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

Pinocchio 3.0.0

What's Changed

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

• Support of SDF format by @proyan
• Support of MuJoCo format by @MegMll and @jorisv

Packaging

• Full support of template instantiation by @fabinsch and @jorisv
• Enhance support for Windows-based systems by @jorisv
• Splitting of the Pinocchio into sub-library for isolation by @jorisv

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 by pinocchio::MotionZeroTpl
• Replace pinocchio::fusion::JointVisitorBase by pinocchio::fusion::JointUnaryVisitorBase
• Replace pinocchio::fusion::push_front by pinocchio::fusion::append
• Replace pinocchio::regressor::computeStaticRegressor by pinocchio::computeStaticRegressor
• Replace pinocchio::jointJacobian by pinocchio::computeJointJacobian
• Replace pinocchio::frameJacobian by pinocchio::computeFrameJacobian
• Replace pinocchio::framesForwardKinematics by pinocchio::updateFramePlacements
• Replace pinocchio::kineticEnergy by pinocchio::computeKineticEnergy
• Replace pinocchio::potentialEnergy by pinocchio::computePotentialEnergy
• Replace pinocchio::computeCentroidalDynamics by pinocchio::computeCentroidalMomentum and pinocchio::computeCentroidalMomentumTimeVariation
• Replace pinocchio::centerOfMass(const ModelTpl&, DataTpl&, int, bool) by pinocchio::centerOfMass(const ModelTpl&, DataTpl&, KinematicLevel, bool)
• Replace pinocchio::copy(const ModelTpl&, const DataTpl&, DataTpl&, int) by pinocchio::copy(const ModelTpl&, const DataTpl&, DataTpl&, KinematicLevel)
• Replace pinocchio/algorithm/dynamics.hpp by pinocchio/algorithm/constrained-dynamics.hpp
• Change the order of arguments in some of pinocchio::GeometryObject's constructors
• Deprecate pinocchio/algorithm/parallel/geometry.hpp moved at pinocchio/collision/parallel/geometry.hpp
• Deprecate pinocchio/spatial/fcl-pinocchio-conversions.hpp moved at pinocchio/collision/fcl-pinocchio-conversions.hpp
• Deprecate pinocchio/parsers/sample-models.hpp moved at pinocchio/multibody/sample-models.hpp
• Deprecate pinocchio/math/cppad.hpp moved at pinocchio/autodiff/cppad.hpp
• Deprecate pinocchio/math/cppadcg.hpp moved at pinocchio/autodiff/cppadcg.hpp
• Deprecate pinocchio/math/casadi.hpp moved at pinocchio/autodiff/casadi.hpp
• Deprecate pinocchio::FrameTpl::parent replaced by pinocchio::FrameTpl::parentJoint
• Deprecate pinocchio::FrameTpl::previousFrame replaced by pinocchio::FrameTpl::parentFrame
• Deprecate pinocchio/algorithm/contact-dynamics.hpp algorithms replaced by pinocchio/algorithm/constrained-dynamics.hpp

Python

• Replace pinocchio.utils.skew by pinocchio.skew
• Replace pinocchio.utils.se3ToXYZQUAT by pinocchio.SE3ToXYZQUATtuple
• Replace pinocchio.utils.XYZQUATToSe3 by pinocchio.XYZQUATToSE3
• Replace pinocchio.robot_wrapper.RobotWrapper.frameClassicAcceleration by pinocchio.robot_wrapper.RobotWrapper.frameClassicalAcceleration
• Replace pinocchio.robot_wrapper.RobotWrapper.jointJacobian by pinocchio.robot_wrapper.RobotWrapper.computeJointJacobian
• Replace pinocchio.robot_wrapper.RobotWrapper.frameJacobian by pinocchio.robot_wrapper.RobotWrapper.computeFrameJacobian
• Replace pinocchio.robot_wrapper.RobotWrapper.initDisplay by pinocchio.robot_wrapper.RobotWrapper.initViewer
• Replace pinocchio.robot_wrapper.RobotWrapper.loadDisplayModel by pinocchio.robot_wrapper.RobotWrapper.loadViewerModel
• Replace pinocchio.deprecated.se3ToXYZQUATtuple by pinocchio.SE3ToXYZQUATtuple
• Replace pinocchio.deprecated.se3ToXYZQUAT by pinocchio.SE3ToXYZQUAT
• Replace pinocchio.deprecated.XYZQUATToSe3 by pinocchio.XYZQUATToSE3
• Replace pinocchio.deprecated.buildGeomFromUrdf(model, filename, [str]) by pinocchio.buildGeomFromUrdf(model, filename, type, package_dirs, mesh_loader)
• Replace pinocchio.rpy.npToTTuple by pinocchio.utils.npToTTuple
• Replace pinocchio.rpy.npToTuple by pinocchio.utils.npToTuple
• Replace pinocchio.jacobianSubtreeCoMJacobian by pinocchio.jacobianSubtreeCenterOfMass

Removed

C++

• Remove pinocchio::setGeometryMeshScales
• Remove some pinocchio::forwardDynamics signatures
• Remove some pinocchio::impulseDynamics signatures

Python

• Remove pinocchio.utils.cross
• Remove pinocchio.robot_wrapper.RobotWrapper.initMeshcatDisplay
• Remove pinocchio.deprecated.setGeometryMeshScales by pinocchio

Full Changelog: v2.7.1...v3.0.0