diff --git a/examples/smoke.py b/examples/smoke.py
index c84c452017..c1c7ac3c28 100644
--- a/examples/smoke.py
+++ b/examples/smoke.py
@@ -2,7 +2,7 @@
 from pathlib import Path
 
 import numpy as np
-import taichi as ti
+import gstaichi as ti
 import cv2
 
 import genesis as gs
diff --git a/genesis/__init__.py b/genesis/__init__.py
index f78fb73a92..6d9bc59f5f 100644
--- a/genesis/__init__.py
+++ b/genesis/__init__.py
@@ -8,13 +8,13 @@
 from platform import system
 from contextlib import redirect_stdout
 
-# Import taichi while collecting its output without printing directly
+# Import gstaichi while collecting its output without printing directly
 _ti_outputs = io.StringIO()
 
 os.environ.setdefault("TI_ENABLE_PYBUF", "0" if sys.stdout is sys.__stdout__ else "1")
 
 with redirect_stdout(_ti_outputs):
-    import taichi as ti
+    import gstaichi as ti
 
 try:
     import torch
@@ -211,7 +211,7 @@ def init(
     if (backend == gs_backend.metal) and (os.environ.get("TI_ENABLE_METAL") == "0"):
         ti_arch = TI_ARCH[platform][gs_backend.cpu]
 
-    # init taichi
+    # init gstaichi
     with redirect_stdout(_ti_outputs):
         ti.init(
             arch=ti_arch,
@@ -230,7 +230,7 @@ def init(
             **taichi_kwargs,
         )
 
-    # Make sure that taichi arch is matching requirement
+    # Make sure that gstaichi arch is matching requirement
     ti_runtime = ti.lang.impl.get_runtime()
     ti_arch = ti_runtime.prog.config().arch
     if backend != gs.cpu and ti_arch in (ti._lib.core.Arch.arm64, ti._lib.core.Arch.x64):
@@ -297,7 +297,7 @@ def destroy():
         del scene
     global_scene_list.clear()
 
-    # Reset taichi
+    # Reset gstaichi
     ti.reset()
 
     # Delete logger
diff --git a/genesis/_main.py b/genesis/_main.py
index 7bda1c1ed3..8cd30b467c 100644
--- a/genesis/_main.py
+++ b/genesis/_main.py
@@ -9,8 +9,8 @@
 
 import numpy as np
 import torch
-from taichi._lib import core as _ti_core
-from taichi.lang import impl
+from gstaichi._lib import core as _ti_core
+from gstaichi.lang import impl
 
 import genesis as gs
 
@@ -98,7 +98,7 @@ def get_motors_info(robot):
 
 
 def clean():
-    print("Cleaned up all genesis and taichi cache files...")
+    print("Cleaned up all genesis and gstaichi cache files...")
     gs.utils.misc.clean_cache_files()
     _ti_core.clean_offline_cache_files(os.path.abspath(impl.default_cfg().offline_cache_file_path))
 
@@ -219,7 +219,7 @@ def main():
     parser = argparse.ArgumentParser(description="Genesis CLI")
     subparsers = parser.add_subparsers(dest="command")
 
-    parser_clean = subparsers.add_parser("clean", help="Clean all the files cached by genesis and taichi")
+    parser_clean = subparsers.add_parser("clean", help="Clean all the files cached by genesis and gstaichi")
 
     parser_view = subparsers.add_parser("view", help="Visualize a given asset (mesh/URDF/MJCF)")
     parser_view.add_argument("filename", type=str, help="File to visualize")
diff --git a/genesis/constants.py b/genesis/constants.py
index 7c03df57d1..89bcd6ba6f 100644
--- a/genesis/constants.py
+++ b/genesis/constants.py
@@ -1,6 +1,6 @@
 import enum
 
-import taichi as ti
+import gstaichi as ti
 
 # dynamic loading
 ACTIVE = 1
diff --git a/genesis/engine/boundaries/boundaries.py b/genesis/engine/boundaries/boundaries.py
index a3dfbb7e31..b2f77a7915 100644
--- a/genesis/engine/boundaries/boundaries.py
+++ b/genesis/engine/boundaries/boundaries.py
@@ -1,7 +1,7 @@
 import copy
 
 import numpy as np
-import taichi as ti
+import gstaichi as ti
 
 import genesis as gs
 from genesis.utils.misc import *
diff --git a/genesis/engine/bvh.py b/genesis/engine/bvh.py
index 7e486d9515..30821c66fa 100644
--- a/genesis/engine/bvh.py
+++ b/genesis/engine/bvh.py
@@ -1,5 +1,5 @@
 import genesis as gs
-import taichi as ti
+import gstaichi as ti
 from genesis.repr_base import RBC
 import numpy as np
 
diff --git a/genesis/engine/couplers/legacy_coupler.py b/genesis/engine/couplers/legacy_coupler.py
index 4ff560ae66..dcb5fdd1de 100644
--- a/genesis/engine/couplers/legacy_coupler.py
+++ b/genesis/engine/couplers/legacy_coupler.py
@@ -1,7 +1,7 @@
 from typing import TYPE_CHECKING
 
 import numpy as np
-import taichi as ti
+import gstaichi as ti
 
 import genesis as gs
 from genesis.options.solvers import LegacyCouplerOptions
diff --git a/genesis/engine/couplers/sap_coupler.py b/genesis/engine/couplers/sap_coupler.py
index 8d08f38133..b1c65ebe9e 100644
--- a/genesis/engine/couplers/sap_coupler.py
+++ b/genesis/engine/couplers/sap_coupler.py
@@ -2,7 +2,7 @@
 import math
 
 import numpy as np
-import taichi as ti
+import gstaichi as ti
 
 import genesis as gs
 from genesis.options.solvers import SAPCouplerOptions
diff --git a/genesis/engine/entities/avatar_entity/avatar_entity.py b/genesis/engine/entities/avatar_entity/avatar_entity.py
index e2883297c5..a115b6ff69 100644
--- a/genesis/engine/entities/avatar_entity/avatar_entity.py
+++ b/genesis/engine/entities/avatar_entity/avatar_entity.py
@@ -1,7 +1,7 @@
 import numpy as np
 import numpy.typing as npt
 
