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geniesim_ros — repository-level dispatcher

🧭 Canonical source: source/geniesim_ros/AGENTS.md — the per-package guide is the source of truth for the ROS 2 package table, the wheel layout / _ros_install.tar.gz contract, the AS2 ↔ AS3 dispatch, and the manifest schema.

This file is a 30-second pointer. Do not duplicate content here that lives at the canonical source — duplication is what makes dispatchers rot.

What it is

Genie Sim RT Engine — realtime, interactive ROS 2 simulation. geniesim_ros ships a 10-package colcon workspace plus a pip-installable wheel that bundles the pre-built install tree. Teleop, MoveIt, ros2_control, RViz, and physics all share one sim_time.

Three physics backends coexist as switchable launcher choices:

  • launcher_ovrtx_isaac_physx — Isaac Sim PhysX (stable, default)
  • launcher_ovrtx_isaac_newton — Isaac Sim Newton wrapper (experimental, rigid only)
  • launcher_newton_* — Kit-free Newton-standalone (mjwarp / featherstone+VBD / …) — cloth + soft-body experimental path

Where to look

Topic File
Canonical package table + invariants source/geniesim_ros/AGENTS.md
User-facing engine overview + scene × launcher matrix source/geniesim_ros/README.md
Agent skills (build, launch, MoveIt, teleop bridge, record, debug, material) source/geniesim_ros/skills/
Engine internals (deep-dives) source/geniesim_ros/src/ros_ws/src/genie_sim_engine/docs/
Launch + scene/launcher yamls source/geniesim_ros/src/ros_ws/src/genie_sim_bringup/

Invariants the rest of the repo relies on

  • Scene yamls (scene_*.yaml) and launcher yamls (launcher_*.yaml) are orthogonal axes. Scene = robot + task; launcher = physics backend + renderer. Any scene × any launcher.
  • The canonical engine ids are isaac_physx, isaac_newton, newton_standalone. Bare physx / newton are rejected by runtime.bootstrap._validate_engine_id.
  • assemble_robot.py is read-only after first write of robot.usda; assemble_scene.py never modifies it. Cache-gated by manifest.json.
  • init_base_pose / init_joint_pos are non-physics teleport on every backend — apply before the first solver tick, so the first PD step sees zero error.
  • Every ROS package ships both README.md and AGENTS.md — enforced by geniesim tool docs --scope ros.
  • The pip wheel ships one payload — geniesim_ros/_ros_install.tar.gz — with deterministic mode-preserving tar to keep lib/<pkg>/<entrypoint>.py executable. Do not revert to raw package_data.