gs.materials.Hybrid#

class genesis.engine.materials.hybrid.Hybrid(material_rigid, material_soft, fixed=True, use_default_coupling=False, damping=0.0, thickness=0.05, soft_dv_coef=0.01, func_instantiate_rigid_from_soft=None, func_instantiate_soft_from_rigid=None, func_instantiate_rigid_soft_association=None)[source]#

Bases: Material

The class for hybrid body material (soft skin actuated by inner rigid skeleton).

Parameters:

  • material_rigid (gs.materials.base.Material) – The material of the rigid body.

  • material_soft (gs.materials.base.Material) – The material of the soft body.

  • fixed (bool, optional) – Whether the rigid entity is with a fixed base link. Default is False.

  • use_default_coupling (bool, optional) – Whether to use default solver coupling. Default is False

  • damping (float, optional) – Damping coefficient between soft and rigid. Default is 0.0.

  • thickness (float, optional) – The thickness to instantiate soft skin. Default is 0.05.

  • soft_dv_coef (float, optional) – The coefficient to apply delta velocity from rigid to soft. Default is 0.01.

  • func_instantiate_rigid_from_soft (callable, optional) – The function to instantiate rigid body from the geometry of soft body. Default is None.

  • func_instantiate_soft_from_rigid (callable, optional) – The function to instantiate soft body from the geometry of rigid body. Default is None.

  • func_instantiate_rigid_soft_association (callable, optional) – The function that determines the association of the rigid and the soft body. Default is None.

property material_rigid#

The material of the rigid body.

property material_soft#

The material of the soft body.

property thickness#

The thickness to instantiate soft skin.

property fixed#

Whether the rigid entity is with a fixed base link.

property use_default_coupling#

Whether to use default solver coupling.

property damping#

Damping coefficient between soft and rigid.

property soft_dv_coef#

The coefficient to apply delta velocity from rigid to soft.