical formula.
2.1.7 - 2019-09-10
This new release improves:
the support of AutoDiff frameworks
the efficiency of some core algorithms
fixes:
the support of Majax
the compatibility with Python 2/3
2.1.6 - 2019-08-05
This new release improves the packaging of the project and provides new algorithms to compute the Jacobians of the center of mass of each subtree.
2.1.5 - 2019-07-16
This new release provides support for JointMimic and JointRevoluteUnboundedUnaligned. It also comes with the full support of CasADi.
Thanks to @mkatliar for helping us to provide this support.
2.1.4 - 2019-06-22
This new release provides some fixes with respect to Python bindings, C++17 as well as new important features:
dynamic regressor for identification
add support of multiple viewers
improve analytical derivatives
2.1.3 - 2019-04-30
This new release fixes some issues with Python 3 and C++17 standard. It also provides additional documentation, enlarges the current Python bindings and uniformizes naming convention in Python.
2.1.2 - 2019-04-05
This new release aims at fixing compilations issues when COLLISION module is activated. It also provides some fixes concerning the loading of meshes.
A new feature provided by this release concerns the possibility of appending two models together.
2.1.1 - 2019-03-27
This new release fixes compatibility bugs with previous release 2.1.0. It also provides a serialization interface for Spatial classes and the Model class.
2.1.0 - 2019-02-27
This new release makes some major improvements:
it is now possible to use MeshCat, another viewer working in the browser directly in Python
the Python bindings are now hardly tested and uniformized with respect to the C++ API
this new release is compatible with recent releases of
hpp-fcl
the SRDF parsing has been improved. Its now possible to load several reference configuration vectors
We also fixed bugs related to recent versions of Boost mostly.
2.0.0 - 2019-01-11
Welcome Pinocchio 2.0.0.
This release makes official the last important and new features for efficiently computing the dynamics of the rigid body systems:
Analytical derivatives
Automatic differentiation
Full scalar type overloading
Code generation among others
1.3.3 - 2018-10-29
This is for real the last release before Pinocchio 2.0.0 and more.
This release fixes the packaging when hpp-fcl is missing. Thanks to @aelkhour for raising this issue.
1.3.2 - 2018-10-26
This release is the last one before Pinocchio 2.0.0.
It mostly:
fixes issues introduced by new API of frame functionalities;
introduces new sample models for manipulator and humanoid systems;
fixes bugs due to boost 1.58.0;
improve the readme with credits section.
1.3.1 - 2018-09-25
This new release corrects some bugs or bad deprecations concerning Pinocchio 1.3.0.
1.3.0 - 2018-08-28
This new release introduces analytical derivatives in the corpus of Pinocchio. This feature is still under development but can already be used both in C++ and Python.
This new release also fixes a bunch of bugs related to Eigen and Boost.
1.2.9 - 2018-06-01
This is mostly a maintenance release:
Fix bug in. lower bounds in Model class
Update documentation structure (additional work is needed)
Improve the compatibility with Python 3.x
1.2.8 - 2018-05-18
This is mostly a maintenance release:
Fix some bugs in JointModel{Translation,Spherical} for ABA algorithm
Fix a duplication issue in RobotWrapper
Improve compatibility with recent version of Boost >= 1.67.0
Romeo is now loaded from the official romeo_description repository
1.2.7 - 2018-04-03
This is mostly a maintenance release:
Fixes and computation improvements for Lie group operations.
Adding pickle for spatial classes.
Allow loading of URDF tree directly from an XML stream.
1.2.6 - 2018-01-15
This is mostly a maintenance release with various fixes to comply with Boost variadic macro on recent OS. It also adds new convention with a LOCAL and a WORLD frame to express Jacobian quantities.
1.2.5 - 2017-10-10
This a maintenance Release. We added some algo to compute the time variation of the Jacobians together with the variation with respect to time of the centroidal momemtum matrix. HPP-FCL works now with Eigen for linear algebra.
1.2.4 - 2017-06-09
This is mostly a maintenance release, with some fix with respect new urdfdom
versions, it handles Eigen support with hpp-fcl
.
1.2.3 - 2017-02-14
This release fixes some issues with respect to 1.2.1.
API modifications
Interpolate, Differentiate, Integrate are now algorithmic struct which can be efficiently overloaded.
Bindings
Add FCL object bindings
1.2.1 - 2016-10-17
Summary
This release is a minor patch of the previous release 1.2.0.
This release is directly accessible as a Debian package. Please see https://github.com/stack-of-tasks/pinocchio/wiki/installation for further details.
New
The Python bindings are aligned and free of unnecessary allocations
Add documentation option which allows to not install the documentation
Introduces container::aligned_vector to automatically create an std::vector with specific aligned allocator
API modifications
Remove JointDense.
Remove JointGeneric
Fixes
Solves the parsing of geometries in URDF module
Fixes alignment issues on 32 bits architecture
1.2.0 - 2016-09-29
Summary
The main modifications concern the update of the code to comply with the Humanoid Path Planner (HPP).
