Releases | Open Source Science

biorbd - TimeForALittlePypi

Biorbd was more than ready, it was urgent! Now it releases itself out of Pypi!

What's Changed

Update ExternalForceSet.h by @Ipuch in https://github.com/pyomeca/biorbd/pull/353
doc update on Angular Momentum By Segment by @EveCharbie in https://github.com/pyomeca/biorbd/pull/362
[RTM] Added contact_index for bioptim by @EveCharbie in https://github.com/pyomeca/biorbd/pull/361
Model creation (BIS) by @EveCharbie in https://github.com/pyomeca/biorbd/pull/358
Added access to Node info for the markers by @pariterre in https://github.com/pyomeca/biorbd/pull/363
Added pip! [Did not work for Casadi] by @pariterre in https://github.com/pyomeca/biorbd/pull/364

Full Changelog: https://github.com/pyomeca/biorbd/compare/Release1.11.2...Release1.11.3

Scientific Software - Peer-reviewed - C++
Published by pariterre 4 months ago

Matlab users behold! Your time of easyness has finally come! After all these years of being left behind by us, you finally can enjoy biorbd without the struggle to install biorbd by yourself, as the binaries are now provided! Friends, enjoy!

What's Changed

Added dampings to joints by @pariterre in https://github.com/pyomeca/biorbd/pull/350
Added matlab to github actions by @pariterre in https://github.com/pyomeca/biorbd/pull/352

Full Changelog: https://github.com/pyomeca/biorbd/compare/Release1.11.1...Release1.11.2

Scientific Software - Peer-reviewed - C++
Published by pariterre over 1 year ago

biorbd - INeedCaching

Casadi was slightly (very) cautious about making sure it was not forgetting at all to update every single time a function was called and every for loop... It was making it crazy slow for no reason. We loosened this psychorigid behavior. Casadi is now updating only what is required

What's Changed

Added bunch of accessor so Casadi is not so slow! by @pariterre in https://github.com/pyomeca/biorbd/pull/349

Full Changelog: https://github.com/pyomeca/biorbd/compare/Release1.11.0...Release1.11.1

Scientific Software - Peer-reviewed - C++
Published by pariterre over 1 year ago

biorbd - YouAreUnique

Each individual is unique and that is the beauty of life! Biorbd struggled with that uniqueness and decided that everyone should be the same... We taught Biorbd to recognize and embrace uniqueness when casadi is used. Now, models do not retrointeract when you call functions!

What's Changed

Extra doc setLocalJCS by @Ipuch in https://github.com/pyomeca/biorbd/pull/345
Fixed matlab compilation issue by @pariterre in https://github.com/pyomeca/biorbd/pull/346
Added a setter for the markers by @pariterre in https://github.com/pyomeca/biorbd/pull/347
Fixed casadi duplication of the model when calling methods by @pariterre in https://github.com/pyomeca/biorbd/pull/348

Full Changelog: https://github.com/pyomeca/biorbd/compare/Release1.10.5...Release1.11.0

Scientific Software - Peer-reviewed - C++
Published by pariterre almost 2 years ago

biorbd - DontBeInvisible

There is simple task to perform sometime. Knowing if you can be seen is one of them. However biorbd did not know that. When it was drawing itself, it just hoped for the best! Now, biorbd knows! if it has mesh or not

What's Changed

Added path for all STL files by @pariterre in https://github.com/pyomeca/biorbd/pull/342

Full Changelog: https://github.com/pyomeca/biorbd/compare/Release1.10.4...Release1.10.5

Scientific Software - Peer-reviewed - C++
Published by pariterre almost 2 years ago

biorbd - DoNotForgetMe

When people leave, they want to be remembered as much as they can. Unlike people though, data are expected to forgotten when they leave. But Python was holding hard to that data. We thought Python to let it go.... and fixed the memory leak!

