Genesis-Embodied-AI/genesis-world v0.3.9

on GitHub

Small release mainly polishing features that were introduced in previous release.

New Features

• [CHANGING] Replace SDF fallback by GJK. (@duburcqa) (#2081)
• [CHANGING] Improve inertial estimation if undefined. (@YilingQiao) (#2100)
• Add support of boolean masking as index. (@duburcqa) (#2087)
• Fix and improve merging of rigid entities. (@duburcqa) (#2098)

Bug Fixes

• Fix increased memory usage due to differentiable simulation. (@duburcqa) (#2074)
• Fix 'envs_idx' in motion planning. (@duburcqa) (#2093)
• Fix 'DroneEntity.set_propellels_rpm'. (@duburcqa) (#2095)
• Fix extended broadcasting. (@duburcqa) (#2096)
• Fix 'RigidEntity.set_dofs_velocity'. (@robin271828) (#2102)
• Fix joint stiffness not taking into account neutral position. (@YilingQiao) (#2105)
• Fix explicit URDF material color being ignored. (@duburcqa) (#2107)

Miscellaneous

• Speed up torch-based geom utils via 'torch.jit.script'. (@duburcqa) (#2075)
• Improve scalability wrt number of contacts. (@duburcqa) (#2085, #2103)
• Make Go2 RL env GPU-sync free. (@duburcqa) (#2092)