repo stringclasses 454
values | file_path stringlengths 5 201 | extension stringclasses 1
value | content stringlengths 8 509k | num_lines int64 3 16.9k | size_bytes int64 8 511k |
|---|---|---|---|---|---|
genesis-world | tests/benchmarks/test_rigid.py | .py | import math
import os
import time
from collections import namedtuple
from pathlib import Path
from typing import Any
import numpy as np
import pytest
import torch
import genesis as gs
from ..utils.assets import get_git_commit_timestamp, get_hf_dataset
from ..utils.misc import pprint_oneline
STEP_DT = 0.01
DURATION_... | 1,116 | 39,721 |
genesis-world | tests/core/test_backend.py | .py | import os
import pathlib
import signal
import subprocess
import sys
import time
import numpy as np
import pytest
import quadrants as qd
import genesis as gs
RET_SUCCESS = 42
RET_SKIP = 43
FILE_PATH = pathlib.Path(__file__)
MODULE_ROOT_DIR = FILE_PATH.parents[2]
MODULE = ".".join((FILE_PATH.parents[1].name, FILE_PAT... | 155 | 5,038 |
genesis-world | tests/core/test_misc.py | .py | """Tests for the entity naming system."""
import os
import xml.etree.ElementTree as ET
import numpy as np
import pytest
import torch
import trimesh
import quadrants as qd
import genesis as gs
import genesis.utils.geom as gu
import genesis.utils.point_cloud as pc
from genesis.utils.misc import sanitize_index, tensor... | 596 | 23,843 |
genesis-world | tests/core/test_quadrants.py | .py | import argparse
import gc
import os
import pathlib
import subprocess
import sys
import pytest
import numpy as np
import genesis as gs
from genesis.utils.misc import qd_to_torch
from ..utils.assertions import assert_allclose
RET_SUCCESS = 42
RET_SKIP = 43
FILE_PATH = pathlib.Path(__file__)
MODULE_ROOT_DIR = FILE_P... | 408 | 14,223 |
genesis-world | tests/core/test_bvh.py | .py | import numpy as np
import pytest
import genesis as gs
from genesis.engine.bvh import LBVH, AABB
from ..utils.assertions import assert_allclose
@pytest.fixture(scope="function")
def lbvh(n_aabbs, n_batches):
"""Fixture for a LBVH tree"""
aabb = AABB(n_batches=n_batches, n_aabbs=n_aabbs)
aabbs_min = np.ra... | 158 | 5,917 |
genesis-world | tests/core/test_recorders.py | .py | import csv
import numpy as np
import pytest
import av
import genesis as gs
from genesis.utils.image_exporter import as_grayscale_image
from ..utils.assertions import assert_allclose, rgb_array_to_png_bytes
@pytest.fixture
def mpl_agg_backend():
import matplotlib as mpl
import matplotlib.pyplot as plt
... | 296 | 9,652 |
genesis-world | tests/core/test_surface.py | .py | import numpy as np
import pytest
import trimesh
from pydantic import BaseModel
import genesis as gs
import genesis.utils.mesh as mu
from genesis.options.surfaces import Surface
from genesis.options.textures import ColorTexture
from ..utils.assertions import assert_equal
@pytest.mark.required
def test_surface_shortc... | 100 | 5,155 |
genesis-world | tests/core/test_utils.py | .py | import math
from functools import partial
from unittest.mock import patch
import igl
import pytest
import torch
import trimesh
import numpy as np
from scipy.linalg import polar as scipy_polar
from scipy.spatial.transform import Rotation as R, Slerp
import genesis as gs
import genesis.utils.geom as gu
from genesis.uti... | 976 | 46,537 |
genesis-world | tests/deformable/test_muscle.py | .py | import numpy as np
import pytest
import genesis as gs
from genesis.utils.misc import tensor_to_array
# This test cannot be flagged as required because it takes 500s + 250s to run on CPU.
# @pytest.mark.required
@pytest.mark.slow("cpu") # cpu ~500s
@pytest.mark.parametrize("n_envs", [0, 2])
@pytest.mark.parametrize(... | 100 | 3,193 |
genesis-world | tests/deformable/test_fem.py | .py | import math
import igl
import numpy as np
import pytest
import torch
import genesis as gs
from genesis.utils.misc import tensor_to_array
from ..utils.assertions import assert_allclose
from ..utils.assets import get_hf_dataset
@pytest.mark.required
def test_interior_tetrahedralized_vertex(cube_verts_and_faces, box_... | 645 | 23,941 |
genesis-world | tests/utils/misc.py | .py | import numbers
from enum import Enum
import numpy as np
def pprint_oneline(data, delimiter, digits=None):
msg_items = []
for key, value in data.items():
if isinstance(value, Enum):
value = value.name
if digits is not None and isinstance(value, (numbers.Real, np.floating)):
... | 17 | 474 |
genesis-world | tests/utils/assets.py | .py | import os
import re
import subprocess
import time
import uuid
import xml.etree.ElementTree as ET
from datetime import datetime
from functools import cache
from pathlib import Path
from httpcore import TimeoutException as HTTPTimeoutException
from httpx import HTTPError as HTTPXError
from huggingface_hub import snapsho... | 171 | 5,930 |
genesis-world | tests/utils/collision.py | .py | import json
import tempfile
import webbrowser
from pathlib import Path
from typing import NamedTuple
import igl
import numpy as np
from genesis.utils.misc import tensor_to_array
class Crossing(NamedTuple):
"""A genuinely-interpenetrating pair of links among those passed to `get_genuine_interpenetration`."""
