NVIDIA Kaolin Library

Getting Started:

Welcome
Installation
API Overview

Tutorials:

Tutorial Index
SIGGRAPH 2025 Tutorial
CVPR 2025 Tutorial
Physics Simulation for Points, Meshes, Splats and more
Conversions across 3D Representations
Volumetric Mesh Optimization
Working with Surface Meshes
Differentiable Rendering
Differentiable Camera
Differentiable Lighting
Easy PBR Shader (USD, gltf, obj)
Interactive Jupyter 3D Viewer
Structured Point Clouds (SPCs)
Quaternions in PyTorch
3D Checkpoint Visualization

API Reference:

kaolin.ops
kaolin.math
kaolin.metrics
kaolin.io
kaolin.physics
kaolin.render
kaolin.rep
kaolin.utils
kaolin.visualize
kaolin.non_commercial
kaolin.experimental

NVIDIA Kaolin Library

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kaolin.physics
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kaolin.physics¶

The kaolin.physics module provides representation-agnostic physics simulation (see the Simplicits notes for an overview).

kaolin.physics.common
kaolin.physics.materials
kaolin.physics.simplicits
kaolin.physics.utils

API¶

Classes¶

PhysicsPoints
SkinnedPoints
SkinnedPhysicsPoints
SimplicitsObject
SimplicitsScene

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