Simulation

Genesis integration is available now. Isaac Lab and MuJoCo integration are in progress and land under this same surface.

Quickstart (Genesis)

From the repo root:

uv pip install --python 3.13 torch
uv run --python 3.13 rfx/examples/genesis_viewer.py --auto-install

This starts the Genesis backend, opens the viewer, and auto-installs genesis-world if missing.

Go2 URDF integration

Go2 assets are not bundled in the repository. Place your own URDF and meshes under rfx/assets/robots/go2/ before running Go2 examples:

rfx/assets/robots/go2/
├── urdf/
│   ├── go2.urdf
│   └── meshes/...
└── mjcf/
    └── go2.xml

Then run:

uv run --python 3.13 rfx/examples/universal_go2.py --backend genesis --auto-install

rfx/configs/go2.yaml defaults urdf_path to rfx/assets/robots/go2/urdf/go2.urdf.

Minimal Python API

from rfx.sim import SimRobot

robot = SimRobot.from_config(
    "rfx/configs/so101.yaml",
    backend="genesis",
    viewer=True,
    auto_install=True,
)

obs = robot.reset()

Run modes

uv run --python 3.13 rfx/examples/genesis_viewer.py

from rfx.sim import SimRobot
robot = SimRobot.from_config(
    "rfx/configs/so101.yaml",
    backend="genesis",
    viewer=False,
)

uv run --python 3.13 rfx/examples/genesis_viewer.py \
  --num-envs 1 \
  --steps 2000 \
  --substeps 4

Auto-install behavior

If Genesis is not installed, rfx tries:

uv pip install --python <active-interpreter> genesis-world
Falls back to <active-interpreter> -m pip install genesis-world when uv is unavailable.

Genesis dependencies do not currently publish wheels for CPython 3.14. Use a CPython 3.13 environment: uv run --python 3.13 ....

Opt in globally:

export RFX_AUTO_INSTALL_GENESIS=1

Any Genesis backend start then attempts install automatically.

Troubleshooting

Genesis install fails

Run the install directly:

uv pip install genesis-world

Viewer does not appear

Check that your machine supports graphics for the active environment.
Retry with --device cpu.
Validate by running headless first.

Roadmap

Isaac Lab integration
MuJoCo integration
Backend switching patterns and shared config conventions

Get started

Concepts

Guides

Quickstart (Genesis)

Go2 URDF integration

Minimal Python API

Run modes

Auto-install behavior

Troubleshooting

Roadmap

​Quickstart (Genesis)

​Go2 URDF integration

​Minimal Python API

​Run modes

​Auto-install behavior

​Troubleshooting

​Roadmap

Quickstart (Genesis)

Go2 URDF integration

Minimal Python API

Run modes

Auto-install behavior

Troubleshooting

Roadmap