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Genesis: A Generative and Universal Physics Engine for Robotics and Beyond

Genesis is an open-source physics simulation platform with massively-parallel GPU acceleration and provisions for generative automation .

As per the project's user guide and GitHub repo , it is designed for robotics & embodied AI by a broad consortium of organizations:

  1. A universal physics engine re-built from the ground up, capable of simulating a wide range of materials and physical phenomena.
  2. A lightweight, ultra-fast, pythonic, and user-friendly robotics simulation platform.
  3. A powerful and fast photo-realistic rendering system.
  4. A generative data engine that transforms user-prompted natural language description into various modalities of data.
"A mobile franka arm throws all the objects on the floor into the basket." "A mobile franka arm re-organizes the books on the table by pushing them..."
Speech Audio, Facial Animation & Emotion Generation for Digital Human "Quadraped locomotion with various base heights (Sim2Real)"

Special thanks to Johnny Núñez Cano for porting Genesis to arm64+CUDA and Jetson, along with the extensive stack to support it.

What you need

  1. One of the following Jetson devices:

    Jetson AGX Orin (64GB) Jetson AGX Orin (32GB)

  2. Running one of the following versions of JetPack :

    JetPack 6 (L4T r36.x)

  3. NVMe SSD highly recommended for storage speed and space

  4. Clone and setup jetson-containers : 

    git clone https://github.com/dusty-nv/jetson-containers
bash jetson-containers/install.sh

  5. Please refer to the upstream project for more resources:

Work in Progress

Development status of the arm64 porting efforts (2/17/25)

Start Container

Currently a container image is available for JetPack 6.1+ and L4T R36.4, built with CUDA 12.8 and PyTorch 2.6: 

jetson-containers run dustynv/genesis:r36.4.0-cu128

To mount your own directories into the container, use the -v or --volume flags: 

jetson-containers run -v /path/on/host:/path/in/container dustynv/genesis:r36.4.0-cu128

Demo Walkthroughs

There are numerous quickstart guides and code examples that come with Genesis and are installed inside the container under /opt/genesis 

jetson-containers run -w /opt/genesis/examples \
  dustynv/genesis:r36.4.0-cu128 \
    python3 elastic_dragon.py --vis

We encourage you to explore these resources and get involved in the efforts, and share results or feedback with the group and upstream maintainers. We'll continue updating this page with progress from porting the remaining dependencies, along with integration of AI & robotics models and related SDKs like ROS and LeRobot .