### Setup and Run Genesis AI Project

Source: https://github.com/genesis-embodied-ai/genesis-world/blob/main/AGENTS.md

Use these commands to set up your environment, install dependencies, and run tests or examples. Ensure you have the correct PyTorch version installed for your system (CUDA, CPU, or Metal).

```bash
uv sync
uv pip install torch --index-url https://download.pytorch.org/whl/cu126  # or cpu/metal

# Run tests
uv run pytest tests/
uv run pytest tests/ -m required  # minimal set

# Run examples
uv run examples/tutorials/hello_genesis.py
```

--------------------------------

### Install PyTorch with uv for CPU

Source: https://github.com/genesis-embodied-ai/genesis-world/blob/main/README.md

Installs PyTorch using uv for CPU-only execution on Linux or Windows.

```bash
# CPU only (Linux/Windows)
uv pip install torch --index-url https://download.pytorch.org/whl/cpu
```

--------------------------------

### V-HACD Example Usage

Source: https://github.com/genesis-embodied-ai/genesis-world/blob/main/genesis/assets/urdf/3763/textured_objs/original-2_log.txt

An example command demonstrating how to use testVHACD with input, output, and log file specifications.

```bash
testVHACD.exe --input bunny.obj --output bunny_acd.obj --log log.txt
```

--------------------------------

### Run Genesis World Example with uv

Source: https://github.com/genesis-embodied-ai/genesis-world/blob/main/README.md

Executes an example Python script from the Genesis World project using the uv run command.

```bash
uv run examples/rigid/single_franka.py
```

--------------------------------

### Install Optional Nyx Renderer

Source: https://github.com/genesis-embodied-ai/genesis-world/blob/main/README.md

Installs the Nyx renderer. Refer to the genesis-nyx repository for more details.

```bash
pip install gs-nyx
```

--------------------------------

### Install Genesis World in Editable Mode for Development

Source: https://github.com/genesis-embodied-ai/genesis-world/blob/main/README.md

Installs Genesis World in editable mode for development purposes. Ensure the package is uninstalled first, then clone the repository and install locally.

```bash
git clone https://github.com/Genesis-Embodied-AI/genesis-world.git
cd genesis-world
pip install -e ".[dev]"
```

--------------------------------

### Install PyTorch with uv for Apple Silicon

Source: https://github.com/genesis-embodied-ai/genesis-world/blob/main/README.md

Installs PyTorch using uv for Apple Silicon (Metal/MPS) devices.

```bash
# Apple Silicon (Metal/MPS)
uv pip install torch
```

--------------------------------

### Install Dependencies for Hover Environment

Source: https://github.com/genesis-embodied-ai/genesis-world/blob/main/examples/drone/README.md

Install necessary Python dependencies, including tensorboard and rsl-rl-lib, for training the drone hovering policy.

```bash
pip install tensorboard "rsl-rl-lib>=5.0.0"
```

--------------------------------

### Quick Start with uv

Source: https://github.com/genesis-embodied-ai/genesis-world/blob/main/README.md

Clones the Genesis World repository and synchronizes dependencies using uv.

```bash
git clone https://github.com/Genesis-Embodied-AI/genesis-world.git
cd genesis-world
uv sync
```

--------------------------------

### Install Optional IPC Solver (uipc backend)

Source: https://github.com/genesis-embodied-ai/genesis-world/blob/main/README.md

Installs the uipc backend for the IPC solver. This is compatible with Linux and Windows x86 systems with an NVIDIA GPU.

```bash
pip install pyuipc
```

--------------------------------

### Install and Run Pre-commit Hooks

Source: https://github.com/genesis-embodied-ai/genesis-world/blob/main/AGENTS.md

Manage code formatting and linting using pre-commit hooks. Install the hooks to run automatically on commit, or run them manually across all files.

```bash
pre-commit install

# Manual run
pre-commit run --all-files
```

