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

Pinocchio 2.7.1

What's Changed

Changed

• Modify algorithm that appends a model to another (#2218)
• Set NOMINMAX as a public definitions on Windows (#2139)
• Improve documentation of enum ReferenceFrame (#2190)
• Improve documentation of getJointJacobian (#2193).

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

• Add examples/floating-base-velocity-viewer.py to visualize floating base velocity (#2143)
• Add remark to the documentation of getFrame(Classical)Acceleration functions (#2169)
• Allow use of installed jrl-cmakemodules (#2216)

Full Changelog: v2.7.0...v2.7.1

Pinocchio 2.7.0

What's Changed

Added

• Add GeometryObject::meshMaterial attribute (#2084)

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)

Full Changelog: v2.6.21...v2.7.0

Pinocchio 2.6.21

What's Changed

Added

• Add inverse dynamics (rnea) Python and C++ example (#2083)
• Add visualization of Frames in MeshCat viewer (#2098)

Fixed

• Re-initialize Ycrb[0] in crbaMinimal (#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 and buildGeomFromUrdfString Python binding functions (#2082#2082)
• Fix Panda3D viewer examples (#2087)
• Fix centroidal dynamics derivatives with respect to time (#2094))

Changed

• Rename freeflyer_joint to root_joint in humanoid sample model (#2043)
• CMake minimal version is now 3.10 (#2055)
• Split headers and sources in different directories to have a more standard C++ project (#2070)

Removed

• Remove support to hpp-fcl < v2.0.0 (#2086)

Full Changelog: v2.6.20...v2.6.21

Pinocchio 2.6.20

What's Changed

• Fix support of recent versions of Boost for CppAD and CppADCodeGen by @jcarpent in #2000
• build(deps): bump ros-industrial/industrial_ci from afbf77f39db26785371161d5691ab435b31bb3ba to 1e0c5aff1147d50d58bf4185a55ff564c9b6e027 by @dependabot in #2007
• Enabled copy and deepcopy by @cmastalli in #1882
• build(deps): bump ros-industrial/industrial_ci from afbf77f39db26785371161d5691ab435b31bb3ba to 9f963f67ebb889792175776c5ee00134d7bb569b by @dependabot in #2013
• Sync submodule cmake by @jcarpent in #2029

Full Changelog: v2.6.19...v2.6.20

Pinocchio 2.6.19

What's Changed

• Add Motion::toHomogeneousMatrix by @stephane-caron in #1946
• The insatiable English teacher PR 🧙 by @stephane-caron in #1957
• require C++14 for Boost >= 1.81 by @nim65s in #1949
• CMake: an example require python 3 by @nim65s in #1966
• Fix IK example in the documentation by @stephane-caron in #1963
• Issue templates by @stephane-caron in #1971
• build(deps): bump ros-industrial/industrial_ci from 4b78602d67127a63dce62926769d9ec4e2ce72e4 to afbf77f39db26785371161d5691ab435b31bb3ba by @dependabot in #1976
• Enhance CMake packaging for Windows by @jcarpent in #1984
• Documentation by @drewhamiltonasdf in #1986
• Add support for ccache on Conda build by @jcarpent in #1987
• build(deps): bump ros-industrial/industrial_ci from 4b78602d67127a63dce62926769d9ec4e2ce72e4 to afbf77f39db26785371161d5691ab435b31bb3ba by @dependabot in #1988
• Enhance compatibility with new Python versions by @jcarpent in #1996

New Contributors

• @drewhamiltonasdf made their first contribution in #1986

Full Changelog: v2.6.18...v2.6.19

Pinocchio 2.6.18

What's Changed

• Support force in pybind11 by @cmastalli in #1868
• Fix some Python bindings signatures and add stub generation. by @duburcqa in #1869
• Fix IK example by @stephane-caron in #1875
• Remove empty examples by @stephane-caron in #1878
• build(deps): bump ros-industrial/industrial_ci from 6a8f546cbd31fbd5c9f77e3409265c8b39abc3d6 to 4b78602d67127a63dce62926769d9ec4e2ce72e4 by @dependabot in #1890
• add static-contact-dynamics example by @PepMS in #1891
• Update documentation of JointModel.shortname in python bindings by @Danfoa in #1892
• update doc by @fabinsch in #1898
• Document that joints need to be added in depth-first order by @traversaro in #1899
• fix INSTALL_RPATH on ROS & OSX by @nim65s in #1908
• Python example: update joint placements after loading a URDF by @stephane-caron in #1911
• Remove more empty sections from the docs by @stephane-caron in #1912
• Sync submodule cmake by @jcarpent in #1914
• update doc for fixed joint by @fabinsch in #1920
• doc: more information about frames on cheatsheet by @fabinsch in #1930
• Define operational frames in the documentation by @stephane-caron in #1929
• Remove support of np.matrix by @jcarpent in #1941
• Fix other np.matrix issues by @jcarpent in #1942

New Contributors

• @PepMS made their first contribution in #1891
• @Danfoa made their first contribution in #1892

Full Changelog: v2.6.17...v2.6.18