ToolSolver#

The ToolSolver handles kinematic tools and end-effectors that interact with other physics objects.

Overview#

The Tool solver provides:

  • Kinematic motion control

  • Collision with other solvers (MPM, FEM, etc.)

  • Tool-object interaction

Usage#

import genesis as gs

gs.init()
scene = gs.Scene(
    tool_options=gs.options.ToolOptions(),
)

# Add kinematic tool
tool = scene.add_entity(
    gs.morphs.Mesh(file="tool.obj"),
    material=gs.materials.Tool(),
)

scene.build()

# Kinematically control tool
for i in range(1000):
    tool.set_pos(new_position)
    tool.set_quat(new_orientation)
    scene.step()

Configuration#

Key options in ToolOptions:

Option

Type

Description

collision_margin

float

Collision detection margin

Interaction with Other Solvers#

Tools can interact with:

  • MPM particles

  • FEM elements

  • PBD particles/cloth

  • SPH fluids

The coupling is handled automatically by the coupler system.

See Also#