Branch topic/distanceToParent
I pushed a new branch which is about to be merged. It requires a minor modif in Pinocchio, so I do not merge yet. If you want to use it, simply comment the "protected:" before the attribute axis at src/multibody/joint/joint-prismatic-unaligned.hpp:467 and src/multibody/joint/joint-revolute-unaligned.hpp:471.
Related to stack-of-tasks/pinocchio#261