Jaxsim

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 workflow_dispatch and schedule events to ci_cd 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 `ruff`action 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

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.insert_model_from_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