v1.1.1

This minor release mainly improves the robustness of rigid collision detection for both convex and non-convex geometries. It is no longer considered experimental to disable convex decomposition when higher fidelity is necessary.

authored_convex_stacking_tower.mov

nonconvex_bolt_nut.mov

nonconvex_bowls.mov

Bug Fixes

• Deduplicate textures across GLB submeshes sharing a material. (@duburcqa) (#2896)
• Skip grayscale conversion for colorized segmentation maps. (@ACMLCZH) (#2901)
• Fix non-deterministic simulation on GPU. (@duburcqa) (#2898, #2907, #2909)
• Fix non-convex collision detection for concave geometries. (@duburcqa) (#2903)
• More robust perturbation-based multi-contact convex-convex collision detection. (@duburcqa) (#2917, #2921)

Miscellaneous

• Support passing sliced env mask to RigidSolver.set_base_links_(pos|quat). (@duburcqa) (#2897)
• Improve interactive scene mode. (@duburcqa) (#2899)
• Use qd.ndrange(axes=) to collapse layout-flip duplications. (@hughperkins) (#2861)
• Switch dedupe contact sort to use Quadrants bitonic sort (@hughperkins) (#2853)
• Move register-tile Cholesky into quadrants. (@hughperkins) (#2860)