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| # Genesis Release Note | ||
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| ## 0.2.1 | ||
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| ### Bug Fixes | ||
| * Fix various visualization and rendering bugs. (@RobRoyce, @VincentCCandela, @Likhithsai2580) | ||
| * Resolve some platform-dependent issues. (@abhaybd, @NekoAsakura) | ||
| * Fix the issue with loading box textures when parsing MJCF files. | ||
| * Correct asset path handling. | ||
| * Fix repr output in IPython. (@JohnnyDing) | ||
| * Resolve bugs in locomotion examples. (@yang-zj1026) | ||
| * Fix several issues with MPR and contact islands during collision detection. | ||
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| ### New Features | ||
| * Add a smoke simulator driven by Stable Fluid, along with a demo. (@PingchuanMa) | ||
| * Introduce APIs for applying external forces and torques. | ||
| * Introduce APIs for setting friction ratios. | ||
| * Add a domain randomization example. | ||
| * Improve kernel cache loading speed by 20~30%. (@erizmr) | ||
| * Provide an interactive drone control and visualization script. (@PieterBecking) | ||
| * Introduce an RL environment and examples for the drone environment. (@KafuuChikai) | ||
| * Add an option to enable or disable the batch dimension for (links/DOFs) information. Users can choose the trade-off between performance and flexibility. | ||
| * Add Docker files. (@Kashu7100) | ||
| * Implement the MuJoCo box-box collision detection algorithm for more stable grasping. | ||
| * Include the backflip training script and checkpoints. (@ziyanx02) | ||
| * Enable support for entity merging. | ||
| * Add support for custom inverse kinematics (IK) chains. | ||
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| ### Miscellaneous | ||
| * Improve documentation and fix typos. (@sangminkim-99, @sjtuyinjie, @CharlesCNorton, @eltociear, @00make, @marcbone, @00make, @pierridotite, @takeshi8989, @NicholasZiglio, @AmbarishGK) | ||
| * Add CONTRIBUTING.md and update CI configurations. | ||
| * Introduce multi-language support. (@TitanSage02, @GengYiran, @DocyNoah) | ||
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| We would also like to acknowledge the ongoing PRs. Some of them have not yet been merged because we have not had enough time to fully test them: | ||
| * Unitree G1 walking. (@0nhc) | ||
| * Blood, vessels, and heart simulation. (@lhemerly) | ||
| * Cross-platform and rendering compatibility. (@VioletBenin, @DearVa, @JonnyDing) | ||
| * Docker support. (@skurtyyskirts, @yuxiang-gao, @serg-yalosovetsky) |