... | 395 | 24,119 |
genesis-world | tests/utils/simulators.py | .py | import os
from dataclasses import dataclass
import mujoco
import numpy as np
import genesis as gs
from genesis.utils import mjcf as mju
from genesis.utils.mesh import get_assets_dir
from .assets import get_hf_dataset
@dataclass
class MjSim:
model: mujoco.MjModel
data: mujoco.MjData
def build_mujoco_sim(
... | 189 | 6,996 |
genesis-world | tests/utils/mujoco_parity.py | .py | from itertools import chain
from typing import Literal, Sequence
import mujoco
import numpy as np
import pytest
import genesis as gs
import genesis.utils.geom as gu
from .assertions import assert_allclose
def _gs_search_by_joints_name(
scene,
joints_name: str | list[str],
to: Literal["entity", "index"]... | 885 | 45,401 |
genesis-world | tests/utils/assertions.py | .py | import base64
import io
from types import GeneratorType
import numpy as np
import torch
from PIL import Image
from genesis.utils.misc import tensor_to_array
IMG_STD_ERR_THR = 1.0
IMG_NUM_ERR_THR = 0.001
IMG_BLUR_KERNEL_SIZE = 1 # Size of the blur kernel (must be odd)
def assert_allclose(actual, desired, *, atol=N... | 124 | 5,019 |
genesis-world | tests/rendering/test_debug_draw.py | .py | import os
import sys
import numpy as np
import pytest
import genesis as gs
import genesis.utils.geom as gu
from ..conftest import IS_INTERACTIVE_VIEWER_AVAILABLE, SKIP_NO_VIEWER
from ..utils.assertions import assert_allclose, rgb_array_to_png_bytes
from .conftest import RENDERER_TYPE
@pytest.mark.required
@pytest.... | 277 | 9,253 |
genesis-world | tests/rendering/test_interactive_viewer.py | .py | import re
import sys
import threading
import time
import numpy as np
import OpenGL.error
import pytest
import genesis as gs
from genesis.options.sensors import RasterizerCameraOptions
from genesis.utils.misc import tensor_to_array
from genesis.vis.keybindings import Key, KeyAction, Keybind, KeyMod, MouseButton
from ... | 802 | 31,325 |
genesis-world | tests/rendering/test_offscreen.py | .py | import itertools
import sys
import numpy as np
import pytest
import torch
import av
import genesis as gs
import genesis.utils.geom as gu
from genesis.options.sensors import RasterizerCameraOptions
from genesis.utils import set_random_seed
from genesis.utils.image_exporter import FrameImageExporter, as_grayscale_imag... | 1,732 | 67,598 |
genesis-world | tests/rendering/test_dynamic_meshes.py | .py | import os
import sys
import numpy as np
import pytest
import trimesh
import genesis as gs
from genesis.utils.misc import qd_to_numpy, tensor_to_array
from ..conftest import IS_INTERACTIVE_VIEWER_AVAILABLE, SKIP_NO_VIEWER
from ..utils.assertions import assert_allclose, assert_equal, rgb_array_to_png_bytes
from ..util... | 458 | 16,941 |
genesis-world | tests/rendering/test_batch_render.py | .py | import pytest
import genesis as gs
from ..utils.assertions import rgb_array_to_png_bytes
from .conftest import RENDERER_TYPE
def _batch_render_scene(
show_viewer,
renderer,
png_snapshot,
use_batch_texture=False,
use_fisheye_camera=False,
use_directional_light=False,
n_envs=2,
):
CAM_... | 94 | 2,789 |
genesis-world | tests/rendering/test_imgui_overlay.py | .py | """Screenshot integration test for ImGuiOverlayPlugin."""
import os
import sys
import numpy as np
import pytest
import genesis as gs
from genesis.ext.pyrender.overlay import ImGuiOverlayPlugin
from ..conftest import IS_INTERACTIVE_VIEWER_AVAILABLE, SKIP_NO_IMGUI_BUNDLE, is_imgui_bundle_supported
from ..utils.assert... | 391 | 18,830 |
genesis-world | tests/rendering/conftest.py | .py | import enum
import numpy as np
import pytest
import trimesh
from PIL import Image
import genesis as gs
from ..conftest import SKIP_NO_LUISA, SKIP_NO_MADRONA
class RENDERER_TYPE(enum.IntEnum):
RASTERIZER = 0
RAYTRACER = 1
BATCHRENDER_RASTERIZER = 2
BATCHRENDER_RAYTRACER = 3
@pytest.fixture(scope="... | 90 | 3,244 |
genesis-world | examples/sensors/tactile_sandbox.py | .py | """
Interactive demo of tactile sensors on a fixed taxel pad (box or dome) with controllable objects.
Sensor types: ContactDepthProbe, ContactProbe, ElastomerTaxel, KinematicTaxel, ProximityTaxel.
Note that the sensor readings here have not been calibrated to any units, and is purely for visualization purposes.
"""
i... | 500 | 18,576 |
genesis-world | examples/sensors/surface_distance_shadowhand.py | .py | """
Interactive SurfaceDistanceProbe demo with Shadow Hand and keyboard teleop.
