File I/O utilities#

Genesis World provides utilities for file operations, path handling, and loading robot and scene descriptions.

Cache and source directories#

Genesis World caches compiled kernels and processed assets. These helpers, exposed under gs.utils, resolve the cache, source, and asset directories.

genesis.utils.misc.get_cache_dir()[source]#

genesis.utils.misc.get_gsd_cache_dir()[source]#

genesis.utils.misc.get_src_dir()[source]#

genesis.utils.misc.get_assets_dir()[source]#

genesis.utils.misc.clear_caches() → None[source]#: Drop every cache registered through register_cache_clear.

Loading models and meshes#

Load a robot description or a mesh by passing a file-based morph (gs.morphs.URDF, gs.morphs.MJCF, gs.morphs.Mesh, gs.morphs.USD) to scene.add_entity(...). Supported mesh formats:

Format	Extension	Notes
OBJ	`.obj`	Wavefront OBJ
STL	`.stl`	Stereolithography
GLB/GLTF	`.glb`, `.gltf`	GL Transmission Format
DAE	`.dae`	COLLADA
USD	`.usd`, `.usda`, `.usdc`, `.usdz`	Universal Scene Description (via `gs.morphs.USD`)

For usage, see Loading assets. Each morph and its options are documented under FileMorph.

Asset paths#

Genesis World resolves a morph’s file in order:

Absolute path (if provided)
Relative to current working directory
Genesis World assets directory

See also#

Loading assets: loading robot descriptions and meshes.
FileMorph: file-based morphs.
Entity: entity loading.