v0.8.0

What's New

Bug fixes

• IK convergence bugs fixed: stale error check, non-sticky convergence, early stopping init (#48)
• IK solutions now respect joint limits: wrap revolute joints by 2*pi + clamped refinement (#48)
• SerialChain root_frame_name fix: no longer includes parent joint when root is non-root (#62)
• Jacobian with link offsets: supports link offsets in Jacobian calculation (#57, #14)
• Transform3d dtype mismatch: fix matrix broadcast dtype issue (#47)
• Documentation: fix composition order docs (#46)

Other changes

• Drop Python 3.8 support; add 3.11 and 3.12 to CI
• Pin mujoco<=3.3.7 for Python 3.9 compatibility
• Minimum Python version is now 3.9