This release introduces a new type of tactile sensors while improving the existing raycasting-based and tactile sensors. Besides, a new opt-in experimental viewer plugin to interact with the simulation is now available.
Breaking changes
New Features
- Add ImGui overlay for interactive joint control and visualization. (@YilingQiao, @duburcqa) (#2541, #2780)
- Add public API to set / get vertex positions of visual rigid geometries. (@duburcqa) (#2776)
- Add support of visual-mesh to camera and raycasting-based sensors. (@Kashu7100, @duburcqa) (#2769, #2783)
- Add
history_lengthto Sensors (@Milotrince) (#2655) - Add new point-cloud-based tactile sensors. (@Milotrince) (#2735)
Bug Fixes
- Fix 'qd_zero_grad' not supporting qd.Tensor. (@duburcqa) (#2753)
- Fix zero-copy race condition on Apple Metal. (@duburcqa) (#2758)
- Fix rigid body Jacobian getter for compound joints. (@vlordier) (#2706)
- Fix ImGui interactive viewer plugin. (@Kashu7100) (#2789)
- Fix safe GJK fallback. (@duburcqa) (#2716, #2717)
- Workaround buggy float modulo on AMDGPU. (@duburcqa) (#2714)
- Reject 'CoacdOptions.pca=True' due to upstream CoACD bug (@voidborne-d) (#2757)
- Make Surface shortcut resolution idempotent. (@Kashu7100) (#2761)
- Robust device handling in slerp utils. (@Kashu7100) (#2754)
Miscellaneous
- Speedup noslip post-processing step used to suppress slip/drift. (@erizmr) (#2671, #2672, #2703)
- Unify linesearch refinement between decomposed and monolith solver paths. (@duburcqa) (#2710)
- Improve stability of CI performance benchmarks. (@hughperkins) (#2722, #2723, #2724, #2731)
- Speedup rigid constraint solver. (@hughperkins) (#2659, #2762)
- Serialize USD bake operations to prevent deadlocks. (@hughperkins) (#2739)
- Migrate to unified Quadrant's tensor abstraction. (@hughperkins) (#2751)
- Add support of autodiff with dynamic loops. (@duburcqa) (#2742, #2743)
- Viewer plugin updates: orthographic cam mode, multi-env mouse control, auto dark mode. (@Milotrince) (#2728)
- Refactor sensor pipeline. (@duburcqa, @Milotrince) (#2770, #2786, #2792)
- Avoid manually sync between torch and quadrants on Metal. (@hughperkins) (#2760)
- Update Dockerfile for Ubuntu 24.04 (@alnI3S) (#2744)