v0.2.1

EmbodiChain v0.2.1 Release Notes

Highlights

This release upgrades EmbodiChain to DexSim v0.4.1, introduces the sim-ready data pipeline with full-mesh grasp annotation, adds emissive light randomization mode, and fixes CI/CD issues with multiversion documentation deployment.

Breaking Changes

• Upgraded dexsim_engine from 0.4.0 to 0.4.1 by @yuecideng in #272

New Features

• Added sim-ready data generation pipeline by @XuanchaoPENG in #271
• Added emissive light mode to randomize_indirect_lighting by @yuecideng in #274
• Added full-mesh antipodal grasp pose annotation by @matafela in #260

Improvements

• Adapted simulation API call sites to DexSim v0.4.1 by @yuecideng in #272
• Improved documentation navigation, cross-references, and guides by @yuecideng in #262

Bug Fixes

• Fixed atomic action behavior by @XuanchaoPENG in #273
• Fixed OPW solver TCP inverse pose calculation by @matafela in #261
• Fixed multiversion docs overwrite on main branch push by @yuecideng in #263 and #266
• Fixed multiversion docs deployment to GitHub Pages by @yuecideng in #267

Documentation

• Added academic publications page by @yuecideng in #265

All Commits Since v0.2.0

• Sim-ready pipeline by @XuanchaoPENG in #271
• Fix atomic action by @XuanchaoPENG in #273
• Add emissive light mode to randomize_indirect_lighting by @yuecideng in #274
• Adapt DexSim v0.4.1 by @yuecideng in #272
• Annotate full mesh by @matafela in #260
• Fix OPW TCP by @matafela in #261
• Fix multiversion docs deployment by @yuecideng in #267
• Fix multiversion docs overwrite on main push by @yuecideng in #266
• Add academic publications page by @yuecideng in #265
• Fix multiversion docs overwrite on main branch push by @yuecideng in #263
• Improve navigation, cross-references, and guides by @yuecideng in #262

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Full Changelog: v0.2.0...v0.2.1