-import taichi as ti
+import gstaichi as ti
 
 from ..rigid_entity import RigidEntity
 from .avatar_joint import AvatarJoint
diff --git a/genesis/engine/entities/avatar_entity/avatar_geom.py b/genesis/engine/entities/avatar_entity/avatar_geom.py
index 948c32148b..cfc0f8634c 100644
--- a/genesis/engine/entities/avatar_entity/avatar_geom.py
+++ b/genesis/engine/entities/avatar_entity/avatar_geom.py
@@ -1,4 +1,4 @@
-import taichi as ti
+import gstaichi as ti
 
 from ..rigid_entity import RigidGeom, RigidVisGeom
 
diff --git a/genesis/engine/entities/avatar_entity/avatar_joint.py b/genesis/engine/entities/avatar_entity/avatar_joint.py
index 64e2591101..e66f6a3c84 100644
--- a/genesis/engine/entities/avatar_entity/avatar_joint.py
+++ b/genesis/engine/entities/avatar_entity/avatar_joint.py
@@ -1,4 +1,4 @@
-import taichi as ti
+import gstaichi as ti
 
 from ..rigid_entity import RigidJoint
 
diff --git a/genesis/engine/entities/avatar_entity/avatar_link.py b/genesis/engine/entities/avatar_entity/avatar_link.py
index 43323dc427..cf59ba4ac2 100644
--- a/genesis/engine/entities/avatar_entity/avatar_link.py
+++ b/genesis/engine/entities/avatar_entity/avatar_link.py
@@ -1,4 +1,4 @@
-import taichi as ti
+import gstaichi as ti
 
 from ..rigid_entity import RigidLink
 from .avatar_geom import AvatarGeom, AvatarVisGeom
diff --git a/genesis/engine/entities/base_entity.py b/genesis/engine/entities/base_entity.py
index 727caa3bf9..e49c2d5742 100644
--- a/genesis/engine/entities/base_entity.py
+++ b/genesis/engine/entities/base_entity.py
@@ -1,4 +1,4 @@
-import taichi as ti
+import gstaichi as ti
 
 import genesis as gs
 from genesis.repr_base import RBC
diff --git a/genesis/engine/entities/drone_entity.py b/genesis/engine/entities/drone_entity.py
index 71268ec10e..625117b8ba 100644
--- a/genesis/engine/entities/drone_entity.py
+++ b/genesis/engine/entities/drone_entity.py
@@ -2,7 +2,7 @@
 import xml.etree.ElementTree as ET
 
 import torch
-import taichi as ti
+import gstaichi as ti
 
 import genesis as gs
 import genesis.utils.misc as mu
diff --git a/genesis/engine/entities/emitter.py b/genesis/engine/entities/emitter.py
index 2cd6822574..5a87af01b3 100644
--- a/genesis/engine/entities/emitter.py
+++ b/genesis/engine/entities/emitter.py
@@ -1,5 +1,5 @@
 import numpy as np
-import taichi as ti
+import gstaichi as ti
 
 import genesis as gs
 import genesis.utils.geom as gu
diff --git a/genesis/engine/entities/fem_entity.py b/genesis/engine/entities/fem_entity.py
index 35c1ac3fe2..dd01ef230b 100644
--- a/genesis/engine/entities/fem_entity.py
+++ b/genesis/engine/entities/fem_entity.py
@@ -1,6 +1,6 @@
 import igl
 import numpy as np
-import taichi as ti
+import gstaichi as ti
 import torch
 
 import genesis as gs
diff --git a/genesis/engine/entities/hybrid_entity.py b/genesis/engine/entities/hybrid_entity.py
index ebd4ea5a1b..1187884aba 100644
--- a/genesis/engine/entities/hybrid_entity.py
+++ b/genesis/engine/entities/hybrid_entity.py
@@ -1,5 +1,5 @@
 import numpy as np
-import taichi as ti
+import gstaichi as ti
 import trimesh
 
 import genesis as gs
diff --git a/genesis/engine/entities/mpm_entity.py b/genesis/engine/entities/mpm_entity.py
index 7a5fbb6917..1d956bd15d 100644
--- a/genesis/engine/entities/mpm_entity.py
+++ b/genesis/engine/entities/mpm_entity.py
@@ -1,5 +1,5 @@
 import numpy as np
-import taichi as ti
+import gstaichi as ti
 import torch
 
 import genesis as gs
diff --git a/genesis/engine/entities/particle_entity.py b/genesis/engine/entities/particle_entity.py
index 8879a8c557..62880517de 100644
--- a/genesis/engine/entities/particle_entity.py
+++ b/genesis/engine/entities/particle_entity.py
@@ -1,5 +1,5 @@
 import numpy as np
-import taichi as ti
+import gstaichi as ti
 import torch
 import trimesh
 from scipy.spatial import KDTree
diff --git a/genesis/engine/entities/pbd_entity.py b/genesis/engine/entities/pbd_entity.py
index aac337889f..1aad578d87 100644
--- a/genesis/engine/entities/pbd_entity.py
+++ b/genesis/engine/entities/pbd_entity.py
@@ -1,5 +1,5 @@
 import numpy as np
-import taichi as ti
+import gstaichi as ti
 from scipy.spatial import KDTree
 
 import genesis as gs
diff --git a/genesis/engine/entities/rigid_entity/rigid_entity.py b/genesis/engine/entities/rigid_entity/rigid_entity.py
index fda3bb43c1..607a0cbd5b 100644
--- a/genesis/engine/entities/rigid_entity/rigid_entity.py
+++ b/genesis/engine/entities/rigid_entity/rigid_entity.py
@@ -3,7 +3,7 @@
 from typing import Literal, TYPE_CHECKING
 
 import numpy as np
-import taichi as ti
+import gstaichi as ti
 import torch
 import trimesh
 
diff --git a/genesis/engine/entities/rigid_entity/rigid_equality.py b/genesis/engine/entities/rigid_entity/rigid_equality.py
index db0d1a2168..cab451a4e3 100644
--- a/genesis/engine/entities/rigid_entity/rigid_equality.py
+++ b/genesis/engine/entities/rigid_entity/rigid_equality.py
@@ -1,4 +1,4 @@
-import taichi as ti
+import gstaichi as ti
 import torch
 
