Why it mattersFixes Nyx rendering plugin issues, improves contact force calculation, adds raycasting support.
Genesis v1.3.1 is a minor release that fixes issues with the Nyx rendering plugin and improves contact force calculation in physics simulation. Normal contact forces are now decoupled from friction coefficient and sliding speed, leading to more accurate simulations. Additionally, raycasting against visual meshes is now supported in viewer plugins.
Source: GitHub Releases · July 31, 2026
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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.
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