User Guide

Overview

• 💡 What is Genesis
• 🧬 Why A New Physics Simulator
• 🛠️ Installation
• 🎯 Genesis Vision & Mission

Getting Started

• 👋🏻 Hello, Genesis
• 📸 Visualization & Rendering
• 🕹️ Control Your Robot
• 🚀 Parallel Simulation
• 🦾 Inverse Kinematics & Motion Planning
• 🧗 Advanced and Parallel IK
• 🌊 Beyond Rigid Bodies
• 🧑‍💻 Interactive Information Access and Debugging
• 🦿 Training Locomotion Policies with RL
• 🚁 Training Drone Hovering Policies with RL
• 🐛 Soft Robots
• 🖥️ Command Line Tools
• 🗂 Config System

Advanced Topics

• 🧩 Concepts
• 📃 Naming and Variables
• 💥 Collision, Contacts & Forces
• 🎱 Collision Representations
• 💠 Sparse Computation
• 🪐 Differentiable Simulation
• 🧮 Solvers & Coupling