https://github.com/ami-iit/jaxsim - v0.7.0

What's Changed

• Add pytest-benchmark in environment YAML by @flferretti in https://github.com/ami-iit/jaxsim/pull/345
• Simulator refactor by @CarlottaSartore in https://github.com/ami-iit/jaxsim/pull/366
• Fix ad integration tests by @younik in https://github.com/ami-iit/jaxsim/pull/367
• Update Pixi configuration for depends-on by @flferretti in https://github.com/ami-iit/jaxsim/pull/368
• Change workflow environment on Pixi CI by @flferretti in https://github.com/ami-iit/jaxsim/pull/369
• Fix environment variable usage for JAXSIM_COLLISION_USE_BOTTOM_ONLY by @flferretti in https://github.com/ami-iit/jaxsim/pull/357
• Refactor documentation and example scripts in README by @flferretti in https://github.com/ami-iit/jaxsim/pull/370
• Avoid unnecessary dynamics computation in RNEA-related functions by @flferretti in https://github.com/ami-iit/jaxsim/pull/371
• Enable simultaneous visualization of multiple robots in the passive viewer recorder by @flferretti in https://github.com/ami-iit/jaxsim/pull/358
• Inherit model contact parameters and gravity in js.model.reduce by @flferretti in https://github.com/ami-iit/jaxsim/pull/372
• Remove object references cycle in LinkDescription by @younik in https://github.com/ami-iit/jaxsim/pull/374
• Implement Runge-Kutta 4 integrator by @flferretti in https://github.com/ami-iit/jaxsim/pull/373
• Update pyproject.toml to use depends-on pixi parameter by @xela-95 in https://github.com/ami-iit/jaxsim/pull/376
• Skip AD integration test for ergoCub reduced model by @flferretti in https://github.com/ami-iit/jaxsim/pull/379
• Uniformize usage of integrators API by @flferretti in https://github.com/ami-iit/jaxsim/pull/378
• Fix temporary file handling in RodModelToMjcf on Windows by @flferretti in https://github.com/ami-iit/jaxsim/pull/381
• Create configuration for GPU benchmarks on local runner by @flferretti in https://github.com/ami-iit/jaxsim/pull/380
• Run performance regression checks against main branch by @flferretti in https://github.com/ami-iit/jaxsim/pull/388
• Remove enum_tools dependency and update documentation references by @flferretti in https://github.com/ami-iit/jaxsim/pull/385
• Add gravity parameter in build_from_model_description by @xela-95 in https://github.com/ami-iit/jaxsim/pull/389
• Add batched quantities replacing for model data by @flferretti in https://github.com/ami-iit/jaxsim/pull/387
• Reintroduce alternative contact models and streamline changes to the new API by @flferretti in https://github.com/ami-iit/jaxsim/pull/360
• Update README on integrators and contact models by @flferretti in https://github.com/ami-iit/jaxsim/pull/375
• Allow keyword arguments in RigidContactsParams constructor and fix benchmark tests by @flferretti in https://github.com/ami-iit/jaxsim/pull/391
• Update RelaxedRigidContacts default parameters by @flferretti in https://github.com/ami-iit/jaxsim/pull/392
• Avoid recompilation issue in JaxSimModelData instantiation by @flferretti in https://github.com/ami-iit/jaxsim/pull/395
• Enable reverse-mode autodiff for contact solves via gradients override by @flferretti in https://github.com/ami-iit/jaxsim/pull/394
• Update tests to run fine with robot_descriptions 1.16.0 by @traversaro in https://github.com/ami-iit/jaxsim/pull/406
• Adding actuation model with TN curve by @CarlottaSartore in https://github.com/ami-iit/jaxsim/pull/405
• Add fast Runge-Kutta4 integrator by @flferretti in https://github.com/ami-iit/jaxsim/pull/407
• Filter out bot-authored commits from generated release notes by @flferretti in https://github.com/ami-iit/jaxsim/pull/401
• Remove path filtering on CI triggers by @flferretti in https://github.com/ami-iit/jaxsim/pull/404
• Reduce logging verbosity when installing in editable mode by @flferretti in https://github.com/ami-iit/jaxsim/pull/398
• Allow passing camera tracking modality to the visualizer by @flferretti in https://github.com/ami-iit/jaxsim/pull/390
• Speed up Gazebo SDF installation in CI workflows by @flferretti in https://github.com/ami-iit/jaxsim/pull/403
• Use specific Docker image SHA256 for benchmarks by @flferretti in https://github.com/ami-iit/jaxsim/pull/408
• Add parametrization on hardware parameters by @xela-95 in https://github.com/ami-iit/jaxsim/pull/413
• Exclude github-actions PRs from release notes by @flferretti in https://github.com/ami-iit/jaxsim/pull/414