 import genesis as gs
diff --git a/genesis/engine/entities/rigid_entity/rigid_geom.py b/genesis/engine/entities/rigid_entity/rigid_geom.py
index 5bce714df7..61fcf3c3ed 100644
--- a/genesis/engine/entities/rigid_entity/rigid_geom.py
+++ b/genesis/engine/entities/rigid_entity/rigid_geom.py
@@ -6,7 +6,7 @@
 import numpy as np
 from numpy.typing import NDArray
 import skimage
-import taichi as ti
+import gstaichi as ti
 import torch
 import trimesh
 
diff --git a/genesis/engine/entities/rigid_entity/rigid_joint.py b/genesis/engine/entities/rigid_entity/rigid_joint.py
index aad9aa8097..0bd47fcbbb 100644
--- a/genesis/engine/entities/rigid_entity/rigid_joint.py
+++ b/genesis/engine/entities/rigid_entity/rigid_joint.py
@@ -1,4 +1,4 @@
-import taichi as ti
+import gstaichi as ti
 import torch
 
 import genesis as gs
diff --git a/genesis/engine/entities/rigid_entity/rigid_link.py b/genesis/engine/entities/rigid_entity/rigid_link.py
index c1acd6ba10..159b59fcce 100644
--- a/genesis/engine/entities/rigid_entity/rigid_link.py
+++ b/genesis/engine/entities/rigid_entity/rigid_link.py
@@ -1,9 +1,9 @@
 from typing import TYPE_CHECKING
 
+import gstaichi as ti
 import numpy as np
-from numpy.typing import ArrayLike, NDArray
-import taichi as ti
 import torch
+from numpy.typing import ArrayLike
 
 import genesis as gs
 import trimesh
diff --git a/genesis/engine/entities/sf_entity.py b/genesis/engine/entities/sf_entity.py
index 5898445788..9135ce5fb9 100644
--- a/genesis/engine/entities/sf_entity.py
+++ b/genesis/engine/entities/sf_entity.py
@@ -1,5 +1,5 @@
 import numpy as np
-import taichi as ti
+import gstaichi as ti
 from scipy.spatial import KDTree
 
 import genesis as gs
diff --git a/genesis/engine/entities/sph_entity.py b/genesis/engine/entities/sph_entity.py
index b33993f226..91f4a3397d 100644
--- a/genesis/engine/entities/sph_entity.py
+++ b/genesis/engine/entities/sph_entity.py
@@ -1,4 +1,4 @@
-import taichi as ti
+import gstaichi as ti
 
 import genesis as gs
 from genesis.engine.states.entities import SPHEntityState
diff --git a/genesis/engine/entities/tool_entity/mesh.py b/genesis/engine/entities/tool_entity/mesh.py
index 618692356a..08a67c0446 100644
--- a/genesis/engine/entities/tool_entity/mesh.py
+++ b/genesis/engine/entities/tool_entity/mesh.py
@@ -1,5 +1,5 @@
 import numpy as np
-import taichi as ti
+import gstaichi as ti
 
 import genesis as gs
 import genesis.utils.geom as gu
diff --git a/genesis/engine/entities/tool_entity/tool_entity.py b/genesis/engine/entities/tool_entity/tool_entity.py
index 0cc57b0748..9dc1297234 100644
--- a/genesis/engine/entities/tool_entity/tool_entity.py
+++ b/genesis/engine/entities/tool_entity/tool_entity.py
@@ -1,5 +1,5 @@
 import numpy as np
-import taichi as ti
+import gstaichi as ti
 import torch
 
 import genesis as gs
diff --git a/genesis/engine/force_fields.py b/genesis/engine/force_fields.py
index b691edc5ee..9bd46a787d 100644
--- a/genesis/engine/force_fields.py
+++ b/genesis/engine/force_fields.py
@@ -1,5 +1,5 @@
 import numpy as np
-import taichi as ti
+import gstaichi as ti
 
 import genesis as gs
 from genesis.repr_base import RBC
diff --git a/genesis/engine/materials/FEM/base.py b/genesis/engine/materials/FEM/base.py
index b8f89fc044..80d3d6b41d 100644
--- a/genesis/engine/materials/FEM/base.py
+++ b/genesis/engine/materials/FEM/base.py
@@ -1,5 +1,5 @@
 import numpy as np
-import taichi as ti
+import gstaichi as ti
 
 import genesis as gs
 
diff --git a/genesis/engine/materials/FEM/elastic.py b/genesis/engine/materials/FEM/elastic.py
index dc8428d598..b1d3a8e956 100644
--- a/genesis/engine/materials/FEM/elastic.py
+++ b/genesis/engine/materials/FEM/elastic.py
@@ -1,4 +1,4 @@
-import taichi as ti
+import gstaichi as ti
 
 import genesis as gs
 
diff --git a/genesis/engine/materials/FEM/muscle.py b/genesis/engine/materials/FEM/muscle.py
index 2d7697b507..18a40190ae 100644
--- a/genesis/engine/materials/FEM/muscle.py
+++ b/genesis/engine/materials/FEM/muscle.py
@@ -1,4 +1,4 @@
-import taichi as ti
+import gstaichi as ti
 import genesis as gs
 from .elastic import Elastic
 
diff --git a/genesis/engine/materials/MPM/base.py b/genesis/engine/materials/MPM/base.py
index 2218b90536..26e8749864 100644
--- a/genesis/engine/materials/MPM/base.py
+++ b/genesis/engine/materials/MPM/base.py
@@ -1,4 +1,4 @@
-import taichi as ti
+import gstaichi as ti
 
 import genesis as gs
 
diff --git a/genesis/engine/materials/MPM/elastic.py b/genesis/engine/materials/MPM/elastic.py
index b1ecaf57cd..35266cc3bb 100644
--- a/genesis/engine/materials/MPM/elastic.py
+++ b/genesis/engine/materials/MPM/elastic.py
@@ -1,4 +1,4 @@
-import taichi as ti
+import gstaichi as ti
 
 import genesis as gs
 
@@ -12,8 +12,9 @@ class Elastic(Base):
 
     Note
     ----
-    Reference for the default values of `E` and `nu`: https://github.com/taichi-dev/taichi_elements/blob/d19678869a28b09a32ef415b162e35dc929b792d/engine/mpm_solver.py#L201
     Elastic objects is softened by multiplying the default E by 0.3.
+    Reference for the default values of `E` and `nu`:
+    https://github.com/taichi-dev/taichi_elements/blob/d19678869a28b09a32ef415b162e35dc929b792d/engine/mpm_solver.py#L201
 
