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Pinocchio 3.2.0

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@jcarpent jcarpent released this 27 Aug 17:23
v3.2.0
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jcarpent Justin Carpentier
GPG key ID: 87CFFF3D0D73CC93
Learn about vigilant mode.
0b594a0
This commit was signed with the committer’s verified signature.
jcarpent Justin Carpentier
GPG key ID: 87CFFF3D0D73CC93
Learn about vigilant mode.

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

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