Changelog:

fix/extract_common_angle_wrapping (pull request #638): move angle wrapping to common place, reinplement, and test Approved-by: Alexander Reske
feature/primalsolution_warmstart (pull request #620): add solver run based on external primal solution Approved-by: Farbod Farshidian
fix/desiredFootholds (pull request #637): fix mode schedule issue Approved-by: Farbod Farshidian
feature/boxSoftConstraints (pull request #619): soft box constraints Approved-by: Mayank Mittal Approved-by: Farbod Farshidian
feature/sqp_value_function (pull request #634): Feature/sqp value function Approved-by: Farbod Farshidian
feature/load_more_pairs (pull request #630): extend load vector of pairs Approved-by: Farbod Farshidian
fix/rotationErrorJacobian (pull request #632): Fix/rotationErrorJacobian Approved-by: Farbod Farshidian
fix/rotations (pull request #635): Unify rotation transforms. Approved-by: Johannes Pankert Approved-by: Maria Vittoria Minniti
fix/propagate_pinocchio_setup (pull request #614): export pinocchio cmake configs to downstream catkin packages
feature/gh-action: Add an action to build and test OCS2 in Debug and Release

Update ros-build-test.yml

ignoring raisim packages.

Update ros-build-test.yml

ignoring raisim packages.

adds more mobile-manip examples

Removes roscpp dependency from python-interface

Improves the linesearch scheme of SPQ solver
Adds joint position limits in mobile-manipulator example, parsed directly from urdf

Merged in dev/main (pull request #547)

dev/main

Approved-by: Ruben Grandia

Merged in fix/sqp_feedback_numerics (pull request #570)

small changes to deal with numerics

Approved-by: Farbod Farshidian

The latest master branch before merging GaussNewtonDDP branch

Merged in fix/merit_vs_cost (pull request #195)

merit vs cost

Approved-by: Ruben Grandia <[email protected]>