Upgrade genesis-world from 1.0.x to 1.2.x - #241
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Lift the 1.0.x cap now that the code is adapted for the 1.1/1.2 API changes. Keep an upper bound at the next minor: Genesis has changed APIs GeneLab relies on in both 1.1.x and 1.2.x, so each minor gets validated before the pin moves.
Genesis 1.1+ split ViewerOptions.max_FPS into refresh_rate (repaint cap) and realtime_factor (sim pacing, 1.0 = wall clock by default). Map SimulationCfg.render_fps onto refresh_rate, and honor the documented render_fps=None "uncapped" contract by disabling the real-time pacer instead. Direct ViewerOptions constructions in the examples move off the deprecated max_FPS alias, which now raises when combined with refresh_rate. The ImGui panel host lookup reads the public viewer.plugins property (Genesis 1.2 renamed the private _viewer_plugins attribute it used to duck-type against), keeping the old attribute as a fallback.
Genesis 1.2 parses kinematic trees depth-first, so the hand's live articulation now enumerates finger-major — identical to the encoder order — while the shipped checkpoint keeps the joint-major layout it was trained with under 1.0.x. POLICY_JOINT_NAMES tracks the trained artifact, not the live env, so the drift guard now pins the env's depth-first enumeration instead of equating the two orders; a policy retrained under 1.2 needs ENC_TO_POLICY updated to the identity.
Update the installation matrix and record the upgrade in the changelog, including the checkpoint-compatibility caveat from the depth-first kinematic tree parsing.
Genesis 1.2 as the simulator floor: viewer options and plugin lookup adapted upstream-side, depth-first joint enumeration pinned in the wuji deploy guard. Minor bump because 1.0.x-trained checkpoints on branched robots are index-incompatible with the new enumeration.
KraHsu
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Jul 10, 2026
Upgrade genesis-world from 1.0.x to 1.2.x
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Summary
Lifts the
genesis-worldpin from>=1.0.0,<1.1.0to>=1.2.0,<1.3.0(the 1.0.x cap was a hotfix, #240) and adapts GeneLab to the 1.1/1.2 API changes. The upper bound stays at the next minor since Genesis has broken APIs in both 1.1.x and 1.2.x.The upgrade was driven by a source-level diff of the two releases (verified against the extracted 1.2.0 wheel), a repo-wide audit of every
gs.*touchpoint, and the full test suite on 1.2.0.Code adaptations
ViewerOptions.max_FPS→refresh_rate/realtime_factor: Genesis split the one knob into a repaint cap and a wall-clock sim pacer (defaultrealtime_factor=1.0paces a viewer-enabled sim to real time).SimulationCfg.render_fpsmaps torefresh_rate;render_fps=Nonekeeps its documented "uncapped" meaning by disabling the pacer. ExampleViewerOptions(...)constructions move off the deprecated alias (it now raises when combined withrefresh_rate).viewer.pluginsproperty (Genesis renamed the private_viewer_pluginsit duck-typed against); legacy attribute kept as a fallback.POLICY_JOINT_NAMESstays the trained artifact's joint-major order; the drift-guard test now pins the env's depth-first enumeration instead of equating the two.Reviewed, intentionally unchanged
get_pos/set_posetc. default to the user frame, offsets/inertial alignment stripped): robots (is_robot) have identity offsets, so articulation state, sensors, and the deformable-terrain foot reads are numerically unchanged. Free-base rigid objects (wuji reorient cube) read and write through the same accessors, so the new defaults are self-consistent — and make reset-to-init_posagree with build placement, which 1.0.x subtly didn't._articulation_binder, sensors, terrain), so depth-first ordering is internally consistent.RigidOptionsknobs GeneLab exposes are all still valid (the removedhibernation_thresh_accwas never exposed).Policies trained under genesis 1.0.x on branched robots (quadrupeds, humanoids, hands) have obs/action layouts baked in breadth-first order and are index-incompatible with 1.2.0 envs — retrain or remap. Benchmark reference runs recorded under 1.0.x are likewise not comparable (contact islands are now on by default). Recorded in the CHANGELOG.
Test plan
uv run ruff check/uv run ruff format --check/uv run lint-imports(8 contracts kept)uv run pyright— 0 errorsuv run pyteston genesis 1.2.0 — 917 collected, all green (one pre-existing-style skip set: onnxruntime/zmq extras absent)test_policy_joint_order_matches_env) is the depth-first ordering change, addressed above🤖 Generated with Claude Code