CHANGELOG.md

Changelog

All notable changes to this project will be documented in this file.

The format is based on Keep a Changelog.

Unreleased

2.1.0 - 2024-05-31

• Updated black + isort + flake8 to ruff in #1256
• Exported version for Python in #1254
• Added pinocchio 3 preliminary support in #1253
• Updated CMake packaging in #1249
• Fixed ruff reported error in #1248
• Fixed yapf reported errors in #1238
• Tested Python stubs in Conda CI in #1228
• Fixed Rviz display in #1227
• Improved CI, updated cmake and fixed launch file in #1220
• Introduced a Rviz display in #1216
• Enabled display of thrust and simplied displayers code in #1215
• Introduced floating base thruster actuation model in #1213
• Fixed quadruped and biped examples in #1208
• Fixed terminal computation in Python models in #1204
• Fixed handling of unbounded values for ActivationBounds in #1191

2.0.2 - 2023-12-07

• Added nu, ng, and nh setters for Python bindings in #1192
• Added CHANGELOG.md in #1188
• Supported nu==0 in actuation models in #1188
• Included Python bindings for Crocoddyl exceptions by @cmastalli in #1186
• Updated cmake submodule update by @jcarpentier in #1186
• Fixed getters for contraints bounds by skleff1994 in #1180
• Extended solver abstract and callbacks for arbitrary solvers by @cmastalli in #1179
• Fixed the check of pair_id in collision residual by @ArthurH91 in #1178
• Exploited control-residual structure when computing Lu, Luu by @cmastalli in #1176
• Added LWA fram convention and introduced different axis for 1d contacts by @skleff1994 in #1172
• Python bindings for setting control bounds by @cmastalli in #1171
• Fixed missed scalar in cost sum and activation data by @cmastalli in #1165
• Added actuation unit tests by @cmastalli in #1161
• Introduced method for obtaining the dimension of floating-bases by @cmastalli in #1160
• Fixed set_reference in state residual by @cmastalli in #1158
• Enabled CONDA CI jobs with CppADCodeGen by @cmastalli in #1156
• Added other CI jobs by @cmastalli in #1152
• Fixed compiltation issue when building with CppADCodeGen by @cmastalli in #1151
• Fixed include order used in frames.cpp by @ManifoldFR in #1150

2.0.1 - 2023-06-17

• Fixed notebooks
• Fixed build on aarch64-linux
• Fixed CMake for OpenMP with conda
• Fixed lints
• Updated for example-robot-data 4.0.7
• Added support for 18.04 back: CMake 3.10, Boost 1.65, Python 3.6

2.0.0 - 2023-05-13

• Changed stopping criteria to better evaluate the converge criteria
• Extended numdiff routines to compute second-order derivatives + other minor improvements
• Improved the overall project documentation (still many things to be done)
• Added collision residual unit tests and missing Python bindings
• Allowed accuracy configuration of verbose callback
• Closed gaps once feasibility is achieved in FDDP
• Supported different Python versions
• Added procedure to check example log files
• Added support to M1 apple chip + fixed compilation issues with Clang
• Fixed a small issue in the solver's Armijo condition
• Added shareMemory unit tests
• Introduced the notion of resizing data in solvers
• Added unit test for impulse actions
• Deprecated set_id functions in contact residuals
• Supported Ipopt solver with Python bindings
• Extended (diff)-action API to handle arbitrary constraints + unit tests
• Introduce the notion of ConstraintManager and used it in diff-actions + unit tests + integrated action support
• Added the HyQ robot for extra unit testing
• Updated doxygen documentation in many parts of the project
• Used std::set for storing cost/constraint activation status
• Fixed small issues in terminal-node computations
• Supported Meshcat display of contact forces, friction cone and foot-swing trajectories
• Introduced the notion of equality constraint feasibility in solvers
• Created a data collector to store joint effort and accelerations
• Created joint-effort/acceleration residuals + unit tests
• Created inverse-dynamics action models + unit tests
• Added the SolverIntro which handles inverse-dynamics OC problems + unit tests
• Added invdyn examples and log files + cleaned up filenames
• Enabled copyable for various objects used in Python
• Supported different contact/impulse frames + unit test + changes in example/logfiles.
• Removed deprecated FrameXX code.
• Updated readme file.
• Updated CMake configuration
• Updated numpy usage

