Merge branch 'master' into devel

Author: nim65s

.git-blame-ignore-revs

@@ -1,3 +1,3 @@
 795904c1d65999f19d4a00166430be727573e165
 547f26140f609b6e8a32a7e5c7900209cfd3312e
-bbf44fa6543f64227d1ec7e4d0e3b2b894879031 pre-commit run -a
+bbf44fa6543f64227d1ec7e4d0e3b2b894879031

.pre-commit-config.yaml

@@ -2,7 +2,7 @@ ci:
   autoupdate_branch: devel
 repos:
 - repo: https://github.com/astral-sh/ruff-pre-commit
-  rev: v0.11.0
+  rev: v0.11.2
   hooks:
   - id: ruff
     args:

CHANGELOG.md

@@ -8,11 +8,14 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 * Created Python bindings for (diff)-action getters in https://github.com/loco-3d/crocoddyl/pull/1362
 * Enabled casting and multi-scalar Python bindings in https://github.com/loco-3d/crocoddyl/pull/1346
+* Compute LU decomposition using permutationP in https://github.com/loco-3d/crocoddyl/pull/1351
+* Force DifferentialActionDataContactInvDynamics to update df_du for all contacts in  https://github.com/loco-3d/crocoddyl/pull/1348
+
+## [3.0.1] - 2025-03-21
+
 * Add install version in https://github.com/loco-3d/crocoddyl/pull/1355
 * Removed absolute path for boost library in https://github.com/loco-3d/crocoddyl/pull/1353
 * Fixed checking of positive semi-define condition in LQR problems in https://github.com/loco-3d/crocoddyl/pull/1352
-* Compute LU decomposition using permutationP in https://github.com/loco-3d/crocoddyl/pull/1351
-* Force DifferentialActionDataContactInvDynamics to update df_du for all contacts in  https://github.com/loco-3d/crocoddyl/pull/1348
 
 ## [3.0.0] - 2025-03-19
 
@@ -326,7 +329,8 @@ The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/).
 
 Initial release
 
-[Unreleased]: https://github.com/loco-3d/crocoddyl/compare/v3.0.0...HEAD
+[Unreleased]: https://github.com/loco-3d/crocoddyl/compare/v3.0.1...HEAD
+[3.0.1]: https://github.com/loco-3d/crocoddyl/compare/v3.0.0...v3.0.1
 [3.0.0]: https://github.com/loco-3d/crocoddyl/compare/v2.2.0...v3.0.0
 [2.2.0]: https://github.com/loco-3d/crocoddyl/compare/v2.1.0...v2.2.0
 [2.1.0]: https://github.com/loco-3d/crocoddyl/compare/v2.0.2...v2.1.0

flake.lock

@@ -448,8 +448,7 @@ void DifferentialActionModelLQRTpl<Scalar>::set_LQR(
   L_ = MatrixXs::Zero(2 * nq + nu_, 2 * nq + nu_);
   L_ << Q, N, N.transpose(), R;
   Eigen::SelfAdjointEigenSolver<MatrixXs> eig(L_);
-  if (eig.info() != Eigen::Success ||
-      eig.eigenvalues().minCoeff() < ScaleNumerics<Scalar>(-1e-9)) {
+  if (eig.info() != Eigen::Success || eig.eigenvalues().minCoeff() < -1e-12) {
     throw_pretty("Invalid argument "
                  << "[Q, N; N.T, R] is not positive semi-definite");
   }

include/crocoddyl/core/actions/diff-lqr.hxx

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package format="3">
   <name>crocoddyl</name>
-  <version>3.0.0</version>
+  <version>3.0.1</version>
   <description>Crocoddyl optimal control library</description>
   <!-- The maintainers listed here are for receiving emails e.g. from the ROS buildfarm.
   Please check the README.md at the repository URL for additional detail. -->