Genesis Forge Deployment Runtime

Simulation-free runtime for deploying Genesis Forge policies to real robots.

This package deliberately depends on numpy only — no torch, no Genesis simulator — so it installs cleanly on a Raspberry Pi or Jetson.

After training, export a bundle from your built environment:

from genesis_forge.deployment import export

bundle = export(env, "./go2_walk", policy_path="policy.onnx")  # writes ./go2_walk.gfb
print(bundle.describe())

(see the wheeled_robot deploy.py for a comprehensive example)

Then, on the robot:

from genesis_forge_runtime import load_bundle

bundle = load_bundle("./go2_walk.gfb")  # a directory works too
print(bundle.describe())  # what to wire up

observation_assembler = bundle.create_observation_assembler()
action_processor = bundle.create_action_processor()

while True:
    observation = observation_assembler.assemble(
        {
            "robot_ang_vel": imu.gyro,
            "dof_pos": joints.positions,
            "actions": action_processor.last_raw_actions,
        }
    )
    actions = policy(observation)
    targets = action_processor.process()  # your onnxruntime session
    send_to_motors(targets.by_joint)

See the deployment guide for the full control-loop walkthrough, including how to run the policy itself.

Trust model

A bundle is trusted input, equivalent to executable code: loading one may import processor classes named inside it. Only load bundles you produced yourself. Treat a bundle from a third party the same way you would treat an unpickled checkpoint.