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Genesis World

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  • API Reference
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  • User Guide
  • API Reference
  • GitHub
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Section Navigation

  • Scene
    • Scene
    • Simulator
    • Mesh
    • ForceField
  • Entity
    • Rigid entity
      • RigidEntity
      • RigidLink
      • RigidJoint
      • RigidGeom
      • RigidVisGeom
    • MPMEntity
    • FEMEntity
    • PBD entities
      • PBDParticleEntity
      • PBDFreeParticleEntity
      • PBD2DEntity
      • PBD3DEntity
      • PBDTetEntity
    • SPHEntity
    • SFParticleEntity
    • DroneEntity
    • HybridEntity
    • ToolEntity
    • Emitter
  • Visualization and rendering
    • Visualizer
    • Viewer
    • Camera
    • Renderers
      • gs.renderers.Rasterizer
      • gs.renderers.RayTracer
      • gs.renderers.BatchRenderer
    • Lights
  • Sensors
    • Camera sensor
    • Contact sensors
    • IMU sensor
    • Raycaster sensor
    • Tactile sensors
    • Other sensors
  • Recording and playback
    • Recorder
    • RecorderManager
    • File writers
    • Plotters
  • Physics engine
    • Solvers
      • RigidSolver
      • MPMSolver
      • FEMSolver
      • PBDSolver
      • SPHSolver
      • SFSolver
      • ToolSolver
    • Couplers
      • LegacyCoupler
      • SAPCoupler
      • IPCCoupler
    • States
  • Material
    • gs.materials.Rigid
    • MPM
      • gs.materials.MPM.Elastic
      • gs.materials.MPM.ElastoPlastic
      • gs.materials.MPM.Liquid
      • gs.materials.MPM.Muscle
      • gs.materials.MPM.Sand
      • gs.materials.MPM.Snow
    • FEM
      • gs.materials.FEM.Cloth
      • gs.materials.FEM.Elastic
      • gs.materials.FEM.Muscle
    • PBD
      • gs.materials.PBD.Elastic
      • gs.materials.PBD.Cloth
      • gs.materials.PBD.Liquid
      • gs.materials.PBD.Particle
    • gs.materials.SPH.Liquid
    • gs.materials.SF.Smoke
    • gs.materials.Hybrid
    • gs.materials.Tool
    • gs.materials.Kinematic
  • Options
    • gs.options.Options
    • Simulator, coupler and solver options
      • gs.options.SimOptions
      • gs.options.BaseCouplerOptions
      • gs.options.LegacyCouplerOptions
      • gs.options.SAPCouplerOptions
      • gs.options.IPCCouplerOptions
      • gs.options.ToolOptions
      • gs.options.RigidOptions
      • gs.options.KinematicOptions
      • gs.options.MPMOptions
      • gs.options.SPHOptions
      • gs.options.PBDOptions
      • gs.options.FEMOptions
      • gs.options.SFOptions
    • Morph
      • gs.morphs.Morph
      • Primitive
        • gs.morphs.Primitive
        • gs.morphs.Box
        • gs.morphs.Sphere
        • gs.morphs.Cylinder
        • gs.morphs.Plane
      • FileMorph
        • gs.morphs.FileMorph
        • gs.morphs.Mesh
        • gs.morphs.MeshSet
        • gs.morphs.URDF
        • gs.morphs.MJCF
        • gs.morphs.USD
        • gs.morphs.Terrain
        • gs.morphs.Drone
      • gs.morphs.Nowhere
    • Surface
      • gs.surfaces.Surface
      • Plastic
        • gs.surfaces.Plastic
        • gs.surfaces.Rough
        • gs.surfaces.Smooth
        • gs.surfaces.Reflective
        • gs.surfaces.Collision
        • gs.surfaces.BSDF
        • gs.surfaces.Default
      • Metal
        • gs.surfaces.Metal
        • gs.surfaces.Iron
        • gs.surfaces.Aluminium
        • gs.surfaces.Copper
        • gs.surfaces.Gold
      • gs.surfaces.Emission
      • Glass
        • gs.surfaces.Glass
        • gs.surfaces.Water
    • Texture
      • gs.textures.Texture
      • gs.textures.ColorTexture
      • gs.textures.ImageTexture
      • gs.textures.BatchTexture
    • Miscellaneous options
      • gs.options.ProfilingOptions
      • gs.options.FoamOptions
      • gs.options.CoacdOptions
  • Utilities and helpers
    • Constants and enums
    • Device and platform utilities
    • Tensor utilities
    • Geometry utilities
    • File I/O utilities
  • Differentiable simulation
    • Tensor
    • Creation operations
  • API Reference
  • Options
  • Morph
  • FileMorph

FileMorph#

File morphs load geometry and pose from an external file: a mesh, a URDF or MJCF robot description, a USD stage, a terrain heightfield, or a drone model.

  • gs.morphs.FileMorph
  • gs.morphs.Mesh
  • gs.morphs.MeshSet
  • gs.morphs.URDF
  • gs.morphs.MJCF
  • gs.morphs.USD
  • gs.morphs.Terrain
  • gs.morphs.Drone

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