According to Tensor API, the way of using “apply_rigid_body_force_at_pos_tensors” is
- To the multiple environment,
- To the multiple body,
- Each rigid body has only one force(and position) applied.
Is there any option to apply multiple forces at a single rigid body, without additional total-force-and-torque calculation?
For now, when I trying to applying such as
gym.apply_rigid_body_force_at_pos_tensors(sim, force_1, position_1, gymapi.ENV_SPACE)
gym.apply_rigid_body_force_at_pos_tensors(sim, force_2, position_2, gymapi.ENV_SPACE)
then simulation shows the result like only the last(second) force is applied.