From 8751f1b14e6a8e7ab61c6db73ae88d529d0e0ad0 Mon Sep 17 00:00:00 2001
From: KraHsu <charles040318@gmail.com>
Date: Sun, 31 May 2026 21:44:50 +0800
Subject: [PATCH] Release 0.3.1

---
 CHANGELOG.md            | 33 +++++++++++++++++++++++++++++++++
 pyproject.toml          |  2 +-
 src/genelab/__init__.py |  2 +-
 3 files changed, 35 insertions(+), 2 deletions(-)

diff --git a/CHANGELOG.md b/CHANGELOG.md
index 8847af2c..718acdac 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -2,6 +2,39 @@
 
 All notable changes to GeneLab are recorded here.
 
+## [0.3.1] — 2026-05-31
+
+Patch release. Adds a Genesis-backed mesh ray-caster to the sensor zoo and a
+live-image recording sink, and converts every bundled `genelab_showcase`
+example to real-time on-screen display instead of writing files to disk.
+
+### Added
+
+- **Mesh ray-cast sensor:** added `MeshRayCastSensor` (with `MeshRayCastSensorCfg`
+  and `MeshRayCastData`) over Genesis's native BVH `Raycaster`, plus the
+  `MeshGridPattern` / `MeshSphericalPattern` ray patterns — exported from
+  `genelab.sensor` and `genelab.lab`. It complements the existing analytic
+  `RayCastSensor` (terrain height-field scan) by ray-casting real mesh geometry.
+  `RigidObjectCfg.use_visual_raycasting` opts an object's visual mesh into the BVH.
+- **Live-image recording sink:** added `MPLImagePlotCfg` to `genelab.recording`,
+  a Matplotlib image output for camera-style `(H, W, C)` recording sources.
+
+### Fixed
+
+- **Recorder warning noise:** the recording bridge now filters Genesis's repeated
+  `start_thread(): Processor thread already exists` warning around `save_on_reset`
+  flushes (Genesis restarts the still-running recorder thread each episode; the
+  restart is a harmless no-op). Benefits any env with threaded `save_on_reset`
+  recorders, not only the showcases.
+
+### Examples
+
+- **Real-time showcases:** converted all eight bundled `genelab_showcase` examples
+  (sensors, ray-cast, contact, terrain, curriculum, actuator, MLP-residual actuator,
+  recording) from silent disk-dumping to live Qt / pyqtgraph display. Added a shared
+  `LazyQtWindows` helper and a virtual-spring base class for the showcase runners;
+  file dumps, where still available, are opt-in and documented.
+
 ## [0.3.0] — 2026-05-29
 
 Third development release. The headline is the **Genesis 1.0 migration**:
diff --git a/pyproject.toml b/pyproject.toml
index f521a29a..1d2b1a20 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -1,6 +1,6 @@
 [project]
 name = "genelab"
-version = "0.3.0"
+version = "0.3.1"
 description = "Isaac Lab API for RL and robotics research powered by Genesis."
 readme = "README.md"
 requires-python = ">=3.12"
diff --git a/src/genelab/__init__.py b/src/genelab/__init__.py
index 7be24829..bb9681f3 100644
--- a/src/genelab/__init__.py
+++ b/src/genelab/__init__.py
@@ -2,7 +2,7 @@
 
 from typing import TYPE_CHECKING
 
-__version__ = "0.3.0"
+__version__ = "0.3.1"
 
 __all__ = [
     "ManagerBasedEnvCfg",