What's Changed

Fixed memory leak when using to_array() in python by @pariterre in https://github.com/pyomeca/biorbd/pull/341

Full Changelog: https://github.com/pyomeca/biorbd/compare/Release1.10.2...Release1.10.4

Scientific Software - Peer-reviewed - C++
Published by pariterre almost 2 years ago

biorbd - IAmInvisible

Boris told us that he was invincible, but still he was visible. For some reason, biorbd thought that a segment who was invisible was also invincible, but now it knows... being invisible is not a prerequisite to be vincible.

What's Changed

Fixed adding force to non dof segment by @pariterre in https://github.com/pyomeca/biorbd/pull/338
Removed a buggy loop in dispatching forces by @pariterre in https://github.com/pyomeca/biorbd/pull/339

Full Changelog: https://github.com/pyomeca/biorbd/compare/Release1.10.1...Release1.10.2

Scientific Software - Peer-reviewed - C++
Published by pariterre about 2 years ago

biorbd - IAmInvisible

Boris told us that he was invincible, but still he was visible. For some reason, biorbd thought that a segment who was invisible was also invincible, but now it knows... being invisible is not a prerequisite to be vincible.

What's Changed

Fixed adding force to non dof segment by @pariterre in https://github.com/pyomeca/biorbd/pull/338

Full Changelog: https://github.com/pyomeca/biorbd/compare/Release1.10.1...Release1.10.2

Scientific Software - Peer-reviewed - C++
Published by pariterre about 2 years ago

biorbd - ObjectifyMe

Don't treat person as objects, but you can for objects! External forces is now a full object in biorbd allowing for multiple interesting stuff such as transporting it from local to global coordinate system, or applying to arbitrary segments

Hot fix for an error while there were more than one segment

What's Changed

Added a swig template for vector by @pariterre in https://github.com/pyomeca/biorbd/pull/333
Fixed external forces addInSegmentReferenceFrame for segment not being the first by @pariterre in https://github.com/pyomeca/biorbd/pull/335
minor doc of Inverse Kinematics by @Ipuch in https://github.com/pyomeca/biorbd/pull/337

Full Changelog: https://github.com/pyomeca/biorbd/compare/Release1.10.0...Release1.10.1

Scientific Software - Peer-reviewed - C++
Published by pariterre about 2 years ago

biorbd - ObjectifyMe

Don't treat person as objects, but you can for objects! External forces is now a full object in biorbd allowing for multiple interesting stuff such as transporting it from local to global coordinate system, or applying to arbitrary segments

What's Changed

Update README.md by @Ipuch in https://github.com/pyomeca/biorbd/pull/330
External forces as an object by @pariterre in https://github.com/pyomeca/biorbd/pull/332
externalforcehelper by @Ipuch in https://github.com/pyomeca/biorbd/pull/331

Full Changelog: https://github.com/pyomeca/biorbd/compare/Release1.9.10...Release1.10.0

Scientific Software - Peer-reviewed - C++
Published by pariterre over 2 years ago

biorbd - TeenageMutant

As we grow, we change. That was the spirit of the TMNT! Now, biorbd accepts to get more mature as time goes. You can now change the orientation of the segments after a model was loaded.

Long live to maturity

What's Changed

Create release_checklist.md by @Ipuch in https://github.com/pyomeca/biorbd/pull/320
Update README.md by @Ipuch in https://github.com/pyomeca/biorbd/pull/321
Added the capability to slice kalman filter before filtering by @pariterre in https://github.com/pyomeca/biorbd/pull/322
Update read, add actuator information by @AnaisFarr in https://github.com/pyomeca/biorbd/pull/319
[RTR] loop constraints by @Ipuch in https://github.com/pyomeca/biorbd/pull/323
[RTR] set LocalJCS of segments by @Ipuch in https://github.com/pyomeca/biorbd/pull/327

New Contributors

@AnaisFarr made their first contribution in https://github.com/pyomeca/biorbd/pull/319

Full Changelog: https://github.com/pyomeca/biorbd/compare/Release1.9.9...Release1.9.10

Scientific Software - Peer-reviewed - C++
Published by pariterre over 2 years ago

biorbd - HoldMyBeer

Let's say you want to hold a beer, you would need muscles, of course. But at some points, you won't hold long enough if passive forces from your ligaments are not involved! Biorbd now allows you to hold your beer as long as you want by modeling the ligaments.

