This minor release fixes rigid solver convergence regressions and introduces a new torch-like option 'use_deterministic_algorithms' to ensure bit-exact reproducibility on a given machine. Besides, Mujoco compatibility mode has been improved to now cover native contact patch-based multi-contact (as opposed to the old perturbation-based approach). This experimental feature is now exposed to the user via 'RigidOptions.enable_contact_patch'.
| perturbation-based multi-contact | native contact patch multi-contact |
|---|---|
 |
 |
New Features
Bug Fixes
- Keep the contact manifold and the constraint solve consistent across orientations and scales. (@duburcqa) (#3158)
- Fix physics discrepancy between generic and GPU-only constraint solver implementations. (@duburcqa) (#3218)
- Fix dropped and backend-dependent contacts under MuJoCo compatibility. (@duburcqa) (#3223)
Miscellaneous
- Add analytical sphere-sphere collision detection. (@Kashu7100) (#2963)
- Stricter Mujoco parity under compatibility mode. (@duburcqa) (#3154)
- Skip already-converged warm-started constraint solves. (@duburcqa) (#3154)
- Support PyTorch prerelease builds. (@PhysicistJohn) (#3203)
- Add documentation issue template. (@Milotrince) (#3189)
- Remove deprecated 'compile_kernels' build arg. (@Milotrince) (#3220)
- Skip Quadrants memory allocation for inactive solvers. (@Kashu7100) (#3155)
- Upgrade Quadrants to 1.3.0. (@hughperkins) (#3219)
Contributors
hughperkins, duburcqa, and 3 other contributors