Surface distance probes on the hand measure distance to a rubber duck (mesh) and a box.
Use keyboard controls to move the hand via IK; the hand tracks target positions
for the wrist and fingertips.
"""
import argparse
import os
import nu... | 182 | 5,808 |
genesis-world | examples/sensors/contact_force_go2.py | .py | import argparse
import os
from tqdm import tqdm
import genesis as gs
from genesis.recorders.plotters import IS_MATPLOTLIB_AVAILABLE, IS_PYQTGRAPH_AVAILABLE
def main():
parser = argparse.ArgumentParser()
parser.add_argument("--dt", type=float, default=0.01, help="Simulation time step")
parser.add_argumen... | 100 | 3,233 |
genesis-world | examples/sensors/camera_as_sensor.py | .py | """
Example demonstrating camera sensors with different rendering backends.
Creating cameras as sensors using add_sensor() with three backends
Rasterizer, Raytracer and BatchRenderer.
Test the attachment, add light, batch rendering functionalities.
"""
import os
import matplotlib.pyplot as plt
import numpy as np
impo... | 267 | 8,195 |
genesis-world | examples/sensors/imu_franka.py | .py | import argparse
import os
import numpy as np
from tqdm import tqdm
import genesis as gs
from genesis.recorders.plotters import IS_MATPLOTLIB_AVAILABLE, IS_PYQTGRAPH_AVAILABLE
def main():
parser = argparse.ArgumentParser()
parser.add_argument("--dt", type=float, default=1e-2, help="Simulation time step")
... | 142 | 4,772 |
genesis-world | examples/sensors/joint_torque_franka.py | .py | """
Joint torque sensing on a Franka Emika Panda using the JointTorqueSensor.
The sensor measures the generalized effort at each actuator output shaft:
actuator_force = tau_control - armature * qacc + tau_frictionloss + tau_damping
In free space the reading is approximately the gravity + Coriolis load; when the ... | 138 | 4,757 |
genesis-world | examples/sensors/depth_camera_custom_vverts.py | .py | """Depth cameras attached to rigid and kinematic links, with per-frame set_vverts on a deforming sphere."""
import argparse
from pathlib import Path
import numpy as np
import torch
import trimesh
import genesis as gs
from genesis.utils.image_exporter import FrameImageExporter
from genesis.utils.misc import tensor_to... | 206 | 7,475 |
genesis-world | examples/sensors/tactile_franka.py | .py | """
Interactive demo of tactile sensors attached to Franka Panda grippers and matplotlib visualization.
Sensor types: ContactDepthProbe, ContactProbe, ElastomerTaxel, KinematicTaxel, ProximityTaxel.
Note that the sensor readings here have not been calibrated to any units, and is purely for visualization purposes.
"""
... | 400 | 14,522 |
genesis-world | examples/sensors/lidar_teleop.py | .py | import argparse
import os
import numpy as np
import genesis as gs
from genesis.utils.geom import euler_to_quat
from genesis.vis.keybindings import Key, KeyAction, Keybind
# Position and angle increments for keyboard teleop control
KEY_DPOS = 0.1
KEY_DANGLE = 0.1
# Number of obstacles to create in a ring around the ... | 192 | 6,733 |
genesis-world | examples/sensors/temperature_grid.py | .py | """
Interactive TemperatureGrid sensor visualization with keyboard teleop.
A platform has a temperature grid sensor on its top surface. Move a "hot" pusher
and drop objects onto the platform; the grid shows temperature (blue=cool, red=hot)
from contact-based blending of each body's base_temperature and conductivity.
"... | 253 | 8,616 |
genesis-world | examples/fluid/smoke.py | .py | import argparse
import math
import os
from pathlib import Path
import numpy as np
import quadrants as qd
import cv2
import genesis as gs
from genesis.utils.misc import qd_to_numpy
@qd.data_oriented
class Jet(object):
def __init__(
self,
world_center,
jet_radius,
orbit_radius,
... | 144 | 4,339 |
genesis-world | examples/speed_benchmark/anymal_c.py | .py | import numpy as np
import genesis as gs
# The benchmark measures throughput at 30000 parallel environments, which needs a GPU.
gs.init(backend=gs.gpu, performance_mode=True)
scene = gs.Scene(
show_viewer=False,
rigid_options=gs.options.RigidOptions(
dt=0.01,
constraint_solver=gs.constraint_s... | 51 | 1,009 |
genesis-world | examples/speed_benchmark/timers.py | .py | import argparse
import os
from contextlib import nullcontext
os.environ["CUBLAS_WORKSPACE_CONFIG"] = ":4096:8"
import plotext as plt
import torch
import genesis as gs
from genesis.utils.misc import qd_to_torch
torch.use_deterministic_algorithms(True)
