This release mainly focuses on asset loading and usability, introducing a new external plugin mechanism for the interactive viewer, and extending support of glTF meshes and USD scenes. Besides, the performance of the simulation has been significantly improved for collision-heavy scenes (up to 30%).
New Features
- Introduce interactive viewer plugins. (@Milotrince) (#2004, #2357)
- Add naming logics to entities. (@YilingQiao) (#2303)
- Support rendering textures for USD scenes. (@ACMLCZH) (#2286)
- Add invalid spatial inertia diagnosis. (@duburcqa) (#2297, #2321, #2367)
Bug Fixes
- Fix wrong default sampler for SPH solver causing numerical stability issues. (@erizmr) (#2280)
- Fix render destroy. (@nimrod-gileadi, @duburcqa) (#2282, #2358)
- Fix IPC Coupler. (@duburcqa) (#2299)
- Fix batched numpy 'euler_to_R' geom util. (@Kashu7100) (#2306)
- Fix glTF mesh loading. (@duburcqa) (#2296, #2311, #2316, #2329)
- Fix 'Mesh.convert_to_zup' by applying scaling out-of-place. (@duburcqa)
- Fix rigid body entity hibernation mechanism. (@YilingQiao) (#2294)
- Fix DFSPH solver. (@erizmr) (#2302)
- Fix parsing material of primitive geometries in MJCF files. (@ACMLCZH) (#2328)
- Fix 'draw_debug_frames' after PR#1869. (@duburcqa) (#2330)
- Fix compatibility with 'trimesh<4.6.0'. (@duburcqa) (#2334)
- Fix linesearch edge-case fallback. (@erizmr) (#2339)
- Fix mujoco-compatible GJK multi-contact for box primitive. (@hughperkins) (#2341)
- Fix FEM entity rendering with Raytracer backend. (@duburcqa) (#2356)
- Fix combining Rasterizer-based camera sensors and interactive viewer. (@YilingQiao) (#2351)
Miscellaneous
- Track mesh UVs in FEM/PBD solvers for rendering of deformable entities. (@alelievr) (#2323)
- Support scrolling menu in 'gs view'. (@Kashu7100) (#2335)
- Add memory to CI performance monitoring report. (@hughperkins) (#2281, #2291, #2293, #2295, #2298, #2300, #2312, #2315, #2320)
- Improve support of Linux ARM. (@duburcqa) (#2317)
- Clearer error message of 'RigidEntity.(get_joint|get_link)'. (@Kashu7100) (#2313)
- Add Markdown Files to Facilitate AI Tools. (@YilingQiao) (#2305)
- Support --record in the RL stage in Manipulation example (@SnakeOnex) (#2344)
- More robust OpenGL context initialisation for Rasterizer. (@duburcqa) (#2354)
- Add benchmark for Unitree G1. (@hughperkins) (#2310)
- Recomputing inertia for primitive geometries using analytical formula. (@duburcqa) (#2337)
- Speed up linesearch via batched alpha evals and reduced global memory access. (@erizmr) (#2350)
- Disable shadow and plane reflection when using software rendering. (@duburcqa) (#2365)
- Workaround for 'pyglet' bug. (@duburcqa) (#2385)