Pinocchio 2.6.0

This new release provides:

• improvement for handling collision/distance requests
• support of parallel computations for ABA, RNEA and collisions algorithms (more to come soon)
• additional features for the RobotWrapper in Python
• support of Capsule for Meshcat
• happened Inertia information to Frames
• fixes for doc issues
• improve numerical robustness when two inertias are Zero

Pinocchio 2.5.6

This new release comes with a more consistent ABA algorithm (data.a_gf used instead of classic data.a) and more outcomes for computeAllTerms. In addition, it provides some extended supports to PyPy.

Pinocchio 2.5.5

This maintenance release enhances the whole CMake packaging of the project and provides additional features for the Python bindings.

Pinocchio 2.5.4

This new release enhances the compatibility of Pinocchio with former distributions, provides better support to Euler angles and fixes some bugs.

Pinocchio 2.5.3

This new release fixes some issues with the Python bindings, add new examples and extend the whole tests.

Pinocchio 2.5.2

This new release enhances the compatibility with Windows, provides new tools eitheir to work on joint configurations and also to compute the kinematic regressors.

Pinocchio 2.5.1

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

Pinocchio 2.5.0

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

Pinocchio 2.4.7

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.

Pinocchio 2.4.6

This new release of Pinocchio removes the use of pkg-config to check dependencies and provides a full compatibility and support for Windows systems.