During November 2025, Matthieu Vigne developed a position-velocity controller for robotic simulations within the Genesis-Embodied-AI/Genesis repository. This feature combined position and velocity terms to improve control accuracy, resulting in enhanced trajectory tracking and more reliable performance compared to previous methods. Matthieu implemented the controller using Python, applying robotics control concepts and integrating the solution into the existing Genesis simulation framework. The work focused on feature delivery and code quality, with no major bugs addressed during the period. Matthieu demonstrated depth in control systems, simulation, and collaborative development, contributing to higher fidelity and more robust robotics algorithm testing.