Genesis Sim

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

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]"

Using uv

Install uv, then:

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

Then install PyTorch for your platform (e.g., CUDA 12.6):

uv pip install torch --index-url https://download.pytorch.org/whl/cu126

Run an example:

uv run examples/rigid/single_franka.py

# Example from README: run a rigid simulation with a Franka robot
# (Assuming you have installed genesis-world and have a script like examples/rigid/single_franka.py)
import genesis as gs

# Initialize Genesis
scene = gs.Scene()

# Add a plane and a Franka robot
plane = scene.add_entity(gs.morphs.Plane())
franka = scene.add_entity(
    gs.morphs.URDF(file='urdf/franka_description/robots/franka.urdf', pos=(0, 0, 0.5))
)

# Build the scene
scene.build()

# Control the robot (e.g., set joint positions)
# ...

# Run simulation for 100 steps
for i in range(100):
    scene.step()

(Note: This is a simplified example; actual usage may vary. See the examples directory for complete scripts.)