Genesis#

_images/teaser.png

GitHub Repo stars PyPI version Website Discord

What is Genesis?#

Genesis is a physics platform designed for general purpose Robotics/Embodied AI/Physical AI applications. It is simultaneously multiple things:

  1. A universal physics engine re-built from the ground up, capable of simulating a wide range of materials and physical phenomena.

  2. A lightweight, ultra-fast, pythonic, and user-friendly robotics simulation platform.

  3. A powerful and fast photo-realistic rendering system.

  4. A generative data engine that transforms user-prompted natural language description into various modalities of data.

Powered by a universal physics engine re-designed and re-built from the ground up, Genesis integrates various physics solvers and their coupling into a unified framework. This core physics engine is further enhanced by a generative agent framework that operates at an upper level, aiming towards fully automated data generation for robotics and beyond. Currently, we are open-sourcing the underlying physics engine and the simulation platform. The generative framework will be released in the near future.

Genesis is built and will continuously evolve with the following long-term missions:

  1. Lowering the barrier to using physics simulations and making robotics research accessible to everyone. (See our commitment)

  2. Unifying a wide spectrum of state-of-the-art physics solvers into a single framework, allowing re-creating the whole physical world in a virtual realm with the highest possible physical, visual and sensory fidelity, using the most advanced simulation techniques.

  3. Minimizing human effort in collecting and generating data for robotics and other domains, letting the data flywheel spin on its own.

Key Features#

Compared to prior simulation platforms, here we highlight several key features of Genesis:

  • 🐍 100% Python, both front-end interface and back-end physics engine, all natively developed in python.

  • 👶 Effortless installation and extremely simple and user-friendly API design.

  • 🚀 Parallelized simulation with unprecedented speed: Genesis is the world’s fastest physics engine, delivering simulation speeds up to 10~80x (yes, this is a bit sci-fi) faster than existing GPU-accelerated robotic simulators (Isaac Gym/Sim/Lab, Mujoco MJX, etc), without any compromise on simulation accuracy and fidelity.

  • 💥 A unified framework that supports various state-of-the-art physics solvers, modeling a vast range of materials and physical phenomena.

  • 📸 Photo-realistic ray-tracing rendering with optimized performance.

  • 📐 Differentiability: Genesis is designed to be fully compatible with differentiable simulation. Currently, our MPM solver and Tool Solver are differentiable, and differentiability for other solvers will be added soon (starting with rigid-body simulation).

  • ☝🏻 Physically-accurate and differentiable tactile sensor.

  • 🌌 Native support for Generative Simulation, allowing language-prompted data generation of various modalities: interactive scenes, task proposals, rewards, assets, character motions, policies, trajectories, camera motions, (physically-accurate) videos, and more.

Getting Started#

Quick Installation#

Genesis is available via PyPI:

pip install genesis-world

You also need to install PyTorch following the official instructions.

Documentation#

Please refer to our documentation site to for detailed installation steps, tutorials and API references.

Contributing to Genesis#

The goal of the Genesis project is to build a fully transparent, user-friendly ecosystem where contributors from both robotics and computer graphics can come together to collaboratively create a high-efficiency, realistic (both physically and visually) virtual world for robotics research and beyond.

We sincerely welcome any forms of contributions from the community to make the world a better place for robots. From pull requests for new features, bug reports, to even tiny suggestions that will make Genesis API more intuitive, all are wholeheartedly appreciated!

Support#

  • Please use Github Issues for bug reports and feature requests.

  • Please use GitHub Discussions for discussing ideas, and asking questions.

Citation#

If you used Genesis in your research, we would appreciate it if you could cite it. We are still working on a technical report, and before it’s public, you could consider citing:

@software{Genesis,
  author = {Genesis Authors},
  title = {Genesis: A Universal and Generative Physics Engine for Robotics and Beyond},
  month = {December},
  year = {2024},
  url = {https://github.com/Genesis-Embodied-AI/Genesis}
}