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