Genesis is the open-source GPU-native robotics simulator. Drop in 3D models, images, or text descriptions and get MJCF (Genesis-native) or OpenUSD outputs with calibrated mass, friction, restitution, and collision geometry.
Updated 2026-08-24
Genesis offers GPU-parallel simulation orders of magnitude faster than CPU simulators. But asset prep, hand-authoring physics, collision meshes, and inertia, still takes ~4 engineer-hours per asset, capping the asset diversity your training can actually consume.
Genesis natively consumes MJCF and URDF. Authoring MJCF by hand for tens of thousands of assets is impractical for production RL training at the scale Genesis was built to enable.
Genesis's differentiable physics is only as good as its inputs. Mass, friction, and inertia within domain-randomization variance let trained policies transfer; uncalibrated values silently break transfer no matter how fast simulation runs.
Rigyd emits MJCF (.xml) with calibrated inertials, friction coefficients, collision geometry, and solref parameters, ready for Genesis's native MJCF loader. OpenUSD is produced from the same source for the Genesis USD path.
Mass is calibrated within ±15-20%, friction within ±0.1, both inside the domain-randomization variance Genesis tasks already wrap around. Policies trained on Rigyd assets transfer like policies trained on hand-tuned assets.
Bulk API processing turns tens of thousands of 3D models, images, or text descriptions into Genesis-compatible assets in hours rather than engineer-months. Diverse training catalogs become a one-step pipeline.
Genesis parses URDF, MJCF, OBJ, GLB and USD, and is Apache 2.0 licensed (repository). Rigyd emits MJCF and OpenUSD, both of which Genesis loads directly — so the same generated asset works there and in MuJoCo or Isaac Sim without a second authoring pass.
Yes. Genesis consumes MJCF (.xml) and OpenUSD natively, both of which Rigyd emits directly. The MJCF output includes inertials, friction, collision geometry, and contact parameters tuned for Genesis's fast GPU-parallel physics; the OpenUSD path is available when downstream tooling expects USD. No hand authoring is required after Rigyd's export.
Manual MJCF authoring takes ~4 engineer-hours per asset (geometry cleanup, collision decomposition, mass and inertia computation, friction assignment, validation). Rigyd compresses that to ~5 minutes per asset with mass within ±15-20% and friction within ±0.1 of measured. Override either when you have lab measurements; for the long tail of catalog assets the AI estimate is inside the domain-randomization band policies already generalize across.
Yes. Genesis's differentiable physics requires calibrated mass, inertia, and friction to compute meaningful gradients. Rigyd-emitted MJCF carries inertial tensors derived from volume × material density and friction coefficients keyed to surface material, both of which feed straight into Genesis's differentiable solver. Override the values where you have ground truth; let the AI estimate cover the long tail.
Rigyd's primary output today targets rigid-body simulation: rigid mass, friction, restitution, collision meshes, and convex decomposition. Soft-body parameters (Young's modulus, Poisson's ratio) and fluid properties are not estimated automatically and need to be configured by hand on top of the Rigyd geometry. Most Genesis users start with rigid-body workflows where the bottleneck is asset diversity rather than constitutive parameters; Rigyd targets that bottleneck.
Yes. The Enterprise API processes thousands of source assets in parallel and writes MJCF or OpenUSD outputs to your storage of choice, ready to be referenced by Genesis's asset loader at training time. Generation runs decoupled from training, so a single overnight batch can produce the catalog diversity a multi-day GPU-parallel Genesis training run consumes.
Drop in 3D models, images, or text descriptions and get Genesis-compatible MJCF or OpenUSD in minutes.
Tell us one task you want to train or evaluate. We can rebuild it in simulation together with you, for your robot.