User Guide

Overview

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

Getting Started

• 👋🏻 Hello, Genesis World
• 📸 Visualization & Rendering
• 🕹️ Control Your Robot
• 🚀 Parallel Simulation
• 🧑‍💻 Interactive GUI & Debugging

Robot Control

• 🦾 Inverse Kinematics & Motion Planning
• 🧗 Advanced and Parallel IK
• 🔒 Constraints
• 🗺️ Path Planning

Physics Simulation

• 🌊 Beyond Rigid Bodies
• 🐛 Soft Robots
• 🧤 Hybrid Entity
• 🚁 Drone Entity
• 🏔️ Terrain Simulation and Generation
• 💧 Particle Emitters

Sensing & Perception

• 🖲️ Sensors
  • Sensor families
• 🌌 Nyx Renderer
  • Example: rendering a Gaussian splat
  • Where to go next
• 📊 Recorders
  • What’s Next

Policy Training

• 🧭 Best Practices
• 🎓 Examples

Assets & Rendering

• 🎨 Surfaces and Textures
• 🌐 Loading USD Scenes
• ⌨️ Viewer Interaction

Configuration & Conventions

• 🗂 Config System
• 📐 Conventions
• 💡 Tips
• 🖥️ Command Line Tools

Advanced Topics

• 🧩 Concepts
  • System Architecture Overview
  • Data Indexing
  • Direct Access to Data Field
• 🤝 Couplers
• 💾 Checkpoints
  • Basic Save/Load
  • State Objects
  • RL Episode Resets
  • Selective Environment Reset
  • State Contents
  • Checkpoint File Format
  • Serialization for Transfer
  • Important Notes
• 🖥️ Multi-GPU Simulation
  • Single GPU Configuration
  • Parallel Environments (Single GPU)
  • Multi-GPU with Multiprocessing
  • Distributed Training (DDP)
  • Environment Variables
  • GPU Selection Patterns
  • Best Practices
  • Device Access
• 🔺 Mesh Processing
  • Loading Meshes
  • Decimation
  • Convex Decomposition
  • Collision Processing
  • Tetrahedralization
  • Mesh Properties
  • Particle Sampling
  • Primitive Meshes
  • Caching
  • Dependencies

Theory & Modelling

• 🎱 Rigid Collision
• 🧮 Non-rigid Coupling
  • 1. Architecture overview
  • 2. Impulse-based collision response
  • 3. Supported solver pairs
• 🫧 Non-rigid Dynamics
  • 1. Eulerian Stable-Fluid Solver (SFSolver)
  • 2. Material Point Method Solver (MPMSolver)
  • 3. Finite Element Method Solver (FEMSolver)
  • 4. Position-Based Dynamics Solver (PBDSolver)
  • 5. Smoothed Particle Hydrodynamics Solver (SPHSolver)
• 🚀 Support Field
  • How It Works
  • Data Layout
  • Advantages
  • Limitations & Future Work
  • API Summary
  • Relation to Collision Pipeline

Extending Genesis

• 📃 Naming and Variables
  • Rigid Solver
  • MPM Solver
  • FEM Solver
  • PBD Solver
  • SPH Solver
• 🔬 Sensors
• ⏱️ Profiling
  • Measuring Quadrants kernel execution time, and checking launch latency
  • Within Quadrants kernels