torch.backends.cudnn.deterministic = True
torch.backends.cudnn.be... | 108 | 3,765 |
genesis-world | examples/speed_benchmark/franka.py | .py | import torch
import genesis as gs
# The benchmark measures throughput at 30000 parallel environments, which needs a GPU.
gs.init(backend=gs.gpu, performance_mode=True)
scene = gs.Scene(
rigid_options=gs.options.RigidOptions(
dt=0.01,
),
viewer_options=gs.options.ViewerOptions(
camera_pos=... | 43 | 1,003 |
genesis-world | examples/drone/fly.py | .py | import argparse
import numpy as np
import genesis as gs
def main():
parser = argparse.ArgumentParser()
parser.add_argument("-v", "--vis", action="store_true", help="Show visualization GUI")
args = parser.parse_args()
gs.init(backend=gs.cpu)
viewer_options = gs.options.ViewerOptions(
ca... | 207 | 8,006 |
genesis-world | examples/drone/hover_eval.py | .py | import argparse
import os
import pickle
from importlib import metadata
import torch
try:
if int(metadata.version("rsl-rl-lib").split(".")[0]) < 5:
raise ImportError
except (metadata.PackageNotFoundError, ImportError, ValueError) as e:
raise ImportError("Please install 'rsl-rl-lib>=5.0.0'.") from e
fro... | 86 | 2,540 |
genesis-world | examples/drone/hover_train.py | .py | import argparse
import os
import pickle
import shutil
from importlib import metadata
try:
if int(metadata.version("rsl-rl-lib").split(".")[0]) < 5:
raise ImportError
except (metadata.PackageNotFoundError, ImportError) as e:
raise ImportError("Please install 'rsl-rl-lib>=5.0.0'.") from e
from rsl_rl.run... | 167 | 4,793 |
genesis-world | examples/drone/quadcopter_controller.py | .py | from typing import TYPE_CHECKING
import torch
import numpy as np
from genesis.utils.geom import quat_to_xyz
if TYPE_CHECKING:
from genesis.engine.entities.drone_entity import DroneEntity
class PIDController:
def __init__(self, kp, ki, kd):
self.kp = kp
self.ki = ki
self.kd = kd
... | 95 | 3,792 |
genesis-world | examples/drone/fly_route.py | .py | import math
from typing import TYPE_CHECKING
import genesis as gs
from genesis.vis.camera import Camera
from quadcopter_controller import DronePIDController
if TYPE_CHECKING:
from genesis.engine.entities.drone_entity import DroneEntity
base_rpm = 14468.429183500699
min_rpm = 0.9 * base_rpm
max_rpm = 1.5 * base... | 98 | 2,577 |
genesis-world | examples/drone/interactive_drone.py | .py | import os
import numpy as np
import genesis as gs
from genesis.vis.keybindings import Key, KeyAction, Keybind
class DroneController:
def __init__(self):
self.thrust = 14475.8 # Base RPM for constant hover
self.rotation_delta = 100.0 # Differential RPM for rotation
self.thrust_delta = 1... | 138 | 4,198 |
genesis-world | examples/drone/hover_env.py | .py | import torch
import math
import copy
from tensordict import TensorDict
import genesis as gs
from genesis.utils.geom import (
quat_to_xyz,
transform_by_quat,
inv_quat,
transform_quat_by_quat,
)
def gs_rand_float(lower, upper, shape, device):
return (upper - lower) * torch.rand(size=shape, device=d... | 266 | 10,922 |
genesis-world | examples/manipulation/behavior_cloning.py | .py | import os
import time
from collections import deque
from collections.abc import Iterator
import numpy as np
import torch
import torch.nn as nn
import torch.nn.functional as F
from torch.utils.tensorboard import SummaryWriter
class BehaviorCloning:
"""Multi-task behavior cloning with action prediction and object ... | 403 | 16,480 |
genesis-world | examples/manipulation/grasp_env.py | .py | import math
from functools import partial
from typing import Literal
import torch
from tensordict import TensorDict
import genesis as gs
from genesis.options.sensors import BatchRendererCameraOptions, RasterizerCameraOptions
from genesis.vis.camera import Camera
from genesis.utils.geom import (
xyz_to_quat,
t... | 558 | 22,104 |
genesis-world | examples/manipulation/grasp_train.py | .py | import argparse
import re
import pickle
from importlib import metadata
from pathlib import Path
try:
if int(metadata.version("rsl-rl-lib").split(".")[0]) < 5:
raise ImportError
except (metadata.PackageNotFoundError, ImportError) as e:
raise ImportError("Please install 'rsl-rl-lib>=5.0.0'.") from e
fro... | 218 | 7,269 |
genesis-world | examples/manipulation/grasp_eval.py | .py | import argparse
import re
import pickle
from importlib import metadata
from pathlib import Path
import torch
try:
if int(metadata.version("rsl-rl-lib").split(".")[0]) < 5:
raise ImportError
except (metadata.PackageNotFoundError, ImportError, ValueError) as e:
raise ImportError("Please install 'rsl-rl-... | 140 | 4,324 |
genesis-world | examples/usd/kitchen.py | .py | """
Load the Lightwheel Kitchen USD assets in Genesis.
Usage
-----
python examples/usd/kitchen.py # sample assets, headless
python examples/usd/kitchen.py --asset dishwasher
python examples/usd/kitchen.py --vis # interactive viewer (drag with the mouse)
python examples/u... | 156 | 5,581 |
genesis-world | examples/usd/import_stage.py | .py | import argparse
import os
import numpy as np
from huggingface_hub import snapshot_download
import genesis as gs
from genesis.utils.misc import tensor_to_array
import genesis.utils.geom as gu
class JointAnimator:
"""
A simple JointAnimator to animate the joints' positions of the scene.
