This release extends differentiable rigid body simulation, which is no longer considered experimental. Moreover, torsional and rolling friction have been added, as part of a broader ongoing effort to bridge the sim2real gap.
friction_breakaway.py (pyramidal left, elliptic right)
| torsional_grasp.py
| rolling_coast.py
|
|---|---|---|
| 
| 
|
Breaking
New Features
- Add torsional and rolling friction to the rigid solver. (@duburcqa) (#3069)
- Add explicit mounting transform in RigidEntity.attach. (@Kashu7100) (#3041)
- Add link filtering to contact sensors. (@jsw7460) (#2772)
- Add torque visualization for tactile sensor examples. (@Milotrince) (#3085)
- Extend differentiable rigid body simulation. (@SonSang, @duburcqa) (#2842, #3087, #3089)
Bug Fixes
- Fix missing buoyancy on rigid bodies submerged in SPH fluid. (@yeezhouyi) (#2857)
- Fix rendering assets pairing base color with emissive map. (@duburcqa) (#3088)
- Fix camera sensor not being refreshed after scene reset. (@thanyu-hub) (#3100)
- Fix transparency not deterministic in Rasterizer. (@duburcqa) (#3108)
- Fix per-environment queries of link inertial properties and energies. (@duburcqa) (#3114)
- Fix wrong mechanical energy and speed up computations. (@duburcqa) (#3121)
- Fix handling of negative index for rigid accessor filter 'envs_idx'. (@jeetrex17) (#3117)