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+# Changelog
+
+All notable changes to this project will be documented in this file.
+
+The format is based on [Keep a Changelog](https://keepachangelog.com/en/1.0.0/),
+and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0.html).
+
+## [Unreleased]
+
+- Fix a typo in ex_4_walking
+- check solver status, set eps_abs to 1e-6, fix seed
+- CMake: require >= 3.10
+- add changelog
+
+## [1.7.0] - 2023-05-13
+
+- expose SE3ToVector and vectorToSE3
+- remove warnings
+- Enhance Python target packaging
+- Add CI with GitHub Action for conda
+- Add support for proxqp and osqp solver
+- Clean and update contributors list
+- pre-commit autoupdate
+- Expose TaskJointPosVelAccBounds
+- Expose AddMotionTask for TaskJointPosVelAccBounds
+- Fix qpmad
+- Add clang-format Google style
+- Add Measured force as an external force task with moving objects
+- update CMake: fetch submodule, set default build type, fix RPATH
+- fix for eigenpy v3
+- np.matrix → np.array
+- tooling: setup black isort & toml-sort
+
+## [1.6.3] - 2022-11-02
+
+- Require C++17
+- fix tests in 18.04
+- update pinocchio use
+
+## [1.6.2] - 2022-09-05
+
+- update python tests for np array
+- add task actuation equality
+- use generated headers
+- Choose floating-base (or not) when creating a robot wrapper
+- Add optional support of qpmad solver
+- update packaging for eigenpy 2.7.12
+
+## [1.6.1] - 2021-10-19
+
+This new release is mostly a maintenance release, including fixes for the recent version of Eigen 3.4.
+
+## [1.6.0] - 2021-03-18
+
+- Add bindings for method Contact6d::getMotionTask
+- Add Center of Pressure Taks
+- fix warnings
+
+## [1.5.0] - 2021-03-03
+
+- [py] Add config variable to specify whether end-effector task should
+   be formulated in local frame or world frame.
+- [C++] Standardize names of methods to get and set mask in motion tasks.
+- [py] Add accessors masks in TaskCOM and TaskSE3Equality.
+- bugfixes
+
+## [1.4.2] - 2020-11-26
+
+- Add a mask to task-com-equality
+- Fix bug in Contact6d::setRegularizationTaskWeightVector
+- CMake: fix configure without tests
+
+## [1.4.1] - 2020-09-25
+
+- fix memory leaks thanks to shared_ptr
+- fix warnings
+- fix package.xml for ROS
+
+## [1.4.0] - 2020-09-09
+
+- add setGravity
+- stop using StdVec in python to make code more user friendly
+- add 6d contact with motion constraint at priority level 1 in python
+- use example-robot-data in notebooks
+
+## [1.3.1] - 2020-06-05
+
+- fix license
+- fix generated tsid.pc
+
+## [1.3.0] - 2020-05-26
+
+- reactive test
+- add package.xml
+- add CheatSheet
+- updates for numpy.array & python 3
+- updateRigidContactWeights: fix and add to python API
+- use eiquadprog
+- fix compatibility with pinocchio v2.4.5
+
+## [1.2.3] - 2020-03-30
+
+- renamed tests dir
+- fix python tests
+- CMake: export project and use exports from dependencies
+- CMake: keep minimal required instructions
+
+## [1.2.2] - 2020-03-01
+
+- add angular momentum equality task
+- update to pinocchio changes
+- Python 3 compatibility
+- add some documentation
+- fix python issue
+
+## [1.2.1] - 2019-09-19
+
+- fix compatibility with recent pinocchio versions
+
+## [1.2.0] - 2019-03-06
+
+- Pinocchio v2, fix #31
+- Fix demo_romeo for pinocchio v2
+- Pull request for use TSID in python.
+- Add missing includes, fix #18
+
+## [1.1.0] - 2018-10-10
+
+This release updates to non backward-compatibles changes in pinocchio v1.3.0
+
+## [1.0.2] - 2018-06-12
+
+This release is mostly a maintenance release.
+It fixes some bug with respect to **Pinocchio**.