--------------------------------

### Install Genesis World via pip

Source: https://github.com/genesis-embodied-ai/genesis-world/blob/main/README.md

Installs the Genesis World package from PyPI. Requires Python version 3.10 to 3.13.

```bash
pip install genesis-world  # Requires Python>=3.10,<3.14;
```

--------------------------------

### Install uv Package Manager (Windows)

Source: https://github.com/genesis-embodied-ai/genesis-world/blob/main/README.md

Installs the uv package and project manager on Windows systems using a PowerShell command.

```powershell
# On Windows
powershell -ExecutionPolicy ByPass -c "irm https://astral.sh/uv/install.ps1 | iex"
```

--------------------------------

### Install Latest Genesis World from GitHub via pip

Source: https://github.com/genesis-embodied-ai/genesis-world/blob/main/README.md

Installs the latest version of Genesis World directly from its GitHub repository. Ensure pip is up-to-date before running.

```bash
pip install git+https://github.com/Genesis-Embodied-AI/genesis-world.git
```

--------------------------------

### Install PyTorch with uv for NVIDIA GPU

Source: https://github.com/genesis-embodied-ai/genesis-world/blob/main/README.md

Installs PyTorch using uv, specifying the CUDA 12.6 index URL for NVIDIA GPUs.

```bash
# NVIDIA GPU (CUDA 12.6 as an example)
uv pip install torch --index-url https://download.pytorch.org/whl/cu126
```

--------------------------------

### Install uv Package Manager (macOS/Linux)

Source: https://github.com/genesis-embodied-ai/genesis-world/blob/main/README.md

Installs the uv package and project manager on macOS and Linux systems using a curl command.

```bash
# On macOS and Linux
curl -LsSf https://astral.sh/uv/install.sh | sh
```

--------------------------------

### Run Basic Cloth Simulation

Source: https://github.com/genesis-embodied-ai/genesis-world/blob/main/examples/IPC_Solver/README.md

Execute the script to simulate a cloth falling under gravity and colliding with a ground plane clustered with objects. Ensure Genesis is in development mode and LibUIPC is installed.

```bash
python examples/IPC_Solver/ipc_objects_falling.py -v
```

--------------------------------

### Run Interactive Cloth Manipulation Simulation

Source: https://github.com/genesis-embodied-ai/genesis-world/blob/main/examples/IPC_Solver/README.md

Execute the script for interactive Franka Panda robot manipulation of two pieces of cloth. This example demonstrates real-time interaction with deformable objects.

```bash
python examples/IPC_Solver/ipc_robot_cloth_teleop.py
```

--------------------------------

### Run Robotic Grasping of Deformables Simulation

Source: https://github.com/genesis-embodied-ai/genesis-world/blob/main/examples/IPC_Solver/README.md

Execute the script to simulate a Franka Panda robot grasping and manipulating a deformable cube using IPC contact resolution. This requires the necessary prerequisites to be installed.

```bash
python examples/IPC_Solver/ipc_robot_grasp_cube.py -v
```

--------------------------------

### Run Genesis Docker Container (NVIDIA)

Source: https://github.com/genesis-embodied-ai/genesis-world/blob/main/README.md

Runs the Genesis Docker container, enabling GPU access and mounting local directories. Ensure 'xhost +local:root' is run first to allow container access to the display.

```bash
xhost +local:root # Allow the container to access the display

docker run --gpus all --rm -it \
-e DISPLAY=$DISPLAY \
-e LOCAL_USER_ID="$(id -u)" \
-v /dev/dri:/dev/dri \
-v /tmp/.X11-unix/:/tmp/.X11-unix \
-v $(pwd):/workspace \
--name genesis genesis:latest
```

--------------------------------

### V-HACD Configuration Parameters

Source: https://github.com/genesis-embodied-ai/genesis-world/blob/main/genesis/assets/urdf/3763/textured_objs/original-2_log.txt

