HybridEntity（混合实体）#

class genesis.engine.entities.hybrid_entity.HybridEntity(idx, scene, material, morph, surface, name: str | None = None)[source]#

Bases: Entity

A hybrid simulation entity composed of both rigid and soft components.

This class encapsulates logic for initializing, coupling, and simulating a physically hybrid object that has rigid bodies (e.g., from URDF or meshes) and soft materials (e.g., MPM). The coupling allows for bi-directional force and motion interaction between the rigid and soft parts during simulation.

Parameters:

  • idx (int) – The index of the entity within the scene.

  • scene (genesis.Scene) – The simulation scene where the entity is added.

  • material (genesis.materials.Hybrid) – The hybrid material that includes both rigid and soft sub-materials, and defines coupling behavior.

  • morph (genesis.morphs.Morph) – The shape/morphology of the entity. Must be either a URDF or Mesh.

  • surface (genesis.surfaces.Surface) – The surface properties applied to the soft part of the entity.

get_dofs_position(*args, **kwargs)[source]#

Get the current generalized coordinates (positions) of the rigid part of the hybrid entity.

Parameters:

  • *args – Passed directly to the rigid entity’s get_dofs_position method.

  • **kwargs – Passed directly to the rigid entity’s get_dofs_position method.

Returns:

A tensor containing the position values of the rigid body’s degrees of freedom.

Return type:

gs.Tensor

get_dofs_velocity(*args, **kwargs)[source]#

Get the current generalized velocities of the rigid part of the hybrid entity.

Parameters:

  • *args – Passed directly to the rigid entity’s get_dofs_velocity method.

  • **kwargs – Passed directly to the rigid entity’s get_dofs_velocity method.

Returns:

A tensor containing the velocity values of the rigid body’s degrees of freedom.

Return type:

gs.Tensor

get_dofs_force(*args, **kwargs)[source]#

Get the current generalized forces applied on the rigid part of the hybrid entity.

Parameters:

  • *args – Passed directly to the rigid entity’s get_dofs_force method.

  • **kwargs – Passed directly to the rigid entity’s get_dofs_force method.

Returns:

A tensor representing forces acting on the rigid body’s degrees of freedom.

Return type:

gs.Tensor

get_dofs_control_force(*args, **kwargs)[source]#

Get the control forces currently applied to the rigid part of the hybrid entity.

Parameters:

  • *args – Passed directly to the rigid entity’s get_dofs_control_force method.

  • **kwargs – Passed directly to the rigid entity’s get_dofs_control_force method.

Returns:

A tensor containing the control force values for the rigid body’s degrees of freedom.

Return type:

gs.Tensor

set_dofs_velocity(*args, **kwargs)[source]#

Set the generalized velocities for the rigid part of the hybrid entity.

Parameters:

  • *args – Passed directly to the rigid entity’s set_dofs_velocity method.

  • **kwargs – Passed directly to the rigid entity’s set_dofs_velocity method.

set_dofs_force(*args, **kwargs)[source]#

Set the generalized forces for the rigid part of the hybrid entity.

Parameters:

  • *args – Passed directly to the rigid entity’s set_dofs_force method.

  • **kwargs – Passed directly to the rigid entity’s set_dofs_force method.

control_dofs_position(*args, **kwargs)[source]#

Apply position control to the rigid part of the hybrid entity.

Parameters:

  • *args – Passed directly to the rigid entity’s control_dofs_position method.

  • **kwargs – Passed directly to the rigid entity’s control_dofs_position method.

Returns:

Control output for position adjustment of the rigid body’s DOFs.

Return type:

gs.Tensor

control_dofs_position_velocity(*args, **kwargs)[source]#

Apply position control to the rigid part of the hybrid entity.

Parameters:

  • *args – Passed directly to the rigid entity’s control_dofs_position method.

  • **kwargs – Passed directly to the rigid entity’s control_dofs_position method.

Returns:

Control output for position adjustment of the rigid body’s DOFs.

Return type:

gs.Tensor

control_dofs_velocity(*args, **kwargs)[source]#

Apply velocity control to the rigid part of the hybrid entity.

Parameters:

  • *args – Passed directly to the rigid entity’s control_dofs_velocity method.

  • **kwargs – Passed directly to the rigid entity’s control_dofs_velocity method.

Returns:

Control output for velocity adjustment of the rigid body’s DOFs.

Return type:

gs.Tensor

control_dofs_force(*args, **kwargs)[source]#

Apply force control to the rigid part of the hybrid entity.

Parameters:

  • *args – Passed directly to the rigid entity’s control_dofs_force method.

  • **kwargs – Passed directly to the rigid entity’s control_dofs_force method.

Returns:

Control output for force adjustment of the rigid body’s DOFs.

Return type:

gs.Tensor

build()[source]#

Finalize the hybrid entity setup during simulation build.

update_soft_part(f)[source]#

Update the state of the soft part of the hybrid entity based on the current simulation frame.

Parameters:

f (int) – The current simulation frame index.

property n_dofs: int#

The number of degrees of freedom of the hybrid entity (inherited from the rigid part).

property fixed: bool#

Check whether the hybrid entity is fixed in space (inherited from the rigid morph).

property part_rigid#

The rigid part of the hybrid entity.

property part_soft#

The soft part of the hybrid entity.

property solver_rigid#

The solver associated with the rigid part of the hybrid entity.

property solver_soft#

The solver associated with the soft part of the hybrid entity.