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.

New Features

• Support specifying offset transform for camera sensor. (@YilingQiao) (#2126)
• Enable zero-copy for fields on Metal if supported. (@duburcqa) (#2174)

Bug Fixes

• Avoid discontinuities in smooth animations caused by singularities. (@Rush2k) (#2116)
• Fix forward update logics. (@duburcqa) (#2122)
• Fix kernel caching mechanism hindering performance. (@duburcqa) (#2123)
• Fix support of old torch for 'set_dofs_velocity' when velocity=None. (@YilingQiao) (#2160)
• Force rendering systematically when updating camera sensor. (@YilingQiao) (#2162)
• Fix incorrect lighting when offscreen cameras based on rasterizer. (@duburcqa) (#2163)
• Fix rasterizer race conditions when running in background thread. (@duburcqa) (#2169)
• Fix broken exception handling when loading obj files with unsupported face type. (@Kashu7100) (#2170)
• Fix 'pysplashsurf' memory leak causing OOM error. (@duburcqa) (#2173, #2176)