JaxSim v0.2.0

What's Changed

• Add new GitHub workflow to include the ReadTheDocs preview in PRs by @diegoferigo in #70
• Enhance type annotation, style and improve high_level.Model performance by @flferretti in #69
• Update jaxsim.typing module by @diegoferigo in #71
• Fix implicit integrator by @diegoferigo in #68
• Add semi-implicit Euler scheme with quaternion integrated on manifold by @diegoferigo in #73
• Fix ReadTheDocs preview url in PRs by @diegoferigo in #74
• Use structural pattern matching for jcal by @flferretti in #77
• Enhance maintainability and performance by @flferretti in #78
• Run pytest in CI only in PRs that update either sources or tests by @diegoferigo in #80
• Update documentation on latest API by @flferretti in #79
• Add GitHub Codespaces support by @diegoferigo in #81
• Add jaxsim.mujoco package with resources to render a scene using the Mujoco viewer by @diegoferigo in #83
• Simplify integrators module structure by @flferretti in #82
• Add pre-commit configuration by @flferretti in #86
• Add CONTRIBUTING file and pre-commit hook instructions by @flferretti in #87
• Add static rendering in MujocoVideoRecorder by @flferretti in #85
• Document maintainers in CODEOWNERS by @flferretti in #90
• Add lxml dependency by @giotherobot in #89
• Remove --forked from pytest as workaround for jax 0.4.25 by @traversaro in #94
• Add workflow_dispatch and schedule events to ci_cd workflow and constraint jax<0.4.25 to be by @traversaro in #93
• Revert "Remove --forked from pytest as workaround for jax 0.4.25" by @flferretti in #95
• Initialize JAX configuration as per the v0.4.25 release by @flferretti in #92
• Add camera support to jaxsim.mujoco visualizer by @flferretti in #91
• Introduce new functional APIs by @diegoferigo in #88
• Add jaxsim.api.references with functional resources to handle model references by @diegoferigo in #96
• Fix contact params estimation in fixed-base models by @flferretti in #98
• Move CODEOWNERS to the correct directory by @flferretti in #100
• Fix alternative velocity representations of new functional APIs by @diegoferigo in #99
• Fix loading of jointless model by @traversaro in #104
• Avoid to use as Static attributes classes that do not have a eq method that returns a scalar bool by @traversaro in #105
• Add new test suite of functional APIs by @diegoferigo in #106
• Initial support of parametric hardware models by @diegoferigo in #101
• Migrate jaxsim.api package away from PhysicsModel by @diegoferigo in #112
• Improve utilities provided by JaxsimDataclass by @diegoferigo in #116
• Add variable-step integrators (adaptive time step) by @diegoferigo in #115
• Extend functional APIs by @diegoferigo in #117
• Fix api.contact.in_contact by @flferretti in #119
• Optimize Jacobian algorithm by @diegoferigo in #121
• Enhance parametric hardware models by @diegoferigo in #120
• Remove old OOP classes by @diegoferigo in #123
• Finalize the functional APIs and replace the OOP classes by @diegoferigo in #108
• Add test checking if link forces are applied correctly by @diegoferigo in #126
• Add support for inclined planes and heightmap visualization (from #122) by @flferretti in #125
• Add ruffaction and configuration by @flferretti in #114
• Compute link bias accelerations J̇ν by @diegoferigo in #127
• Update CI/CD pipeline to speed up checks on PRs not altering the Python package by @diegoferigo in #128
• Update documentation to the latest API by @flferretti in #124
• Update README by @diegoferigo in #129
• Update Python package metadata by @diegoferigo in #131
• Support user-defined cameras in mujoco.loaders by @flferretti in #133
• Update notebook examples to the functional API by @flferretti in #132

New Contributors

• @giotherobot made their first contribution in #89
• @traversaro made their first contribution in #94

Full Changelog: v0.1...v0.2.0

JAXsim 0.1

What's Changed

• First JAXsim version by @diegoferigo in #1
• Add semi-implicit Euler integrator by @diegoferigo in #9
• Step the simulator over horizon by @diegoferigo in #10
• Implement CRBA with jax.lax.scan by @diegoferigo in #14
• Implement Jacobian with jax.lax.scan by @diegoferigo in #16
• Implement Forward Kinematics with jax.lax.scan by @diegoferigo in #15
• Make JIT compilation of Jacobian algorithm independent from body index by @diegoferigo in #17
• Unify lin/ang serialization of 6D quantities by @diegoferigo in #18
• Remove references of Plucker coordinates by @diegoferigo in #19
• Support coulomb and viscous joint friction by @diegoferigo in #21
• Implement joint position limits by @diegoferigo in #22
• Add continuous integration workflow by @diegoferigo in #24
• Switch parser to ami-iit/rod by @diegoferigo in #25
• Deploy to PyPI by @diegoferigo in #23
• Minor improvements by @diegoferigo in #26
• Update isort and black style of the repository by @diegoferigo in #28
• Documentation enhancements by @diegoferigo in #29
• Improve model description support by @diegoferigo in #30
• Add new JaxSim.insert_model_from_description by @diegoferigo in #31
• Fix detection of joint connecting world to base for fixed-base models by @diegoferigo in #32
• Use uint for simulation time by @diegoferigo in #33
• Rewrite soft-contacts algorithm by @diegoferigo in #34
• ABA and RNEA with jax.lax.scan, Python 3.11, fixed bugs in other representations by @diegoferigo in #38
• Allow keeping the base pose when a model is reduced by @diegoferigo in #42
• Allow to insert models from rod objects by @diegoferigo in #47
• Support Python ≥ 3.10 by @diegoferigo in #46
• Introduce resources to streamline the combination of jax transformation with OOP pattern by @diegoferigo in #44
• Apply new OOP pattern compatible with jax transformations by @diegoferigo in #48
• Minor updates including small API changes by @diegoferigo in #53
• First steps towards automatic differentiation of RBDAs by @diegoferigo in #54
• Make all fields of simulator.JaxSim static excluding SimulatorData by @diegoferigo in #55
• Added Filippo Ferretti as maintainer by @DanielePucci in #56
• Update README.md by @diegoferigo in #57
• Fix CI/CD by @diegoferigo in #58
• New high-level APIs with OOP wrappers by @diegoferigo in #59
• Enhance Forward Dynamics computation by adding motor dynamics by @flferretti in #62
• Add JAXsim Notebook for PD Controller with Gravity Compensation by @flferretti in #63
• Add JAXsim Notebook for Parallel Simulation by @flferretti in #65
• Lint and enhance type hinting compliance (PEP 484) by @flferretti in #64
• Fix arguments order in ode.dx_dt by @flferretti in #66
• Add readthedocs based documentation for the JAXsim API by @flferretti in #61
• Prepare for first release by @diegoferigo in #67

New Contributors

• @diegoferigo made their first contribution in #1
• @DanielePucci made their first contribution in #56
• @flferretti made their first contribution in #62

Full Changelog: https://github.com/ami-iit/jaxsim/commits/v0.1