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Pinocchio 3.3.0

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@jorisv jorisv released this 06 Nov 14:30
v3.3.0
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jorisv Joris Vaillant
GPG key ID: 63380359F089A579
Learn about vigilant mode.
42306ed
This commit was signed with the committer’s verified signature.
jorisv Joris Vaillant
GPG key ID: 63380359F089A579
Learn about vigilant mode.

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

Assets 4
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