Release of version 2.9.0

[proyan]

Introducing Pinocchio 3

Pinocchio3 is released for development under the branch pinocchio3-preview on the main github repository.
With Pinocchio3, multiple new features are introduced in Pinocchio, such as:

• Sparse Solution of Constrained Dynamics (Published in Robotics: Science and Systems 2021)
• Constrained Dynamics Derivatives (In pre-publishing stages)
• Constraint Models for handling loop constraints.
• Full casadi support in python and C++
• Introduction of pinocchio.casadi module
• Increased support of CppAD and CppADCodeGen
• New SDF parser.
• Enhanced LOCAL_WORLD_ALIGNED and LOCAL frame support
• Support for motor armature in algorithms
• Mechanical Energy of the system
• Classical and Point Accelerations and Derivatives
• Full Serialization support
• and much more...

Pinocchio developers are highly encouraged to check out the new features. However, please keep in mind that this remains a development branch, and thus the API between 2.9.x and 2.9.{x+1} could change without backward compatibility.

The new constrained dynamics algorithm can be cited by the following publication:

@inproceedings{carpentier:hal-03271811,
  TITLE = {{Proximal and Sparse Resolution of Constrained Dynamic Equations}},
  AUTHOR = {Carpentier, Justin and Budhiraja, Rohan and Mansard, Nicolas},
  URL = {https://hal.inria.fr/hal-03271811},
  BOOKTITLE = {{Robotics: Science and Systems 2021}},
  ADDRESS = {Austin / Virtual, United States},
  YEAR = {2021},
  MONTH = Jul,
  PDF = {https://hal.inria.fr/hal-03271811/file/rss-proximal-and-sparse.pdf},
  HAL_ID = {hal-03271811},
  HAL_VERSION = {v1},
}

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This discussion was created from the release Release of version 2.9.0.