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unisim.backend.genesis.materialization.build_genesis_scene¶

unisim.backend.genesis.materialization.build_genesis_scene(deps, *, sim_dt, gravity, integrator, constraint_solver, friction_cone, solver_iterations)[source]¶

Construct the unbuilt Genesis scene with explicit global options.

Parameters:

deps (Any)
sim_dt (float)
gravity (ndarray)
integrator (str | None)
constraint_solver (str | None)
friction_cone (str | None)
solver_iterations (int | None)

Return type:

Any