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Changelog
A generative world for general-purpose robotics & embodied AI learning.
Last updated about 5 hours ago
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This small release adds user-friendly diagnosis of invalid Rigid physics properties and improves support of GLTF meshes.
This PR focuses on performance improvements (x4 faster for complex scenes with 64 < n_dofs < 96 and n_envs=4096 compared to 0.3.10). Besides, initial support of heterogenous object and USD stage import for rigid body simulation has been introduced.
The main focus of this release is to improve scaling of the simulation wrt the complexity of the scene, and better leverage GPU compute for small to moderate batch sizes (0<=n_envs<=8192). As usual, a bunch of minor bugs have been fixed.
Small release mainly fixing bugs.
Small release mainly polishing features that were introduced in previous release.
The performance of data accessors have been dramatically improved by leveraging zero-copy memory sharing between GsTaichi and Torch. Beyond that, the robustness of the default contact algorithm has been improved, and differentiable forward dynamics for Rigid Body simulation is not partially available. Last, but not least, GsTaichi dynamic array mode is finally enabled back by default!
The performance of GsTaichi dynamic array mode has been greatly improved. Now it should be on par with performance for very large batch size, and up to 30% slower for non-batched simulation. This mode this still considered experimental and must be enabled manually by setting the env var 'GS_ENABLE_NDARRAY=1'. Just try it if you are tired of endlessly waiting for the simulation to compile!
A new experimental interface with the Incremental Potential Contact coupling solver libuipc has been introduced, mainly targetting cloth simulation.
Minor release mainly aiming at polishing existing features and addressing some major performance regression that was introduced end of august. GsTaichi dynamic array type and fast cache are now enabled by default on Linux and Windows (opt-in on MacOS via env variable 'GS_ENABLE_NDARRAY'), which should help avoiding recompilation in most cases.
This minor release mainly introduces first-class sensor support (IMU, Contact Sensor, LiDAR, Depth camera and more), incl. recording and plotting facilities. The rigid-rigid hydroelastic contact model has also been added. As usual, a fair share of bugs have been fixed, with unit test coverage gradually improving.