Release v1.4.0

Changes in v1.4.0:

• 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

Release v1.3.0

Changes in v1.3.0:

• 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.

Release v1.2.1

Changes in v1.2.1:

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

Release v1.2.0

Changes since v1.1.0:

• 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

Release v1.1.0

Changes since v1.0.0:

• 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

Release v1.0.0

Release of version 1.0.0.

Release v0.9.0

This project is being rewritten in C++ with python bindings, instead of staying a pure python library