Genesis-Embodied-AI/genesis-world

 # Genesis World [](https://pypi.org/project/genesis-world/) [](https://pepy.tech/projects/genesis-world) [](https://genesis-world.readthedocs.io/en/latest/) [](https://github.com/Genesis-Embodied-AI/genesis-world/issues) [](https://github.com/Genesis-Embodied-AI/genesis-world/discussions) [](https://discord.gg/nukCuhB47p) **Genesis World** is a simulation platform for physical AI developments. It combines a unified multi-physics engine, a photo-realistic renderer ([Nyx](https://github.com/Genesis-Embodied-AI/genesis-nyx)), and a cross-platform compiler ([Quadrants](https://github.com/Genesis-Embodied-AI/quadrants)) behind a Pythonic simulation interface. Genesis World is designed to scale from a single laptop kernel to datacenter-grade GPUs, while remaining easy to read, extend, and embed in research code. It was previously named **Genesis** and started as an academic project since Dec 2024, and its development is now officially supported by [Genesis AI](https://www.genesis.ai/). For more technical details, refer to our [blog post](https://genesis.ai/blog/the-role-of-simulation-in-scalable-robotics-genesis-world-10-and-the-path-forward). ## Table of Contents 1. [What is Genesis World?](#what-is-genesis-world) 2. [Catalogue](#catalogue) 3. [Quick Installation](#quick-installation) 4. [Docker](#docker) 5. [Contribution](#contributing-to-genesis) 6. [Support](#support) 7. [License and Acknowledgments](#license-and-acknowledgments) 8. [Citation](#citation) ## What is Genesis World?  Genesis World occupies the four layers inside the dashed box. Above sits whatever you build (robotics environments, ML pipelines, data generation, agentic simulation); below sits whatever compute backend you have. - **Simulation Interface** — the user-facing API: asset parsing (URDF, MJCF, OBJ, GLB, USD, …), entity accessors, controllers, sensors, parallel and heterogeneous environments, and a built-in GUI. - **Physics** — a unified multi-physics engine integrating Rigid, FEM, MPM, Particle (PBD / SPH), [uipc](https://github.com/spiriMirror/libuipc), an explicit coupler, and SAP, all sharing one scene and one state. - **Render** — three rendering paths plug in as camera sensors: **[Nyx](https://github.com/Genesis-Embodied-AI/genesis-nyx)** (our in-house renderer designed for robotics), Luisa (DSL ray tracer), and Pyrender (rasterizer). - **Compiler** — **[Quadrants](https://github.com/Genesis-Embodied-AI/quadrants)** lowers Python kernel code to CUDA, AMD ROCm, Apple Metal, Vulkan, x86, and ARM64. It carries Genesis's autodiff, GPU graphs, and fastcache machinery. ### Documentation - [Genesis World](https://genesis-world.readthedocs.io/en/latest/) - [Quadrants](https://genesis-embodied-ai.github.io/quadrants/index.html) - [Nyx](https://genesis-embodied-ai.github.io/genesis-nyx/latest/) ## Catalogue Three sections, mirroring the Genesis layers that ship runnable demos: **Physics** (solvers and multi-solver coupling), **Rendering** (in-repo camera setups plus the Nyx walkthroughs hosted in [genesis-nyx](https://github.com/Genesis-Embodied-AI/genesis-nyx)), and **Simulation Interface** (sensors, GUI, controllers, parallel/heterogeneous envs, and tutorials). Most scripts run end-to-end after `pip install -e ".