UFACTORY robot models and Genesis simulation utilities for visualization, kinematics, trajectory execution, packaging, and simulation-only reinforcement learning (RL).
中文 | Examples | Changelog | Roadmap | Security
v0.3.0 is the official repository under xArm-Developer. This project is still 0.x: entry points may be renamed or removed before 1.0.0. Genesis World is validated at 1.4.2 only.
- Python 3.12/3.13. Genesis World 1.4.2 is the validated baseline. Newer Genesis releases are not guaranteed; hook checks fail closed when they do not match.
- Source checkout with editable install only; wheels, sdists, and remote asset downloads are unsupported.
- Visualization, calibrated FK/IK, contact simulation, dry-run, controller simulation, and guarded real execution.
- Real packaging is enabled only for xArm6 + Gripper G2 and Lite6 + Lite6 Gripper.
| Robot | Available end effectors |
|---|---|
xarm5 |
Gripper G2, Bio Gripper G2 |
xarm6 |
Gripper G2, Bio Gripper G2 |
xarm7 |
Gripper G2, Bio Gripper G2 |
uf850 |
Gripper G2, Bio Gripper G2 |
lite6 |
Lite6 Gripper, Lite6 Vacuum Gripper |
git clone https://github.com/xArm-Developer/ufactory_genesis.git
cd ufactory_genesis
pip install -e ".[sim]"
export NUMBA_CACHE_DIR=~/.cache/numba
python examples/visualization/view_robot.py --robot xarm6| Goal | Editable install |
|---|---|
| Simulation and visualization | pip install -e ".[sim]" |
| Fixed-layout RL | pip install -e ".[sim,rl]" |
| Real-robot safety backends | pip install -e ".[sim,real]" |
| Packaging texture generation | pip install -e ".[sim,showcase]" |
| Dynamics reference checks | pip install -e ".[sim,dynamics]" |
For Windows or CPU-only simulation, install CPU PyTorch first and pass --backend cpu. RL remains Linux/NVIDIA-only; see the examples guide.
If the view_robot.py viewer returns to the prompt with no window after Building visualizer..., set MKL_THREADING_LAYER=SEQUENTIAL and rerun ($env:MKL_THREADING_LAYER = "SEQUENTIAL" in PowerShell); --headless is unaffected.
# GLB visualization
python examples/visualization/view_robot.py --robot xarm6 --gripper-g2 --movable
# Pick-place configuration check and simulation
ufactory-pick-place --robot xarm6 --mode dry-run --executor servo_j --print-config
ufactory-pick-place --robot xarm6 --mode sim --executor servo_j --visual
# YAML-driven packaging simulation
python scripts/generate_showcase_textures.py
ufactory-packaging-showcase --robot lite6 --mode sim --executor servo_cartesian --visualFull visualization, kinematics, CPU/Windows, configuration, and real-robot examples are in examples/README.md.
These are what v0.3.0 runs against Genesis World 1.4.2. They are not a promise that later 0.x releases or later Genesis versions will keep them.
Commands: ufactory-pick-place, ufactory-packaging-showcase, dynamics-sim-check, dynamics-sim-collision-check, dynamics-hardware-check. project-check and observe-hold-current are maintainer tools.
Examples: examples/visualization, examples/kinematics, examples/pick_place, examples/packaging, examples/rl/pick_place, including the runtime.example.yaml files beside the pick-place and packaging entries.
Library exports from ufactory: get_robot_profile, robot_urdf, robot_visual_glb_urdf, robot_assets, RepositoryAssetStore.
The public xArm6 + Gripper G2 task uses one fixed +Y layout: cube [0.300, 0, 0.015] m and target [0.300, 0.300, 0.015] m. Random starts are not included in this release.
The bundled seed-7 model_299_g2stable.pt was retrained under the g2_stable_v1_3_3 contact-physics profile and passed every release check: all nine evaluation seed/batch combinations (219/219 episodes), the independent 64-episode fixed bank (64/64), and 512/512 episodes with 0.02 action noise. It is not evidence of random-layout generalization and has no real-robot execution interface.
python -m examples.rl.pick_place.evaluate --expert --headless -B 1 --episodes 1
python -m examples.rl.pick_place.evaluate --headless -B 8 --episodes 8See the RL guide for training, release metrics, artifact validation, and limitations.
Real motion requires exact per-unit calibration, complete predictive preflight, and explicit --confirm-real. Software checks do not replace a trained operator, an isolated workspace, risk assessment, or a physical emergency stop. Read SECURITY.md before connecting hardware.
- Task-oriented examples
- Contributing and project checks
- Release history
- Project roadmap
- Security and trust boundaries
Code is MIT licensed; robot URDF and mesh assets include upstream material with separate attribution in NOTICE. xArm, UF850, and UFACTORY are trademarks of their respective owners.
For research use, cite “genesis-ufactory: UFACTORY Robot Models for Genesis Simulation,” Daniel Wang, 2026, https://github.com/xArm-Developer/ufactory_genesis.