gs.options.AvatarOptions#

class genesis.options.solvers.AvatarOptions(*, dt: float | None = None, enable_collision: bool = False, enable_self_collision: bool = False, enable_adjacent_collision: bool = False, max_collision_pairs: int = 300, IK_max_targets: int = 6, max_dynamic_constraints: int = 8)[source]#

Options configuring the AvatarSolver. AvatarEntity is similar to RigidEntity, but without internal physics.

Parameters:

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

  • enable_collision (float, optional) – Whether to enable collision detection. Defaults to False.

  • enable_self_collision (float, optional) – Whether to enable self collision within each entity. Defaults to False.

  • enable_adjacent_collision (bool, optional) – Whether to enable collision between successive parent-child body pairs within each entity. Defaults to False.

  • max_collision_pairs (int, optional) – Maximum number of collision pairs. Defaults to 100.

  • IK_max_targets (int, optional) – Maximum number of IK targets. Increasing this doesn’t affect IK solving speed, but will increase memory usage. Defaults to 6.

  • max_dynamic_constraints (int, optional) – Maximum number of dynamic constraints (like suction cup). Defaults to 8.