Pinocchio 3

[jorisv]

All Pinocchio 3 development.

Improvement are stored in CHANGELOG.md.

TODO:

• [x] Manage new dependencies
  • [x] Release Pycppad with a recent eigenpy version on Windows
  • [x] Release pycppad with cppad 2023 on Windows ? (since codegen is never used on Windows, it's useless)
• [x] Local convention by default
  • [x] ABA
    • Set in a details/impl namespace
    • only use aba
  • [x] CRBA
• [x] Remove abort
• [x] setup back old GeometryObject constructor that wasn't deprecated in pinocchio 2
• [x] Green CI
  • Linux Release
  • [x] test-cpp-cppad-joints
    • Fail caused by -fstack-protector-strong
    • valgrind trigger some errors
  • Linux Debug
  • [x] Disk space issue…
  • Macos Release
  • [x] test-cpp-constrained-dynamics
  • [x] test-cpp-cppad-joints
  • [x] test-cpp-casadi-explog
  • Macos Debug
  • [x] test-cpp-constrained-dynamics
  • [x] test-cpp-cppad-joints
  • [x] test-cpp-casadi-explog
  • [x] test-cpp-casadi-joints
  • [x] example-py-autodiff-rnea
  • [x] example-py-codegen-rnea
    • Add CPPAD_DEBUG_AND_RELEASE flag
  • Ubuntu 20.04
  • [x] Fix expose-collision.cpp
  • [x] Fix casadi python binding crash
• [x] Test dependencies
  • [x] exemple-robot-data
  • [x] proxsuite-nlp
  • [x] aligator
  • [x] proxsuite
  • [x] crocoddyl
  • [x] tsid

[nim65s]

Congratulations 🎉

I'll double check this asap

[jcarpent]

🥳 Nice achievements and team work powered by the Willow team @INRIA !!!

[proyan]

This deserves champagne at INRIA tonight 🎊 Congrats!

[jcarpent]

This deserves champagne at INRIA tonight 🎊 Congrats!

At Inria, some people (I won't name here) would prefer Côte-Rôtie ;)

[gabrielebndn]

Great news, congratulations :tada:

[ManifoldFR]

Congratulations everyone !!! 🥳 🥳 🥳

[joao-pm-santos96]

Amazing! Congratulations on this major achievement and THANK YOU!!

[gabrielebndn]

This is GREAT! Congrats for a huge work :slightly_smiling_face: