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+# Genesis Release Note
+
+## 0.2.1
+
+### Bug Fixes
+* Fix various visualization and rendering bugs. (@RobRoyce, @VincentCCandela, @Likhithsai2580)
+* Resolve some platform-dependent issues. (@abhaybd, @NekoAsakura)
+* Fix the issue with loading box textures when parsing MJCF files.
+* Correct asset path handling.
+* Fix repr output in IPython. (@JohnnyDing)
+* Resolve bugs in locomotion examples. (@yang-zj1026)
+* Fix several issues with MPR and contact islands during collision detection.
+
+### New Features
+* Add a smoke simulator driven by Stable Fluid, along with a demo. (@PingchuanMa)
+* Introduce APIs for applying external forces and torques.
+* Introduce APIs for setting friction ratios.
+* Add a domain randomization example.
+* Improve kernel cache loading speed by 20~30%. (@erizmr)
+* Provide an interactive drone control and visualization script. (@PieterBecking)
+* Introduce an RL environment and examples for the drone environment. (@KafuuChikai)
+* Add an option to enable or disable the batch dimension for (links/DOFs) information. Users can choose the trade-off between performance and flexibility.
+* Add Docker files. (@Kashu7100)
+* Implement the MuJoCo box-box collision detection algorithm for more stable grasping.
+* Include the backflip training script and checkpoints. (@ziyanx02)
+* Enable support for entity merging.
+* Add support for custom inverse kinematics (IK) chains.
+
+### Miscellaneous
+* Improve documentation and fix typos. (@sangminkim-99, @sjtuyinjie, @CharlesCNorton, @eltociear, @00make, @marcbone, @00make, @pierridotite, @takeshi8989, @NicholasZiglio, @AmbarishGK)
+* Add CONTRIBUTING.md and update CI configurations.
+* Introduce multi-language support. (@TitanSage02, @GengYiran, @DocyNoah)
+
+We would also like to acknowledge the ongoing PRs. Some of them have not yet been merged because we have not had enough time to fully test them:
+* Unitree G1 walking. (@0nhc)
+* Blood, vessels, and heart simulation. (@lhemerly)
+* Cross-platform and rendering compatibility. (@VioletBenin, @DearVa, @JonnyDing)
+* Docker support. (@skurtyyskirts, @yuxiang-gao, @serg-yalosovetsky)