v0.4.1

This release mainly improves experimental IPC coupler integration. Avatar entity has been re-introduced after being broken for months. Finally, Quadrants' dynamic arrays are now support on Apple Metal to avoid systematic scene compilation.

Breaking changes

• More consistent IPC coupler API. (@duburcqa) (#2446)

New Features

• Implement Local Offset in Inverse Kinematics (@alexis779) (#2333)
• Add support of batching to IPC articulated bodies. (@Roushelfy, @duburcqa) (#2448, #2454)
• Add support per-entity contact friction and resistance to IPC coupler. (@Roushelfy, @duburcqa) (#2473, #2479)
• Enable Quadrants dynamic array on Apple Metal. (@hughperkins) (#2498)
• Add avatar (kinematic) entity and refactor rigid entity. (@duburcqa) (#2504, #2508)

Bug Fixes

• Fix support of Numpy 2.4. (@duburcqa) (#2432, #2433)
• Fix geometries misclassified as non-convex. (@duburcqa) (#2442)
• Fix merge fixed links. (@duburcqa, @YilingQiao) (#2441, #2475)
• Fix wrong type for gs.materials.Rigid.gravity_compensation. (@nimrod-gileadi) (#2469)
• Fix UV size mismatch causing USD parsing hard failure. (@alanray-tech) (#2480)
• Fix support of convex decomposition baked in glTF. (@duburcqa) (#2493)
• Fix mass getter for PBD entities. (@YilingQiao) (#2503)
• Fix Apple Metal bug causing nan. (@hughperkins) (#2481)
• Raise exception in case of invalid IPC coupler options. (@duburcqa) (#2450, #2451, #2486, #2492)

Miscellaneous

• Refactor internal implementation of IPC coupler. (@duburcqa, @ACMLCZH, @Roushelfy) (#2453, #2455, #2462, #2463, #2465, #2478, #2484, #2485, #2495, #2496)
• More comprehensive IPC coupler unit tests and tune examples. (@duburcqa) (#2444, #2458, #2474, #2488)
• Add support of unspecified inertia origin in URDF. (@duburcqa) (#2499)
• Add torch profile integration to performance benchmarks. (@hughperkins) (#2421, #2466)
• Significantly speedup contact-rich and dynamic simulations. (@hughperkins) (#2406, #2467)
• More comprehensive performance benchmarks. (@hughperkins) (#2470)
• Aggregate speed benchmark wandb uploads into a single run. (@hughperkins) (#2482)