API Reference

This section provides comprehensive documentation for the Genesis API. The reference is organized by functionality to help you find the classes and functions you need.

Core Components

• Scene
  • Scene
  • Simulator
• Entity
  • RigidEntity
  • MPMEntity
  • FEMEntity
  • PBDEntity
  • SPHEntity
  • DroneEntity
  • HybridEntity
  • Emitter

Visualization & Rendering

• Visualization & Rendering
  • Visualizer
  • Viewer
  • Renderers
  • Cameras
  • Lights

Sensors & Perception

• Sensors
  • Camera
  • Contact Sensors
  • IMU Sensor
  • Raycaster Sensor

Data Recording & Playback

• Recording & Playback
  • Recorder
  • RecorderManager
  • File Writers
  • Plotters

Physics Engine

• Physics Engine
  • Solvers
  • Couplers
  • States

Configuration & Options

• Material
  • gs.materials.Rigid
  • MPM
  • FEM
  • PBD
  • SPH
  • gs.materials.Hybrid
• Options
  • gs.options.Options
  • Simulator, Coupler & Solver Options
  • Morph
  • Renderer
  • Surface
  • Texture
  • Viewer & Visualization

Utilities & Helpers

• Utilities & Helpers
  • Constants & Enums
  • Device & Platform Utilities
  • Tensor Utilities
  • Geometry Utilities
  • File I/O Utilities

Differentiable Simulation

• Differentiable Simulation
  • Tensor
  • Creation Operations