What's Changed

[RTR] Total energy and Lagrangian by @Ipuch in https://github.com/pyomeca/biorbd/pull/311
yxy rotation by @rapidnico in https://github.com/pyomeca/biorbd/pull/314
[almost RTM] Passive torque by @aceglia in https://github.com/pyomeca/biorbd/pull/312
[WIP] Add ligaments by @aceglia in https://github.com/pyomeca/biorbd/pull/315

New Contributors

@rapidnico made their first contribution in https://github.com/pyomeca/biorbd/pull/314

Full Changelog: https://github.com/pyomeca/biorbd/compare/Release1.9.8...Release1.9.9

Scientific Software - Peer-reviewed - C++
Published by pariterre almost 3 years ago

biorbd - EnergyRelease

Biorbd has this huge potential (energy), it moves and bounces around computing kinetic (energy). But it keeps all this potential (energy) for itself. Now, it exposes it to the world! Computation for kinetic and potential energy are now interfaced for Python

What's Changed

Fixed the non working "copy" function on np.array on Linux by @pariterre in https://github.com/pyomeca/biorbd/pull/307
[RTR] kinetic and potential energy interfaced with rbdl by @Ipuch in https://github.com/pyomeca/biorbd/pull/308
Bug from transposing in Python by @pariterre in https://github.com/pyomeca/biorbd/pull/309
Made Python marker more resilient to the absence of parent name by @pariterre in https://github.com/pyomeca/biorbd/pull/310

Full Changelog: https://github.com/pyomeca/biorbd/compare/Release1.9.7...Release1.9.8

Scientific Software - Peer-reviewed - C++
Published by pariterre about 3 years ago

biorbd - RenewTheHope

With hopes come despair... but also renewing with hopes! We had been a bit to much happy to release, now it is actually ready

What's Changed

Properly reordered the swig interface to account for muscles by @pariterre in https://github.com/pyomeca/biorbd/pull/306

Full Changelog: https://github.com/pyomeca/biorbd/compare/Release1.9.6...Release1.9.7

Scientific Software - Peer-reviewed - C++
Published by pariterre about 3 years ago

biorbd - ANewHope

Restarting not from the beginning, that is what A New Hope taught us! Here we are... doing the same thing but slightly better. This brings us hope for a brighter future

What's Changed

Added an actual mean computation for the matrix rotation in Python by @pariterre in https://github.com/pyomeca/biorbd/pull/302
Tried Github actions by @pariterre in https://github.com/pyomeca/biorbd/pull/303
Tried Github actions by @pariterre in https://github.com/pyomeca/biorbd/pull/304
Fixed a reference bug that was randomly transposing matrices by @pariterre in https://github.com/pyomeca/biorbd/pull/305
Move actuators and muscles in "internalforce" namespace by @aceglia in https://github.com/pyomeca/biorbd/pull/301

Full Changelog: https://github.com/pyomeca/biorbd/compare/Release1.9.5...Release1.9.6

Scientific Software - Peer-reviewed - C++
Published by pariterre about 3 years ago

biorbd - GroovingIsTiring

Grooving too much is tiring. But biorbd could do it endlessly! It is now possible to compute the tiringness of biorbd when grooving with DeGroote

What's Changed

[RTR] Add degrootefatiguable and degrooteactive only by @aceglia in https://github.com/pyomeca/biorbd/pull/298

Full Changelog: https://github.com/pyomeca/biorbd/compare/Release1.9.4...Release1.9.5

Scientific Software - Peer-reviewed - C++
Published by pariterre about 3 years ago

biorbd - DontGrooveTooMuch

Dancing can be trilling, it can also be deceiving. When you go too fast too soon, you make mistake. DeGroote was way too groovy and is now more in phase with reality.