Detailed configuration parameters for V-HACD, including input/output paths and settings for resolution, depth, concavity, sampling, and OpenCL.

```text
+ OpenCL (OFF)
+ Parameters
	 input                                       data/dataset/3763/textured_objs/original-2.obj
	 resolution                                  1000000
	 max. depth                                  20
	 max. concavity                              0.001
	 plane down-sampling                         4
	 convex-hull down-sampling                   4
	 alpha                                       0.05
	 beta                                        0.05
	 gamma                                       0.0005
	 pca                                         0
	 mode                                        0
	 max. vertices per convex-hull               64
	 min. volume to add vertices to convex-hulls 0.0001
	 convex-hull approximation                   1
	 OpenCL acceleration                         1
	 OpenCL platform ID                          0
	 OpenCL device ID                            0
	 output                                      data/dataset/3763/textured_objs/original-2_vhacd.obj
	 log                                         data/dataset/3763/textured_objs/original-2_log.txt
```

--------------------------------

### V-HACD Command-Line Syntax

Source: https://github.com/genesis-embodied-ai/genesis-world/blob/main/genesis/assets/urdf/3763/textured_objs/original-2_log.txt

Use this syntax to run V-HACD from the command line. Specify input, output, and log files, along with various decomposition parameters.

```bash
testVHACD [options] --input infile.obj --output outfile.obj --log logfile.txt
```

--------------------------------

### Build Genesis Docker Image

Source: https://github.com/genesis-embodied-ai/genesis-world/blob/main/README.md

Builds the default Genesis Docker image. This image is used for running Genesis with NVIDIA GPUs.

```bash
docker build -t genesis -f docker/Dockerfile docker
```

--------------------------------

### Run Interactive Drone Simulation

Source: https://github.com/genesis-embodied-ai/genesis-world/blob/main/examples/drone/README.md

Execute the interactive drone simulation to control the drone in real-time using keyboard inputs. Requires the `-v` and `-m` flags.

```bash
python interactive_drone.py -v -m
```

--------------------------------

### Build Genesis Docker Image (AMD)

Source: https://github.com/genesis-embodied-ai/genesis-world/blob/main/README.md

Builds a Genesis Docker image specifically for AMD GPUs using the provided Dockerfile. This image is tagged as 'genesis-amd'.

```bash
docker build -t genesis-amd -f docker/Dockerfile.amdgpu docker
```

--------------------------------

### Run Pytest with Various Options

Source: https://github.com/genesis-embodied-ai/genesis-world/blob/main/AGENTS.md

Execute tests using Pytest with different configurations. Options include running all tests, specific files, GPU backend, required tests only, or skipping slow tests.

```bash
uv run pytest tests/                      # All tests
uv run pytest tests/test_file.py          # Specific file
uv run pytest tests/ --backend=gpu        # GPU backend
uv run pytest tests/ -m required          # Required tests only
uv run pytest tests/ -m "not slow"        # Skip slow tests
```

--------------------------------

### Run Quadcopter Controller Test

Source: https://github.com/genesis-embodied-ai/genesis-world/blob/main/examples/drone/README.md

Execute the `fly_route.py` script to test the PID-based controller for stable point-to-point quadcopter flight.

```bash
python fly_route.py
```

--------------------------------

### Run Genesis Docker Container (AMD)

Source: https://github.com/genesis-embodied-ai/genesis-world/blob/main/README.md

Runs the Genesis Docker container for AMD GPUs. This command configures network, devices, and permissions suitable for AMD ROCm (HIP) backend. Note: AMD users must initialize Genesis with `gs.init(backend=gs.amdgpu)`.

```bash
xhost +local:docker \
docker run -it --network=host \
 --device=/dev/kfd \
 --device=/dev/dri \
 --group-add=video \
 --ipc=host \
 --cap-add=SYS_PTRACE \
 --security-opt seccomp=unconfined \
 --shm-size 8G \
 -v $PWD:/workspace \
 -e DISPLAY=$DISPLAY \
 genesis-amd
```

--------------------------------

### Train Drone Hovering Policy

Source: https://github.com/genesis-embodied-ai/genesis-world/blob/main/examples/drone/README.md