It uses the sin f... | 94 | 2,704 |
genesis-world | examples/sap_coupling/fem_sphere_and_cube.py | .py | import argparse
import genesis as gs
import os
from huggingface_hub import snapshot_download
def main():
parser = argparse.ArgumentParser()
parser.add_argument(
"-g",
"--gpu",
action="store_true",
help="Run on GPU instead of CPU",
)
parser.add_argument("-v", "--vis", ac... | 73 | 1,863 |
genesis-world | examples/sap_coupling/fem_fixed_constraint.py | .py | import argparse
import math
import os
import torch
import genesis as gs
from huggingface_hub import snapshot_download
def main():
parser = argparse.ArgumentParser()
parser.add_argument(
"-g",
"--gpu",
action="store_true",
help="Run on GPU instead of CPU",
)
parser.add_... | 80 | 2,259 |
genesis-world | examples/sap_coupling/franka_grasp_fem_sphere.py | .py | import argparse
import os
import numpy as np
import genesis as gs
def main():
parser = argparse.ArgumentParser()
parser.add_argument(
"-g",
"--gpu",
action="store_true",
help="Run on GPU instead of CPU",
)
parser.add_argument("-v", "--vis", action="store_true", help="Sh... | 95 | 2,738 |
genesis-world | examples/sap_coupling/franka_grasp_rigid_cube.py | .py | import argparse
import numpy as np
import genesis as gs
def main():
parser = argparse.ArgumentParser()
parser.add_argument(
"-g",
"--gpu",
action="store_true",
help="Run on GPU instead of CPU",
)
parser.add_argument("-v", "--vis", action="store_true", help="Show visuali... | 88 | 2,418 |
genesis-world | examples/coupling/water_wheel.py | .py | import argparse
import os
import numpy as np
import genesis as gs
def main():
parser = argparse.ArgumentParser()
parser.add_argument(
"--solver", type=str, default="sph", choices=("sph", "mpm"), help="Fluid solver to simulate the water with"
)
parser.add_argument("--recon", action="store_tru... | 83 | 2,304 |
genesis-world | examples/coupling/cloth_attached_to_rigid.py | .py | import argparse
import math
import os
import genesis as gs
import genesis.utils.geom as gu
def main():
parser = argparse.ArgumentParser()
parser.add_argument("-v", "--vis", action="store_true", help="Show visualization GUI")
parser.add_argument("-g", "--gpu", action="store_true", help="Run on GPU instea... | 90 | 2,719 |
genesis-world | examples/coupling/cloth_on_rigid.py | .py | import argparse
import os
import genesis as gs
def main():
parser = argparse.ArgumentParser()
parser.add_argument("-v", "--vis", action="store_true", help="Show visualization GUI")
parser.add_argument("-g", "--gpu", action="store_true", help="Run on GPU instead of CPU")
args = parser.parse_args()
... | 76 | 1,840 |
genesis-world | examples/coupling/sand_wheel.py | .py | import argparse
import os
import numpy as np
import genesis as gs
def main():
parser = argparse.ArgumentParser()
parser.add_argument("-v", "--vis", action="store_true", help="Show visualization GUI")
args = parser.parse_args()
gs.init(backend=gs.cpu, precision="32", logging_level="info")
scene... | 121 | 3,046 |
genesis-world | examples/coupling/cut_dragon.py | .py | import os
import argparse
import genesis as gs
def main():
parser = argparse.ArgumentParser()
parser.add_argument("-v", "--vis", action="store_true", help="Show visualization GUI")
args = parser.parse_args()
gs.init(backend=gs.cpu, precision="32", logging_level="info")
scene = gs.Scene(
... | 72 | 1,929 |
genesis-world | examples/coupling/fem_cube_linked_with_arm.py | .py | import os
import argparse
import numpy as np
from tqdm import tqdm
import genesis as gs
def main():
parser = argparse.ArgumentParser()
parser.add_argument("--dt", type=float, default=1e-3, help="Simulation time step")
parser.add_argument("--substeps", type=int, default=1, help="Number of solver substeps... | 136 | 4,601 |
genesis-world | examples/coupling/sph_rigid.py | .py | import argparse
import os
import genesis as gs
def main():
parser = argparse.ArgumentParser()
parser.add_argument("-v", "--vis", action="store_true", help="Show visualization GUI")
args = parser.parse_args()
gs.init(backend=gs.cpu, precision="32", logging_level="info")
scene = gs.Scene(
... | 69 | 1,749 |
genesis-world | examples/coupling/grasp_soft_cube.py | .py | import argparse
import numpy as np
import genesis as gs
def main():
parser = argparse.ArgumentParser()
parser.add_argument("-v", "--vis", action="store_true", help="Show visualization GUI")
args = parser.parse_args()
gs.init(backend=gs.cpu)
scene = gs.Scene(
sim_options=gs.options.SimO... | 105 | 2,753 |
genesis-world | examples/coupling/flush_cubes.py | .py | import os
import argparse
import numpy as np
import genesis as gs
def main():
parser = argparse.ArgumentParser()
parser.add_argument("-v", "--vis", action="store_true", help="Show visualization GUI")
args = parser.parse_args()
gs.init(backend=gs.cpu, precision="32", logging_level="info")
scene =... | 110 | 3,013 |
genesis-world | examples/coupling/sph_mpm.py | .py | import argparse
import os
import genesis as gs
def main():
parser = argparse.ArgumentParser()
parser.add_argument("-v", "--vis", action="store_true", help="Show visualization GUI")
args = parser.parse_args()
gs.init(backend=gs.cpu, precision="32", logging_level="info")
scene = gs.Scene(
... | 74 | 1,941 |
genesis-world | examples/coupling/rigid_mpm_attachment.py | .py | """
MPM to Rigid Link Attachment
Demonstrates attaching MPM particles to rigid links using soft constraints.