This release is directly accessible as a Debian package. Please see https://github.com/stack-of-tasks/pinocchio/wiki/installation for further details.
New Features
Add Joint{Model,Data} classes based on Joint{Model,Data}Base and Joint{Model,Data}Variant. Those classes call directly the visitors and make Variant accessible throw methods
Add partial Joint{Model,Data}Composite. They allow a stack of joints without adding any Inertia.
Increase Frame class. Frames can be of several types (BODY, JOINT, SENSOR, etc) and reflect the robot tree as it appears in the URDF conventions. Frames have two attributes: parent which the direct Joint parent in the Joint tree, previousFrame which correspond to the parent Frame in the tree of Frames).
Adding Python parser which is able to read models written in Python.
Add algo checker to check the validity of a model.
Improve documentation.
API modifications
Model has some methods deprecated. The default name has been removed.
The Geometry classes have been updated and several methods have been set to deprecated. They now use Frames as parent instead of Joint directly: a Geometry is now supported by a BODY.
Add active collision pair flags in GeomData which define the active collision pairs.
Unify naming conventions (nframes, njoints, etc).
Fixes
The UDRF parser can now deal with more complex topologies. It properly handles the stack of geometries for each BODY.
Improve packaging mainly around the Python part.
1.1.2 - 2016-05-31
Summary
This release is directly accessible as a Debian package. Please see https://github.com/stack-of-tasks/pinocchio/wiki/installation for further details.
New Features
Added operational frames (that are a Plucker coordinate frame attached to a parent joint inside a kinematic tree). Position and Jacobian of such frames can be computed
Geometry primitives can now be handled (and added to the Pinocchio GeometryModel) when encountered in an urdf file
Implemented simple srdf parsing for GeometryData : parse the desactivated collision pairs
Added Articulated Body Algorithm (ABA), and CCRBA
When parsing a urdf file, now look in the environment variable ROS_PACKAGE_PATH for directories where to search for meshes. Users can provide hint directories to search in as a priority. Updated python RobotWrapper consequently
Added forward dynamics with contact algorithm
Added algorithms working with vectors of configuration or velocity(either on a JointModel or on a Model, iterating through all the kinematic tree)
One can integrate a configuration at a constant velocity during a unit time
One can differentiate two configurations (i.e compute the velocity that must be integrated during a unit time to go from first configuration to the other )
One can interpolate between two configurations
One cancompute the distance between two configurations ( such as dist = norm ( difference) )
One can shoot a configuration uniformly sampled between specified limits
Added Impulse Dynamic Algorithm
Completed the list of method to access or call Joint’s data or method when joint are stored in a variant.
Added JointAccessor that is a general joint encapsulating a JointVariant ( abstracting the use of visitors for the user).
API modifications
Moved limits from joint models to Model as vectors of size nq for position limits and size nv for velocity and effort limits
The Geometry objects stored in GeometryModel are now splitted in two types : visual and collision
Minor
Improved documentation of Data, Model, Spatial Classes
Improved efficiency when executing algorithms
One can now create Inertia for simple shapes such as cylinders, boxes, ellipsoid
Rework some unittests to increase to coverage of whole package ( C++ and Python )
Bugs Fixed
Fixed operator Inertia x constraint in JointSphericalZYX
Fixed the Dense conversion of joints (models and datas)
Fixed bugs in JointRevoluteUnaligned and JointPrismaticUnaligned to access the access when visiting a variant containing such joints with boost::fusion
1.1.0 - 2016-02-04
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.
1.0.2 - 2015-09-14
Summary
New Features
The limits in position, velocity and torque for joints Revolute and Prismatic are now parsed from urdf model and accessible
Implementation of exp and log functions on SE3 in C++ with its python binding thanks to @aelkhour
Data now contains information relative to the center of mass position, velocity and acceleration
Add Lua parser - compatible with RBDL
Add translational joint
Add planar joint
Minor
Reduction of compilation warnings.
Bugs Fixed
Fixed bug in operator Y*S in JointRevoluteUnaligned
1.0.0 - 2015-04-03
The following algorithms are implemented. • Recursive Newton-Euler algorithm (RNEA, i.e inverse dynamics) • Composite Rigid Body algorithm (CRBA, i.e generalized inertia matrix) • Sparse Cholesky decomposition of the inertia matrix (for constrained forward-dynamics resolution) • Placement Jacobians (i.e application from configuration velocities to end-effector spatial velocities), along with computation of body placements, velocities and accelerations. • Center of mass and its Jacobian
The model can either be parsed from a URDF format or be created by appendending bodies. The following joint models are implemented. • Revolute X, Y, Z (optimized) and unaligned with Cartesian directions • Prismatic X, Y, Z • Spherical (with and withoug singularities) • FreeFlyer (i.e. no constraint, for mobile robots like humanoids – using quaternion representation for the rotation) • Fixed (concatenation of two consecutive bodies)