Release v2.0.0

Changes in v2.0.0:

• 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