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Genesis v1.3.0: Differentiable Rigid Body Simulation Stable, Torsional/Rolling Friction Added

Why it mattersGenesis upgrades differentiable rigid body simulation from experimental to stable, adds torsional and rolling friction for more realistic physics.

Genesis is a robotics simulation platform. This update promotes differentiable rigid body simulation (which computes gradients for optimization) from experimental to stable, so users can rely on it. It also adds torsional and rolling friction to make contact behaviors more realistic. Several bugs are fixed, including missing buoyancy for submerged bodies and camera video length limitations.

What changed

  • Differentiable rigid body simulation promoted from experimental to stable, reliable for optimization tasks.
  • Added torsional and rolling friction for more realistic contact behavior.
  • Added explicit mounting transform parameter in RigidEntity.attach for precise connection control.
  • Contact sensors now support link filtering to selectively detect specific parts.
  • Added torque visualization for tactile sensor examples to aid debugging.
  • Fixed missing buoyancy on rigid bodies submerged in SPH fluid.
  • Fixed camera sensor not refreshing after scene reset.
Genesisreleaseprojectv1.3.0GitHubupdate

Source: GitHub Releases · July 30, 2026

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What changed

  • Differentiable rigid body simulation promoted from experimental to stable, reliable for optimization tasks.
  • Added torsional and rolling friction for more realistic contact behavior.
  • Added explicit mounting transform parameter in RigidEntity.attach for precise connection control.
  • Contact sensors now support link filtering to selectively detect specific parts.
  • Added torque visualization for tactile sensor examples to aid debugging.
  • Fixed missing buoyancy on rigid bodies submerged in SPH fluid.
  • Fixed camera sensor not refreshing after scene reset.

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