Summary

The main modifications concern the update of the code to comply with the Humanoid Path Planner (HPP).

This release is directly accessible as a Debian package. Please see https://github.com/stack-of-tasks/pinocchio/wiki/installation for further details.

New Features

Add Joint{Model,Data} classes based on Joint{Model,Data}Base and Joint{Model,Data}Variant. Those classes call directly the visitors and make Variant accessible throw methods
Add partial Joint{Model,Data}Composite. They allow a stack of joints without adding any Inertia.
Increase Frame class. Frames can be of several types (BODY, JOINT, SENSOR, etc) and reflect the robot tree as it appears in the URDF conventions. Frames have two attributes: parent which the direct Joint parent in the Joint tree, previousFrame which correspond to the parent Frame in the tree of Frames).
Adding Python parser which is able to read models written in Python.
Add algo checker to check the validity of a model.
Improve documentation.

Model has some methods deprecated. The default name has been removed.
The Geometry classes have been updated and several methods have been set to deprecated. They now use Frames as parent instead of Joint directly: a Geometry is now supported by a BODY.
Add active collision pair flags in GeomData which define the active collision pairs.
Unify naming conventions (nframes, njoints, etc).

The UDRF parser can now deal with more complex topologies. It properly handles the stack of geometries for each BODY.
Improve packaging mainly around the Python part.