     Parameters
     ----------
diff --git a/genesis/engine/materials/MPM/elasto_plastic.py b/genesis/engine/materials/MPM/elasto_plastic.py
index f618f8cf8b..3e23221e34 100644
--- a/genesis/engine/materials/MPM/elasto_plastic.py
+++ b/genesis/engine/materials/MPM/elasto_plastic.py
@@ -1,4 +1,4 @@
-import taichi as ti
+import gstaichi as ti
 
 import genesis as gs
 
diff --git a/genesis/engine/materials/MPM/liquid.py b/genesis/engine/materials/MPM/liquid.py
index 89f2d33269..69fe3b4c83 100644
--- a/genesis/engine/materials/MPM/liquid.py
+++ b/genesis/engine/materials/MPM/liquid.py
@@ -1,4 +1,4 @@
-import taichi as ti
+import gstaichi as ti
 
 import genesis as gs
 
diff --git a/genesis/engine/materials/MPM/muscle.py b/genesis/engine/materials/MPM/muscle.py
index 3e7b9a943d..631d3fd9db 100644
--- a/genesis/engine/materials/MPM/muscle.py
+++ b/genesis/engine/materials/MPM/muscle.py
@@ -1,4 +1,4 @@
-import taichi as ti
+import gstaichi as ti
 
 import genesis as gs
 
diff --git a/genesis/engine/materials/MPM/sand.py b/genesis/engine/materials/MPM/sand.py
index bc22612f91..4de9a56451 100644
--- a/genesis/engine/materials/MPM/sand.py
+++ b/genesis/engine/materials/MPM/sand.py
@@ -1,5 +1,5 @@
 import numpy as np
-import taichi as ti
+import gstaichi as ti
 
 import genesis as gs
 
diff --git a/genesis/engine/materials/MPM/snow.py b/genesis/engine/materials/MPM/snow.py
index 5296661dd3..122ecc3023 100644
--- a/genesis/engine/materials/MPM/snow.py
+++ b/genesis/engine/materials/MPM/snow.py
@@ -1,4 +1,4 @@
-import taichi as ti
+import gstaichi as ti
 
 import genesis as gs
 
diff --git a/genesis/engine/materials/PBD/base.py b/genesis/engine/materials/PBD/base.py
index dcb3731621..04d33af773 100644
--- a/genesis/engine/materials/PBD/base.py
+++ b/genesis/engine/materials/PBD/base.py
@@ -1,5 +1,5 @@
 import numpy as np
-import taichi as ti
+import gstaichi as ti
 
 from ..base import Material
 
diff --git a/genesis/engine/materials/PBD/cloth.py b/genesis/engine/materials/PBD/cloth.py
index 4fb41d6644..aa9660e374 100644
--- a/genesis/engine/materials/PBD/cloth.py
+++ b/genesis/engine/materials/PBD/cloth.py
@@ -1,4 +1,4 @@
-import taichi as ti
+import gstaichi as ti
 
 from .base import Base
 
diff --git a/genesis/engine/materials/PBD/elastic.py b/genesis/engine/materials/PBD/elastic.py
index e3a82d827e..a1bf7b349a 100644
--- a/genesis/engine/materials/PBD/elastic.py
+++ b/genesis/engine/materials/PBD/elastic.py
@@ -1,4 +1,4 @@
-import taichi as ti
+import gstaichi as ti
 
 from .base import Base
 
diff --git a/genesis/engine/materials/PBD/liquid.py b/genesis/engine/materials/PBD/liquid.py
index 5ab41335bf..a7ed426da9 100644
--- a/genesis/engine/materials/PBD/liquid.py
+++ b/genesis/engine/materials/PBD/liquid.py
@@ -1,4 +1,4 @@
-import taichi as ti
+import gstaichi as ti
 
 from .base import Base
 
diff --git a/genesis/engine/materials/PBD/particle.py b/genesis/engine/materials/PBD/particle.py
index f94b8b4c8d..c586f8bb77 100644
--- a/genesis/engine/materials/PBD/particle.py
+++ b/genesis/engine/materials/PBD/particle.py
@@ -1,4 +1,4 @@
-import taichi as ti
+import gstaichi as ti
 
 from .base import Base
 
diff --git a/genesis/engine/materials/SF/base.py b/genesis/engine/materials/SF/base.py
index cb9d29dec8..25d6c5e050 100644
--- a/genesis/engine/materials/SF/base.py
+++ b/genesis/engine/materials/SF/base.py
@@ -1,5 +1,5 @@
 import numpy as np
-import taichi as ti
+import gstaichi as ti
 
 from ..base import Material
 
diff --git a/genesis/engine/materials/SF/smoke.py b/genesis/engine/materials/SF/smoke.py
index ef9f519fc2..5a24ce5f19 100644
--- a/genesis/engine/materials/SF/smoke.py
+++ b/genesis/engine/materials/SF/smoke.py
@@ -1,4 +1,4 @@
-import taichi as ti
+import gstaichi as ti
 
 from .base import Base
 
diff --git a/genesis/engine/materials/SPH/base.py b/genesis/engine/materials/SPH/base.py
index 9bb8e04106..a1a881adbf 100644
--- a/genesis/engine/materials/SPH/base.py
+++ b/genesis/engine/materials/SPH/base.py
@@ -1,4 +1,4 @@
-import taichi as ti
+import gstaichi as ti
 
 from ..base import Material
 
diff --git a/genesis/engine/materials/SPH/liquid.py b/genesis/engine/materials/SPH/liquid.py
index a01b757332..0fa5e5ba20 100644
--- a/genesis/engine/materials/SPH/liquid.py
+++ b/genesis/engine/materials/SPH/liquid.py
@@ -1,4 +1,4 @@
-import taichi as ti
+import gstaichi as ti
 
 from .base import Base
 
diff --git a/genesis/engine/materials/avatar.py b/genesis/engine/materials/avatar.py
index dc0a4ba12a..80b45c1681 100644
--- a/genesis/engine/materials/avatar.py
+++ b/genesis/engine/materials/avatar.py
@@ -1,4 +1,4 @@
-import taichi as ti
+import gstaichi as ti
 
