pinocchio 3.9.0

What's Changed

Added

• Add pixi-build support (#2802)
• Python: add overload of BaseVisualizer::play() to VisualizerPythonVisitor (#2796)
• ROS: added jrl_cmakemodules dependency (#2789)
• Add docker images (#2776)
• Add names to joints that are inside a composite joint (#2786)
• Add color support for robot meshes in Viser (#2793)
• Add Realtime Sanitizer (RTSan) uniittest and CI to track dynamic allocations in main API (#2809)
• Add Ellipsoid Joint (3-DOF surface constraint), get ready for biomechanics (#2797)

Changed

• Python version update (#2802):
  • Project is now tested with Python 3.10 and 3.14
  • Python 3.10 is the minimal supported Python version
• Homogenize python viewers examples (#2771)

Fixed

• Remove pixi 0.57 warnings (#2802)
• CMake: use sdformat.cmake from jrl-cmakemodules (#2800)
• Fix doxygen document hierarchy (#2811)
• Fix appendModel issues (#2807):
  • Bad inertia transformation when multiple frame with inertia have non null placement
  • Undefined behavior when more than two frame was attached to universe
• Simplify and fix DAE loading in Viser visualizer (#2830)

Removed

• Remove CMake < 3.22 details (#2790)

Full Changelog: v3.8.0...v3.9.0

pinocchio 3.8.0

What's Changed

Added

• Continuous joints can now be parsed as mimic from a urdf file (#2756)
• Beta version of Viser visualizer (#2718)
• Add pinocchio::graph::ModelGraph class
  • Simple API to build a model
  • Manage joint offset
  • Create a pinocchio::Model with any frame as root frame
  • Create a pinocchio::Model with any joint as root joint
  • Reliably merge two models with pinocchio::graph::mergeGraphs function
  • Reliably fix joints at any configuration with pinocchio::graph::fixJointsGraph
  • C++ example
  • Python example
  • Create a pinocchio::geometryModel using a pinocchio::graph::ModelGraph
  • Python example
• Add pinocchio::graph::ModelConfigurationConverter class
  • Convert configuration or tangent vector from two model with different root
  • C++ example
  • Python example
• CMake: Added support for BUILD_STANDALONE_PYTHON_INTERFACE (#2714)

Fixed

• Set axis of unaligned mimic joint (#2763)
• Fixed explicit conversions to Scalar type in log.hxx (#2730)
• Check row dimensions of input Jacobians when computing kinematics Jacobian (#2684)
• Fix case joint_id == 0 in getJointKinematicHessian (#2705)
• Fix nvSubtree computation in case a mimic joint is the last joint in the branch (#2707)
• Fix JointModelMimic::hasConfigurationLimit() to return empty vector instead of delegating to mimicking joint (#2715)
• Fix check mimic_subtree_joint (#2716)
• Fix mimic patch for crba (#2716)
• Fix missing argument in exposeDelassus() pybind definition (#2731)
• Fix copy of Model.armature in buidlReducedModel(...) (#2749)
• Add site attached to a fixed body in MJCF parse (#2754)
• Fix Viser visualizer loading DAE files as trimesh.Scene (#2748)
• Normalize CasADi link target across versions (#2743)

Changed

• Disable coal/hpp-fcl warnings when building Pinocchio (#2686)
• CMake: allow use of system example-robot-data (#2728)

Full Changelog: v3.7.0...v3.8.0

pinocchio 3.7.0

What's Changed

Changed

• Change the default branch to devel (#2666)
• Implement captureImage for Panda3D visualizer for video recording (#2668)
• Drop Ubuntu 20.04 support (#2680)

Full Changelog: v3.6.0...v3.7.0

pinocchio 3.6.0

What's Changed

Fixed

• Fix getters for models and data in VisualizerPythonVisitor (#2647)
• Fix pinocchio::cholesky::Mv build with CppAd scalar (#2659)
• Fix pinocchio::contactABA build with casadi scalar (#2659)

Added

• Add explicit template instantiation for constraint algorithms for casadi, CppAD and CppADCodeGen scalar (#2659)
• Add casadi bindings for pinocchio.initConstraintDynamics and pinocchio.constraintDynamics (#2659)

