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.
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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.
What the source reports
Publisher-reported claims, with original evidence. These results have not been independently verified by RoboSignal.
What remains unknown
Not established in the collected evidence: Environment, Control, Data origin.
Reported performance applies to the described task. It does not establish general autonomy or deployment readiness.
Source excerpts and review record
Automatically extracted; no manual editorial approval recorded.
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.
Open source E1
Only the rigid solver is supported for now.
Open source E2
Beyond that, the static description of entities is now clearly separated from runtime getters to avoid confusion.
Open source E3
Finally, a large number of minor bugs have been fixed, most of them related to asset parsing.
Open source E4
New Features [BREAKING] Support applying an external wrench at any local point on a link.
Open source E5
[BREAKING] Apply morph pose offset to velocity/acceleration getters.
Open source E6
[BREAKING] Share a scene as a file that opens without its assets.
Open source E7
Save and restore a built scene in memory.
Open source E8
Record and replay a trajectory to a file that opens without its assets.
Open source E9
Bug Fixes Always give recorded videos a valid default filename.
Open source E10
Make successive trajectories bit-identical from the reset onwards.
Open source E11
Support FEM vertex constraints and topology queries in multi-entity scenes.
Open source E12
Support envs_idx mask in FEM vertex constraints.
Open source E13
Support broadcasting inverse kinematics targets in batched scenes.
Open source E14
Fix moving debug objects in batched scenes.
Open source E15
Fix parsing URDF for partially specified dynamics attributes.
Open source E16
Fix multidimensional tensor recording as CSV file.
Open source E17
Fix 'RigidEntity.plan_path' ignoring runtime joint limits.
Open source E18
Preserve URDF mimic joint relations when scaling robots.
Open source E19
Fix buggy hibernation on GPU and correctly report resting force.
Open source E20
Report a zero velocity for a body that fell asleep.
Open source E21
Fix COM frames of fixed links on aligned bodies breaking thrust points.
Open source E22
Support offscreen rendering with OSMesa.
Open source E23
Apply MeshSet member poses to sampled particles.
Open source E24
Keep the authored mass and inertia of fixed links on aligned free bodies.
Open source E25
Recover a usable inertia for URDF links stating a zero mass or inertia.
Open source E26
Leave links fixed to the world out of the potential energy.
Open source E27
Fix dynamics of attached entities and resolve assets identically in every precision.
Open source E28
Fix scaling wrongly applied for in-memory URDF file morph.
Open source E29
Correct a rigid-PBD attachment over the substep interval rather than the whole step.
Open source E30
Honor the textures of URDF materials.
Open source E31
Fix convex collision detection on geom pairs of very different sizes.
Open source E32
Miscellaneous [BREAKING] Stop offering a checkpoint that restores a fraction of the state.
Open source E33
[BREAKING] Separate the static description of a rigid entity from its runtime state.
Open source E34
[BREAKING] Read gravity, time and mass from the solver that owns them.
Open source E35
[BREAKING] Register a recorder with 'Scene.add_recorder'.
Open source E36
[BREAKING] Drop the rotation of a recorder's file on reset.
Open source E37
Average the joint-space inertia over every degree of freedom of the scene.
Open source E38
Solve the mass matrix for the active trees of a partly hibernated entity.
Open source E39
Support instantiating solver options before Genesis is initialized.
Open source E40
Let a kinematic entity be attached onto another kinematic one.
Open source E41
Remove dockerfiles.
Open source E42
Support negative indices for env and entity index args.
Open source E43
Support Inverse Kinematics and Jacobians for any entity unconditionally.
Open source E44
Enable cross-platform window-less offscreen rendering.
Open source E45
More representative rigid benchmarks suite.
Open source E46
Add sync-free padded layout to get_contacts.
Open source E47
Speed up raycast BVH rebuild by removing atomic contention in the scene-extent reduction.
Open source E48
Report baking USD materials failures traceback.
Open source E49
Implications for data suppliers
RoboSignal interpretation and collection questions, not statements of buyer demand.
- Confirm the required data type and collection setting with the buyer; this source does not establish a complete collection specification.
- Validate demand and acceptance criteria with a buyer before scaling. Publication, popularity and a research result do not establish a purchase commitment.
Source：Genesis — Releases · github.com