Assign an initial velocity to the entity.

[Xujxyang]

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Thank you for the excellent work! I would like to use the MPM solver organized here to perform some simulations. However, I noticed that it doesn't seem possible to directly set the initial velocity for an entity in add_entity() https://github.com/Genesis-Embodied-AI/Genesis/blob/da7c36319dcdc8d235f2ba8ed81baf17b98127ff/genesis/engine/scene.py#L220 or gs.morphs https://github.com/Genesis-Embodied-AI/Genesis/blob/da7c36319dcdc8d235f2ba8ed81baf17b98127ff/genesis/options/morphs.py#L20 How should I achieve this? （A more specific question is: Can I use particles for initialization and assign them an initial velocity?）

[zhenjia-xu]

You can manually set velocity after the scene is built. Please use this function: link Here is an example: link

[Xujxyang]

Thank you very much for your response! However, I’ve encountered another tricky issue.

I am running the example on a server with a single NVIDIA 4090 GPU. When executing this line of code https://github.com/Genesis-Embodied-AI/Genesis/blob/257ca2cb186bf17b720be3f93eee803668ca596d/examples/differentiable_push.py#L89 , the method here https://github.com/Genesis-Embodied-AI/Genesis/blob/00d041d1bd0306c3e3c44cc9f2c70d3a0448b55e/genesis/ext/pyrender/platforms/egl.py#L57 returns a count of 0, which causes this section https://github.com/Genesis-Embodied-AI/Genesis/blob/00d041d1bd0306c3e3c44cc9f2c70d3a0448b55e/genesis/ext/pyrender/platforms/egl.py#L82 to fail in retrieving the GPU ID. As a result, the program cannot proceed further. Do you have any suggestions or solutions for this issue?

[YilingQiao]

The latest version should resolve this problem. Please let us know if the issue persists.