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gbionics / jaxsim Public

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Pull requests: gbionics/jaxsim

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Pull requests list

Add parallel ABA and forward kinematics with pointer jumping

#514 opened Apr 10, 2026 by flferretti Collaborator

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6

Improve gradient stability for dynamics computations

#505 opened Mar 24, 2026 by flferretti Collaborator

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Add support for mesh shapes parametrization

#502 opened Feb 17, 2026 by flferretti Collaborator • Draft

4

Remove and deprecate context manager for switching velocity representation

#496 opened Dec 18, 2025 by flferretti Collaborator

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Refactor contact dynamics and detection logic to use signed distance functions

#480 opened Oct 24, 2025 by flferretti Collaborator • Draft

Compute the quaternion derivative by using the Hamilton product

#412 opened Apr 15, 2025 by flferretti Collaborator

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