"""
import argparse
import os
import torch
import genesis as gs
def main():
parser = argparse.ArgumentParser()
parser.add_argument("-v", "--vis", action="store_true", help="Show visualization GUI")... | 66 | 1,909 |
genesis-world | examples/viewer_plugin/mesh_point_selector.py | .py | import argparse
import csv
import os
from typing import TYPE_CHECKING, NamedTuple
import numpy as np
from typing_extensions import override
import genesis as gs
import genesis.utils.geom as gu
from genesis.utils.misc import tensor_to_array
from genesis.vis.keybindings import Key, KeyAction, Keybind
from genesis.vis.v... | 320 | 10,833 |
genesis-world | examples/viewer_plugin/mouse_interaction.py | .py | import argparse
import math
import os
import genesis as gs
from genesis.vis.keybindings import Key, KeyAction, Keybind
def main():
parser = argparse.ArgumentParser(description="Mouse interaction viewer plugin example.")
parser.add_argument("--use-force", action="store_true", help="Apply spring forces instead... | 104 | 2,770 |
genesis-world | examples/viewer_plugin/keyboard_teleop.py | .py | """
Keyboard Controls:
Up - Move Forward (North)
Down - Move Backward (South)
Left - Move Left (West)
Right - Move Right (East)
n - Move Up
m - Move Down
j - Rotate Counterclockwise
k - Rotate Clockwise
u - Reset Scene
space - Press to close gripper, release to open gripper
esc - Quit
Plus all default viewer controls ... | 171 | 5,638 |
genesis-world | examples/gui/imgui_joint_control.py | .py | """Interactive joint control example using ImGui overlay.
Demonstrates:
- Simulation controls (play/pause/step/reset)
- Entity browser with joint sliders
- Visualization toggles
- Camera controls
- Custom user panels via register_panel()
- Scene rebuild (add entities, change scale)
"""
import os
import genesis as gs... | 70 | 1,864 |
genesis-world | examples/tutorials/pbd_cloth.py | .py | import os
import genesis as gs
gs.init(backend=gs.cpu)
scene = gs.Scene(
sim_options=gs.options.SimOptions(
dt=4e-3,
substeps=10,
),
viewer_options=gs.options.ViewerOptions(
camera_fov=30,
res=(1280, 720),
),
show_viewer=True,
)
plane = scene.add_entity(
morp... | 63 | 1,424 |
genesis-world | examples/tutorials/advanced_hybrid_robot.py | .py | import os
import numpy as np
import genesis as gs
gs.init(backend=gs.cpu, precision="32", logging_level="info")
scene = gs.Scene(
sim_options=gs.options.SimOptions(
dt=3e-3,
substeps=10,
),
rigid_options=gs.options.RigidOptions(
gravity=(0, 0, -9.8),
enable_collision=True... | 83 | 2,210 |
genesis-world | examples/tutorials/advanced_IK_multilink.py | .py | import os
import numpy as np
import genesis as gs
import genesis.utils.geom as gu
gs.init(backend=gs.cpu, precision="32", logging_level="info")
scene = gs.Scene(
viewer_options=gs.options.ViewerOptions(
camera_pos=(2.0, -2, 1.5),
camera_lookat=(0.0, 0.0, 0.0),
camera_fov=40,
),
rig... | 75 | 2,219 |
genesis-world | examples/tutorials/position_control_comparison.py | .py | # This example compares the position control accuracy between 'control_dofs_position' and
