v0.10.0

What's Changed

• Change from deprecated ConstraintSetBase<T> to ConstraintSetTpl<T> by @ManifoldFR in #233
• Add a multibody friction cone cost, rename FrictionConeResidual to CentroidalFrictionConeResidual by @edantec in #234
• Add gravity compensation residual by @ManifoldFR in #235
• Add pixi support by @jorisv in #240
• Fixes to ProxDDP by @ManifoldFR in #242
• Change linear friction cone to ice cream cone by @edantec in #238
• topic/gar/devel by @ManifoldFR in #236
• Update pixi lockfile by @update-pixi-lockfile in #245
• Fix build instruction by @jorisv in #249
• Fully support building aligator without Pinocchio support (including without proxsuite-nlp Pinocchio support) by @ManifoldFR in #250
• Switch to nonmonotone linesearch by @ManifoldFR in #244

New Contributors

• @update-pixi-lockfile made their first contribution in #245

Full Changelog: v0.9.0...v0.10.0