v1.4.0
v1.4.0
This release introduces the ability to export a scene and trajectory as a standalone archive for bit-exact replay, along with numerous bug fixes and new features such as applying external wrenches, morph pose offsets, and improved FEM vertex constraints. It also includes enhancements for offscreen rendering and cross-platform compatibility.
This release introduces key improvements for scene export, trajectory recording, and bug fixes, enhancing the usability and reliability of the Genesis framework for simulation and robotics research.
Evidence and limits
Published automatically after robotics and source-evidence checks; no manual editorial approval is recorded. Source assertions are not independently verified. Missing information remains not reported.
- Environment:
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- Data origin:
- Not reported
Source excerpts and review record
No manual editorial approval recorded.
Original source quotation: “This release introduces the capability to export a scene plus a complete trajectory as a standalone archive that can be loaded on any machine while ensuring bit-exact replay using gs replay . The objective is making bug report much easier in the future.”
Source E1
Original source quotation: “Only the rigid solver is supported for now.”
Source E2
Original source quotation: “Beyond that, the static description of entities is now clearly separated from runtime getters to avoid confusion.”
Source E3
Original source quotation: “Finally, a large number of minor bugs have been fixed, most of them related to asset parsing.”
Source E4
Original source quotation: “New Features [BREAKING] Support applying an external wrench at any local point on a link.”
Source E5
Original source quotation: “[BREAKING] Apply morph pose offset to velocity/acceleration getters.”
Source E6
Original source quotation: “[BREAKING] Share a scene as a file that opens without its assets.”
Source E7
Original source quotation: “Save and restore a built scene in memory.”
Source E8
Original source quotation: “Record and replay a trajectory to a file that opens without its assets.”
Source E9
Original source quotation: “Bug Fixes Always give recorded videos a valid default filename.”
Source E10
Original source quotation: “Make successive trajectories bit-identical from the reset onwards.”
Source E11
Original source quotation: “Support FEM vertex constraints and topology queries in multi-entity scenes.”
Source E12
Original source quotation: “Support envs_idx mask in FEM vertex constraints.”
Source E13
Original source quotation: “Support broadcasting inverse kinematics targets in batched scenes.”
Source E14
Original source quotation: “Fix moving debug objects in batched scenes.”
Source E15
Original source quotation: “Fix parsing URDF for partially specified dynamics attributes.”
Source E16
Original source quotation: “Fix multidimensional tensor recording as CSV file.”
Source E17
Original source quotation: “Fix 'RigidEntity.plan_path' ignoring runtime joint limits.”
Source E18
Original source quotation: “Preserve URDF mimic joint relations when scaling robots.”
Source E19
Original source quotation: “Fix buggy hibernation on GPU and correctly report resting force.”
Source E20
Original source quotation: “Report a zero velocity for a body that fell asleep.”
Source E21
Original source quotation: “Fix COM frames of fixed links on aligned bodies breaking thrust points.”
Source E22
Original source quotation: “Support offscreen rendering with OSMesa.”
Source E23
Original source quotation: “Apply MeshSet member poses to sampled particles.”
Source E24
Original source quotation: “Keep the authored mass and inertia of fixed links on aligned free bodies.”
Source E25
Original source quotation: “Recover a usable inertia for URDF links stating a zero mass or inertia.”
Source E26
Original source quotation: “Leave links fixed to the world out of the potential energy.”
Source E27
Original source quotation: “Fix dynamics of attached entities and resolve assets identically in every precision.”
Source E28
Original source quotation: “Fix scaling wrongly applied for in-memory URDF file morph.”
Source E29
Original source quotation: “Correct a rigid-PBD attachment over the substep interval rather than the whole step.”
Source E30
Original source quotation: “Honor the textures of URDF materials.”
Source E31
Original source quotation: “Fix convex collision detection on geom pairs of very different sizes.”
Source E32
Original source quotation: “Miscellaneous [BREAKING] Stop offering a checkpoint that restores a fraction of the state.”
Source E33
Original source quotation: “[BREAKING] Separate the static description of a rigid entity from its runtime state.”
Source E34
Original source quotation: “[BREAKING] Read gravity, time and mass from the solver that owns them.”
Source E35
Original source quotation: “[BREAKING] Register a recorder with 'Scene.add_recorder'.”
Source E36
Original source quotation: “[BREAKING] Drop the rotation of a recorder's file on reset.”
Source E37
Original source quotation: “Average the joint-space inertia over every degree of freedom of the scene.”
Source E38
Original source quotation: “Solve the mass matrix for the active trees of a partly hibernated entity.”
Source E39
Original source quotation: “Support instantiating solver options before Genesis is initialized.”
Source E40
Original source quotation: “Let a kinematic entity be attached onto another kinematic one.”
Source E41
Original source quotation: “Remove dockerfiles.”
Source E42
Original source quotation: “Support negative indices for env and entity index args.”
Source E43
Original source quotation: “Support Inverse Kinematics and Jacobians for any entity unconditionally.”
Source E44
Original source quotation: “Enable cross-platform window-less offscreen rendering.”
Source E45
Original source quotation: “More representative rigid benchmarks suite.”
Source E46
Original source quotation: “Add sync-free padded layout to get_contacts.”
Source E47
Original source quotation: “Speed up raycast BVH rebuild by removing atomic contention in the scene-extent reduction.”
Source E48
Original source quotation: “Report baking USD materials failures traceback.”
Source E49
Source：Genesis — Releases · github.com