[Feature]: How do I apply external forces to a rigid body?

[Tryoe]

What feature or enhancement are you proposing?

How do I apply external forces to a rigid body?

Motivation

As a [e.g. civil engineering researcher working on flood simulation]
I want to [e.g. be able to simulate city-scale fluid / terrain simulations]
Because [e.g. this enables the efficient design and validation of flood protection structures].

Potential Benefit

How do I apply external forces to a rigid body?

What is the expected outcome of the implementation work?

• [ ]

Additional information

No response

[Kashu7100]

You can apply via RigidSolver

for solver in scene.sim.solvers:
        if not isinstance(solver, RigidSolver):
            continue
        rigid_solver = solver

rigid_solver.apply_links_external_force(
            force=np.array([[1,0,0]]),
            links_idx=[1], # global link idx
        )

[Tryoe]

Thank you for your feedback! Regarding your question: Does Genesis have custom configuration options for the maximum stiffness of rigid bodies, and a solver capable of applying different forces to distinct regions of the model?

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------------------ 原始邮件 ------------------ 发件人: "Genesis-Embodied-AI/Genesis" ***@***.***>; 发送时间: 2025年2月25日(星期二) 凌晨2:41 ***@***.***>; ***@***.******@***.***>; 主题: Re: [Genesis-Embodied-AI/Genesis] [Feature]: How do I apply external forces to a rigid body? (Issue #776) You can apply via RigidSolver for solver in scene.sim.solvers: if not isinstance(solver, RigidSolver): continue rigid_solver = solver rigid_solver.apply_links_external_force( force=np.array([[1,0,0]]), links_idx=[1], # global link idx ) — Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you authored the thread.Message ID: ***@***.***> Kashu7100 left a comment (Genesis-Embodied-AI/Genesis#776) You can apply via RigidSolver for solver in scene.sim.solvers: if not isinstance(solver, RigidSolver): continue rigid_solver = solver rigid_solver.apply_links_external_force( force=np.array([[1,0,0]]), links_idx=[1], # global link idx ) — Reply to this email directly, view it on GitHub, or unsubscribe. You are receiving this because you authored the thread.Message ID: ***@***.***>

[Kashu7100]

yes you can apply forces to each link in the model. you can set_dofs_stiffness if this is what you mean.

[Tryoe]

是的，您可以对模型中的每个链接施加力。如果这是您的意思，您可以。set_dofs_stiffness

Thanks, my problem is that different forces need to be set for a mesh object to be discretized into different parts.

[JunyinLi7758]

BTW, Is there any possible to apply contraint or force on a FEM entity or MPM entity?