Full Changelog: https://github.com/ami-iit/jaxsim/compare/v0.6.1...v0.7.0

- Python
Published by flferretti about 1 year ago

https://github.com/ami-iit/jaxsim - v0.6.1

What's Changed

• Fix displayed version on Read The Docs by @flferretti in https://github.com/ami-iit/jaxsim/pull/338
• Remove unnecessary typehints and duplicated returntypes in jaxsim.math module by @flferretti in https://github.com/ami-iit/jaxsim/pull/341
• Avoid conflicting pydocstyle rule in ruff configuration by @flferretti in https://github.com/ami-iit/jaxsim/pull/343
• Add missing example in documentation thumbnails and update RST file structure by @flferretti in https://github.com/ami-iit/jaxsim/pull/342
• Use jax.block_until_ready in benchmarks by @xela-95 in https://github.com/ami-iit/jaxsim/pull/344
• JAX Jacobian of fromaxisangle producing NaNs by @ConnorTingley in https://github.com/ami-iit/jaxsim/pull/339

New Contributors

• @ConnorTingley made their first contribution in https://github.com/ami-iit/jaxsim/pull/339

Full Changelog: https://github.com/ami-iit/jaxsim/compare/v0.6.0...v0.6.1

- Python
Published by flferretti over 1 year ago

https://github.com/ami-iit/jaxsim - v0.6.0

What's Changed

• Allow alternative contact model in example notebook by @flferretti in https://github.com/ami-iit/jaxsim/pull/297
• Use a linalg.pinv to invert the mass matrix in RelaxedRigidContacts by @flferretti in https://github.com/ami-iit/jaxsim/pull/295
• Add frame example by @CarlottaSartore in https://github.com/ami-iit/jaxsim/pull/300
• Add GPU usage checks and configuration in the testing suite by @flferretti in https://github.com/ami-iit/jaxsim/pull/303
• Fix simulation test with relaxed rigid contact model by @flferretti in https://github.com/ami-iit/jaxsim/pull/294
• Change neutral element transform matrix in contact by @CarlottaSartore in https://github.com/ami-iit/jaxsim/pull/305
• Update pixi lockfile by @github-actions in https://github.com/ami-iit/jaxsim/pull/306
• Refactor ContactModel to remove parameters and terrain attributes by @flferretti in https://github.com/ami-iit/jaxsim/pull/299
• Add benchmark tests for model dynamics and kinematics functions by @flferretti in https://github.com/ami-iit/jaxsim/pull/308
• Update Pixi workflow task name by @flferretti in https://github.com/ami-iit/jaxsim/pull/309
• Update pixi lockfile by @github-actions in https://github.com/ami-iit/jaxsim/pull/311
• Refactor simulation input classes and fix deprecation warnings by @flferretti in https://github.com/ami-iit/jaxsim/pull/307
• Add named_scope decorator for enhanced profiling by @flferretti in https://github.com/ami-iit/jaxsim/pull/310
• Refactor collision shapes creation to conditionally exclude top corners by @flferretti in https://github.com/ami-iit/jaxsim/pull/312
• Document environment variables usage by @flferretti in https://github.com/ami-iit/jaxsim/pull/313
• Simplify pixi configuration and enhance testing tasks by @flferretti in https://github.com/ami-iit/jaxsim/pull/315
• Inherit integrator attribute when reducing a JaxSimModel by @flferretti in https://github.com/ami-iit/jaxsim/pull/318
• Fix js.common.named_scope decorator usage by @flferretti in https://github.com/ami-iit/jaxsim/pull/316
• Add environment variable to disable runtime exceptions and update documentation by @flferretti in https://github.com/ami-iit/jaxsim/pull/320
• Remove deprecated rod method from test configuration by @flferretti in https://github.com/ami-iit/jaxsim/pull/324
• Remove metadata attribute from integrators and parametrize simulation tests by @flferretti in https://github.com/ami-iit/jaxsim/pull/323
• Add safe norm function and refactor usages by @flferretti in https://github.com/ami-iit/jaxsim/pull/319
• [pre-commit.ci] pre-commit autoupdate by @pre-commit-ci in https://github.com/ami-iit/jaxsim/pull/328
• Add experimental JAX Metal support by @flferretti in https://github.com/ami-iit/jaxsim/pull/327
• Added usage section in ReadMe and basic example for simulator by @CarlottaSartore in https://github.com/ami-iit/jaxsim/pull/314
• Fix typo in KinDynParameters class name by @xela-95 in https://github.com/ami-iit/jaxsim/pull/321
• Improve docstring quality and consistency by @flferretti in https://github.com/ami-iit/jaxsim/pull/326
• Avoid preallocation of JAX arrays during JaxSim import by @flferretti in https://github.com/ami-iit/jaxsim/pull/329
• Slightly optimize computation for RigidContacts model by @flferretti in https://github.com/ami-iit/jaxsim/pull/325
• Make CartPole notebook runnable in colab by @younik in https://github.com/ami-iit/jaxsim/pull/332
• Clarify steps require for pixi installation by @traversaro in https://github.com/ami-iit/jaxsim/pull/331
• Compute free-floating Jacobian derivative using batched math operations by @flferretti in https://github.com/ami-iit/jaxsim/pull/330
• Improve variable naming in extract_model_data for readability by @flferretti in https://github.com/ami-iit/jaxsim/pull/333
• Add UI parameter to MujocoVisualizer by @flferretti in https://github.com/ami-iit/jaxsim/pull/334
• Add ModelToMjcf class for generic model to MJCF conversion by @flferretti in https://github.com/ami-iit/jaxsim/pull/335
• Add unit tests for ModelToMjcf conversion and fix typo in MujocoCamera by @flferretti in https://github.com/ami-iit/jaxsim/pull/336

