Release v1.3.0

Changes in v1.3.0:

• Minor improvement in state-base class (enabling limits once we define only one component).
• Added functions to print the active/inactive status of costs, contacts and impulses.
• Running computations in the contact / impulse dynamics using the active number of contacts / impulses, respectively.
• Used NumPy Array in examples / notebooks.
• Initial integration of Meshcat viewer and used in notebooks.
• Improved efficiency of Jdiff, Jintegrate in multibody state.
• Added an extra operator in Jintegrate signature (state classes)
• Added an extra function parallel transport in the state class (i.e. JintegrateTransport)
• Added functions to retrieve the inactive costs, contacts and impulses.
• Fixed target_link_libraries use
• Improved efficiency of few activation models.
• Added the action-base class for code generation + unittest.
• Added codegen bench for 4 dof arm and biped
• Renamed all bench files.
• Updated dependency versions for Pinocchio and example-robot-data.
• Fixed bug in the impulse dynamics that appears in multiple threads.
• Fixed various issues regarding data alignment.
• Added doxygen file with the documentation state-base class.
• Fixed an issue when we updates reference in frame-placement and frame-rotation costs.
• Fixed an issue with Python3 compatibility in few examples.
• Proper display of friction cones + do not display when the contact / impulse is inactive/
• Extended the computation of impulses derivatives.
• Added a friction cost for impulse dynamics.