User Guide

Overview

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

Getting Started

• 👋🏻 Hello, Genesis
• 📐 Conventions
• 📸 Visualization & Rendering
• 🕹️ Control Your Robot
• 🚀 Parallel Simulation
• 🦾 Inverse Kinematics & Motion Planning
• 🧗 Advanced and Parallel IK
• 🌊 Beyond Rigid Bodies
• 🖲️ Sensors
• 📷 Camera Sensors
• 📡 Raycaster Patterns
• 🎬 Batch Renderer
• 🎥 Saving and Visualizing Data with Recorders
• 🧑‍💻 Interactive Information Access and Debugging
• 🦿 Training Locomotion Policies with RL
• 🚁 Training Drone Hovering Policies with RL
• 🚁 Drone Entity
• ✍️ Manipulation with Two-Stage Training
• 🔒 Constraints
• 🗺️ Path Planning
• 🏔️ Terrain Simulation and Generation
• 🐛 Soft Robots
• 🔗 Hybrid Entity
• 💧 Particle Emitters
• 🎨 Surfaces and Textures
• 📦 Loading USD Scenes
• 🎲 Domain Randomization
• 💡 Tips
• 🖥️ Command Line Tools
• 🗂 Config System

Advanced Topics

• 🧩 Concepts
• 📃 Naming and Variables
• 💥 Rigid Collision Detection
• 🧮 Non-rigid Coupling
• ⚡ IPC Coupler
• 🔧 SAP Coupler
• 🔗 Rigid Collision Resolution
• 🧩 Non-rigid Dynamics
• 🚀 Support Field
• 💾 Checkpoints
• 🔺 Mesh Processing
• 🖥️ Multi-GPU Simulation