JaxSim v0.3.0

What's Changed

• Fix RodModelToMjcf.convert when no cameras argument is passed by @diegoferigo in #135
• Add pyproject.toml-based pixi support by @traversaro in #134
• Remove cuda-cupti and cuda-nvcc run dependencies for pixi by @flferretti in #138
• Remove unix requirement from pixi.toml by @flferretti in #142
• Allow backward compatibility with Python 3.10 by @flferretti in #143
• Add missing dependency in pixi.toml by @flferretti in #144
• Fix typo in rbda.rst by @xela-95 in #145
• Support reducing a model considering non-zero positions of removed joints by @diegoferigo in #137
• Mark the use of Colab for the examples as broken by @flferretti in #152
• Improve compilation time of RBDAs for models with many DoFs by @flferretti in #153
• Read frames from the original model description by @diegoferigo in #150
• Update rod deprecated method in the visualizer by @flferretti in #155
• Fix method on jaxsim.math.Transform by @flferretti in #157
• Restore Colab support for example notebooks by @flferretti in #154
• Fix processing of parsed frames by @diegoferigo in #158
• Expose quantities related to generic frames by @xela-95 in #148
• Add support for computing the bias acceleration of the center of mass by @diegoferigo in #161
• Compute the pose and the jacobian of the implicit frames associated to collidable points by @diegoferigo in #163
• Fix passing different PyTrees to JIT-compiled functions by @diegoferigo in #165
• Improve efficiency of the test suite by @flferretti in #166
• Preserve the original terrain in reduced models by @xela-95 in #168
• Ensure consistent link forces and fix static joint friction by @flferretti in #162
• Always use the link frame in body-fixed and mixed output representations of model Jacobian by @diegoferigo in #167
• Fix prismatic joints transform in math.joint_model.supported_joint_motion by @flferretti in #170
• Add algorithm to compute the Jacobian derivative of a link by @diegoferigo in #169
• Test J̇ computation against AD by @diegoferigo in #171
• Add algorithm to compute the free-floating Coriolis matrix by @diegoferigo in #172
• Minor changes for the upcoming release by @diegoferigo in #173

New Contributors

• @xela-95 made their first contribution in #145

Full Changelog: v0.2.0...v0.3.0