pinocchio 4.1.0

What's Changed

Added

• URDF v1.2 support (#2909):
  • Capsule geometry parsed directly as CAPSULE collision/visual shape
  • Extended joint limits: acceleration, jerk read from URDF v1.2 <limit> element
    • New ModelTpl fields: lowerAccelerationLimit, upperAccelerationLimit, lowerJerkLimit, upperJerkLimit
      (tangent-space vectors, default -inf/+inf)
    • Extended ModelTpl::addJoint overload to accept min_acceleration, max_acceleration, min_jerk, max_jerk parameters
• Add PINOCCHIO_BUILD_BINDING_WITH_PCH CMake option to use PCH to build Python bindings (default OFF) (#2886)
• Add PINOCCHIO_BUILD_VISUALIZERS option (#2900)

Fixed

• Use _WIN32 definition instead of WIN32 (#2900)
• Remove extra } in modernize_target_link_libraries function (#2900)
• Fix loadFromStringStream unable to parse -inf/+inf values (broke Python pickle of models with acceleration/jerk limits) (#2909)
• Fix Viser visualizer: apply URDF <mesh scale> to mesh vertices instead of scaling the link translation (#2878)
• Fix build issue with g++ 12 (#2890)
• Fix useless memory allocation in Python checkers (#2897 and #2907)
• Fix Eigen 5 support (#2886)

Changed

• nix: switch to flakoboros (#2882)
• CMake: optionalize DOXYGEN_USE_MATHJAX (default to OFF) (#2915)

Full Changelog: v4.0.0...v4.1.0