File I/O Utilities#

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

Cache Directories#

Genesis caches compiled kernels and processed assets:

import genesis as gs

# Get cache directory paths
cache_dir = gs.utils.get_cache_dir()
gsd_cache = gs.utils.get_gsd_cache_dir()

# Get source directory
src_dir = gs.utils.get_src_dir()

URDF Loading#

URDF (Unified Robot Description Format) files can be loaded directly:

import genesis as gs

gs.init()
scene = gs.Scene()

# Load from file path
robot = scene.add_entity(gs.morphs.URDF(file="path/to/robot.urdf"))

# Load with custom settings
robot = scene.add_entity(gs.morphs.URDF(
    file="robot.urdf",
    pos=(0, 0, 0),
    quat=(0, 0, 0, 1),
    fixed=True,
))

scene.build()

URDF Customization#

# Override link properties
robot = scene.add_entity(gs.morphs.URDF(
    file="robot.urdf",
    links_props={
        "link_name": {
            "mass": 1.0,
            "inertia": [0.1, 0.1, 0.1],
        },
    },
))

MJCF Loading#

MuJoCo XML format (MJCF) is also supported:

# Load MJCF model
robot = scene.add_entity(gs.morphs.MJCF(file="model.xml"))

# With customization
robot = scene.add_entity(gs.morphs.MJCF(
    file="model.xml",
    pos=(0, 0, 0.5),
))

Mesh Loading#

Genesis supports various mesh formats:

Format

Extension

Notes

OBJ

.obj

Wavefront OBJ

STL

.stl

Stereolithography

PLY

.ply

Polygon File Format

GLB/GLTF

.glb, .gltf

GL Transmission Format

DAE

.dae

COLLADA

USD

.usd, .usda, .usdc

Universal Scene Description

 
# Load mesh entity
mesh = scene.add_entity(gs.morphs.Mesh(
    file="object.obj",
    pos=(0, 0, 0.5),
    scale=0.01,  # Scale factor
))

Asset Paths#

Genesis looks for assets in:

  1. Absolute path (if provided)

  2. Relative to current working directory

  3. Genesis assets directory

# Absolute path
robot = scene.add_entity(gs.morphs.URDF(file="/home/user/robot.urdf"))

# Relative path
robot = scene.add_entity(gs.morphs.URDF(file="robots/my_robot.urdf"))

# Genesis built-in assets
plane = scene.add_entity(gs.morphs.Plane())

See Also#