[2.2.0] - 2025-02-10
- Changed return policy in std::vector of Eigen's vector and matrices to be compliant with Pinocchio in #1338
- Prevent users to improperly setting residual references in #1332
- Fixed the inequality constraints' feasibility computation by incorporating bounds into the calculation in #1307
- Improved the action factory used for unit testing in #1300
- Ignore ruff issues in ipython notebook files in #1297
- Improved efficiency for computing impulse-dynamics derivatives in #1294
- Fixed bug of wrench cone fields not being updated with setters in #1274
- Replaced parent by parentJoint (which was introduced in Pinocchio 3) in #1271
- Introduced the notion of terminal dimension, residuals and constraints in #1269
- General clean ups about std::size_t in #1265
- Fixed issues in LQR extensions in #1263
- Computed dynamic feasibility everytime in #1262
- Extend LQR actions in #1261
- Print log with grad absolute + updated logs with Pinocchio 3 in #1260