1.9.0 - 2022-03-03

• Introduced the control parametrization notion and three polynomial parametrization (PolyZero, PolyOne, PolyTwoRK)
• Improved the documentation of the actuation model and especially the floating-base actuation
• Improved the efficiency of the RK integrator (added to the benchmarks)
• Improved the documentation of Euler and RK integrators
• Added unittests for checking the analytical derivatives of the contact forces/impulses
• Computed the dynamic feasibility in solvers (also print this relevant information)
• Improved the documentation of solvers
• Removed dynamic memory allocation in ContactModel3D
• Added the notion of terminal (calc, calcDiff) computations (fixed some tiny inaccuracies in the problem formulation + reduced useless computations)
• Added a class to easily profile the computation cost of any block code (included relevant blocks in the solvers and shooting problem)
• Fixed error in the documentation of ActivationModel2NormBarrier
• Added the 2d contact
• Added method to resized solver data (e.g., it is not needed to allocate the biggest control dimension)
• Fixed issue in the Gepetto viewer display
• Improved the CI and fixed a few errors that appears in unittests code compiled with clang
• Removed dynamics memory allocation in LQR action and CostModelResidual
• Removed Travis buildfarm and substituted by ROS one
• Used std::set for contact/impulse active/inactive set (added bindings)
• Added Python bindings to be able to set state dimensions from a Python derived class.
• Added Python bindings of StateNumDiff class

1.8.1 - 2021-08-01

• Fixed Vx computation
• Fixed memory allocations
• Fixed linkage of the python library
• Deprecated FramXX in constructors and frames.hpp
• Cleaned up code

1.7.0 - 2021-05-05

• Updated the examples based on new API in example-robot-data
• Removed reference in std::sized_t (and other primitives)
• Improved computation and handled richer conditions in friction and wrench cone (e.g., inner/outer apprx. in wrench cone, and rotation matrix in friction cone)
• Added more unit-tests for cones
• Included the CoP support notion
• Updated minimal version of EigenPy as it fixes a bug with 4x6 matrices
• Developed a gravity-based cost function for both free and in contact conditions (included its unit-test code)
• Added assignment operator in FrameXXX structures
• Replaced isMuchSmallerThan by isZero in all the unit-tests
• Enabled free-flyer joint in full actuation model
• Improved multicopter actuation API + unit-tests
• Exposed in Python ActionModelUnicyle::dt_
• Fixed multithreading support: running the correct number of threads
• Enabled that the user can set the number of threads (also in Python)
• Added publication list and updated README file
• Registered in Python the shared pointers of all the model classes
• Fixed Meshcat visualizer after update
• Added Github Action CI with ROS dependency resolution
• Improved efficiency of backward pass by defining properly RowMajor matrices
• Activated all warnings and Werror
• Improved documentation

1.6.0 - 2021-02-01

• Refactored the Cost API with breaking compatibility (cost depends on state abstract, not multibody state)
• Fixed issue in c++98 compatibility
• Added shared_ptr registers for solver classes (Python bindings)
• Initialized missed data in SolverQP (not really producing a bug)
• Fixed issue with FrameXXX allocators (Python bindings)
• Created aligned std vectors for FrameXXX (Python bindings)
• Used the proper nu-dimension in shooting problem and solvers
• Doxygen documentation of smooth-abs activation
• Renamed the activation model: smooth-abs to smooth-1norm (deprecated old names)
• Added the smooth-2norm activation model with Python bindings
• Updated README file with Credits and committee information
• Added throw_pretty in Python bindings of action models (checks x,u dimensions)
• Improved the documentation (doxygen, docstrings), and fixed grammar, of various classes
• Cleaned up a few things related with cost classes
• Cleaned up unnecessary typedef in cost models
• Extended the differential action model for contacts to handle any actuation model (not just floating-base derived ones)
• Added conda support
• Added the quadratic-flat activation models
• Fixed issue with gepetto viewer display (appearing in some OS)
• Added contact/impulse action unit tests
• Added contact/impulse cost unit tests
• Added a proper gap threshold (it was too big and created different behavior in feasibility-driven solvers)
• Improved the copyright starting year for many files

1.5.0 - 2020-09-23

• Improved and cleaned up the bench-marking code for code-generation
• Fixed bug for computing quasicStatic torques under inactive contacts
• Added unit-test code that disables contacts
• Created CoP cost with Python bindings and unit-test
• Multi-threading support for quasicStatic computation in shooting problem
• Modifications in Travis CI + included Gepgitlab CI
• Created contact wrench cone (CWC) cost with Python bindings and unit-test
• Created RK4 integrator with Python bindings and unit-test
• Throw exception for setting candidates xs/us in solvers
• Fixed a few spelling errors in the docstring documentation
• Exposed the KKT solver in Python
• Checked the dimension of the warm-start vectors for xs and us
• Cleaned up some part of the Python code that were using Numpy Matrix (now Numpy Array!)
• Created the 2d contact
• Checked the feasibility by the gap values
• Created the Crocoddyl logo + integrated in the README file

