CHANGELOG

Changelog

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

The format is based on Keep a Changelog.

Unreleased

• Fixed the compiler-flag definition used for action codegen + updated default compilation flags in https://github.com/loco-3d/crocoddyl/pull/1469

• CMake: make example-robot-data more optional for ROS in https://github.com/loco-3d/crocoddyl/pull/1467

3.2.0 - 2025-12-09

• Introduced the actuation limits to handle thrusters and general action models in https://github.com/loco-3d/crocoddyl/pull/1455

• Introduced safe difference and integration functions for states in https://github.com/loco-3d/crocoddyl/pull/1448

• ROS: jrl_cmakemodules dependency + kilted CI in https://github.com/loco-3d/crocoddyl/pull/1441

3.1.0 - 2025-10-02

• Allow use of BUILD_STANDALONE_PYTHON_INTERFACE CMake option in https://github.com/loco-3d/crocoddyl/pull/1434

• Migrated notebooks to Meshcat in https://github.com/loco-3d/crocoddyl/pull/1404

• Updated the rotation transpose in contact wrench cone to re-use the same object to avoid additional transpose operations. https://github.com/loco-3d/crocoddyl/pull/1343

• Switched to a multiply operation instead of divide for efficiency. https://github.com/loco-3d/crocoddyl/pull/1343

• Fix Python bindings of action getters in https://github.com/loco-3d/crocoddyl/pull/1374

• Created independent Python modules associated to each scalar in https://github.com/loco-3d/crocoddyl/pull/1372

• Introduced CodeGen and AutoDiff in Python + pre-compiled headers in https://github.com/loco-3d/crocoddyl/pull/1370

• Introduced explicit template instantiation in https://github.com/loco-3d/crocoddyl/pull/1367

• Fixed error message building crocoddyl.launch crocoddyl.rviz as Python files in https://github.com/loco-3d/crocoddyl/pull/1369

• Created Python bindings for (diff)-action getters in https://github.com/loco-3d/crocoddyl/pull/1362

• Enabled casting and multi-scalar Python bindings in https://github.com/loco-3d/crocoddyl/pull/1346

• Compute LU decomposition using permutationP in https://github.com/loco-3d/crocoddyl/pull/1351

• Force DifferentialActionDataContactInvDynamics to update df_du for all contacts in https://github.com/loco-3d/crocoddyl/pull/1348

• Add a nix shortcut start jupyter lab, with eg. `nix run .#jupyter in https://github.com/loco-3d/crocoddyl/pull/1396

3.0.1 - 2025-03-21

• Add install version in https://github.com/loco-3d/crocoddyl/pull/1355

• Removed absolute path for boost library in https://github.com/loco-3d/crocoddyl/pull/1353

• Fixed checking of positive semi-define condition in LQR problems in https://github.com/loco-3d/crocoddyl/pull/1352

3.0.0 - 2025-03-19

• :warning: BREAKING: replaced boost shared pointers by std ones in https://github.com/loco-3d/crocoddyl/pull/1339

• :warning: BREAKING: require pinocchio >= 3.4.0

2.2.0 - 2025-02-10

• Changed return policy in std::vector of Eigen’s vector and matrices to be compliant with Pinocchio in https://github.com/loco-3d/crocoddyl/pull/1338

• Prevent users to improperly setting residual references in https://github.com/loco-3d/crocoddyl/pull/1332

• Fixed the inequality constraints’ feasibility computation by incorporating bounds into the calculation in https://github.com/loco-3d/crocoddyl/pull/1307

• Improved the action factory used for unit testing in https://github.com/loco-3d/crocoddyl/pull/1300

• Ignore ruff issues in ipython notebook files in https://github.com/loco-3d/crocoddyl/pull/1297

• Improved efficiency for computing impulse-dynamics derivatives in https://github.com/loco-3d/crocoddyl/pull/1294

• Fixed bug of wrench cone fields not being updated with setters in https://github.com/loco-3d/crocoddyl/pull/1274

• Replaced parent by parentJoint (which was introduced in Pinocchio 3) in https://github.com/loco-3d/crocoddyl/pull/1271

• Introduced the notion of terminal dimension, residuals and constraints in https://github.com/loco-3d/crocoddyl/pull/1269

• General clean ups about std::size_t in https://github.com/loco-3d/crocoddyl/pull/1265

