Physics Simulation

The Physics Simulation toolkit introduces Genesis, a high-performance physics engine with native AMD GPU (ROCm/HIP) support. Through four progressive labs you will go from loading your first robot to running massively parallel simulations - the foundation for modern robot learning and reinforcement training.

PhySim01 - Hello Genesis: Load a Robot into a Scene

Set up your first Genesis simulation environment: initialise the AMD GPU backend, configure the simulator (time step, gravity, floor height) and visualiser (camera position, field of view, FPS), then load a robot model into the scene and step the simulation forward.

PhySim02 - Control Your Robot

Without active control, a robot arm simply collapses under gravity. In this lab you apply PD (Proportional–Derivative) controllers to stabilise the arm and command it to reach target joint positions. Learn how Genesis exposes built-in controllers and how to tune gains for stable motion.

PhySim03 - Grasping with IK and Motion Planning

Implement a complete pick-and-place task: use Inverse Kinematics (IK) to automatically compute joint angles for a target end-effector pose, then chain IK waypoints into a motion plan to hover above, descend to, grasp, and lift a cube.

PhySim04 - Parallel Simulation

Scale up to massive parallelism by running hundreds of independent robot environments simultaneously on the GPU within a single Genesis scene. This is the key technique behind data-efficient reinforcement learning - generating thousands of experience trajectories in the time it would take to run one.