gs.options.ToolOptions#

class genesis.options.solvers.ToolOptions(*, dt: float | None = None, floor_height: float = None)[source]#

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:

  • dt (float, optional) – Time duration for each simulation step in seconds. Defaults to 1e-2.

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