• Fixed issues in LQR extensions in https://github.com/loco-3d/crocoddyl/pull/1263

• Computed dynamic feasibility everytime in https://github.com/loco-3d/crocoddyl/pull/1262

• Extend LQR actions in https://github.com/loco-3d/crocoddyl/pull/1261

• Print log with grad absolute + updated logs with Pinocchio 3 in https://github.com/loco-3d/crocoddyl/pull/1260

2.1.0 - 2024-05-31

• Updated black + isort + flake8 to ruff in https://github.com/loco-3d/crocoddyl/pull/1256

• Exported version for Python in https://github.com/loco-3d/crocoddyl/pull/1254

• Added pinocchio 3 preliminary support in https://github.com/loco-3d/crocoddyl/pull/1253

• Updated CMake packaging in https://github.com/loco-3d/crocoddyl/pull/1249

• Fixed ruff reported error in https://github.com/loco-3d/crocoddyl/pull/1248

• Fixed yapf reported errors in https://github.com/loco-3d/crocoddyl/pull/1238

• Tested Python stubs in Conda CI in https://github.com/loco-3d/crocoddyl/pull/1228

• Fixed Rviz display in https://github.com/loco-3d/crocoddyl/pull/1227

• Improved CI, updated cmake and fixed launch file in https://github.com/loco-3d/crocoddyl/pull/1220

• Introduced a Rviz display in https://github.com/loco-3d/crocoddyl/pull/1216

• Enabled display of thrust and simplied displayers code in https://github.com/loco-3d/crocoddyl/pull/1215

• Introduced floating base thruster actuation model in https://github.com/loco-3d/crocoddyl/pull/1213

• Fixed quadruped and biped examples in https://github.com/loco-3d/crocoddyl/pull/1208

• Fixed terminal computation in Python models in https://github.com/loco-3d/crocoddyl/pull/1204

• Fixed handling of unbounded values for ActivationBounds in https://github.com/loco-3d/crocoddyl/pull/1191

2.0.2 - 2023-12-07

• Added nu, ng, and nh setters for Python bindings in https://github.com/loco-3d/crocoddyl/pull/1192

• Added CHANGELOG.md in https://github.com/loco-3d/crocoddyl/pull/1188

• Supported nu==0 in actuation models in https://github.com/loco-3d/crocoddyl/pull/1188

• Included Python bindings for Crocoddyl exceptions by @cmastalli in https://github.com/loco-3d/crocoddyl/pull/1186

• Updated cmake submodule update by @jcarpentier in https://github.com/loco-3d/crocoddyl/pull/1186

• Fixed getters for contraints bounds by skleff1994 in https://github.com/loco-3d/crocoddyl/pull/1180

• Extended solver abstract and callbacks for arbitrary solvers by @cmastalli in https://github.com/loco-3d/crocoddyl/pull/1179

• Fixed the check of pair_id in collision residual by @ArthurH91 in https://github.com/loco-3d/crocoddyl/pull/1178

• Exploited control-residual structure when computing Lu, Luu by @cmastalli in https://github.com/loco-3d/crocoddyl/pull/1176

• Added LWA fram convention and introduced different axis for 1d contacts by @skleff1994 in https://github.com/loco-3d/crocoddyl/pull/1172

• Python bindings for setting control bounds by @cmastalli in https://github.com/loco-3d/crocoddyl/pull/1171

• Fixed missed scalar in cost sum and activation data by @cmastalli in https://github.com/loco-3d/crocoddyl/pull/1165

• Added actuation unit tests by @cmastalli in https://github.com/loco-3d/crocoddyl/pull/1161

• Introduced method for obtaining the dimension of floating-bases by @cmastalli in https://github.com/loco-3d/crocoddyl/pull/1160

• Fixed set_reference in state residual by @cmastalli in https://github.com/loco-3d/crocoddyl/pull/1158

• Enabled CONDA CI jobs with CppADCodeGen by @cmastalli in https://github.com/loco-3d/crocoddyl/pull/1156

• Added other CI jobs by @cmastalli in https://github.com/loco-3d/crocoddyl/pull/1152

• Fixed compiltation issue when building with CppADCodeGen by @cmastalli in https://github.com/loco-3d/crocoddyl/pull/1151

• Fixed include order used in frames.cpp by @ManifoldFR in https://github.com/loco-3d/crocoddyl/pull/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