[dev]"`; demos that depend on optional backends (e.g. the IPC and Nyx examples) need the extras listed in [Optional extras](#optional-extras). ### Physics | | | | |---|---|---| | [Rigid: franka cube](./examples/rigid/franka_cube.py) | [Rigid: collision tower](./examples/collision/tower.py) | [Rigid: contype](./examples/collision/contype.py) | | | | | | [FEM: hard & soft constraint](./examples/fem_hard_and_soft_constraint.py) | [MPM: tutorial](./examples/tutorials/mpm.py) | [MPM: sand wheel](./examples/coupling/sand_wheel.py) | | | | | | [SPH: rigid](./examples/coupling/sph_rigid.py) | [SPH: + MPM](./examples/coupling/sph_mpm.py) | [PBD: liquid](./examples/pbd_liquid.py) | | | | | | [PBD: cloth](./examples/tutorials/pbd_cloth.py) | [Stable Fluid: smoke](./examples/smoke.py) | [IPC: robot cloth teleop](./examples/IPC_Solver/ipc_robot_cloth_teleop.py) | | | | | | [Coupler: cloth on rigid](./examples/coupling/cloth_on_rigid.py) | [Coupler: rigid + MPM](./examples/coupling/rigid_mpm_attachment.py) | [Coupler: cut dragon](./examples/coupling/cut_dragon.py) | | | | | | [Coupler: water wheel](./examples/coupling/water_wheel.py) | [Coupler: flush cubes](./examples/coupling/flush_cubes.py) | [SAP: Franka grasp rigid cube](./examples/sap_coupling/franka_grasp_rigid_cube.py) | | | | | ### Rendering Genesis exposes three rendering paths as camera sensors: built-in (Nyx / Luisa / Pyrender) and detailed Nyx walkthroughs hosted in [genesis-nyx](https://github.com/Genesis-Embodied-AI/genesis-nyx/tree/main/examples). | | | | |---|---|---| | [Follow entity](./examples/rendering/follow_entity.py) | [Animated camera](./examples/rendering/moving_camera.py) | [Nyx: hello](https://github.com/Genesis-Embodied-AI/genesis-nyx/blob/main/examples/01_hello_nyx.py) | | | | | | [Nyx: attached camera](https://github.com/Genesis-Embodied-AI/genesis-nyx/blob/main/examples/02_attached_camera.py) | [Nyx: PBR materials](https://github.com/Genesis-Embodied-AI/genesis-nyx/blob/main/examples/03_materials.py) | [Nyx: light types](https://github.com/Genesis-Embodied-AI/genesis-nyx/blob/main/examples/04_light_types.py) | | | | | | [Nyx: 3D Gaussian splat](https://github.com/Genesis-Embodied-AI/genesis-nyx/blob/main/examples/05_gaussian_splat.py) | [Nyx: object picking](https://github.com/Genesis-Embodied-AI/genesis-nyx/blob/main/examples/06_object_picking.py) | [Nyx: multi-cam multi-env](https://github.com/Genesis-Embodied-AI/genesis-nyx/blob/main/examples/07_multi_camera_multi_env.py) | | | | | ### Simulation Interface | | | | |---|---|---| | [Controlling a robot](./examples/tutorials/control_your_robot.py) | [GUI: ImGui joint control](./examples/gui/imgui_joint_control.py) | [Heterogeneous envs](./examples/rigid/heterogeneous_simulation.py) | | | | | | [Domain randomization](./examples/rigid/domain_randomization.py) | [Sensor: depth camera](./examples/sensors/depth_camera_custom_vverts.py) | [Sensor: IMU](./examples/sensors/imu_franka.py) | | | | | | [Sensor: lidar](./examples/sensors/lidar_teleop.py) | [Sensor: tactile sandbox](./examples/sensors/tactile_sandbox.py) | [Sensor: contact force](./examples/sensors/contact_force_go2.py) | | | | | | [Sensor: surface distance](./examples/sensors/surface_distance_shadowhand.py) | [Sensor: temperature grid](./examples/sensors/temperature_grid.py) | [GUI: debug drawing](./examples/tutorials/draw_debug.py) | | | | | | [GUI: mesh point picker](./examples/viewer_plugin/mesh_point_selector.py) | [GUI: mouse interaction](./examples/viewer_plugin/mouse_interaction.py) | [Diff-IK controller](./examples/rigid/diffik_controller.py) | | | | | | [Batched IK](./examples/tutorials/batched_IK.py) | [Drone](./examples/drone/hover_train.py) | [Advanced: worm](./examples/tutorials/advanced_worm.py) | | | | | ## Quick Installation ### Using pip Install **PyTorch** first following the [official instructions](https://pytorch.org/get-started/locally/). Then, install Genesis via PyPI: pip install genesis-world # Requires Python>=3.10,<3.14; For the latest version to date, make sure that `pip` is up-to-date via `pip install --upgrade pip`, then run command: pip install git+https://github.com/Genesis-Embodied-AI/genesis-world.git Note that the package must still be updated manually to sync with main branch. Users seeking to contribute are encouraged to install Genesis in editable mode. First, make sure that `genesis-world` has been uninstalled, then clone the repository and install locally: git clone https://github.com/Genesis-Embodied-AI/genesis-world.git cd genesis-world pip install -e ".