This release introduces a rich family of realistic yet high-throughput tactile sensors that are suitable for training dexterous policy via RL. Besides, non-convex collision detection is now more robust than ever, with comparable performance (speed and accuracy) to convex decomposition. Notably, spurious deep contacts and thin-shell tunneling has been fixed. Finally, enabling 'noslip' post-processing step should now incur less than 20% slowdown for all backends.
New Features
- Add noise options for tactile sensors: hysteresis, dead taxels, probe gain (@Milotrince) (#2813)
Breaking changes
- Fix contact-pruning bucket merging. (@duburcqa) (#3010)
- Fix performance regression on some backends when sparse option is not specified. (@duburcqa) (#3010)
- Fix data accessors for very large batch sizes (>16k). (@duburcqa) (#3010)
- More robust nonconvex collision detection. (@duburcqa) (#3014, #3020)
- Fix go2_backflip RL training example. (@kshitijgoel007) (#2986)
Miscellaneous
- Speed up per-island noslip solver. (@duburcqa) (#3009)
- Speed up contact-island constraint solve for large batches. (@Milotrince) (#3021)
- Speed up tactile sensors. (@Milotrince) (#2922)
Contributors
kshitijgoel007, duburcqa, and Milotrince