Genesis-Embodied-AI/genesis-world ? reverse-engineered prompt

Build me a Python simulation toolkit for robotics and embodied AI that lets me load common robot and scene files, run physics simulations, and watch everything in a built in viewer. I want it to support things like rigid bodies, soft objects, fluids, cloth, and simple robot control, with a clean Python API that feels easy to use in research code.

Please include a handful of runnable demos so I can see basic scenes working right away, like a robot picking up a cube, a collision test, cloth or liquid behavior, and a few interaction examples. It should also be easy to extend later for new environments or sensors.

Make the project installable and well organized, with tests, documentation, and example scripts that show how to get started. If you need to check current setup details or missing dependencies, look up the latest docs online and then wire things up so the examples run as smoothly as possible.