[dev]" It is recommended to systematically execute `pip install -e ".[dev]"` after moving HEAD to make sure that all dependencies and entrypoints are up-to-date. ### Optional extras | | | |---|---| | IPC solver (uipc backend) | `pip install pyuipc` *(Linux / Windows x86, NVIDIA GPU)* | | Nyx renderer | `pip install gs-nyx` — see [genesis-nyx](https://github.com/Genesis-Embodied-AI/genesis-nyx) | Quadrants is bundled with Genesis automatically; no extra install. The standalone wheel (`pip install quadrants`) is documented at [Quadrants](https://github.com/Genesis-Embodied-AI/quadrants) for users who want the compiler outside Genesis. ### Using uv [uv](https://docs.astral.sh/uv/) is a fast Python package and project manager. **Install uv:** # On macOS and Linux curl -LsSf https://astral.sh/uv/install.sh | sh # On Windows powershell -ExecutionPolicy ByPass -c "irm https://astral.sh/uv/install.ps1 | iex" **Quick start with uv:** git clone https://github.com/Genesis-Embodied-AI/genesis-world.git cd genesis-world uv sync Then install PyTorch for your platform: # NVIDIA GPU (CUDA 12.6 as an example) uv pip install torch --index-url https://download.pytorch.org/whl/cu126 # CPU only (Linux/Windows) uv pip install torch --index-url https://download.pytorch.org/whl/cpu # Apple Silicon (Metal/MPS) uv pip install torch Run an example: uv run examples/rigid/single_franka.py ## Docker If you want to use Genesis from Docker, you can first build the Docker image as: docker build -t genesis -f docker/Dockerfile docker Then you can run the examples inside the docker image (mounted to `/workspace/examples`): xhost +local:root # Allow the container to access the display docker run --gpus all --rm -it \ -e DISPLAY=$DISPLAY \ -e LOCAL_USER_ID="$(id -u)" \ -v /dev/dri:/dev/dri \ -v /tmp/.X11-unix/:/tmp/.X11-unix \ -v $(pwd):/workspace \ --name genesis genesis:latest ### AMD users AMD users can use Genesis using the `docker/Dockerfile.amdgpu` file, which is built by running: docker build -t genesis-amd -f docker/Dockerfile.amdgpu docker and can then be used by running: docker run -it --network=host \ --device=/dev/kfd \ --device=/dev/dri \ --group-add=video \ --ipc=host \ --cap-add=SYS_PTRACE \ --security-opt seccomp=unconfined \ --shm-size 8G \ -v $PWD:/workspace \ -e DISPLAY=$DISPLAY \ genesis-amd The examples will be accessible from `/workspace/examples`. Note: AMD users should use the ROCm (HIP) backend. This means you will need to call `gs.init(backend=gs.amdgpu)` to initialise Genesis. ## License and Acknowledgments The Genesis source code is licensed under Apache 2.0. Genesis's development has been made possible thanks to these open-source projects: ## Citation If you use Genesis in your research, please consider citing: @article{ genesis2026genesisworld, author = {Genesis AI Team}, title = {The Role of Simulation in Scalable Robotics, Genesis World 1.0, and the Path Forward}, journal = {Genesis AI Blog}, month = {May}, year = {2026}, url = {https://www.genesis.ai/blog/the-role-of-simulation-in-scalable-robotics-genesis-world-10-and-the-path-forward}, } @misc{ Genesis, author = {Genesis Authors}, title = {Genesis: A Generative and Universal Physics Engine for Robotics and Beyond}, month = {December}, year = {2024}, url = {https://github.com/Genesis-Embodied-AI/genesis-world} }