ILikeToMoveItMoveIt

When you like to move it move it, you never want the music to stop! Biorbd was a bit stiff, and did not like you to move it move it.
Now, biorbd lets you dance as you wish by not SegFaulting if you move a marker by hand!

BeStrongInBothSides

Walking forward should be as good as walking backward. If you have two API for the same purpose, it gets highly confusing. While it is funny to watch confused people, it is not very practical...
Biorbd now uses the same API for InverseDynamics and ForwardDynamics. Hurray!

CallMe

Casadi function are not just for SX but also MX and (more importantly!) for DM as well. The name for the casadi function interface better reflects that :)

PushButPushEqual

The forces and mouvements may lie in complete different mathematical environment (yep... maths are weird...)
Biorbd was computing the sizes of these environment wrongly... That is no more the case! GeneralizedTorque is has now the right size :)

ThereIsInertiaInTheSystem

When changing mass feature, some things must be change as well, such as Inertia. Biorbd was ignoring the real things, but it does no more! While you change the segment characteristics, it now updates matrix of inertia

LimitTheseQuaternion

QRanges was only in awe with Euler. Despite Euler's massive contribution to... everything?... Hamilton, must not be forgot! Quaternion are important even though they are impossible to interpret and pretty much useless... Some people like it... whatever...
Now QRanges like quaternions as well :D and won't simply fail if you define quaternions in your model!

ShowMeWhatYouveGot

"That is a pretty library, but I don't know what to do with it" is no longer something you should say! biorbd is now filled with examples for C++, MATLAB and Python! These examples are a complete example of the inverse flow (inverse kinematics, inverse dynamics and static optimization) and of the direct flow (muscle forces, forward dynamics and forward kinematics).

So now you know what I've got!

ANewEra

Faster, higher and Stronger!

Biorbd continuously evolves to get better speed, reaching higher standard and simulating stronger models. Enjoy this revamped version of biorbd :)

PushButPushEqual

All things considered, all break down to the interaction to the environment. Biorbd gets better and better to interact with environment thanks to better muscle description and impact functions.

Special shout out to @paulWegiel and @leasanchez for their contributions!

CasadActuate

CasADi is learning more and more! It now knows how to use actuators!
Actuate good :)