ToolSolver

The ToolSolver handles kinematic tools and end-effectors that drive other entities through one-way coupling into the soft solvers (MPM, FEM, PBD, SPH). A ToolEntity carries no internal dynamics and comes from a single mesh. It is a temporary workaround for differentiable rigid-soft interaction and will be removed once the RigidSolver supports differentiability directly.

Options

class genesis.options.solvers.ToolOptions(*, dt: float | None = None, floor_height: float | None = None) → None

Options configuring the ToolSolver.

Note

ToolEntity is a simplified form of RigidEntity. It supports one way tool->other coupling, but has no internal dynamics and can only be created from a single mesh. This is a temporal workaround for differentiable rigid-soft interaction. This solver will be removed once differentiable mode is supported by the RigidSolver.

Parameters:

floor_height (float, optional) – Height of the floor in meters. Defaults to 0.0.

ToolSolver

class genesis.engine.solvers.tool_solver.ToolSolver(scene, sim, options)

Bases: TimeBasedMixin, Solver

Note

!! This class will be removed once we added differntiability to the RigidSolver. This is just a temporary solution to obtain rigid->soft one-way differeitable coupling.

material_cls

alias of Tool

build()

property is_active

setup_boundary()

add_entity(idx, material, morph, surface, visualize_contact=False, name: str | None = None, desc=None) → ToolEntity

reset_grad()

get_state(f)

set_state(f, state, envs_idx=None)

process_input(in_backward=False)

process_input_grad()

substep_pre_coupling(f)

substep_pre_coupling_grad(f)

substep_post_coupling(f)

substep_post_coupling_grad(f)

add_grad_from_state(state)

collect_output_grads()

Collect gradients from downstream queried states.

save_ckpt(ckpt_name)

load_ckpt(ckpt_name)

pbd_collide(f, pos_world, thickness, dt)

See also

• Tool: the tool material and its parameters.

• Couplers: coupling with other solvers.