v3.0.0b21

What's Changed

• [Feature] Initial mac support by @StoneT2000 in #941
• [Feature] nightly builds by @StoneT2000 in #947
• [BugFix] fix profiling code for benchmarking for macos platform and update docs with some limitations of macos sapien by @StoneT2000 in #949
• [BugFix] Fix bug where physx_cpu backend permitted num_envs > 1 by @StoneT2000 in #951
• Update xarm6_robotiq to have a more natural rest position by @dwaitbhatt in #929
• [BugFix] Fix render camera local poses not invalidating cache by @StoneT2000 in #974
• [Docs] Update outdated docs function for state registry by @StoneT2000 in #980
• [Feature] More advanced mimic controller configurations + floating inspire hand implementation by @StoneT2000 in #981
• Adding missing .cpu() calls in stack_cube.py, peg_insertion_side.py by @jstmn in #976
• [Feature] Auto generated robot documentation + initial quality ratings by @StoneT2000 in #984
• [Feature] Pretty printed controller repr by @StoneT2000 in #985
• [Feature] Lerobot hardware support + SO100 and koch modelled arms by @StoneT2000 in #986
• [Docs] fix robot docs links and fix incorrect controller naming of koch arm by @StoneT2000 in #988
• [Feature] SO100 PickCube Sim Test by @StoneT2000 in #995
• [Feature] Better so100 model by @StoneT2000 in #997
• [Feature] Add SO100 convex meshes to support motion planning and example convex mesh generation script by @StoneT2000 in #1008
• Enhance SAC with Mixture-of-Expert and BEE Operator for Improved Stability and Performance by @XuGW-Kevin in #788
• Fixed PushCube policy not penalized for holding cube above target by @AlexandreBrown in #1022
• [BugFix] fix bug for cpu sim replay by @StoneT2000 in #1034
• [Feature] Support motionplanning solutions for xarm6_robotiq by @dwaitbhatt in #936
• [BugFix] Update get collision mesh functions by @StoneT2000 in #1035
• Added Gym Env Action Repeat Wrapper by @AlexandreBrown in #832
• [Docs] update citation with RSS 2025 paper details by @StoneT2000 in #1039
• [BugFix] Links in CONTRIBUTING.md by @suessmann in #1041
• Fixed action repeat image not shown by @AlexandreBrown in #1046
• [Feature] Expose API for incoming link joint forces on CPU and GPU sim by @StoneT2000 in #1061
• [Docs] Add missing imports in setup.md documentation files by @StoneT2000 in #1062
• [BugFix] Zero out articulation qf values upon gpu sim setup by @StoneT2000 in #1063
• [BugFix] Fix bug with multi-agent envs not working by @StoneT2000 in #1064
• Adding Panda motionplanning solution for PlaceSphere-v1 environment by @jstmn in #1068
• Updated Pull Cube Default Camera Config To Show Cube & Target by @AlexandreBrown in #1069
• [BugFix] Update xarm6 asset download link by @StoneT2000 in #1078

New Contributors

• @dwaitbhatt made their first contribution in #929
• @jstmn made their first contribution in #976
• @XuGW-Kevin made their first contribution in #788
• @suessmann made their first contribution in #1041

Full Changelog: v3.0.0b20...v3.0.0b21