unienv-genesis 0.0.1a1

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UniEnv Genesis Lab

This repository contains the implementation of the adaptor that connects the Genesis simulation engine to the UniEnv's node system interface. It is designed as a full simulation framework in the spirit of mjlab and IsaacLab, bringing the same modular, composable scene-building philosophy to Genesis.

Node System

mjlab (MuJoCo's Python interface) and IsaacLab (NVIDIA's GPU-accelerated RL framework for Omniverse) both share a common idea: a simulation environment should be assembled from independent, reusable building blocks — robots, sensors, scene elements — each responsible for its own lifecycle. genesis_adaptor mirrors this philosophy for the Genesis engine, providing:

• A node-based scene description system that lets you compose robots, sensors, and scene geometry declaratively.
• A priority-ordered lifecycle that guarantees correct initialisation order without manual dependency management.
• Pluggable controllers that decouple the physics entity from the control law, just as IsaacLab separates actuator models from robot assets.
• Transparent batching so that the same node code runs identically on a single environment or thousands of parallelised GPU environments.

Lifecycle Phases & Priorities

Each lifecycle phase is executed by sorting all registered nodes by their declared priority for that phase and calling them in descending order. A higher priority number runs first.

Phase	Purpose
reload	Destroy the old scene; add geometry / entities to the new one.
after_reload	Scene is compiled. Initialise controllers, cache entity handles.
reset	Move entities back to their starting poses; clear queued actions.
after_reset	Populate the first observation cache after reset.
pre_environment_step	Apply the pending action to the physics engine.
post_environment_step	Read back state and refresh the observation cache.

Typical priority assignments:

Priority Range	Node Catgories
[80, 100)	static scene geometry (planes, tables)
[50, 80)	robots and articulated entities
(-20, 0]	controllers and sensors that depend on entities
$\mathbb{Z}$	Task control logic can declare any priority to ensure it runs after all the necessary state has been updated by the controllers and sensors.

This means a floor plane is always added to the scene before a robot, and a camera that is attached to a robot link is always attached after the robot entity exists.

Composing a Scene

world  = GenesisWorld()
plane  = PlaneBuilder(world, name="floor")
table  = TableBuilder(world, name="table", pos=(0, 0, 0.6))
franka = FrankaFR3WithHand(world, name="franka", pos=(-0.7, 0, 0.6))
camera = CameraSensorNode(world, name="camera", ...)

env = WorldEnv(world, [plane, table, franka, camera])
context, obs, info = env.reset(seed=0, reload=True)
# obs = {
#   "franka": {"joint_position": ..., "eef_position": ..., ...},
#   "camera": {"rgb": ..., "depth": ...},
# }

WorldEnv calls each node's lifecycle methods in the correct priority order automatically. You do not manage dependencies by hand.

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Installation

You can install the adaptor locally (not published on PyPI yet):

git clone https://github.com/UniEnvOrg/genesis_adaptor/
cd genesis_adaptor
pip install -e .