1.4.0 - 2020-08-05

• Allowed different values of nu in action models
• Adapted the contact force cost to accept 3d contacts.
• Added CppAD support to (weighted) quadratic barrier activation
• Added the contact impulse cost
• Added contact CoP cost,
• fixes:
• Fixed display of contact forces in Gepetto viewer
• Fixed a bug in the definition of the terminal node in updateNode (defined in ShootingProblem)
• Fixed memory allocation produced by Python binds.
• Fixed printed error message in ShootingProblem
• and improvements:
• Added documentation of the differential action model
• Deprecated legacy functions to define reference in cost functions.
• Set to zero inactive contact forces for correctness
• Simplified FDDP code by using calcDiff from DDP solver
• Improved the display of benchmark timings
• Improved the documentation of contact force cost
• Improved few notebooks and added an extra one
• Removed legacy Python unittest

1.3.0 - 2020-05-25

• Minor improvement in state-base class (enabling limits once we define only one component)
• Added functions to print the active/inactive status of costs, contacts and impulses
• Running computations in the contact / impulse dynamics using the active number of contacts / impulses, respectively
• Used NumPy Array in examples / notebooks
• Initial integration of Meshcat viewer and used in notebooks
• Improved efficiency of Jdiff, Jintegrate in multibody state
• Added an extra operator in Jintegrate signature (state classes)
• Added an extra function parallel transport in the state class (i.e. JintegrateTransport)
• Added functions to retrieve the inactive costs, contacts and impulses
• Fixed target_link_libraries use
• Improved efficiency of few activation models
• Added the action-base class for code generation + unittest
• Added codegen bench for 4 dof arm and biped
• Renamed all bench files
• Updated dependency versions for Pinocchio and example-robot-data
• Fixed bug in the impulse dynamics that appears in multiple threads
• Fixed various issues regarding data alignment
• Added doxygen file with the documentation state-base class
• Fixed an issue when we updates reference in frame-placement and frame-rotation costs
• Fixed an issue with Python3 compatibility in few examples
• Proper display of friction cones + do not display when the contact / impulse is inactive/
• Extended the computation of impulses derivatives
• Added a friction cost for impulse dynamics

1.2.1 - 2020-04-21

• Fixed backup files inside notebook folder
• Fixed an issue with the friction cone display
• Added quadcopter actuation model

1.2.0 - 2020-04-03

• Templatized all the classes and structures with the scalar (for codegen and autodiff)
• Fixed a bug in the formulation for the quadrupedal problem (state bounds)
• Reduced the compilation time in Python bindings (re-structured the code)
• Fixed error in the expected improvement computation for terminal action in SolverFDDP
• Added unittest code for cost classes (included cost factory)
• Reorganized the various factories used for c++ unittesting
• Developed the pinocchio model factory for c++ unittesting
• Added unittest code for contact classes (included the contact factory)
• Described cost items through shared_ptr
• Described contact items through shared_ptr
• Described impulse items through shared_ptr
• Fixed Gauss-Newton approach for cost num-diff
• Added contact num-diff class
• Used virtual keyword in declaration of derived functions
• Added the unittest code for free forward dynamics action model
• Added the unittest code for contact forward dynamics action model
• Included the cost status in cost sum for global memory allocation
• Included the contact status in cost sum for global memory allocation
• Included the impulse status in cost sum for global memory allocation
• Removed duplication function for retrieving models and datas in solvers (now we do only through shooting problem interface)
• Allowed to write internal data of Numpy-EigenPy objects
• Added a general method for setting and getting cost reference
• Added squashing function abstraction
• Added unittest code for testing cost, contact and impulse status
• Moved to CMake exports

1.1.0 - 2020-02-14

• Added few cost functions related to forces and impulses (e.g. friction-cone, com impulse)
• Improved the display tools (friction cone, contact forces and end-effector trajectories)
• Fixed a problem in the printed message by the callback
• Fixed a problem in the box-qp
• Improved the box-ddp
• Added a new solver called box-fddp
• Added extra examples (box-ddp vs box-fddp, taichi task, humanoid manipulation)
• Added a script for automatically updating the log files
• Checked that all examples runs in the CI (for release mode only)
• Improved the quadrupedal and bipedal examples by adding all the constraints
• Improved the efficiency in differential free-forward dynamics
• Added extra setter functions in action models
• Improved efficiency in all solvers (removed extra computation)
• Improved plot functions
• Fixed a bug in few notebooks

1.0.0 - 2019-08-30

Initial release