v0.6.0

What's Changed

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

New Contributors

• @CarlottaSartore made their first contribution in #300
• @younik made their first contribution in #332

Full Changelog: v0.5.0...v0.6.0