This release introduces a new type of tactile sensors based on FOTS, and add support of parallel simulation of heterogeneous articulated robots. Beyond that, the performance of the simulation has been significantly improved, especially when rigid option 'noslip' is enabled.
New Features
- Add ElastomerDisplacementSensor. (@Milotrince) (#2447)
- Support articulated assets in heterogeneous parallel simulation. (@Kashu7100, @ACMLCZH) (#2472, #2535)
Bug Fixes
- Fix GJK multi-contact in mujoco-compatibility mode. (@SonSang, @duburcqa) (#2514, #2516)
- Add support of morph option "fixed" for USD without explicit root and filter out invisible geometries from collision. (@ACMLCZH) (#2528)
- More robust collision detection on 32bits precision. (@SonSang) (#2525)
- Fix parsing of URDF with undefined inertial properties. (@duburcqa) (#2544)
Miscellaneous
- Propagate interactive viewer exceptions when running in thread. (@duburcqa) (#2510)
- More robust and versatile interactive viewer keybinding. (@duburcqa) (#2512)
- Migrate 'gs view' to kinematic entity to reduce compile time. (@duburcqa) (#2522)
- Fix Python-scope field read to avoid GPU-CPU sync. (@erizmr) (#2518)
- Faster initialisation of collision pairs validity mask. (@ACMLCZH) (#2534)
- Introduce structured options with validation. (@duburcqa) (#2536)
- Accelerate noslip simulation on GPU backend. (@erizmr) (#2532)
- Speedup rigid constraint solver. (@erizmr) (#2524)
- Add dexterous hand benchmark. (@hughperkins) (#2500)