v0.2.0

EmbodiChain v0.2.0 Release Notes

Highlights

This release upgrades EmbodiChain to DexSim v0.4.0, adds the atomic action abstraction layer for embodied
motion generation, expands RL and robotics benchmarking, improves solver correctness, and introduces multi-
version documentation and PyPI release workflow fixes.

Breaking Changes

• Upgraded dexsim_engine from 0.3.11 to 0.4.0 by @yuecideng in #226
• Upgraded pytorch_kinematics from 0.7.6 to 0.10.0 by @matafela in #244
• Made lerobot>=0.4.4 a required dependency by @yuecideng in #227
• Upgraded formatter requirement to black==26.3.1 by @yuecideng in #251

New Features

• Added atomic action abstraction layer for embodied AI motion generation by @yuecideng in #239
• Added RL benchmark suites, metrics, plotting, reporting, and runtime support by @matafela in #231 and
  #233
• Added kinematic solver and workspace analyzer benchmark scripts by @matafela in #233
• Added multi-version documentation build support by @yuecideng in #234
• Added synthesized data generation tutorial by @yvvonie in #238
• Added multi-asset loading with spacing in the preview script by @yuecideng in #224

Improvements

• Adapted simulation, sensors, objects, materials, examples, and tests to DexSim v0.4.0 by @yuecideng in
  #226
• Enhanced workspace analyzer computational efficiency by @yuecideng in #230
• Refined URDF assembly component prefixes and name casing policy by @chase6305 in #236
• Improved API reference detail and coverage by @yuecideng in #252
• Updated PyTorch kinematic solver benchmark parameters by @matafela in #240
• Updated CobotMagic arm asset and default safe margin by @matafela in #228 and #235
• Updated skills structure and roadmap docs by @yuecideng in #257

Bug Fixes

• Fixed PyPI release workflow by @yuecideng in #259
• Fixed PyTorch solver qpos mapping by @matafela in #253
• Fixed plan_trajectory behavior by @yhnsu in #242
• Fixed demo action shape normalization and control-part mapping by @yuecideng in #237
• Fixed robot forward kinematics by @matafela in #223
• Fixed semantic mask robot user_ids indexing by @yuecideng in #222
• Fixed OPW solver behavior by @matafela in #229
• Fixed crash when no grasp pose is found by @matafela in #232
• Fixed README and website documentation links by @yuecideng in #246 and @yangchen73 in #249

Documentation

• Rewrote install guide and dependency guidance by @yuecideng in #227
• Added NVIDIA driver guide and mesh loading tutorial by @XuanchaoPENG in #245
• Added README badge upgrades and docs auto-sync by @yuecideng in #250
• Added AI coding agent skill cross-references by @yuecideng in #247
• Removed AI coding agent skill references by @yuecideng in #254
• Added uv installation support and updated dependencies by @yuecideng in #258

All Commits Since v0.1.3

• Fix PyPI release workflow by @yuecideng in #259
• Add uv installation support and update dependencies by @yuecideng in #258
• Adapt DexSim v0.4.0 by @yuecideng in #226
• Update skills structure and roadmap docs by @yuecideng in #257
• Add data generation tutorial for synthesized data pipeline by @yvvonie in #238
• Remove AI coding agent skills references by @yuecideng in #254
• Fix PyTorch solver qpos mapping by @matafela in #253
• Add atomic action abstraction layer for embodied AI motion generation by @yuecideng in #239
• Improve API reference detail and coverage by @yuecideng in #252
• Upgrade Black to 26.3.1 and fix code style by @yuecideng in #251
• Upgrade PyTorch kinematics by @matafela in #244
• Upgrade README badges and add auto-sync to introduction docs by @yuecideng in #250
• Correct website link by @yangchen73 in #249
• Add AI coding agent skills and documentation cross-references by @yuecideng in #247
• Fix README docs link by @yuecideng in #246
• Add multi-version documentation build support by @yuecideng in #234
• Add NVIDIA driver guide and mesh loading tutorial by @XuanchaoPENG in #245
• Fix plan_trajectory by @yhnsu in #242
• Update PyTorch kinematic solver benchmark parameters by @matafela in #240
• Refactor benchmark tooling by @matafela in #233
• Refine URDF assembly component prefixes and name casing policy by @chase6305 in #236
• Fix demo action shape normalization and control-part mapping by @yuecideng in #237
• Update CobotMagic default safe margin by @matafela in #235
• Enhance workspace analyzer computational efficiency by @yuecideng in #230
• Add RL benchmark by @matafela in #231
• Fix crash when no grasp pose is found by @matafela in #232
• Fix OPW solver by @matafela in #229
• Update CobotMagic arm asset by @matafela in #228
• Rewrite install guide and make LeRobot a required dependency by @yuecideng in #227
• Add multi-asset loading with spacing in preview script by @yuecideng in #224
• Fix robot forward kinematics by @matafela in #223
• Fix semantic mask robot user_ids indexing by @yuecideng in #222

---

Full Changelog: v0.1.3...v0.2.0