Genesis Environment

June 11, 2025 · View on GitHub

This repository contains parallelized RL environment for Genesis general-purpose physics platform.

Setup

Prerequisites

Python >= 3.11
uv >= 0.6

Install

Clone this repository:

git clone https://github.com/RochelleNi/GenesisEnvs.git

Then install by uv:

$ uv sync

or by PyPI:

$ pip install -e .

Usage

To train a policy, you can run with:

uv run run.py --config-path PATH_TO_YOUR_CONFIG --exp-name YOUR_EXP_NAME

# training PPO agent with grasp env:
uv run run.py --config-path configs/GraspFrankaDQN.yaml --exp-name EXP_GraspFrankaDQN

# traininig DQN agent with grasp env:
uv run run.py --config-path configs/GraspFrankaPPO.yaml --exp-name EXP_GraspFrankaPPO