""" Copyright (c) 2020, NVIDIA CORPORATION. All rights reserved. NVIDIA CORPORATION and its licensors retain all intellectual property and proprietary rights in and to this software, related documentation and any modifications thereto. Any use, reproduction, disclosure or distribution of this software and related documentation without an express license agreement from NVIDIA CORPORATION is strictly prohibited. Projectiles Example ------------------- An example which shows how to spawn and move assets, illustrates collision filtering, and how to use the viewer to interact with the physics simulation. """ import numpy as np from isaacgym import gymutil from isaacgym import gymapi from math import sqrt # initialize gym gym = gymapi.acquire_gym() # parse arguments args = gymutil.parse_arguments( description="Projectiles Example: Press SPACE to fire a projectile. Press R to reset the simulation.", custom_parameters=[ {"name": "--num_envs", "type": int, "default": 16, "help": "Number of environments to create"}]) # configure sim sim_params = gymapi.SimParams() if args.physics_engine == gymapi.SIM_FLEX: sim_params.flex.shape_collision_margin = 0.05 sim_params.flex.num_inner_iterations = 6 elif args.physics_engine == gymapi.SIM_PHYSX: sim_params.physx.solver_type = 1 sim_params.physx.num_position_iterations = 4 sim_params.physx.num_velocity_iterations = 1 sim_params.physx.num_threads = args.num_threads sim_params.physx.use_gpu = args.use_gpu sim_params.use_gpu_pipeline = False if args.use_gpu_pipeline: print("WARNING: Forcing CPU pipeline.") sim = gym.create_sim(args.compute_device_id, args.graphics_device_id, args.physics_engine, sim_params) if sim is None: print("*** Failed to create sim") quit() # add ground plane plane_params = gymapi.PlaneParams() gym.add_ground(sim, plane_params) # create viewer. Not optional in this example viewer = gym.create_viewer(sim, gymapi.CameraProperties()) if viewer is None: print("*** Failed to create viewer") quit() # subscribe to input events. This allows input to be used to interact # with the simulation gym.subscribe_viewer_keyboard_event(viewer, gymapi.KEY_SPACE, "space_shoot") gym.subscribe_viewer_keyboard_event(viewer, gymapi.KEY_R, "reset") gym.subscribe_viewer_mouse_event(viewer, gymapi.MOUSE_LEFT_BUTTON, "mouse_shoot") # load asset asset_root = "../../assets" asset_file = "mjcf/nv_ant.xml" asset_options = gymapi.AssetOptions() asset = gym.load_asset(sim, asset_root, asset_file, asset_options) # set up the grid of environments num_envs = args.num_envs num_per_row = int(sqrt(num_envs)) spacing = 2.0 envs = [] actor_handles = [] for i in range(num_envs): # create environments lower = gymapi.Vec3(-spacing, 0.0, -spacing) upper = gymapi.Vec3(spacing, spacing, spacing) env = gym.create_env(sim, lower, upper, num_per_row) envs.append(env) # add actor to environment pose = gymapi.Transform() pose.p = gymapi.Vec3(0.0, 1.0, 0.0) pose.r = gymapi.Quat(-0.707107, 0.0, 0.0, 0.707107) ahandle = gym.create_actor(env, asset, pose, "ant", i, 1) actor_handles.append(ahandle) # override default DOF properties loaded from MJCF to make the legs move more freely props = gym.get_actor_dof_properties(env, ahandle) props["driveMode"].fill(gymapi.DOF_MODE_NONE) props["stiffness"].fill(0.0) props["damping"].fill(0.0) gym.set_actor_dof_properties(env, ahandle, props) # create an extra env to host the projectiles and create # 20 projectiles which will be cycled proj_env = gym.create_env(sim, lower, upper, 4) proj_asset_options = gymapi.AssetOptions() proj_asset_options.density = 10. proj_asset = gym.create_box(sim, 0.3, 0.3, 0.3, proj_asset_options) projectiles = [] for i in range(20): pose = gymapi.Transform() pose.p = gymapi.Vec3(i * 0.5, 1.0, 50) pose.r = gymapi.Quat(0, 0, 0, 1) # create actors which will collide with actors in any environment ahandle = gym.create_actor(proj_env, proj_asset, pose, "projectile" + str(i), -1, 0) # set each projectile to a different, random color c = 0.5 + 0.5 * np.random.random(3) gym.set_rigid_body_color(proj_env, ahandle, 0, gymapi.MESH_VISUAL_AND_COLLISION, gymapi.Vec3(c[0], c[1], c[2])) projectiles.append(ahandle) # save initial state for reset initial_state = np.copy(gym.get_sim_rigid_body_states(sim, gymapi.STATE_ALL)) proj_index = 0 while not gym.query_viewer_has_closed(viewer): # step the physics gym.simulate(sim) gym.fetch_results(sim, True) # Get input actions from the viewer and handle them appropriately for evt in gym.query_viewer_action_events(viewer): if evt.action == "reset" and evt.value > 0: gym.set_sim_rigid_body_states(sim, initial_state, gymapi.STATE_ALL) elif (evt.action == "space_shoot" or evt.action == "mouse_shoot") and evt.value > 0: if evt.action == "mouse_shoot": pos = gym.get_viewer_mouse_position(viewer) window_size = gym.get_viewer_size(viewer) xcoord = round(pos.x * window_size.x) ycoord = round(pos.y * window_size.y) print(f"Fired projectile with mouse at coords: {xcoord} {ycoord}") cam_pose = gym.get_viewer_camera_transform(viewer, proj_env) cam_fwd = cam_pose.r.rotate(gymapi.Vec3(0, 0, 1)) spawn = cam_pose.p speed = 25 vel = cam_fwd * speed angvel = 1.57 - 3.14 * np.random.random(3) proj_handle = projectiles[proj_index] state = gym.get_actor_rigid_body_states(proj_env, proj_handle, gymapi.STATE_NONE) state['pose']['p'].fill((spawn.x, spawn.y, spawn.z)) state['pose']['r'].fill((0, 0, 0, 1)) state['vel']['linear'].fill((vel.x, vel.y, vel.z)) state['vel']['angular'].fill((angvel[0], angvel[1], angvel[2])) gym.set_actor_rigid_body_states(proj_env, proj_handle, state, gymapi.STATE_ALL) proj_index = (proj_index + 1) % len(projectiles) # update the viewer gym.step_graphics(sim) gym.draw_viewer(viewer, sim, False) # Wait for dt to elapse in real time. # This synchronizes the physics simulation with the rendering rate. gym.sync_frame_time(sim) gym.destroy_viewer(viewer) gym.destroy_sim(sim)