Utilities & Helpers#

Genesis provides various utility functions, constants, and helper classes for common operations.

Overview#

This section covers:

  • Constants: Enums for joint types, geometry types, backends

  • Device utilities: Platform detection, device selection

  • Tensor utilities: Array/tensor conversions

  • Geometry utilities: Transform operations

  • File I/O: Path utilities, URDF/MJCF parsing

Quick Reference#

Initialization#

import genesis as gs

# Initialize with default settings
gs.init()

# Initialize with specific backend
gs.init(backend=gs.cpu)      # CPU backend
gs.init(backend=gs.gpu)      # GPU backend (CUDA/Metal)

# With custom settings
gs.init(
    seed=42,              # Random seed
    precision="32",       # Float precision
    debug=False,          # Debug mode
    backend=gs.gpu,
)

Global Variables#

After gs.init(), these globals are available:

Variable

Description

gs.platform

Platform string (“Linux”, “macOS”, etc.)

gs.device

PyTorch device

gs.backend

Active backend enum

gs.EPS

Numerical epsilon

Components#

See Also#