Three realms

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Mount Meru surrounded by the continents and subcontinents, with the gods of the Desire and Form Realms above

Three realms (Skt. tridhātu; Tib. ཁམས་གསུམ་, kham sum; Wyl. khams gsum) — the desire realm, the form realm and the formless realm, all within cyclic existence.

• the desire realm,
• the form realm, and
• the formless realm.

Three realms The three levels within samsara: the desire realm, the form realm, and the formless realm. The desire realm is the environment of hell beings, hungry spirits, animals, human beings, demi-gods, and the gods who enjoy the five objects of desire. The form realm is the environment of the gods who possess form. The formless realm is the environment of the gods who do not possess form. Beings of the desire realm have powerful delusions, beings of the form realm have more subtle delusions, and beings of the formless realm have very subtle delusions.

These realms are all within the domain of samsara.

Source

RigpaWiki:Three realms