genesis-world README

The project's README from github.com/Genesis-Embodied-AI/genesis-world. As one markdown file: README.md.

Genesis World teaser

Genesis World

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Genesis World is a simulation platform for physical AI developments. It combines a unified multi-physics engine, a photo-realistic renderer (Nyx), and a cross-platform compiler (Quadrants) behind a Pythonic simulation interface. Genesis World is designed to scale from a single laptop kernel to datacenter-grade GPUs, while remaining easy to read, extend, and embed in research code.

It was previously named Genesis and started as an academic project since Dec 2024, and its development is now officially supported by Genesis AI.

For more technical details, refer to our blog post.

Table of Contents

  1. What is Genesis World?
  2. Catalogue
  3. Quick Installation
  4. Contribution
  5. Support
  6. License and Acknowledgments
  7. Citation

What is Genesis World?

Genesis World stack

Genesis World occupies the four layers inside the dashed box. Above sits whatever you build (robotics environments, ML pipelines, data generation, agentic simulation); below sits whatever compute backend you have.

Documentation

Catalogue

Three sections, mirroring the Genesis layers that ship runnable demos: Physics (solvers and multi-solver coupling), Rendering (in-repo camera setups plus the Nyx walkthroughs hosted in genesis-nyx), and Simulation Interface (sensors, GUI, controllers, parallel/heterogeneous envs, and tutorials). Most scripts run end-to-end after pip install -e ".[dev]"; demos that depend on optional backends (e.g. the IPC and Nyx examples) need the extras listed in Optional extras.

Physics
Rigid: franka cube Rigid: collision tower Rigid: contype
FEM: hard & soft constraint MPM: tutorial MPM: sand wheel
SPH: rigid SPH: + MPM PBD: liquid
PBD: cloth Stable Fluid: smoke IPC: robot cloth teleop
Coupler: cloth on rigid Coupler: rigid + MPM Coupler: cut dragon
Coupler: water wheel Coupler: flush cubes SAP: Franka grasp rigid cube
Rigid: contact patch

Rendering

Genesis exposes three rendering paths as camera sensors: built-in (Nyx / Luisa / Pyrender) and detailed Nyx walkthroughs hosted in genesis-nyx.
Follow entity Animated camera Nyx: hello
Nyx: attached camera Nyx: PBR materials Nyx: light types
Nyx: 3D Gaussian splat Nyx: object picking Nyx: multi-cam multi-env

Simulation Interface
Controlling a robot GUI: ImGui joint control Heterogeneous envs
Domain randomization Sensor: depth camera Sensor: IMU
Sensor: lidar Sensor: tactile sandbox Sensor: contact force
Sensor: surface distance Sensor: temperature grid GUI: debug drawing
GUI: mesh point picker GUI: mouse interaction Diff-IK controller
Batched IK Drone Advanced: worm

Quick Installation

Using pip

Install PyTorch first following the official instructions.

Then, install Genesis via PyPI:

pip install genesis-world  # Requires Python>=3.10,<3.14;

For the latest version to date, make sure that pip is up-to-date via pip install --upgrade pip, then run command:

pip install git+https://github.com/Genesis-Embodied-AI/genesis-world.git

Note that the package must still be updated manually to sync with main branch.

Users seeking to contribute are encouraged to install Genesis in editable mode. First, make sure that genesis-world has been uninstalled, then clone the repository and install locally:

git clone https://github.com/Genesis-Embodied-AI/genesis-world.git
cd genesis-world
pip install -e ".[dev]"

It is recommended to systematically execute pip install -e ".[dev]" after moving HEAD to make sure that all dependencies and entrypoints are up-to-date.

Optional extras
IPC solver (uipc backend) pip install pyuipc (Linux / Windows x86, NVIDIA GPU)
Nyx renderer pip install gs-nyx — see genesis-nyx

Quadrants is bundled with Genesis automatically; no extra install. The standalone wheel (pip install quadrants) is documented at Quadrants for users who want the compiler outside Genesis.

