tools
Genesis
Genesis World is an open-source Python simulation platform for robotics, embodied AI, physics, rendering, and data generation.
Genesis World provides a Python interface for building robotics environments, machine-learning pipelines, data-generation workflows, and agentic simulations. It includes multi-physics solvers, sensors, controllers, parallel environments, rendering, and a built-in GUI.
It supports asset formats including URDF, MJCF, OBJ, GLB, and USD, and compiles kernels for CUDA, AMD ROCm, Apple Metal, Vulkan, x86, and ARM64. The software is Apache-2.0 licensed; optional IPC and Nyx components require separate installations.
Features
- Unified rigid, FEM, MPM, particle, uipc, and SAP physics solvers
- Python simulation interface with controllers, sensors, entities, and GUI
- Asset parsing for URDF, MJCF, OBJ, GLB, USD, and other formats
- Camera rendering through Nyx, Luisa, and Pyrender
- Parallel and heterogeneous simulation environments
- Compilation to CUDA, AMD ROCm, Apple Metal, Vulkan, x86, and ARM64
- Apache-2.0 open-source license
Use cases
- Build robotics environments for reinforcement-learning experiments
- Generate simulated training data for embodied-AI systems
- Test robot controllers, inverse kinematics, and sensor pipelines
- Simulate rigid, soft-body, fluid, cloth, and particle interactions
- Render camera, lidar, depth, IMU, tactile, and contact-force observations