{"action":"published","release":{"url":"https://api.github.com/repos/stack-of-tasks/pinocchio/releases/3341496","assets_url":"https://api.github.com/repos/stack-of-tasks/pinocchio/releases/3341496/assets","upload_url":"https://uploads.github.com/repos/stack-of-tasks/pinocchio/releases/3341496/assets{?name,label}","html_url":"https://github.com/stack-of-tasks/pinocchio/releases/tag/v1.1.2","id":3341496,"tag_name":"v1.1.2","target_commitish":"master","name":"Release 1.1.2","draft":false,"author":{"login":"fvalenza","id":7045681,"avatar_url":"https://avatars.githubusercontent.com/u/7045681?v=3","gravatar_id":"","url":"https://api.github.com/users/fvalenza","html_url":"https://github.com/fvalenza","followers_url":"https://api.github.com/users/fvalenza/followers","following_url":"https://api.github.com/users/fvalenza/following{/other_user}","gists_url":"https://api.github.com/users/fvalenza/gists{/gist_id}","starred_url":"https://api.github.com/users/fvalenza/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/fvalenza/subscriptions","organizations_url":"https://api.github.com/users/fvalenza/orgs","repos_url":"https://api.github.com/users/fvalenza/repos","events_url":"https://api.github.com/users/fvalenza/events{/privacy}","received_events_url":"https://api.github.com/users/fvalenza/received_events","type":"User","site_admin":false},"prerelease":false,"created_at":"2016-05-27T12:44:03Z","published_at":"2016-05-31T15:39:10Z","assets":[],"tarball_url":"https://api.github.com/repos/stack-of-tasks/pinocchio/tarball/v1.1.2","zipball_url":"https://api.github.com/repos/stack-of-tasks/pinocchio/zipball/v1.1.2","body":"Summary\r\n=====\r\n\r\nNew Features\r\n----\r\n- Added operational frames (that are a Plucker coordinate frame attached to a parent joint inside a kinematic tree). Position and Jacobian of such frames can be computed\r\n- Geometry primitives can now be handled (and added to the Pinocchio GeometryModel) when encountered in an urdf file\r\n- Implemented simple srdf parsing for GeometryData : parse the desactivated collision pairs\r\n- Added Articulated Body Algorithm (ABA), and CCRBA\r\n- When parsing a urdf file, now look in the environment variable ROS_PACKAGE_PATH for directories where to search for meshes. Users can provide hint directories to search in as a priority. Updated python RobotWrapper consequently\r\n- Added forward dynamics with contact algorithm\r\n- Added algorithms working with vectors of configuration or velocity(either on a JointModel or on a Model, iterating through all the kinematic tree)\r\n * One can integrate a configuration at a constant velocity during a unit time\r\n * One can differentiate two configurations (i.e compute the velocity that must be integrated during a unit time to go from first configuration to the other )\r\n * One can interpolate between two configurations\r\n * One cancompute the distance between two configurations ( such as dist = norm ( difference) )\r\n * One can shoot a configuration uniformly sampled between specified limits\r\n- Added Impulse Dynamic Algorithm\r\n- Completed the list of method to access or call Joint's data or method when joint are stored in a variant.\r\n- Added JointAccessor that is a general joint encapsulating a JointVariant ( abstracting the use of visitors for the user).\r\n\r\nAPI modifications\r\n-----------------------\r\n- Moved limits from joint models to Model as vectors of size nq for position limits and size nv for velocity and effort limits\r\n- The Geometry objects stored in GeometryModel are now splitted in two types : visual and collision\r\n\r\nMinor\r\n-----\r\n- Improved documentation of Data, Model, Spatial Classes\r\n- Improved efficiency when executing algorithms\r\n- One can now create Inertia for simple shapes such as cylinders, boxes, ellipsoid\r\n- Rework some unittests to increase to coverage of whole package ( C++ and Python )\r\n\r\nBugs Fixed\r\n----\r\n- Fixed operator Inertia x constraint in JointSphericalZYX\r\n- Fixed the Dense conversion of joints (models and datas)\r\nFixed bugs in JointRevoluteUnaligned and JointPrismaticUnaligned to access the access when visiting a variant containing such joints with boost::fusion\r\n"}}
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