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Pinocchio 2.6.21
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@jorisv jorisv released this 27 Nov 22:21
· 2803 commits to master since this release
v2.6.21
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jorisv Joris Vaillant
GPG key ID: 63380359F089A579
Learn about vigilant mode.
97a00a9
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

  • 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

Assets 4
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