LegacyCoupler#

The LegacyCoupler provides basic impulse-based coupling between different physics solvers.

Overview#

The Legacy coupler:

  • Uses impulse-based contact resolution

  • Handles rigid-soft interactions

  • Simple and fast for basic scenarios

Usage#

import genesis as gs

gs.init()
scene = gs.Scene(
    coupler_options=gs.options.LegacyCouplerOptions(
        friction=0.5,
    ),
)

See Also#