gs.options.KinematicOptions#

Configures the kinematic solver, a lightweight solver for ghost or reference entities that only computes forward kinematics for visualization. It performs no collision detection, physics integration, or constraint solving.

class genesis.options.solvers.KinematicOptions(*, dt: float | None = None, batch_links_info: bool = False, batch_joints_info: bool = False, batch_dofs_info: bool = False) → None[source]#

Options configuring the KinematicSolver (visualization-only solver).

KinematicSolver is a lightweight solver for ghost/reference entities that only computes forward kinematics for visualization. No collision, physics integration, or constraint solving is performed.

Parameters:

  • dt (float, optional) – Time duration for each simulation step in seconds. If none, it will inherit from SimOptions. Defaults to None.

  • batch_links_info (bool, optional) – Whether to batch link info. Automatically enabled for heterogeneous simulation. Defaults to False.

  • batch_dofs_info (bool, optional) – Whether to batch DOF info. Defaults to False.