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MetaSim — next release (paste-ready notes)

Suggested tag: v0.2.0 (pyproject is 0.1.17; minor bump for backward-compatible additions).

Usage: rename [Unreleased] → [0.2.0] - 2026-05-31 in CHANGELOG.md, then:

git tag -a v0.2.0 -m "MetaSim v0.2.0 — cross-platform infrastructure hardening"
git push origin v0.2.0
gh release create v0.2.0 \
  --title "MetaSim v0.2.0 — cross-platform infrastructure hardening" \
  --notes-file RELEASE_NOTES_NEXT.md

Cross-platform infrastructure hardening

This release tightens the BaseSimHandler contract so the same MetaSim code runs identically on mujoco, sapien3, newton, isaacsim, mjx, isaacgym, and pybullet — without the silent per-backend divergences that previously broke downstream experiments.

The release is forward- and backward-compatible. Every behavior change is additive (new warnings, new optional kwargs); no existing call site needs to be modified.

Highlights

  • gym.reset(seed=N) actually seeds the simulator now. BaseSimHandler ships a default set_seed that seeds Python random, numpy, and torch CPU+CUDA; the seed is forwarded through ParallelHandler (broadcast to workers) and HybridHandler (physics + render). Closes the benchmark reproducibility gap.
  • set_states silent-drop is gone. The dict key dof_pos_target (which previously silently broke 15 downstream BC experiments) now emits a one-shot warning recommending set_dof_targets. Same guard for unknown robot/object names, unknown joint names, read-only velocity fields, and partial pose dicts.
  • Newton joint-name parity. Newton previously returned box_base/box_joint while every other backend returned box_joint — cross-platform tasks indexing dof_pos["box_joint"] silently failed. Fixed with safe disambiguation: bare name when unambiguous, full key on collision.
  • Sapien3 _set_states no longer raises KeyError on missing dof_pos/pos/rot; it defaults to zeros, matching mujoco's behavior. It also instantiates and reads all robots (was only reading the first).
  • mjx backend unblocked — eager init, JAX 0.10+ __dlpack__ protocol, recursive MJCF <include> parser with cycle detection.
  • ParallelHandler error surfacing — EOFError / BrokenPipe / OOM-killed workers now raise a RuntimeError carrying the real worker traceback instead of hanging silently.
  • Multi-agent (bimanual) trajectory loading lands natively in get_traj via list[RobotCfg]. Single-agent path is unchanged.

Migration

No required changes. If you previously relied on the silent drop of set_states({"dof_pos_target": ...}), switch to:

handler.set_dof_targets([{robot_name: {"dof_pos_target": ...}}])

If you previously caught KeyError from sapien3 _set_states on missing dof_pos, that branch is now dead — sapien3 defaults to zeros.

Verification

386 general tests pass + 21 xfailed across a 5-backend sweep (general + mujoco + sapien3 + newton + passthroughs). Per-backend PD-convergence shortfalls are xfail-documented with specific reasons (not silenced).

Full changelog

See CHANGELOG.md for the complete commit-by-commit list.