# 'control_dofs_position_velocity' when tracking a dynamic trajectory.
# While both are equivalent in static, the former lacks the target velocity term of true PD controller in robotics,
# making it underperform compared to 'cont... | 124 | 4,273 |
genesis-world | examples/tutorials/IK_motion_planning_grasp.py | .py | import os
import numpy as np
import genesis as gs
gs.init(backend=gs.cpu)
scene = gs.Scene(
viewer_options=gs.options.ViewerOptions(
camera_pos=(3, -1, 1.5),
camera_lookat=(0.0, 0.0, 0.5),
camera_fov=30,
),
sim_options=gs.options.SimOptions(
dt=0.01,
),
show_viewer... | 106 | 2,508 |
genesis-world | examples/tutorials/batched_IK.py | .py | import os
import numpy as np
import genesis as gs
gs.init(backend=gs.cpu)
scene = gs.Scene(
viewer_options=gs.options.ViewerOptions(
camera_pos=(0.0, -2, 1.5),
camera_lookat=(0.0, 0.0, 0.5),
camera_fov=40,
),
rigid_options=gs.options.RigidOptions(
enable_joint_limit=False,
... | 51 | 1,391 |
genesis-world | examples/tutorials/selecting_rendered_envs.py | .py | import os
import genesis as gs
gs.init(backend=gs.cpu)
scene = gs.Scene(
show_viewer=True,
viewer_options=gs.options.ViewerOptions(
res=(1280, 960),
camera_pos=(3.5, 0.0, 2.5),
camera_lookat=(0.0, 0.0, 0.5),
camera_fov=50,
),
vis_options=gs.options.VisOptions(
r... | 32 | 701 |
genesis-world | examples/tutorials/visualization.py | .py | import os
import math
import genesis as gs
gs.init(backend=gs.cpu)
scene = gs.Scene(
viewer_options=gs.options.ViewerOptions(
res=(1280, 960) if "PYTEST_VERSION" not in os.environ else (64, 64),
camera_pos=(3.5, 0.0, 2.5),
camera_lookat=(0.0, 0.0, 0.5),
camera_fov=40,
),
vi... | 55 | 1,337 |
genesis-world | examples/tutorials/advanced_muscle.py | .py | import os
import numpy as np
import genesis as gs
gs.init(backend=gs.cpu, precision="32", logging_level="info")
dt = 5e-4
scene = gs.Scene(
sim_options=gs.options.SimOptions(
substeps=10,
gravity=(0, 0, 0),
),
viewer_options=gs.options.ViewerOptions(
camera_pos=(1.5, 0, 0.8),
... | 74 | 1,522 |
genesis-world | examples/tutorials/parallel_simulation.py | .py | import torch
import genesis as gs
gs.init(backend=gs.cpu)
scene = gs.Scene(
show_viewer=False,
viewer_options=gs.options.ViewerOptions(
camera_pos=(3.5, -1.0, 2.5),
camera_lookat=(0.0, 0.0, 0.5),
camera_fov=40,
),
rigid_options=gs.options.RigidOptions(
dt=0.01,
),
... | 44 | 983 |
genesis-world | examples/tutorials/sph_liquid.py | .py | import os
import genesis as gs
gs.init(backend=gs.cpu)
scene = gs.Scene(
sim_options=gs.options.SimOptions(
dt=4e-3,
substeps=10,
),
sph_options=gs.options.SPHOptions(
lower_bound=(-0.5, -0.5, 0.0),
upper_bound=(0.5, 0.5, 1),
particle_size=0.01,
),
vis_op... | 50 | 941 |
genesis-world | examples/tutorials/hello_genesis.py | .py | import genesis as gs
gs.init(backend=gs.cpu)
scene = gs.Scene()
plane = scene.add_entity(
gs.morphs.Plane(),
)
franka = scene.add_entity(
gs.morphs.MJCF(file="xml/franka_emika_panda/panda.xml"),
)
scene.build()
for i in range(1000):
scene.step()
| 17 | 262 |
genesis-world | examples/tutorials/draw_debug.py | .py | import time
import os
import numpy as np
import genesis as gs
def main():
gs.init(backend=gs.cpu)
# Scene setup
viewer_options = gs.options.ViewerOptions(
camera_pos=(5.0, -5.0, 2.5),
camera_lookat=(0.0, 0.0, 0.0),
camera_fov=40,
)
scene = gs.Scene(
viewer_options... | 71 | 2,086 |
genesis-world | examples/tutorials/control_your_robot.py | .py | import os
import numpy as np
import genesis as gs
gs.init(backend=gs.cpu)
scene = gs.Scene(
viewer_options=gs.options.ViewerOptions(
camera_pos=(0, -3.5, 2.5),
camera_lookat=(0.0, 0.0, 0.5),
camera_fov=30,
),
sim_options=gs.options.SimOptions(
dt=0.01,
),
show_vie... | 109 | 2,993 |
genesis-world | examples/tutorials/mpm.py | .py | import os
import genesis as gs
gs.init(backend=gs.cpu)
scene = gs.Scene(
sim_options=gs.options.SimOptions(
dt=4e-3,
substeps=10,
),
mpm_options=gs.options.MPMOptions(
lower_bound=(-0.5, -1.0, 0.0),
upper_bound=(0.5, 1.0, 1),
),
vis_options=gs.options.VisOptions(
... | 72 | 1,461 |
genesis-world | examples/tutorials/interactive_debugging.py | .py | import genesis as gs
gs.init(backend=gs.cpu)
scene = gs.Scene(show_viewer=False)
plane = scene.add_entity(gs.morphs.Plane())
franka = scene.add_entity(
gs.morphs.MJCF(file="xml/franka_emika_panda/panda.xml"),
)
cam_0 = scene.add_camera()
scene.build()
# enter IPython's interactive mode
import IPython
IPython.... | 19 | 328 |
genesis-world | examples/tutorials/advanced_worm.py | .py | import math
import os
import torch
import genesis as gs
gs.init(backend=gs.cpu, precision="32", logging_level="info")
scene = gs.Scene(
sim_options=gs.options.SimOptions(
substeps=10,
gravity=(0, 0, -9.8),
),
viewer_options=gs.options.ViewerOptions(
camera_pos=(1.5, 0, 0.8),
... | 96 | 2,473 |
genesis-world | examples/ipc/ipc_momentum.py | .py | import argparse
import os
import numpy as np
import matplotlib.pyplot as plt
import genesis as gs
from genesis.utils.misc import tensor_to_array
def main():
parser = argparse.ArgumentParser()
parser.add_argument("-v", "--vis", action="store_true", help="Show visualization GUI")
args = parser.parse_args(... | 266 | 10,634 |
genesis-world | examples/ipc/ipc_robot_grasp_cube.py | .py | import argparse
import os
import genesis as gs
def main():
parser = argparse.ArgumentParser()
parser.add_argument("--no-ipc", action="store_true", help="Disable the IPC coupler")
parser.add_argument("-v", "--vis", action="store_true", help="Show visualization GUI")
parser.add_argument(
"--cou... | 125 | 4,336 |
genesis-world | examples/ipc/ipc_objects_falling.py | .py | """
IPC Cloth Simulation Example
This example demonstrates cloth simulation using IPC (Incremental Potential Contact)
with Genesis. The cloth is simulated using NeoHookeanShell constitution.
