0.2.1

This release would not have been possible without the incredible contributions of our community, from code and documentation to issues and discussions. Special thanks to all contributors and those with ongoing PRs — your support drives our progress!

Python package of this release can be found on PyPI.

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.

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.

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)

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)