Genesis Installation

This instruction is tested on Ubuntu 22.04LTS.

Create a new conda environment

conda create -n genesis python=3.10
conda activate genesis

Install Genesis

pip install genesis-world

Install MetaSim dependencies

pip install torch==2.4.0 torchvision==0.19.0 --index-url https://download.pytorch.org/whl/cu118
pip install opencv-python "numpy<2" "imageio[ffmpeg]" dm_control gymnasium==0.29.0
pip install rootutils loguru rich tyro tqdm huggingface-hub dill

Install optional dependencies

pip install https://dl.fbaipublicfiles.com/pytorch3d/packaging/wheels/py310_cu118_pyt201/pytorch3d-0.7.4-cp310-cp310-linux_x86_64.whl # Optional: retargeting, multi-embodiment support
pip install types-usd  # Optional: for OpenUSD development
pip install fake-bpy-module-4.2  # Optional: for Blender code linting