TunaWrap

Wrappings objects were having some issues, but thanks to a new contributor, it is now fixed!

HeavyPhantom

For some reason, biorbd though segments without inertia should be heavy... It now knows better!

Please be aware that this fix will greatly changes the result if you were computing forward dynamics with segments that did not have inertia matrix!

BeBros

Casadi and Eigen have been brothers, but could not stand each others. Now that they have separate rooms (namespace) they can be bros again!

ARenewEra

RBDL entered a new era, so biorbd.
Enjoy the re-eMERGing of rbdl with its predecessor :)

FollowTheFlow

RBDL moved forward, let's follow it!

UniverseExpansion

The universe expansion is a hard fact that no one can escape. So is expanding Casadi function. But something for both it creates disturbance and should therefore be avoided.

The Python interface can now expand or not depending on the will of the user

MmmmX

MX are sometime hard to use. Biorbd has an actual Python interface, but was not so much convenient. It is now a bit easier to use!

WhereAreYou

Getting the index of markers and segments in Python was a bit cumbersome. You now can ask directly to biorbd!

OneSizeFitAll

Scalar are 1x1 matrices, or are they? Biorbd doesn't ask this question anymore and answers yes. Therefore it is now possible to create a scalar from a numpy 1x1 array

PyVec

A vector 3d is the basics of 3d geometry. Yet Python didn't like them very much... This is now something from the past as Python can now use directly native numpy and DM vectors to declare a 3d Vector! Hurray :D