 from .rigid import Rigid
 
diff --git a/genesis/engine/materials/base.py b/genesis/engine/materials/base.py
index d9ebd9e2e9..d0bb86207a 100644
--- a/genesis/engine/materials/base.py
+++ b/genesis/engine/materials/base.py
@@ -1,4 +1,4 @@
-import taichi as ti
+import gstaichi as ti
 
 import genesis as gs
 from genesis.repr_base import RBC
diff --git a/genesis/engine/materials/hybrid.py b/genesis/engine/materials/hybrid.py
index 1c71491a92..41beba9e9b 100644
--- a/genesis/engine/materials/hybrid.py
+++ b/genesis/engine/materials/hybrid.py
@@ -1,4 +1,4 @@
-import taichi as ti
+import gstaichi as ti
 
 from .base import Material
 
diff --git a/genesis/engine/materials/rigid.py b/genesis/engine/materials/rigid.py
index a41bcd9d6d..0d5881bbb5 100644
--- a/genesis/engine/materials/rigid.py
+++ b/genesis/engine/materials/rigid.py
@@ -1,4 +1,4 @@
-import taichi as ti
+import gstaichi as ti
 
 import genesis as gs
 
diff --git a/genesis/engine/materials/tool.py b/genesis/engine/materials/tool.py
index 6cb541f038..f986db9732 100644
--- a/genesis/engine/materials/tool.py
+++ b/genesis/engine/materials/tool.py
@@ -1,4 +1,4 @@
-import taichi as ti
+import gstaichi as ti
 
 from .base import Material
 
diff --git a/genesis/engine/scene.py b/genesis/engine/scene.py
index a15e66088d..9a22c3864c 100644
--- a/genesis/engine/scene.py
+++ b/genesis/engine/scene.py
@@ -6,7 +6,7 @@
 
 import numpy as np
 import torch
-import taichi as ti
+import gstaichi as ti
 from numpy.typing import ArrayLike
 
 import genesis as gs
diff --git a/genesis/engine/simulator.py b/genesis/engine/simulator.py
index e6c0e66ad2..c69a3a8ab1 100644
--- a/genesis/engine/simulator.py
+++ b/genesis/engine/simulator.py
@@ -1,6 +1,6 @@
 from typing import TYPE_CHECKING
 import numpy as np
-import taichi as ti
+import gstaichi as ti
 
 import genesis as gs
 from genesis.engine.entities.base_entity import Entity
diff --git a/genesis/engine/solvers/avatar_solver.py b/genesis/engine/solvers/avatar_solver.py
index b926805417..4d17006eef 100644
--- a/genesis/engine/solvers/avatar_solver.py
+++ b/genesis/engine/solvers/avatar_solver.py
@@ -1,5 +1,5 @@
 import numpy as np
-import taichi as ti
+import gstaichi as ti
 import genesis as gs
 from genesis.engine.entities import AvatarEntity
 from genesis.engine.states.solvers import AvatarSolverState
diff --git a/genesis/engine/solvers/base_solver.py b/genesis/engine/solvers/base_solver.py
index 8a6bfceee5..b2a1164d09 100644
--- a/genesis/engine/solvers/base_solver.py
+++ b/genesis/engine/solvers/base_solver.py
@@ -1,6 +1,6 @@
 from typing import TYPE_CHECKING
 import numpy as np
-import taichi as ti
+import gstaichi as ti
 import torch
 from genesis.utils.misc import ti_field_to_torch
 
diff --git a/genesis/engine/solvers/fem_solver.py b/genesis/engine/solvers/fem_solver.py
index e27727739c..92486a2eed 100644
--- a/genesis/engine/solvers/fem_solver.py
+++ b/genesis/engine/solvers/fem_solver.py
@@ -2,7 +2,7 @@
 
 import numpy as np
 import igl
-import taichi as ti
+import gstaichi as ti
 import torch
 
 import genesis as gs
diff --git a/genesis/engine/solvers/mpm_solver.py b/genesis/engine/solvers/mpm_solver.py
index 19cfb68383..10406fe799 100644
--- a/genesis/engine/solvers/mpm_solver.py
+++ b/genesis/engine/solvers/mpm_solver.py
@@ -1,6 +1,6 @@
 from typing import TYPE_CHECKING
 import numpy as np
-import taichi as ti
+import gstaichi as ti
 import torch
 
 import genesis as gs
@@ -225,7 +225,7 @@ def build(self):
             for entity in self._entities:
                 entity._add_to_solver()
 
-            # reference: https://github.com/taichi-dev/taichi_elements/blob/d19678869a28b09a32ef415b162e35dc929b792d/engine/mpm_solver.py#L84
+            # See: https://github.com/taichi-dev/taichi_elements/blob/d19678869a28b09a32ef415b162e35dc929b792d/engine/mpm_solver.py#L84
             suggested_dt = 2e-2 * self._dx
             if self.substep_dt > suggested_dt:
                 gs.logger.warning(
@@ -338,7 +338,8 @@ def stencil_range(self):
     def p2g(self, f: ti.i32):
         for i_p, i_b in ti.ndrange(self._n_particles, self._B):
             if self.particles_ng[f, i_p, i_b].active:
-                # A. update F (deformation gradient), S (Sigma from SVD(F), essentially represents volume) and Jp (volume compression ratio) based on material type
+                # A. update F (deformation gradient), S (Sigma from SVD(F), essentially represents volume) and Jp
+                # (volume compression ratio) based on material type
                 J = self.particles[f, i_p, i_b].S.determinant()
                 F_new = ti.Matrix.zero(gs.ti_float, 3, 3)
                 S_new = ti.Matrix.zero(gs.ti_float, 3, 3)
@@ -358,7 +359,11 @@ def p2g(self, f: ti.i32):
 
