🧬 Why A New Physics Simulator

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

• 🐍 Pythonic and fully transparent. Genesis is developed and fully open-source in python, making code understanding and contribution way more easier.

• 👶 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. A strong coupling with IPC is developed to support more accurate FEM-simulation.

• 📸 Photo-realistic ray-tracing rendering with optimized performance. We built a high-performance photorealistic renderer Nyx for robotics application.

• 📐 Differentiability: Genesis is designed to be fully compatible with differentiable simulation. We have greatly improved the autodiff infrastructure in Quadrants compiler and manually derive the backpropagation for some complex kernels to improve differentiability.

• ☝🏻 A comprehensive sensor system built into the simulation interface: physically-accurate and differentiable tactile sensors, alongside IMU, lidar, depth camera, contact force, surface distance, and temperature grid sensors — all usable out of the box with parallel and heterogeneous environments. Camera-based rendering (Nyx / Luisa / Pyrender) is also exposed through the same sensor interface.