The new order is a deep state conspiracy... Here at pyomeca, we believe in shallow state, still we need to be ordered anyway. So thanks to the new way of declaring initial guesses and bounds, no one can be mistaken anymore on the order of the variables! What's Changed [RTR] Multi Biorbd Model by @EveCharbie in https://github.com/pyomeca/bioptim/pull/625 Selection Mapping (to simplify BiMapping of variables call) by @lsechoir in https://github.com/pyomeca/bioptim/pull/619 extract final cycles of Cyclic NMPC and evaluate the cost of sub cycles by @Ipuch in https://github.com/pyomeca/bioptim/pull/633 [RTM if tests pass] inverse OCP by @EveCharbie in https://github.com/pyomeca/bioptim/pull/635 [RTR] Fixing a bug on BiMapping by @20chupin in https://github.com/pyomeca/bioptim/pull/636 [RTM] Sample data control by @Kev1CO in https://github.com/pyomeca/bioptim/pull/628 [RTR] Reverted the default behavior of copying the mappings by @EveCharbie in https://github.com/pyomeca/bioptim/pull/639 [RTM] moving test to make windows test pass by @Ipuch in https://github.com/pyomeca/bioptim/pull/640 [RTM] Work around for the memory leak in the meantime by @EveCharbie in https://github.com/pyomeca/bioptim/pull/645 [RTM] New multi-start debug options by @lsechoir in https://github.com/pyomeca/bioptim/pull/634 [RTR] added an objective function to minimize the angle between two vectors by @EveCharbie in https://github.com/pyomeca/bioptim/pull/649 [RTM] added an objective to minimize JCS orientation by @EveCharbie in https://github.com/pyomeca/bioptim/pull/648 [RTM] Added intercept for proportional states/controls by @EveCharbie in https://github.com/pyomeca/bioptim/pull/646 [RTM] sol.graphs crashes if Meyer term in objective by @lsechoir in https://github.com/pyomeca/bioptim/pull/644 [RTR] Quickly restoring same dynamics in phases and multithreading efficiency. by @Ipuch in https://github.com/pyomeca/bioptim/pull/652 Correction to TRACK_VECTOR_ORIENTAION_FROM_MARKERS by @EveCharbie in https://github.com/pyomeca/bioptim/pull/651 troubleshoot DOCUMENTATION by @Ipuch in https://github.com/pyomeca/bioptim/pull/656 [RTR] CX for each node by @AnaisFarr in https://github.com/pyomeca/bioptim/pull/630 Fix for Casadi 3.6.2 on Mac by @pariterre in https://github.com/pyomeca/bioptim/pull/660 [RTR] Enable cost fun evaluation with control type none by @Kev1CO in https://github.com/pyomeca/bioptim/pull/658 Changed default value for show_online by @pariterre in https://github.com/pyomeca/bioptim/pull/661 [RTR] Maintain biorbdModel and MultiBiorbdModel health by @Ipuch in https://github.com/pyomeca/bioptim/pull/662 [RTM] bug with states mapping while using multimodel by @lsechoir in https://github.com/pyomeca/bioptim/pull/647 Replaced state["scaled"] by state.scaled by @pariterre in https://github.com/pyomeca/bioptim/pull/663 Started to change [0] for node_index by @pariterre in https://github.com/pyomeca/bioptim/pull/668 [RTR] Test for map_states and map_controls by @EveCharbie in https://github.com/pyomeca/bioptim/pull/671 [RTR] bug with derivative=True and node=Node.ALL by @EveCharbie in https://github.com/pyomeca/bioptim/pull/670 [RTR] Enable nlp.time(node_index) and ocp.time(phase_index, node_index) by @Kev1CO in https://github.com/pyomeca/bioptim/pull/659 Continuing integrating proper assume_phase_dynamics by @pariterre in https://github.com/pyomeca/bioptim/pull/673 [RTR] empty initial guess / scaling problem by @EveCharbie in https://github.com/pyomeca/bioptim/pull/666 Fixed parameters when assume_phase_dynamics is False by @pariterre in https://github.com/pyomeca/bioptim/pull/674 Finalizing tests for assume_phase_dynamics=False by @pariterre in https://github.com/pyomeca/bioptim/pull/675 Validated more global tests for assume_phase_dynamics True and False by @pariterre in https://github.com/pyomeca/bioptim/pull/676 Made the BioModel protocol working with @properties by @pariterre in https://github.com/pyomeca/bioptim/pull/678 [RTR] Enables the plotting of time bimapped problems by @Kev1CO in https://github.com/pyomeca/bioptim/pull/669 Converted Binode into multinode by @pariterre in https://github.com/pyomeca/bioptim/pull/679 Updated ACADOS by @Ipuch in https://github.com/pyomeca/bioptim/pull/682 [RTR] Fixed add_penalty_plot index by @EveCharbie in https://github.com/pyomeca/bioptim/pull/665 [RTR] same_marker_velocity and docstrings scooted by @Ipuch in https://github.com/pyomeca/bioptim/pull/687 [RTM] Variational integrator by @20chupin in https://github.com/pyomeca/bioptim/pull/696 Fix scaling by @pariterre in https://github.com/pyomeca/bioptim/pull/684 [WIP] Bis Min_max_torque (Pariterre to fix) by @EveCharbie in https://github.com/pyomeca/bioptim/pull/683 Full Changelog: https://github.com/pyomeca/bioptim/compare/Release_3.0.1...Release_3.1.0