                 # B. compute stress
                 # NOTE:
-                # 1. Here we pass in both F_tmp and the updated F_new because in the official taichi example, F_new is used for stress computation. However, although this works for both elastic and elasto-plastic materials, it is mathematically incorrect for liquid material with non-zero viscosity (mu). In the latter case, stress computation needs to be based on the F_tmp (deformation gradient before resetting to identity).
+                # 1. Here we pass in both F_tmp and the updated F_new because in the official taichi example, F_new is
+                # used for stress computation. However, although this works for both elastic and elasto-plastic
+                # materials, it is mathematically incorrect for liquid material with non-zero viscosity (mu). In the
+                # latter case, stress computation needs to be based on the F_tmp (deformation gradient before resetting
+                # to identity).
                 # 2. Jp is only used by Snow material, and it uses Jp from the previous frame, not the updated one.
                 stress = ti.Matrix.zero(gs.ti_float, 3, 3)
                 for mat_idx in ti.static(self._mats_idx):
diff --git a/genesis/engine/solvers/pbd_solver.py b/genesis/engine/solvers/pbd_solver.py
index 681f99225d..97344a114a 100644
--- a/genesis/engine/solvers/pbd_solver.py
+++ b/genesis/engine/solvers/pbd_solver.py
@@ -1,7 +1,7 @@
 import math
 
 import numpy as np
-import taichi as ti
+import gstaichi as ti
 
 import genesis as gs
 import genesis.utils.geom as gu
diff --git a/genesis/engine/solvers/rigid/collider_decomp.py b/genesis/engine/solvers/rigid/collider_decomp.py
index 8edea10e2d..30253fbb25 100644
--- a/genesis/engine/solvers/rigid/collider_decomp.py
+++ b/genesis/engine/solvers/rigid/collider_decomp.py
@@ -6,7 +6,7 @@
 import numpy.typing as npt
 import torch
 
-import taichi as ti
+import gstaichi as ti
 
 import genesis as gs
 import genesis.utils.geom as gu
@@ -1118,7 +1118,7 @@ def func_broad_phase(
     geoms_info: array_class.GeomsInfo,
     rigid_global_info: array_class.RigidGlobalInfo,
     static_rigid_sim_config: ti.template(),
-    # we will use ColliderBroadPhaseBuffer as typing after Hugh adds array_struct feature to taichi
+    # we will use ColliderBroadPhaseBuffer as typing after Hugh adds array_struct feature to gstaichi
     collider_state: array_class.ColliderState,
     collider_info: array_class.ColliderInfo,
 ):
diff --git a/genesis/engine/solvers/rigid/constraint_solver_decomp.py b/genesis/engine/solvers/rigid/constraint_solver_decomp.py
index df50380f33..7e6359f938 100644
--- a/genesis/engine/solvers/rigid/constraint_solver_decomp.py
+++ b/genesis/engine/solvers/rigid/constraint_solver_decomp.py
@@ -2,7 +2,7 @@
 
 import numpy as np
 import numpy.typing as npt
-import taichi as ti
+import gstaichi as ti
 import torch
 
 import genesis as gs
diff --git a/genesis/engine/solvers/rigid/constraint_solver_decomp_island.py b/genesis/engine/solvers/rigid/constraint_solver_decomp_island.py
index 3831ecb28a..d4017a0fd2 100644
--- a/genesis/engine/solvers/rigid/constraint_solver_decomp_island.py
+++ b/genesis/engine/solvers/rigid/constraint_solver_decomp_island.py
@@ -1,7 +1,7 @@
 from typing import TYPE_CHECKING
 
 import numpy as np
-import taichi as ti
+import gstaichi as ti
 
 import genesis as gs
 import genesis.utils.geom as gu
diff --git a/genesis/engine/solvers/rigid/contact_island.py b/genesis/engine/solvers/rigid/contact_island.py
index 323a8396eb..91527a11bc 100644
--- a/genesis/engine/solvers/rigid/contact_island.py
+++ b/genesis/engine/solvers/rigid/contact_island.py
@@ -1,7 +1,7 @@
 from typing import TYPE_CHECKING
 
 import numpy as np
-import taichi as ti
+import gstaichi as ti
 
 import genesis as gs
 import genesis.utils.geom as gu
diff --git a/genesis/engine/solvers/rigid/gjk_decomp.py b/genesis/engine/solvers/rigid/gjk_decomp.py
index 8b102f8606..d0dcc6dbfd 100644
--- a/genesis/engine/solvers/rigid/gjk_decomp.py
+++ b/genesis/engine/solvers/rigid/gjk_decomp.py
@@ -1,5 +1,5 @@
 from enum import IntEnum
-import taichi as ti
+import gstaichi as ti
 import genesis as gs
 import genesis.utils.geom as gu
 import genesis.utils.array_class as array_class
diff --git a/genesis/engine/solvers/rigid/mpr_decomp.py b/genesis/engine/solvers/rigid/mpr_decomp.py
index 13a9d4a99b..c10dad24f6 100644
--- a/genesis/engine/solvers/rigid/mpr_decomp.py
+++ b/genesis/engine/solvers/rigid/mpr_decomp.py
@@ -1,5 +1,5 @@
 import numpy as np
-import taichi as ti
+import gstaichi as ti
 import torch
 from dataclasses import dataclass
 
diff --git a/genesis/engine/solvers/rigid/rigid_solver_decomp.py b/genesis/engine/solvers/rigid/rigid_solver_decomp.py
index 8597ed9664..3f125519fd 100644
--- a/genesis/engine/solvers/rigid/rigid_solver_decomp.py
+++ b/genesis/engine/solvers/rigid/rigid_solver_decomp.py
@@ -1,9 +1,9 @@
 from dataclasses import dataclass
 from typing import Literal, TYPE_CHECKING
 
+import gstaichi as ti
 import numpy as np
 import numpy.typing as npt
-import taichi as ti
 import torch
 
 import genesis as gs
@@ -2597,7 +2597,7 @@ def kernel_init_dof_fields(
     # taichi variables
     dofs_info: array_class.DofsInfo,
     dofs_state: array_class.DofsState,
-    # we will use RigidGlobalInfo as typing after Hugh adds array_struct feature to taichi
+    # we will use RigidGlobalInfo as typing after Hugh adds array_struct feature to gstaichi
     rigid_global_info: array_class.RigidGlobalInfo,
     static_rigid_sim_config: ti.template(),
 ):
diff --git a/genesis/engine/solvers/rigid/rigid_solver_decomp_util.py b/genesis/engine/solvers/rigid/rigid_solver_decomp_util.py
index 8545b5aecc..45027fbad3 100644
--- a/genesis/engine/solvers/rigid/rigid_solver_decomp_util.py
+++ b/genesis/engine/solvers/rigid/rigid_solver_decomp_util.py
@@ -1,4 +1,4 @@
-import taichi as ti
+import gstaichi as ti
 
