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JaxSim v0.4.0
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@diegoferigo diegoferigo released this 05 Jul 14:57
· 465 commits to main since this release
v0.4.0
3a968ab
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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

Contributors

diegoferigo, xela-95, and flferretti
Assets 2
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