What's Changed

Change velocity normalization for degroote muscle type by @aceglia in https://github.com/pyomeca/biorbd/pull/295

Full Changelog: https://github.com/pyomeca/biorbd/compare/Release1.9.3...Release1.9.4

Scientific Software - Peer-reviewed - C++
Published by pariterre about 3 years ago

biorbd - TheGrooveOfDeGroote

Groovy is the science advancing. DeGroote is the latest muscle model that joined the biorbd suite! With that, let you model dance on the Groove!

Scientific Software - Peer-reviewed - C++
Published by pariterre over 3 years ago

biorbd - TheGrooveOfDeGroote

Groovy is the science advancing. DeGroote is the latest muscle model that joined the biorbd suite! With that, let you model dance on the Groove!

What's Changed

Fixed a bug in Kalman by @pariterre in https://github.com/pyomeca/biorbd/pull/291
Replaced translations/rotations litteral for enums by @pariterre in https://github.com/pyomeca/biorbd/pull/292
Based muscle on reference and add degroote type by @aceglia in https://github.com/pyomeca/biorbd/pull/250

Full Changelog: https://github.com/pyomeca/biorbd/compare/Release1.9.1...Release1.9.2

Scientific Software - Peer-reviewed - C++
Published by pariterre over 3 years ago

biorbd - OnceIllBeAModel

Who hasn't dreamed of being a top model? The most beautiful being out there! Since you'll never be able to achieve that goal, biorbd now allows you to easily create any model you want! And who knows, if you work hard enough, maybe you'll create the most beautiful model out there! (I must admit, I doubt it though...)

What's Changed

Jacobian of segment rotation matrix by @Ipuch in https://github.com/pyomeca/biorbd/pull/284
added yzy rotation to Rotation.toEulerAngles by @EveCharbie in https://github.com/pyomeca/biorbd/pull/287
Simplified the model creation for segment by @pariterre in https://github.com/pyomeca/biorbd/pull/286
Made better message by @pariterre in https://github.com/pyomeca/biorbd/pull/290

Full Changelog: https://github.com/pyomeca/biorbd/compare/Release1.9.0...Release1.9.1

Scientific Software - Peer-reviewed - C++
Published by pariterre over 3 years ago

biorbd - ModernDesign

You want to design new models easily? There are now a python interface to do that. Welcome to modernity!

What's Changed

[RTR] Added a check to make sure nbRoot > 0 by @Sciancisco in https://github.com/pyomeca/biorbd/pull/281
generalizing contacts to forward dynamics by @Ipuch in https://github.com/pyomeca/biorbd/pull/278
Improved version of ToSpatialVector by @pariterre in https://github.com/pyomeca/biorbd/pull/282
[RTR] eulerDot - body velocity tranformation by @EveCharbie in https://github.com/pyomeca/biorbd/pull/263
Model creation in python by @pariterre in https://github.com/pyomeca/biorbd/pull/283

Full Changelog: https://github.com/pyomeca/biorbd/compare/Release1.8.8...Release1.9.0

Scientific Software - Peer-reviewed - C++
Published by pariterre over 3 years ago

biorbd - RoundAbout

Python is a higher, but sometime things slow down... A round about is therefore always welcome! Biorbd can now call multiply on native matrix for, for instance, rotate

What's Changed

Add free floating dynamics by @Sciancisco in https://github.com/pyomeca/biorbd/pull/276
add the class InverseKinematics by @AurelienRenou in https://github.com/pyomeca/biorbd/pull/274
Added the capability to multiply in python by @pariterre in https://github.com/pyomeca/biorbd/pull/279

New Contributors

@Sciancisco made their first contribution in https://github.com/pyomeca/biorbd/pull/276
@AurelienRenou made their first contribution in https://github.com/pyomeca/biorbd/pull/274

Full Changelog: https://github.com/pyomeca/biorbd/compare/Release1.8.7...Release1.8.8

Scientific Software - Peer-reviewed - C++
Published by pariterre over 3 years ago

biorbd - VeryPicky

Windows...