"""
import argparse
import os
from huggingface_hub import snapshot_download
import genesis as gs
def main():
parser = a... | 113 | 3,259 |
genesis-world | examples/ipc/ipc_robot_cloth_teleop.py | .py | """
Keyboard Controls:
Up - Move Forward (North)
Down - Move Backward (South)
Left - Move Left (West)
Right - Move Right (East)
n - Move Up
m - Move Down
j/k - Yaw Left/Right (Rotate around Z axis)
i/o - Pitch Up/Down (Rotate around Y axis)
l/; - Roll Left/Right (Rotate around X axis)
u - Reset Scene
space - Press to c... | 264 | 9,292 |
genesis-world | examples/kinematic/go2_kinematic.py | .py | """
Example: KinematicEntity as a ghost reference motion.
Creates a Go2 quadruped as a physics-simulated entity alongside a second Go2 loaded as a KinematicEntity
(visualization-only ghost). The kinematic entity follows a simple sinusoidal joint trajectory while the physics robot
is free to fall and interact with the ... | 99 | 2,678 |
genesis-world | examples/rigid/friction_breakaway.py | .py | """Coulomb stiction under both friction cones, documenting the pyramidal cone's limitations.
A box and two spheres rest on a plane, so each contact carries the exact normal load m * g. A constant generalized
force (box, tangential) and torque (spinning sphere, about the vertical axis; rolling sphere, about a horizonta... | 162 | 7,192 |
genesis-world | examples/rigid/accelerometer_duck.py | .py | import argparse
import numpy as np
import genesis as gs
def main():
parser = argparse.ArgumentParser()
parser.add_argument("-v", "--vis", action="store_true", help="Show visualization GUI")
args = parser.parse_args()
gs.init(backend=gs.cpu)
viewer_options = gs.options.ViewerOptions(
came... | 66 | 1,582 |
genesis-world | examples/rigid/apply_external_force_torque.py | .py | import argparse
import genesis as gs
def main():
parser = argparse.ArgumentParser()
parser.add_argument("-v", "--vis", action="store_true", help="Show visualization GUI")
args = parser.parse_args()
gs.init(backend=gs.cpu)
scene = gs.Scene(
viewer_options=gs.options.ViewerOptions(
... | 55 | 1,362 |
genesis-world | examples/rigid/domain_randomization.py | .py | import argparse
import numpy as np
import torch
import genesis as gs
def main():
parser = argparse.ArgumentParser()
parser.add_argument("-v", "--vis", action="store_true", help="Show visualization GUI")
args = parser.parse_args()
gs.init(backend=gs.cpu, precision="32", logging_level="info")
sc... | 91 | 2,521 |
genesis-world | examples/rigid/suction_cup.py | .py | import genesis as gs
import numpy as np
import argparse
def main():
parser = argparse.ArgumentParser()
parser.add_argument("-v", "--vis", action="store_true", help="Show visualization GUI")
parser.add_argument("-g", "--gpu", action="store_true", help="Run on GPU instead of CPU")
args = parser.parse_ar... | 128 | 3,481 |
genesis-world | examples/rigid/ddp_multi_gpu.py | .py | #!/usr/bin/env python3
"""Data-parallel training across GPUs with PyTorch DistributedDataParallel.
Each rank owns a full scene with its own batch of environments, so the effective batch is the per-rank
``--num-envs`` times the number of ranks: adding GPUs lowers gradient noise rather than changing any scene.
Single m... | 110 | 3,432 |
genesis-world | examples/rigid/rolling_coast.py | .py | """A rolling ball coasting to rest under rolling friction, the everyday behavior a point contact cannot produce.
Two checkered balls are launched rolling side by side at the same speed. Sliding friction does no work on a rolling
contact, so the zero-coefficient ball coasts forever; the other carries a rolling friction... | 106 | 4,139 |
genesis-world | examples/rigid/authored_decomp.py | .py | import argparse
import os
import genesis as gs
from genesis.utils.misc import qd_to_torch
BASE_HEIGHT = 0.020
RING_HEIGHT = 0.020
BALL_HEIGHT = 0.0215
POLE_HEIGHT = 0.145
RINGS_ORDER = (0, 1, 2, 3, 5, 4)
RING_COLORS = [
(0.95, 0.95, 0.95, 1.0),
(0.60, 0.80, 0.70, 1.0),
(0.78, 0.88, 0.80, 1.0),
(0.90, ... | 111 | 3,670 |
genesis-world | examples/rigid/closed_loop.py | .py | """Closed-loop linkages built from MJCF equality constraints.
A four-bar linkage cannot be expressed as a tree of joints, so the loop is closed by an equality constraint.
Both spellings MuJoCo offers are available here: `connect` pins two bodies at a point, `weld` also locks their
relative orientation.
"""
import arg... | 55 | 1,537 |
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