Utilities and helpers

Genesis World bundles a set of helper modules under genesis.utils for the operations that surround a simulation: selecting a compute backend, converting between array formats, applying geometric transforms, and loading assets from disk. Each linked page documents one of them in detail.

Modules

• Device and platform utilities: detecting the platform and selecting the compute backend and PyTorch device.

• Tensor utilities: converting between Quadrants fields, PyTorch tensors, and NumPy arrays.

• Geometry utilities: quaternion, rotation, and coordinate-transform helpers in genesis.utils.geom.

• Mesh utilities: loading meshes, generating primitives, and tetrahedralizing solids in genesis.utils.mesh.

• File I/O utilities: cache and source directory paths, plus loading URDF and MJCF descriptions.

• Timing and media tools: timing loops and saving media in genesis.utils.tools.

Initialization

Most utilities assume the library has been initialized. gs.init() selects the backend, sets the random seed and the float precision, and publishes the resolved configuration as module-level globals:

import genesis as gs

gs.init(
    backend=gs.gpu,  # first available of CUDA, ROCm, Metal
    precision="32",
    seed=42,
)

Device and platform utilities covers the backend resolution, the globals it sets (gs.device, gs.backend, gs.EPS), and the precision-dependent dtype aliases.

Components

• Device and platform utilities
• Tensor utilities
• Geometry utilities
• Mesh utilities
• File I/O utilities
• Timing and media tools

See also

• Options: the options classes that configure a scene, including the Pydantic base class every one inherits.