Genesis-Embodied-AI/genesis-world v1.1.2

on GitHub

This minor release introduces morph pose offset to finally provide a viable solution to the long-lasting inconstency of spatial accessors related to non-standard mesh axes conventions (0.3.13) and inertia alignment (0.4.4). Besides, fixed-size buffers are now sized more tightly to significantly reduce the default memory footprint.

Breaking changes

• Add morph pose offset and relative-frame pose accessors for rigid bodies. (@duburcqa) (#2934)

New Features

• Add pruning-aware sizing of contact constraint buffers using 'max_contacts' option. (@duburcqa) (#2928)

Bug Fixes

• Fix island support in rigid body solver. (@duburcqa) (#2930)
• Fix serialized batched simulation on CPU scaling sub-linearly. (@duburcqa) (#2929)

Miscellaneous

• Allocate rigid entity Jacobian and IK fields lazily on first use. (@duburcqa) (#2933)