Genesis Support for Newer Versions

[EZ-Blue]

Hello,

I'm very interested in this project as well as MimicKit, and I've been wanting to adapt it to some of the work I have been doing in the Genesis simulator for RL. I know there is an experimental version of the Genesis engine for ProtoMotions, and I have tested it but it seems incompatible with some of the more recent versions of Genesis. The provided model inference example I tested also failed (model was not controlled / actuated by policy in Genesis).

I was wondering if there were plans for continued support of Genesis as part of ProtoMotions? If there are I'd be interested in contributing as well.

[tesslerc]

We'd love to support Genesis (and other simulators that are useful for the community).
But for that we also need the community (your!) help.

Internally we've been working mainly with IsaacLab, IsaacGym, and recently Newton. This means we have the expertise and experience to properly tune these simulators.
As you've mentioned, Genesis hasn't been integrated as nicely yet.

If you're interested, we'd be very happy to receive a PR that improves Genesis support. Please let us know how we can help.