What's Changed

Bug fix in AddContact since new RBDL API by @pariterre in https://github.com/pyomeca/biorbd/pull/262
Update README.md by @nashmit in https://github.com/pyomeca/biorbd/pull/266
compute angular velocity around CoM by @EveCharbie in https://github.com/pyomeca/biorbd/pull/261
possibility to add variables in RT assign by @EveCharbie in https://github.com/pyomeca/biorbd/pull/270
Fixed for conda-forge using VS2017 by @pariterre in https://github.com/pyomeca/biorbd/pull/272

New Contributors

@nashmit made their first contribution in https://github.com/pyomeca/biorbd/pull/266

Full Changelog: https://github.com/pyomeca/biorbd/compare/Release1.8.6...Release1.8.7

Scientific Software - Peer-reviewed - C++
Published by pariterre over 3 years ago

biorbd - VSisPicky

Windows...

Full Changelog: https://github.com/pyomeca/biorbd/compare/Release1.8.5...Release1.8.6

Scientific Software - Peer-reviewed - C++
Published by pariterre almost 4 years ago

biorbd - LearnHowToCount

Biorbd is doing fancy stuff, but when asked how many markers on a segment, it could not provided a proper answer! It now learn how to count properly

What's Changed

Handling inverse dynamics with rigid contact by @Ipuch in https://github.com/pyomeca/biorbd/pull/251
Added mesh properties in ModelWriter (meshcolor, meshscale, meshrt) by @RVSagar in https://github.com/pyomeca/biorbd/pull/254
Analytical Inverse of the Joint Space Inertia Matrix by @Ipuch in https://github.com/pyomeca/biorbd/pull/255
Fixed nbMarkers per segment by @pariterre in https://github.com/pyomeca/biorbd/pull/258

New Contributors

@RVSagar made their first contribution in https://github.com/pyomeca/biorbd/pull/254

Full Changelog: https://github.com/pyomeca/biorbd/compare/Release1.8.4...Release1.8.5

Scientific Software - Peer-reviewed - C++
Published by pariterre almost 4 years ago

biorbd - AsSoftAsRigid

Even though the soft is the new rigid, it is not a reason not to be able to acquire the rigid contact as expected. New accessors were added to the rigid contacts

What's Changed

GetBodyRbdlId added as a function for Python users. by @Ipuch in https://github.com/pyomeca/biorbd/pull/248
Fixed a bug in FlPE introduced when changed muscle length by @pariterre in https://github.com/pyomeca/biorbd/pull/247
Enhanced rigid contact API by @Ipuch in https://github.com/pyomeca/biorbd/pull/249

Full Changelog: https://github.com/pyomeca/biorbd/compare/Release1.8.3...Release1.8.4

Scientific Software - Peer-reviewed - C++
Published by pariterre about 4 years ago

biorbd - RegroupDeltaTeam

In war as in war! When things disperse they lose track of reality. Biorbd now has a way to regroup all forces at a single point so they can force together to win the dynamics battle

What's Changed

Fixed a matlab error by @pariterre in https://github.com/pyomeca/biorbd/pull/243
Let's make friction coefficients editable by @Ipuch in https://github.com/pyomeca/biorbd/pull/242
Added a set method to inertia by @pariterre in https://github.com/pyomeca/biorbd/pull/246
ComputeForceAtOrigin available for python by @Ipuch in https://github.com/pyomeca/biorbd/pull/244

Full Changelog: https://github.com/pyomeca/biorbd/compare/Release1.8.2...Release1.8.3

Scientific Software - Peer-reviewed - C++
Published by pariterre about 4 years ago

biorbd - PerpetualMotion

The perpetual motion does not exist. Biorbd is sad about that... So when using the soft contact, she decided to create energy at each impact. While it is promising for the future of the planet, it is fairly unrealistic. We decided to cut Biorbd's dream to ground her in the reality. Sorry Biorbd, you are more realistic now

What's Changed

SoftContact torque applied in world frame. by @Ipuch in https://github.com/pyomeca/biorbd/pull/240

Scientific Software - Peer-reviewed - C++
Published by pariterre about 4 years ago

biorbd - NotSoSoft

The previous version of biorbd knew about the soft contact, but was not using them.. after all, they are soft! But not so soft!