New Contributors

• @CarlottaSartore made their first contribution in https://github.com/ami-iit/jaxsim/pull/300
• @younik made their first contribution in https://github.com/ami-iit/jaxsim/pull/332

Full Changelog: https://github.com/ami-iit/jaxsim/compare/v0.5.0...v0.6.0

- Python
Published by flferretti over 1 year ago

https://github.com/ami-iit/jaxsim - JaxSim v0.5.0

What's Changed

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

Full Changelog: https://github.com/ami-iit/jaxsim/compare/v0.4.2...v0.5.0

- Python
Published by diegoferigo over 1 year ago

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

Full Changelog: https://github.com/ami-iit/jaxsim/compare/v0.4.1...v0.4.2

- Python
Published by diegoferigo almost 2 years ago

https://github.com/ami-iit/jaxsim - JaxSim v0.4.1

What's Changed

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

Full Changelog: https://github.com/ami-iit/jaxsim/compare/v0.4.0...v0.4.1

- Python
Published by diegoferigo almost 2 years ago

https://github.com/ami-iit/jaxsim - JaxSim v0.4.0

What's Changed

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

Full Changelog: https://github.com/ami-iit/jaxsim/compare/v0.3.0...v0.4.0

- Python
Published by diegoferigo almost 2 years ago

https://github.com/ami-iit/jaxsim - JaxSim v0.3.0

What's Changed

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

New Contributors

• @xela-95 made their first contribution in https://github.com/ami-iit/jaxsim/pull/145

Full Changelog: https://github.com/ami-iit/jaxsim/compare/v0.2.0...v0.3.0

- Python
Published by diegoferigo almost 2 years ago

https://github.com/ami-iit/jaxsim - JaxSim v0.2.0

What's Changed

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

New Contributors

• @giotherobot made their first contribution in https://github.com/ami-iit/jaxsim/pull/89
• @traversaro made their first contribution in https://github.com/ami-iit/jaxsim/pull/94

Full Changelog: https://github.com/ami-iit/jaxsim/compare/v0.1...v0.2.0

- Python
Published by diegoferigo about 2 years ago

https://github.com/ami-iit/jaxsim - JAXsim 0.1

What's Changed

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

New Contributors

• @diegoferigo made their first contribution in https://github.com/ami-iit/jaxsim/pull/1
• @DanielePucci made their first contribution in https://github.com/ami-iit/jaxsim/pull/56
• @flferretti made their first contribution in https://github.com/ami-iit/jaxsim/pull/62

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

- Python
Published by diegoferigo over 2 years ago