Couplers#

A coupler transfers forces and state between the physics solvers so that different material types interact in a shared scene, for example a rigid gripper grasping a soft object. The simulator holds exactly one coupler, selected by the coupler options you pass to the scene. For guidance on choosing between them, see Coupling.

Coupler types#

Base options#

Every coupler options class inherits these fields from BaseCouplerOptions.

class genesis.options.solvers.BaseCouplerOptions → None[source]#

Base class for all coupler options.

See also#

  • Coupling: choosing and configuring a coupler.

  • Solvers: the physics solvers being coupled.