Using uv

uv is a fast Python package and project manager.

Install uv:

# On macOS and Linux
curl -LsSf https://astral.sh/uv/install.sh | sh

# On Windows
powershell -ExecutionPolicy ByPass -c "irm https://astral.sh/uv/install.ps1 | iex"

Quick start with uv:

git clone https://github.com/Genesis-Embodied-AI/genesis-world.git
cd genesis-world
uv sync

Then install PyTorch for your platform:

# NVIDIA GPU (CUDA 12.6 as an example)
uv pip install torch --index-url https://download.pytorch.org/whl/cu126

# CPU only (Linux/Windows)
uv pip install torch --index-url https://download.pytorch.org/whl/cpu

# Apple Silicon (Metal/MPS)
uv pip install torch

Run an example:

uv run examples/rigid/single_franka.py

Contributing to Genesis

The Genesis project is an open and collaborative effort. We welcome all forms of contributions from the community, including:

Refer to our contribution guide for more details.

Support

License and Acknowledgments

The Genesis source code is licensed under Apache 2.0.

Genesis's development has been made possible thanks to these open-source projects:

Citation

If you use Genesis in your research, please consider citing:

@article{
   genesis2026genesisworld,
   author = {Genesis AI Team},
   title = {The Role of Simulation in Scalable Robotics, Genesis World 1.0, and the Path Forward},
   journal = {Genesis AI Blog},
   month = {May},
   year = {2026},
   url = {https://www.genesis.ai/blog/the-role-of-simulation-in-scalable-robotics-genesis-world-10-and-the-path-forward},
}

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

genesis-world (Genesis-Embodied-AI/genesis-world)

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30.1K ·GitHub
Genesis-world
What is this?It's a simulation platform for general-purpose robotics and embodied AI learning: a multi-physics engine, a photorealistic renderer (Nyx) and a cross-platform compiler (Quadrants) behind one Python API.
Is this a desktop app I launch, or a library I code against?You code against it — a Pythonic simulation API you import into your own scripts, with a built-in GUI for inspecting scenes. It's designed to be read, extended and embedded in research code.
Do I need anything besides Python to run it?PyTorch is the main prerequisite. There are two optional extras: pyuipc for the IPC solver (Linux/Windows x86 with an NVIDIA GPU) and gs-nyx for the Nyx renderer. The Quadrants compiler comes bundled automatically.
Does everything in the demo catalogue work right after a basic install?Most scripts run end-to-end after installing, but demos relying on optional backends like IPC and Nyx need those extras installed separately. The pip package also has to be updated manually to sync with the main branch.
What hardware can it run on — do I need an NVIDIA card?No: the compiler targets CUDA, AMD ROCm, Apple Metal and Vulkan, plus plain x86 and ARM64 CPUs, and the platform scales from a single laptop kernel up to datacenter-grade GPUs.
Which robot sensors and controllers are built in?Sensors cover depth camera, IMU, lidar, tactile, contact force, surface distance and a temperature grid. For control there are Diff-IK and batched IK controllers, plus domain randomization and parallel or heterogeneous environments.
What asset formats can it load?Its simulation interface parses URDF, MJCF, OBJ, GLB, USD and more.
Why is it called Genesis World?It was previously named Genesis; it started as an academic project in December 2024 and its development is now officially supported by Genesis AI.
What are similar projects?bullet3, jumper, FluxVLA, AirSim, project_superdex, lerobot, carla, GR00T-WholeBodyControl
Which topics is it in?simulator, physics-engine, physics-simulation, embodied-ai, scientific-computing, robotics, simulation, reinforcement-learning, cuda, pytorch, deep-learning, framework
Creator
Genesis-Embodied-AI
Size
136.3 MB
Stars
30.1K
Updated
CommitOct 16Releasev1.4.4Oct 11
Age
2y
Commits · 90 Days