Full Changelog: v3.5.0...v3.6.0

pinocchio 3.5.0

What's Changed

Added

• Added C++ visualization API, pinocchio::pinocchio_visualizers target (#2574)
• Added forward declaration for class SE3Tpl, and typedef pinocchio::context::SE3 (#2574)
• Add macros PINOCCHIO_COMMON_TYPEDEF and PINOCCHIO_OPTIONS_DEFAULT (#2574)
• Add mimic joint support to the following algorithms: (#2441)
  • Forward kinematics
  • Jacobians and frames
  • Centroid algorithms (ccrba)
  • RNEA
  • CRBA
  • Reachable workspace
• Add mimic argument in pinocchio::urdf::buildModel to parse URDF mimic field (default to false) (#2441)
• Add pinocchio::transformJointIntoMimic to turn a joint into a mimic joint and buildMimicModel to transform multiple joints into mimic joints (#2441)
• Add JointModelBase methods: (#2441)
  • nvExtended to get the DoF of the extended model
  • idx_vExtended to get the joint index in the extended vector of velocity
  • jointExtendedModel{Cols,Rows,Block} to get joint columns/rows/block in extended model matrix
  • JointMapped{Config,Velocity}Selector to get mimicked joint configuration/velocity from the mimicking joint
• Add precomputed members in DataTpl to accelerate algorithms on mimic: (#2441)
  • idx_vExtended_to_idx_v_fromRow
  • mimic_subtree_joint
  • mimic_parents_fromRow
  • non_mimic_parents_fromRow
• Add precomputed members in ModelTpl to accelerate algorithms on mimic: (#2441)
  • nvExtended
  • nvExtendeds
  • idx_vExtendeds
  • mimicking_joints
  • mimicked_joints
  • mimic_joint_supports

Changed

• Rewrite JointModelMimic and rename it JointModelMimicTpl, since JointModelMimic wasn't working, we don't consider it a breaking change (#2441)
• Stop using context::Scalar for GeometryObject(#2441)
• Use Google benchmark in benchmarks (#2607)

Fixed

• Fix ModelTpl::check() link (#2624)
• Add missing Python examples (#2528)
• Fix nominal accuracy check for Quaternion based on the scalar type (#2608)

Full Changelog: v3.4.0...v3.5.0

Pinocchio 3.4.0

What's Changed

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)

Full Changelog: v3.3.1...v3.4.0

Pinocchio 3.3.1

What's Changed

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//pull/2503]
• Fix pinocchio-test-cpp-parallel-geometry when built with Coal (#2502)
• Fix scaling support for meshcat (#2511)

Changed

• On GNU/Linux and macOS, hide all symbols by default (#2469)

Full Changelog: v3.3.0...v3.3.1

Pinocchio 3.3.0

What's Changed

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 and examples/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

• Modernize python code base with ruff (#2418)
• Does not create a root_joint frame from parsed models (urdf, mjcf and sdf) when no root joint is provided (#2402)

Full Changelog: v3.2.0...v3.3.0

Pinocchio 3.2.0

What's Changed

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 to MeshcatVisualizer.loadViewerModel (#2350)
• Add BuildFromMJCF function to RobotWrapper (#2363)
• Add more CasADi examples (#2388)

Removed

• Remove deprecated headers related to joint constraints (#2382)

Changed

• Use eigenpy to expose GeometryObject::meshMaterial variant (#2315)
• GepettoViewer is no more the default viewer for RobotWrapper (#2331)
• Modernize python code base with ruff (#2367)
• Restructure CppAD and CasADi examples (#2388)
• Enhance and fix CppAD benchmarks outputs (#2393)

Full Changelog: v3.1.0...v3.2.0

Pinocchio 3.1.0

What's Changed

Fixed

• Fix appendModel when joints after the base are in parallel (#2295)
• Fix appendModel build when called with template arguments different than the ones from context (#2284)
• Fix TransformRevoleTpl::rotation and TransformHelicalTpl::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)

Added

• Python unittest for contactInverseDynamics function (#2263)
• Added helper functions to return operation count of CasADi functions. (#2275)
• C++ and Python unittest for dIntegrateTransport to check vector transport and its inverse (#2273)
• Add kinetic and potential energy regressors (#2282)

Removed

• Remove header list.hpp include for bindings of model and rnea (#2263)

Full Changelog: v3.0.0...v3.1.0