Pin

This new release provides:
- improvement for handling collision/distance requests
- support of parallel computations for ABA, RNEA and collisions algorithms (more to come soon)
- additional features for the RobotWrapper in Python
- support of Capsule for Meshcat
- happened Inertia information to Frames
- fixes for doc issues
- improve numerical robustness when two inertias are Zero

This new release comes with a more consistent ABA algorithm (data.a_gf used instead of classic data.a) and more outcomes for computeAllTerms. In addition, it provides some extended supports to PyPy.

This maintenance release enhances the whole CMake packaging of the project and provides additional features for the Python bindings.

This new release enhances the compatibility of Pinocchio with former distributions, provides better support to Euler angles and fixes some bugs.

This new release fixes some issues with the Python bindings, add new examples and extend the whole tests.

This new release enhances the compatibility with Windows, provides new tools eitheir to work on joint configurations and also to compute the kinematic regressors.