The renderer gains multi-camera and RGBD vision-sensor support, exposing camera APIs to grab RGB pixel data from render cameras. See the rendering/camera chapter of the user manual for details.

A new Adhesion actuator type; see examples/adhesion.py. The adhesion force is determined by ctrl and gain and distributed evenly across all valid contact detections. By configuring a geom's margin and gap attributes, you can simulate vacuum suction that engages within a certain distance.

A new Sim2Sim example for the Berkeley Humanoid Lite robot, demonstrating cross-simulator policy transfer for a humanoid in MotrixSim. Run with pdm run legged_gym/scripts/BHL_play.py.

A new Sim2Sim example for the Berkeley Humanoid A robot, demonstrating policy transfer for another bipedal humanoid in MotrixSim. Run with pdm run legged_gym/scripts/BHA_play.py.