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Simulation Guide

This document explains how to run rfx in simulation without robot hardware.

Current status:

  • Genesis integration is available now.
  • Isaac Lab and MuJoCo integration are planned and will be added in this same guide.

Quickstart (Genesis)

Run this from the repo root:

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

What this does:

  • starts the Genesis backend
  • opens the viewer
  • auto-installs genesis-world if missing

Go2 URDF Integration

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

Create this layout:

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 now defaults urdf_path to:

  • rfx/assets/robots/go2/urdf/go2.urdf

For a Go2 command demo:

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

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()

Common Run Modes

Viewer mode:

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

Headless mode (no viewer):

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

Control runtime knobs:

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 first tries: uv pip install --python <active-interpreter> genesis-world
  • if uv is unavailable, it falls back to: <active-interpreter> -m pip install genesis-world

Current limitation:

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

You can also opt in globally:

export RFX_AUTO_INSTALL_GENESIS=1

Then any Genesis backend start will attempt install automatically.

Troubleshooting

If Genesis install fails, run:

uv pip install genesis-world

If viewer does not appear:

  • check that your machine supports graphics for the active environment
  • retry with --device cpu
  • validate by running headless first

Roadmap

This guide will gain sections for:

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