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

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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.

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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.

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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()

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Run modes

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

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Auto-install behavior

If Genesis is not installed, rfx tries:
  1. uv pip install --python <active-interpreter> genesis-world
  2. 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.

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Troubleshooting

Run the install directly:
uv pip install genesis-world
  • Check that your machine supports graphics for the active environment.
  • Retry with --device cpu.
  • Validate by running headless first.

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Roadmap

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