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@c0d1f1ed c0d1f1ed released this 08 Mar 01:58
· 289 commits to main since this release
v1.0.0
017f635

[1.0.0] - 2024-03-07

  • Add FeatherstoneIntegrator which provides more stable simulation of articulated rigid body dynamics in generalized coordinates (State.joint_q and State.joint_qd)
  • Introduce warp.sim.Control struct to store control inputs for simulations (optional, by default the Model control inputs are used as before); integrators now have a different simulation signature: integrator.simulate(model: Model, state_in: State, state_out: State, dt: float, control: Control)
  • joint_act can now behave in 3 modes: with joint_axis_mode set to JOINT_MODE_FORCE it behaves as a force/torque, with JOINT_MODE_VELOCITY it behaves as a velocity target, and with JOINT_MODE_POSITION it behaves as a position target; joint_target has been removed
  • Add adhesive contact to Euler integrators via Model.shape_materials.ka which controls the contact distance at which the adhesive force is applied
  • Improve handling of visual/collision shapes in URDF importer so visual shapes are not involved in contact dynamics
  • Experimental JAX kernel callback support
  • Improve module load exception message
  • Add wp.ScopedCapture
  • Removing enable_backward warning for callables
  • Copy docstrings and annotations from wrapped kernels, functions, structs
Assets 6