What's Changed

Fixed bug in forces distribution for soft contact by @pariterre in https://github.com/pyomeca/biorbd/pull/238

Full Changelog: https://github.com/pyomeca/biorbd/compare/Release1.8.0...Release1.8.1

Scientific Software - Peer-reviewed - C++
Published by pariterre about 4 years ago

biorbd - SoftBall

Who doesn't like baseball? Biorbd has now learn soft ball and cannot live without it anymore! The soft ball constraints can be used to add forces as a replacement of contact dynamics!

Hit the ball and run around the diamond, you just made an homerun biorbd!

Scientific Software - Peer-reviewed - C++
Published by pariterre about 4 years ago

biorbd - StrechMesh

Mesh file are not always congruent to the segment attached to. One problem with that is that it can be impossible to use a mesh file. Now, it is possible to rotate/translation/scale a mesh directly in the bioMod!

Enjoy your mesh!

Scientific Software - Peer-reviewed - C++
Published by pariterre over 4 years ago

biorbd - STyLe

Biorbd has style! But recently has got even more style! Mainly style of writing mesh format! STL is now available :D

Scientific Software - Peer-reviewed - C++
Published by pariterre over 4 years ago

biorbd - TunaWrap

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

Scientific Software - Peer-reviewed - C++
Published by pariterre over 4 years ago

biorbd - 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!

Scientific Software - Peer-reviewed - C++
Published by pariterre over 4 years ago

biorbd - 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!

Scientific Software - Peer-reviewed - C++
Published by pariterre over 4 years ago

biorbd - ARenewEra

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

Scientific Software - Peer-reviewed - C++
Published by pariterre over 4 years ago

biorbd - FollowTheFlow

RBDL moved forward, let's follow it!

Scientific Software - Peer-reviewed - C++
Published by pariterre over 4 years ago

biorbd - 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

Scientific Software - Peer-reviewed - C++
Published by pariterre over 4 years ago

biorbd - 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!

Scientific Software - Peer-reviewed - C++
Published by pariterre over 4 years ago

biorbd - WhereAreYou

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

Scientific Software - Peer-reviewed - C++
Published by pariterre over 4 years ago

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

Scientific Software - Peer-reviewed - C++
Published by pariterre over 4 years ago

biorbd - 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

Scientific Software - Peer-reviewed - C++
Published by pariterre over 4 years ago

biorbd - TurnAroundMe

The wrappings have been revived! Hurray! So now the muscles are able to wrap around a half cylinder. This is modest but, hey!, that is a good start :)

Scientific Software - Peer-reviewed - C++
Published by pariterre almost 5 years ago

biorbd - UnitedStates

The way to provided muscle states was... confusing.. the least to say! Now, there is only two ways, the good way or the high way, as in the United States. So the muscle states now comes in a united way using the stateSet function

Scientific Software - Peer-reviewed - C++
Published by pariterre almost 5 years ago

biorbd - ZenodoParadox

Even though you don't need to Release, you kind of need to anyway... That is the art of the Zenodo's paradox!

Scientific Software - Peer-reviewed - C++
Published by pariterre almost 5 years ago

biorbd - CasaWinda

CasADi is now Windows friendly!

Scientific Software - Peer-reviewed - C++
Published by pariterre almost 5 years ago

biorbd - Journalism

biorbd made itself pretty for the journal! It is now ready to be publish :D

Scientific Software - Peer-reviewed - C++
Published by pariterre almost 5 years ago

biorbd - SuitYourself

It is important to build on the past, but at some point, you have to make sure to start fresh. Casadi was a bit too much confident with the past. It now updates the kinematics all the time. This takes a bit of time, but gives you much better results!

This update may change previous results. This is why it is a full minor change

Scientific Software - Peer-reviewed - C++
Published by pariterre about 5 years ago

biorbd - 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!

Scientific Software - Peer-reviewed - C++
Published by pariterre about 5 years ago

biorbd - 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!