[FEATURE] Add Fem fixed constraint for implicit solver#1562
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duburcqa merged 74 commits intoGenesis-Embodied-AI:mainfrom Aug 14, 2025
Merged
[FEATURE] Add Fem fixed constraint for implicit solver#1562duburcqa merged 74 commits intoGenesis-Embodied-AI:mainfrom
duburcqa merged 74 commits intoGenesis-Embodied-AI:mainfrom
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duburcqa
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Aug 14, 2025
| positions, initial_target_poss, tol=0.0 | ||
| ), "Vertices should stay at initial target positions with hard constraints" | ||
| new_target_poss = initial_target_poss + gs.tensor( | ||
| [[0.1, 0.1, 0.1]], |
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gs.tensor instead of torch.tensor?
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I don't see why either one is clearly better than the other.
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I would rather keep gs.tensor where it is truly necessary. But let's move on.
duburcqa
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Aug 14, 2025
duburcqa
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Aug 14, 2025
duburcqa
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Description
Added fixed vertex constraint for implicit solver. Using the same existing api. Does not support attachment to rigid body yet.
Related Issue
Resolves Genesis-Embodied-AI/Genesis#
Motivation and Context
Fixed constraint is useful for some cases. It now support implicit solver.
How Has This Been / Can This Be Tested?
Added two tests.
Screenshots (if appropriate):
477792521-aac3047e-a78b-4144-956b-58f002141162.mp4
477792474-d571c93f-2dc7-4f66-a739-6c8689dce70f.mp4
477792333-052459fb-b89a-4e26-af9f-40b52f5bcb7d.mp4
Checklist:
Submitting Code Changessection of CONTRIBUTING document.