 import genesis.utils.array_class as array_class
 
diff --git a/genesis/engine/solvers/rigid/support_field_decomp.py b/genesis/engine/solvers/rigid/support_field_decomp.py
index a9aeb77f54..25a13c8669 100644
--- a/genesis/engine/solvers/rigid/support_field_decomp.py
+++ b/genesis/engine/solvers/rigid/support_field_decomp.py
@@ -3,7 +3,7 @@
 from dataclasses import dataclass
 
 import numpy as np
-import taichi as ti
+import gstaichi as ti
 
 import genesis as gs
 import genesis.utils.geom as gu
diff --git a/genesis/engine/solvers/sf_solver.py b/genesis/engine/solvers/sf_solver.py
index dc39abae1e..fc15bc8456 100644
--- a/genesis/engine/solvers/sf_solver.py
+++ b/genesis/engine/solvers/sf_solver.py
@@ -1,6 +1,6 @@
 import math
 import numpy as np
-import taichi as ti
+import gstaichi as ti
 
 import genesis as gs
 import genesis.utils.geom as gu
diff --git a/genesis/engine/solvers/sph_solver.py b/genesis/engine/solvers/sph_solver.py
index 88fd10a09d..2b73bdaa9a 100644
--- a/genesis/engine/solvers/sph_solver.py
+++ b/genesis/engine/solvers/sph_solver.py
@@ -1,5 +1,5 @@
 import numpy as np
-import taichi as ti
+import gstaichi as ti
 
 import genesis as gs
 import genesis.utils.geom as gu
diff --git a/genesis/engine/solvers/tool_solver.py b/genesis/engine/solvers/tool_solver.py
index b41f59d58e..b81b50ed2c 100644
--- a/genesis/engine/solvers/tool_solver.py
+++ b/genesis/engine/solvers/tool_solver.py
@@ -1,5 +1,5 @@
 from typing import TYPE_CHECKING
-import taichi as ti
+import gstaichi as ti
 
 from genesis.engine.boundaries import FloorBoundary
 from genesis.engine.states.solvers import ToolSolverState
diff --git a/genesis/sensors/base_sensor.py b/genesis/sensors/base_sensor.py
index 301994a11c..d616696450 100644
--- a/genesis/sensors/base_sensor.py
+++ b/genesis/sensors/base_sensor.py
@@ -1,8 +1,8 @@
 from dataclasses import dataclass, field
 from typing import TYPE_CHECKING, Any, List
 
+import gstaichi as ti
 import numpy as np
-import taichi as ti
 import torch
 
 import genesis as gs
diff --git a/genesis/sensors/imu.py b/genesis/sensors/imu.py
index c7f807397c..e098614794 100644
--- a/genesis/sensors/imu.py
+++ b/genesis/sensors/imu.py
@@ -1,7 +1,7 @@
 from dataclasses import dataclass, field
 from typing import TYPE_CHECKING, Any
 
-import taichi as ti
+import gstaichi as ti
 import torch
 
 import genesis as gs
diff --git a/genesis/sensors/tactile.py b/genesis/sensors/tactile.py
index 484033d980..8c5ee9941b 100644
--- a/genesis/sensors/tactile.py
+++ b/genesis/sensors/tactile.py
@@ -1,7 +1,7 @@
 from typing import Any, Dict, List, Optional
 
 import numpy as np
-import taichi as ti
+import gstaichi as ti
 import torch
 
 import genesis as gs
diff --git a/genesis/utils/array_class.py b/genesis/utils/array_class.py
index 56ec37ba15..2b134fb075 100644
--- a/genesis/utils/array_class.py
+++ b/genesis/utils/array_class.py
@@ -4,7 +4,7 @@
 import inspect
 from typing import Any, Type, cast
 
-import taichi as ti
+import gstaichi as ti
 
 import genesis as gs
 import numpy as np
@@ -1953,7 +1953,7 @@ def __init__(self, solver):
         self.entities_state = get_entities_state(solver)
 
 
-# we will use struct for DofsState and DofsInfo after Hugh adds array_struct feature to taichi
+# we will use struct for DofsState and DofsInfo after Hugh adds array_struct feature to gstaichi
 DofsState = ti.template() if not use_ndarray else StructDofsState
 DofsInfo = ti.template() if not use_ndarray else StructDofsInfo
 GeomsState = ti.template() if not use_ndarray else StructGeomsState
diff --git a/genesis/utils/bvh.py b/genesis/utils/bvh.py
index 999e178f36..d73561cf7e 100644
--- a/genesis/utils/bvh.py
+++ b/genesis/utils/bvh.py
@@ -1,5 +1,5 @@
 import numpy as np
-import taichi as ti
+import gstaichi as ti
 
 import genesis as gs
 from genesis.styles import colors, formats
diff --git a/genesis/utils/geom.py b/genesis/utils/geom.py
index 23c30fed3f..0a96dd650a 100644
--- a/genesis/utils/geom.py
+++ b/genesis/utils/geom.py
@@ -5,7 +5,7 @@
 import torch
 import torch.nn.functional as F
 
-import taichi as ti
+import gstaichi as ti
 
 import genesis as gs
 
diff --git a/genesis/utils/linalg.py b/genesis/utils/linalg.py
index bf298ba869..ae50e7036b 100644
--- a/genesis/utils/linalg.py
+++ b/genesis/utils/linalg.py
@@ -1,4 +1,4 @@
-import taichi as ti
+import gstaichi as ti
 
 import genesis as gs
 
diff --git a/genesis/utils/misc.py b/genesis/utils/misc.py
index 1b9777122f..065cfc6ab4 100644
--- a/genesis/utils/misc.py
+++ b/genesis/utils/misc.py
@@ -17,12 +17,12 @@
 import psutil
 import torch
 
