This release continues on the ongoing trend of rigid body simulation speed improvements. A few camera-related bugs and all known regression on Metal backend are now fixed.
New Features
- Add support of xacro URDF. (@duburcqa) (#2642)
- Add public API to RigidEntity for kinematic and potential energy. (@Lidang-Jiang) (#2613)
- Add support of Mujoco general actuator model. (@duburcqa) (#2641)
- Add support of zerocopy to set_pos/set_quat. (@duburcqa) (#2657)
Bug Fixes
- Guard gradient computation not supported on Metal backend with dynamic array mode. (@duburcqa) (#2628)
- Fix plotter video export race condition. (@duburcqa) (#2647)
- Fix sensor camera 'lookat' being ignored when 'entity_idx' is set. (@Lidang-Jiang) (#2614)
- Fix various regressions on Metal backend. (@duburcqa) (#2651, #2624, #2657)
- Fix camera sensor per-env rendering with Rasterizer. (@duburcqa) (#2657)
Miscellaneous
- Add parallel linesearch for constraint solver to speedup simulation on GPU backend. (@erizmr) (#2523)
- Speedup tiled hessian kernel by using direct lower-triangle indexing. (@hughperkins) (#2618)
- Add broadphase all-vs-all to speedup simulation on GPU backend. (@hughperkins) (#2607)
- Add GPU graph to decomposed solver to reduce kernel launch latency. (@hughperkins, @duburcqa) (#2621, #2635, #2636)
- Add support of opt-in shared memory for tiled hessian to improve performance. (@duburcqa) (#2629)
- Better parallelization of add collision constraints. (@hughperkins) (#2639)
- Enable GPU-optimised decomposed constraints solver implementation on all GPU backends. (@duburcqa) (#2623)
- Unify narrowphase codepath on all GPU backends. (@duburcqa) (#2637)
- Automatically select optimal H264 codec for Video recorder. (@duburcqa) (#2657)
- Update all RL examples. (@duburcqa) (#2644, #2657)
- Update docker container. (@duburcqa) (#2643)