+It also fixes some issues with respect to the packaging.
+
+## [1.0.1] - 2018-01-12
+
+- [joint-posture-task] Fix bug in computation of task matrix from mask
+- [task-se3-equality] Add method to get frame-id
+- [Robot] Add missing evaluation of the center of mass acceleration provided zero joint acceleration
+- [Math] Fix bug related to Eigen undefined function set_is_malloc_allowed
+- [CMake] Correct minimal version of Eigen3
+- [inv-dyn-form-acc-force] Fix potential bug in removal of contact constraint
+- [task-se3-equality] Fix small bug in computaiton of acceleration (just used for debugging)
+- [contact-6d] Add methods to set reference force and weight vector
+- [inv-dyn-form-acc-force] Fix bug: weight of force regularization task was not updated
+- [robot-wrapper] Fix bug in mass matrix: copy upper triangular part to lower triangular part (before this it was set to zero)
+- [formulations] Remove debug prints
+- [formulations] Fix bug in update of task weights
+- [robot-wrapper] BUG FIX: compute center of mass acceleration in computeAllTerms (before it was not computed so we were introducing random number in the CoM task)
+- [tsid-formulations] Add method to change the weight of a task.
+- [eigquadprog-fast] In DEBUG, in case a constraint is not verified, set the status flag to ERROR (even if the solver said the problem has been solved)
+- [task-com-equality] Fix little bugs in methods to get pos/vel references and errors, and in method to get desired acceleration
+- [math-utils] Add function to check if matrix/vector contains NaN
+- [math-utils] Pass JacobiSVD by reference in function solveWithDampingFromSvd
+- [math-utils] Add function to solve linear system of equations from svd decomposition
+
+## [1.0.0] - 2017-06-16
+
+This is the first release of TSID.
+This release includes minimal features for the torque control of humanoid robots such as HRP-2.
+
+[unreleased]: https://github.com/stack-of-tasks/tsid/compare/v1.7.0...HEAD
+[1.7.0]: https://github.com/stack-of-tasks/tsid/compare/v1.6.3...v1.7.0
+[1.6.3]: https://github.com/stack-of-tasks/tsid/compare/v1.6.2...v1.6.3
+[1.6.2]: https://github.com/stack-of-tasks/tsid/compare/v1.6.1...v1.6.2
+[1.6.1]: https://github.com/stack-of-tasks/tsid/compare/v1.6.0...v1.6.1
+[1.6.0]: https://github.com/stack-of-tasks/tsid/compare/v1.5.0...v1.6.0
+[1.5.0]: https://github.com/stack-of-tasks/tsid/compare/v1.4.2...v1.5.0
+[1.4.2]: https://github.com/stack-of-tasks/tsid/compare/v1.4.1...v1.4.2
+[1.4.1]: https://github.com/stack-of-tasks/tsid/compare/v1.4.0...v1.4.1
+[1.4.0]: https://github.com/stack-of-tasks/tsid/compare/v1.3.1...v1.4.0
+[1.3.1]: https://github.com/stack-of-tasks/tsid/compare/v1.3.0...v1.3.1
+[1.3.0]: https://github.com/stack-of-tasks/tsid/compare/v1.2.3...v1.3.0
+[1.2.3]: https://github.com/stack-of-tasks/tsid/compare/v1.2.2...v1.2.3
+[1.2.2]: https://github.com/stack-of-tasks/tsid/compare/v1.2.1...v1.2.2
+[1.2.1]: https://github.com/stack-of-tasks/tsid/compare/v1.2.0...v1.2.1
+[1.2.0]: https://github.com/stack-of-tasks/tsid/compare/v1.1.0...v1.2.0
+[1.1.0]: https://github.com/stack-of-tasks/tsid/compare/v1.0.2...v1.1.0
+[1.0.2]: https://github.com/stack-of-tasks/tsid/compare/v1.0.1...v1.0.2
+[1.0.1]: https://github.com/stack-of-tasks/tsid/compare/v1.0.0...v1.0.1
+[1.0.0]: https://github.com/stack-of-tasks/tsid/releases/tag/v1.0.0