New algorithms include:

• Methods to compute the Coriolis matrix (link) [all systems] and Christoffel symbols (link) [Single DoF joints only] (paper)
• Methods for assessing identifiability (link, paper)
• Methods for computing the partial derivatives of Inverse Dynamics (link) [paper forthcoming]

New features include:

• Extensions of most algorithms (RNEA, ABA, CRBA, etc.) to address dynamic effects from motor rotors (link)
• Updated most algorithms (RNEA, ABA, CRBA, etc.) to handle multi-DoF joints (e.g., spherical or floating base) without needing specialized versions of the algorithms (link)
• Regressor calculation algorithms (link)
• Variety of tools for converting between different representations of orientation (link)
• Partial compatibility for complex-valued input arguments toward support of complex-step derivative comptuations in unit tests.