Train the drone hovering policy using the HoverEnv environment with specified batch size and maximum iterations. Use the `-v` flag for visualization.

```bash
python hover_train.py -e drone-hovering -B 8192 --max_iterations 301
```

```bash
python hover_train.py -e drone-hovering -B 8192 --max_iterations 301 -v
```

--------------------------------

### Evaluate Trained Drone Hovering Policy

Source: https://github.com/genesis-embodied-ai/genesis-world/blob/main/examples/drone/README.md

Evaluate the trained drone hovering policy using a specific checkpoint. The `--record` option can be removed if experiencing slow performance.

```bash
python hover_eval.py -e drone-hovering --ckpt 300 --record
```

--------------------------------

### Run Automated Drone Flight Simulation

Source: https://github.com/genesis-embodied-ai/genesis-world/blob/main/examples/drone/README.md

Execute the automated drone flight simulation which follows a predefined trajectory. Requires the `-v` and `-m` flags.

```bash
python fly.py -v -m
```

--------------------------------

### V-HACD Primitive Set Computation

Source: https://github.com/genesis-embodied-ai/genesis-world/blob/main/genesis/assets/urdf/3763/textured_objs/original-2_log.txt

Results from computing the primitive set, detailing the number of primitives, surface points, and time taken.

```text
+ Compute primitive set
	 # primitives               989815
	 # inside surface           917072
	 # on surface               72743
	 time 0.00753531s
```

--------------------------------

### V-HACD Convex Hull Generation

Source: https://github.com/genesis-embodied-ai/genesis-world/blob/main/genesis/assets/urdf/3763/textured_objs/original-2_log.txt

Information on the generation of convex hulls, including the total number generated and the time taken for the process.

```text
+ Generate 1 convex-hulls 
	 time 0.279863s
```

--------------------------------

### V-HACD Convex Hull Simplification

Source: https://github.com/genesis-embodied-ai/genesis-world/blob/main/genesis/assets/urdf/3763/textured_objs/original-2_log.txt

Details on the simplification of convex hulls, including the number of vertices and triangles before and after simplification, and the time taken.

```text
+ Simplify 1 convex-hulls 
		 Simplify CH[00000] 200 V, 396 T
	 time 0.0027028s
```

--------------------------------

### V-HACD Output Generation

Source: https://github.com/genesis-embodied-ai/genesis-world/blob/main/genesis/assets/urdf/3763/textured_objs/original-2_log.txt

Information about the final output, specifying the number of convex hulls generated and their vertex and triangle counts.

```text
+ Generate output: 1 convex-hulls 
	 CH[00000] 64 V, 124 T
```

--------------------------------

### V-HACD Voxelization Stage

Source: https://github.com/genesis-embodied-ai/genesis-world/blob/main/genesis/assets/urdf/3763/textured_objs/original-2_log.txt

Output from the voxelization stage, showing the dimensions and voxel counts achieved for a given mesh.

```text
+ Voxelization
	 dim = 64	-> 192812 voxels
	 dim = 110	-> 964184 voxels
	 dim = 111	-> 989815 voxels
	 time 0.0640461s
```

--------------------------------

### V-HACD Convex Hull Merging Stage

Source: https://github.com/genesis-embodied-ai/genesis-world/blob/main/genesis/assets/urdf/3763/textured_objs/original-2_log.txt

The time taken to merge the generated convex hulls.

```text
+ Merge Convex Hulls
	 time 1.6931e-05s
```

--------------------------------

### V-HACD Approximate Convex Decomposition Stage

Source: https://github.com/genesis-embodied-ai/genesis-world/blob/main/genesis/assets/urdf/3763/textured_objs/original-2_log.txt

Details of the approximate convex decomposition, including subdivision levels and concavity/edge metrics for generated parts.

```text
+ Approximate Convex Decomposition
	 Subdivision level 1
	 -> Part[0] C  = 0.0162251, E  = 0.0730221, VS = 72743, VI = 917072
```

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