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feat: expose Genesis rigid-solver options on SimulationCfg (M3.7) - #127
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Adds eight optional SimulationCfg fields mapping to gs.options.RigidOptions:
- contact: enable_self_collision, enable_joint_limit, max_collision_pairs
- solver: solver_iterations (→iterations), ls_iterations, solver_tolerance
(→tolerance), integrator
- constraint stiffness/damping: constraint_timeconst
All default None ("use Genesis default"). SimulationCfg.rigid_options_kwargs()
maps the set fields to RigidOptions parameter names (genesis-free — keeps
configs.py free of the gs import per invariant #5; integrator stays a string).
InteractiveScene resolves the integrator string → gs.integrator.<name> and passes
rigid_options to gs.Scene ONLY when at least one field is set — so an untouched
config keeps the historic gs.Scene call byte-for-byte (zero regression).
CCD is not exposed (Genesis RigidOptions has no continuous-collision-detection
knob; verified against the installed genesis options surface).
Tests: tests/test_configs.py +3 (empty-by-default, full mapping to Genesis names,
None-skip-but-keep-False). The mapping is unit-tested without a Genesis runtime;
the scene wiring is exercised by the existing genesis_runtime-gated scene tests.
Gates: ruff ✓, ruff format ✓, pyright 0/0/0, lint-imports 6 kept / 0 broken,
optional-dep boundary still green (configs torch/genesis-free), full suite 439 passed (+3).
Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
KraHsu
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feat: expose Genesis rigid-solver options on SimulationCfg (M3.7)
KraHsu
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that referenced
this pull request
Jun 5, 2026
- §4 M3 table: M3.5 (ForceTorqueSensor, #126) and M3.7 (SimulationCfg rigid options, #127) → ✅; status line → "in progress" with the M3.1 asset-hosting blocker noted. - §2 snapshot: added the ForceTorque sensor + sim rigid-options to 已具备; trimmed the M3 gaps (F/T done, SimulationCfg done; remaining = M3.1/2/3/4/6/8). CLAUDE.md product-status note updated to "M3 in progress (M3.5/M3.7 ✅)" (gitignored — no diff). Docs-only. Co-Authored-By: Claude Opus 4.7 (1M context) <noreply@anthropic.com>
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What
ROADMAP M3.7 — eight optional
SimulationCfgfields exposing GenesisRigidOptions:SimulationCfgfieldRigidOptionsenable_self_collisionenable_self_collisionenable_joint_limitenable_joint_limitmax_collision_pairsmax_collision_pairssolver_iterationsiterationsls_iterationsls_iterationssolver_tolerancetoleranceintegratorintegrator(string →gs.integrator.<name>)constraint_timeconstconstraint_timeconstDesign
None("use the Genesis default").SimulationCfg.rigid_options_kwargs()maps the set fields to
RigidOptionsparameter names;InteractiveScenepassesrigid_optionstogs.Sceneonly when ≥1 is set → an untouched config leaves thegs.Scenecall byte-for-byte unchanged (zero regression).integratorstays a string in the cfg; the scene resolves it togs.integrator.<name>(raises a clear error on an unknown name), keeping
configsGenesis-free (invariant ci/per job cache suffix and pages enablement #5,verified by the optional-dep boundary test).
RigidOptionshas nocontinuous-collision-detection knob (only
use_gjk_collision, a different concern).Tests
tests/test_configs.py+3 — empty-by-default, full mapping to Genesis names(
solver_iterations→iterations,solver_tolerance→tolerance), and None-skip-but-keep-False.The mapping is unit-tested without a Genesis runtime; the scene wiring is covered by the
existing
genesis_runtime-gated scene tests.Gates
configstorch/genesis-free) · full suite 439 passed (+3)🤖 Generated with Claude Code