-import taichi as ti
-from taichi.lang.util import to_pytorch_type
-from taichi._kernels import tensor_to_ext_arr, matrix_to_ext_arr
-from taichi.lang import impl
-from taichi.types import primitive_types
-from taichi.lang.exception import handle_exception_from_cpp
+import gstaichi as ti
+from gstaichi.lang.util import to_pytorch_type
+from gstaichi._kernels import tensor_to_ext_arr, matrix_to_ext_arr
+from gstaichi.lang import impl
+from gstaichi.types import primitive_types
+from gstaichi.lang.exception import handle_exception_from_cpp
 
 import genesis as gs
 from genesis.constants import backend as gs_backend
diff --git a/genesis/utils/path_planing.py b/genesis/utils/path_planing.py
index 985960eb28..33c1ab5672 100644
--- a/genesis/utils/path_planing.py
+++ b/genesis/utils/path_planing.py
@@ -1,7 +1,7 @@
 from abc import ABC, abstractmethod
 import time
 
-import taichi as ti
+import gstaichi as ti
 import torch
 import torch.nn.functional as F
 
diff --git a/genesis/utils/sdf_decomp.py b/genesis/utils/sdf_decomp.py
index 39e8dbbf8f..8f8499e546 100644
--- a/genesis/utils/sdf_decomp.py
+++ b/genesis/utils/sdf_decomp.py
@@ -1,5 +1,5 @@
 import numpy as np
-import taichi as ti
+import gstaichi as ti
 
 import genesis as gs
 import genesis.utils.geom as gu
diff --git a/genesis/utils/tools.py b/genesis/utils/tools.py
index fdfc951fa4..f3dcb4036d 100644
--- a/genesis/utils/tools.py
+++ b/genesis/utils/tools.py
@@ -4,7 +4,7 @@
 import time
 
 import numpy as np
-import taichi as ti
+import gstaichi as ti
 from PIL import Image
 
 import genesis as gs
diff --git a/genesis/vis/rasterizer_context.py b/genesis/vis/rasterizer_context.py
index e30ad5470a..5c712c77bf 100644
--- a/genesis/vis/rasterizer_context.py
+++ b/genesis/vis/rasterizer_context.py
@@ -1,7 +1,7 @@
 import numpy as np
 import trimesh
 
-import taichi as ti
+import gstaichi as ti
 
 import genesis as gs
 import genesis.utils.geom as gu
diff --git a/pyproject.toml b/pyproject.toml
index 5cb67bb642..633d1ab8f9 100644
--- a/pyproject.toml
+++ b/pyproject.toml
@@ -10,8 +10,7 @@ readme = "README.md"
 requires-python = ">=3.10,<3.14"
 dependencies = [
     "psutil",
-    # Taichi debug mode has been fixed in 1.7.4
-    "taichi >= 1.7.4",
+    "gstaichi == 1.0.1",
     "pydantic >= 2.7.1",
     "numpy >= 1.26.4",
     "trimesh",
diff --git a/tests/conftest.py b/tests/conftest.py
index a6578f1897..0092a98175 100644
--- a/tests/conftest.py
+++ b/tests/conftest.py
@@ -290,7 +290,7 @@ def taichi_offline_cache(request):
 @pytest.fixture(scope="function", autouse=True)
 def initialize_genesis(request, backend, precision, taichi_offline_cache):
     import pyglet
-    import taichi as ti
+    import gstaichi as ti
     import genesis as gs
     from genesis.utils.misc import ALLOCATE_TENSOR_WARNING
 
diff --git a/tests/test_bvh.py b/tests/test_bvh.py
index 67b962a24a..91827e767f 100644
--- a/tests/test_bvh.py
+++ b/tests/test_bvh.py
@@ -1,5 +1,5 @@
 import torch
-import taichi as ti
+import gstaichi as ti
 import numpy as np
 import pytest
 
@@ -44,7 +44,7 @@ def test_expand_bits():
     Test the expand_bits function for LBVH.
     A 10-bit integer is expanded to a 30-bit integer by inserting two zeros before each bit.
     """
-    import taichi as ti
+    import gstaichi as ti
 
     @ti.kernel
     def expand_bits(lbvh: ti.template(), x: ti.template(), expanded_x: ti.template()):
diff --git a/tests/test_utils.py b/tests/test_utils.py
index b92263d7c4..ab24348378 100644
--- a/tests/test_utils.py
+++ b/tests/test_utils.py
@@ -61,7 +61,7 @@ def test_warn_once_with_empty_message(clear_seen_fixture):
 
 
 def _ti_kernel_wrapper(ti_func, num_inputs, num_outputs):
-    import taichi as ti
+    import gstaichi as ti
 
     if num_inputs == 1 and num_outputs == 1:
 
@@ -111,7 +111,7 @@ def kernel(
 @pytest.mark.required
 @pytest.mark.parametrize("batch_shape", [(10, 40, 25), ()])
 def test_utils_geom_taichi_vs_tensor_consistency(batch_shape):
-    import taichi as ti
+    import gstaichi as ti
 
     for ti_func, py_func, shapes_in, shapes_out in (
         (gu.ti_xyz_to_quat, gu.xyz_to_quat, [[3]], [[4]]),
@@ -200,7 +200,7 @@ def test_utils_geom_numpy_vs_tensor_consistency(batch_shape, tol):
 @pytest.mark.required
 @pytest.mark.parametrize("batch_shape", [(10, 40, 25), ()])
 def test_utils_geom_taichi_inverse(batch_shape):
-    import taichi as ti
+    import gstaichi as ti
 
     for ti_func, ti_func_inv, shapes_value_args, shapes_transform_args in (
         (gu.ti_transform_by_T, gu.ti_inv_transform_by_T, [[3]], [[4, 4]]),
@@ -246,7 +246,7 @@ def test_utils_geom_taichi_inverse(batch_shape):
 @pytest.mark.required
 @pytest.mark.parametrize("batch_shape", [(10, 40, 25), ()])
 def test_utils_geom_taichi_identity(batch_shape):
-    import taichi as ti
+    import gstaichi as ti
 
     for ti_funcs, shape_args in (
         ((gu.ti_xyz_to_quat, gu.ti_quat_to_xyz), ([3], [4])),
@@ -272,7 +272,7 @@ def test_utils_geom_taichi_identity(batch_shape):
 @pytest.mark.required
 @pytest.mark.parametrize("batch_shape", [(10, 40, 25), ()])
 def test_utils_geom_tensor_identity(batch_shape):
-    import taichi as ti
+    import gstaichi as ti
 
     for py_funcs, shape_args in (
         ((gu.R_to_rot6d, gu.rot6d_to_R), ([3, 3], [6])),