Release Notes

• 3D Gaussian Splatting (3DGS) hybrid rendering — real scenes and simulated objects render together, narrowing the sim-to-real gap
• Automatic convex decomposition of collision meshes (CoACD), online and offline
• New MotrixSim AI Agent Skill wires AI assistants to the official docs in one command

+2 more

• Global illumination rendering (SSGI) is here — simulated image lighting now maps far closer to real sensor output
• Major domain-randomization upgrade: actuator parameters, geom sizes, and gravity direction can all be batch-randomized at runtime
• Four new demos: G1 humanoid, RM65 arm, Shadow Hand, and terrain scanning

+2 more

• Web platform launched: run simulations directly in the browser at motrix.motphys.com, no installation required
• Full vehicle dynamics simulation example: MacPherson suspension, Ackermann steering, differential, and keyboard driving
• Domain randomization expanded: randomize geom friction coefficients, joint friction loss, and armature

+2 more

• Official macOS support completes full cross-platform coverage
• Major solver performance improvements significantly boost go2 parallel simulation throughput
• Mass and center-of-mass randomization APIs further round out sim-to-real training parameter support

+2 more

• New keyboard interactive motion-control examples for G1 and Go2
• Procedural model construction API composes multiple robot models at runtime
• Interactive viewer with built-in play/pause, single-step debugging, and an actuator control panel

+2 more

• Enhanced inverse kinematics: new DlsSolver (damped least squares) is more robust in singular configurations
• Mocap interface support for directly controlling the pose of force-free objects
• New dedicated HField API: get_hfield_index, get_hfield, and num_hfields

+1 more

• Inverse kinematics (IK) module is here, with complete API documentation
• Multi-environment parallel simulation: every API supports batched parallelism, reaching 400k+ steps/s on an AMD 9950X
• Geom access API: query a geom's position, rotation, velocity, and more by name

+1 more

• Multi-camera RGBD sensor support, with a public API for grabbing RGB pixels
• New Adhesion actuator for simulating vacuum-suction scenarios
• Height-field colliders can now load from PNG images or .hfield files

+2 more