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loco-3d / crocoddyl

Crocoddyl is an optimal control library for robot control under contact sequence. Its solver is based on various efficient Differential Dynamic Programming (DDP)-like algorithms
BSD 3-Clause "New" or "Revised" License
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Release v1.3.0 #781

Closed cmastalli closed 4 years ago

cmastalli commented 4 years ago

Hi @nim65s,

In this release, we have done the following tasks:

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

Note that I have created the branch as we used to do: release/v1.2.0. Additionally, @proyan and I have decided to follow your suggestion (i.e. defining the master branch as default). I would handle this task once these stuffs are released in robotpkg.

Yours, Carlos

nim65s commented 4 years ago

Thanks. This is holliday here, so I'll handle that on Monday :)

cmastalli commented 4 years ago

Thanks. This is holliday here, so I'll handle that on Monday :)

Sounds good! I hope you're enjoying your holidays!

cmastalli commented 4 years ago

Thank you @nim65s :)