JaxSim v0.5.0

What's Changed

• Add mesh support by @lorycontixd in #156
• Add scheduled workflow configuration to update pixi lockfile by @flferretti in #221
• Update pixi lockfile by @github-actions in #222
• Update pixi lockfile by @github-actions in #224
• Add pyupgrade configuration and update to latest ruff version by @flferretti in #226
• Add alternative rigid contact model by @xela-95 in #227
• Add support for 32bit simulations by @flferretti in #225
• Add support for continuous joints by @diegoferigo in #228
• Add relaxed rigid contacts model by @flferretti in #223
• Improve sampling random joint positions by @diegoferigo in #229
• Add support for sampling JaxSimModelData objects with random base orientation by @diegoferigo in #230
• Fix jaxsim.api.model.link_contact_forces by @diegoferigo in #232
• Account for joint torques in the rigid contact models by @flferretti in #233
• Use jax.tree.map instead of jax.tree_utils.tree_map by @flferretti in #234
• Speed up various functions avoiding using jax.vmap on indexes by @flferretti in #235
• Simplify CRBA by merging two jax.lax.cond branches by @diegoferigo in #236
• Fix references representation in system_velocity_dynamics by @xela-95 in #240
• Fix conversion of non-inertial-fixed contact forces in jaxsim.api.contact.collidable_point_dynamics by @diegoferigo in #241
• Fix jaxsim.api.model.link_contact_forces by @xela-95 in #242
• Rigid contacts speedup improvements by @xela-95 in #237
• Remove is_urdf argument when building the model by @flferretti in #238
• Refactor SoftContacts algorithm by @diegoferigo in #245
• Allow Rigid*ContactsState to accept kwargs by @flferretti in #246
• Update ContactModel.compute_contact_forces APIs by @diegoferigo in #247
• Account for joint torques in relaxed rigid contact model by @flferretti in #251
• Update pixi lockfile by @github-actions in #249
• Switch from jaxopt to optax in relaxed rigid contact model by @flferretti in #244
• Handle auxiliary dictionary in variable step integrators by @flferretti in #255
• Uniform usage of joint_forces and joint_force_references argument names by @diegoferigo in #253
• Remove *ContactsState classes by @diegoferigo in #256
• Split static and dynamic contact params by @diegoferigo in #257
• [pre-commit.ci] pre-commit autoupdate by @pre-commit-ci in #258
• Add new ViscoElasticContacts by @diegoferigo in #248
• Remove absolute time from JaxSimModelData and introduce JaxSimModel.time_step by @diegoferigo in #262
• Disable host callbacks and enforce 32bit precision when running on TPU by @flferretti in #263
• Add helper to convert JaxSimModelData to mujoco.mjData by @diegoferigo in #264
• Refactor contact models and add tests by @diegoferigo in #260
• Update existing notebooks of examples by @diegoferigo in #265
• Add example notebook for rigid body dynamics by @flferretti in #261
• Add dependabot by @diegoferigo in #266
• Bump peter-evans/create-pull-request from 6 to 7 in the dependencies group by @dependabot in #267
• Fix API deprecations in tests by @flferretti in #268
• Fix bug in Delassus matrix computation in example notebook by @xela-95 in #270
• Update contact models by @diegoferigo in #269
• Make FrameParameters.body static by @flferretti in #273
• Refactor integrators module and redefine JaxSimModel class attributes by @flferretti in #252
• Fix reset of system velocity in model.step by @xela-95 in #278
• Enforce joint position limits by @flferretti in #275
• Fix running AD through jaxsim.math.Rotation.from_axis_angle by @diegoferigo in #277
• Optimize performance and memory usage in dynamics computations by @flferretti in #280
• Update Devcontainer configuration to use pixi by @flferretti in #276
• Update maintainers and CODEOWNERS files by @flferretti in #282
• Raise error if HTTP request fails by @flferretti in #284
• Update pixi configuration by @diegoferigo in #281
• Consider only enabled collidable points in contact forces computation for Rigid, RelaxedRigid and Soft contact models by @xela-95 in #274
• Finalize minor changes for v0.5 release by @flferretti in #272
• Update pixi lockfile by @github-actions in #285
• Enhance code quality checks and fix documentation errors by @flferretti in #287
• Refactor RelaxedRigidContacts by @diegoferigo in #286
• Fix timeout in ReadTheDocs build by @flferretti in #288
• Add trimesh in Pixi dependencies by @flferretti in #291

Full Changelog: v0.4.2...v0.5.0

JaxSim v0.4.2

What's Changed

• Add function to compute the Jacobian derivative of additional frames rigidly attached to links by @xela-95 in #210
• Add GIFs to README.md by @diegoferigo in #211
• Simplify SO3 instantiation and quaternion handling by @flferretti in #212
• Add function to compute the jacobian derivative of collidable points by @flferretti in #213
• Add data parameter to jaxsim.api.references.JaxSimModelReferences.zero by @xela-95 in #215
• Use libosmesa for headless rendering in Colab by @flferretti in #214
• Add the possibility to set forces to frames by @flferretti in #209
• Allow building a MJCF without user-defined cameras by @flferretti in #216
• Fix apply_frame_forces in references module by @flferretti in #217
• Fix JaxSimModelReferences.apply_frame_forces by @flferretti in #220
• Allow models with a single link in RBDAs with JAX_DISABLE_JIT by @flferretti in #219

Full Changelog: v0.4.1...v0.4.2

JaxSim v0.4.1

What's Changed

• Enable pre-commit.ci for style checking by @flferretti in #197
• Improve support of visualizing heightmaps/hfield in the Mujoco passive viewer by @diegoferigo in #202
• Fix test_simulations::test_box_with_zero_gravity by @diegoferigo in #204
• Use explicit integration of quaternions also in schemes on SO(3) by @diegoferigo in #205
• Improve custom cameras support in MujocoVisualizer and MujocoVideoRecorder by @diegoferigo in #206
• Fix default normal of plane terrain by @diegoferigo in #207

Full Changelog: v0.4.0...v0.4.1

JaxSim v0.4.0

What's Changed

• Update CI/CD workflow to interface with PyPI as Trusted Publisher by @diegoferigo in #174
• Check plane_normal type when instantiating a PlaneTerrain by @flferretti in #177
• Speed up passing different JaxSimModel with same pytree structure to JIT-compiled functions by @diegoferigo in #179
• Raise exceptions from jit-compiled functions by @diegoferigo in #181
• Add ContactModel base class and abstract contact handling in JaxSimModel and JaxSimModelData by @flferretti in #178
• Validate link, frame, and joint indices in our jit-compiled APIs by @diegoferigo in #182
• Update exceptions test by @diegoferigo in #184
• Always forward to the integrator the model and data passed to jaxsim.api.model.step by @diegoferigo in #183
• Refactor contact forces sum in api.ode.system_velocity_dynamics by @flferretti in #180
• Extend test of link bias acceleration by @diegoferigo in #185
• Speed up computation of contact jacobians by @diegoferigo in #188
• Move pixi.lock to git lfs by @diegoferigo in #189
• Fix integration stage for integrators of type ExplicitRungeKuttaSOMixin by @xela-95 in #192
• Finalize minor changes for v0.4 release by @flferretti in #186
• Add example notebooks in documentation by @flferretti in #187
• Update project's metadata by @diegoferigo in #193
• Fix PlaneTerrain.__eq__ when called in jit context by @diegoferigo in #198

Full Changelog: v0.3.0...v0.4.0

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

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