# Morph

A morph in Genesis is a hybrid concept, encapsulating both the `geometry` and `pose` information of an entity. By using different morphs, you can instantiate genesis entities from shape primitives, meshes, URDF, MJCF, Terrain, or soft robot description files.

```{toctree}
:maxdepth: 2

morph
primitive/index
file_morph/index
```