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66c9c8a | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 | # Copyright (c) 2022 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.
###########################################################################
# Example Sim Rigid Chain
#
# Shows how to set up a chain of rigid bodies connected by different joint
# types using wp.sim.ModelBuilder(). There is one chain for each joint
# type, including fixed joints which act as a flexible beam.
#
###########################################################################
import os
import numpy as np
import warp as wp
import warp.sim
import warp.sim.render
wp.init()
class Example:
def __init__(self, stage):
self.device = wp.get_device()
self.chain_length = 8
self.chain_width = 1.0
self.chain_types = [
wp.sim.JOINT_REVOLUTE,
wp.sim.JOINT_FIXED,
wp.sim.JOINT_BALL,
wp.sim.JOINT_UNIVERSAL,
wp.sim.JOINT_COMPOUND,
]
builder = wp.sim.ModelBuilder()
self.sim_time = 0.0
self.frame_dt = 1.0 / 100.0
episode_duration = 5.0 # seconds
self.episode_frames = int(episode_duration / self.frame_dt)
self.sim_substeps = 32 # 5
self.sim_dt = self.frame_dt / self.sim_substeps
for c, t in enumerate(self.chain_types):
# start a new articulation
builder.add_articulation()
for i in range(self.chain_length):
if i == 0:
parent = -1
parent_joint_xform = wp.transform([0.0, 0.0, c * 1.0], wp.quat_identity())
else:
parent = builder.joint_count - 1
parent_joint_xform = wp.transform([self.chain_width, 0.0, 0.0], wp.quat_identity())
# create body
b = builder.add_body(origin=wp.transform([i, 0.0, c * 1.0], wp.quat_identity()), armature=0.1)
# create shape
builder.add_shape_box(
pos=wp.vec3(self.chain_width * 0.5, 0.0, 0.0),
hx=self.chain_width * 0.5,
hy=0.1,
hz=0.1,
density=10.0,
body=b,
)
joint_type = t
if joint_type == wp.sim.JOINT_REVOLUTE:
joint_limit_lower = -np.deg2rad(60.0)
joint_limit_upper = np.deg2rad(60.0)
builder.add_joint_revolute(
parent=parent,
child=b,
axis=(0.0, 0.0, 1.0),
parent_xform=parent_joint_xform,
child_xform=wp.transform_identity(),
limit_lower=joint_limit_lower,
limit_upper=joint_limit_upper,
target_ke=0.0,
target_kd=0.0,
limit_ke=30.0,
limit_kd=30.0,
)
elif joint_type == wp.sim.JOINT_UNIVERSAL:
builder.add_joint_universal(
parent=parent,
child=b,
axis_0=wp.sim.JointAxis((1.0, 0.0, 0.0), -np.deg2rad(60.0), np.deg2rad(60.0)),
axis_1=wp.sim.JointAxis((0.0, 0.0, 1.0), -np.deg2rad(60.0), np.deg2rad(60.0)),
parent_xform=parent_joint_xform,
child_xform=wp.transform_identity(),
)
elif joint_type == wp.sim.JOINT_BALL:
builder.add_joint_ball(
parent=parent,
child=b,
parent_xform=parent_joint_xform,
child_xform=wp.transform_identity(),
)
elif joint_type == wp.sim.JOINT_FIXED:
builder.add_joint_fixed(
parent=parent,
child=b,
parent_xform=parent_joint_xform,
child_xform=wp.transform_identity(),
)
elif joint_type == wp.sim.JOINT_COMPOUND:
builder.add_joint_compound(
parent=parent,
child=b,
axis_0=wp.sim.JointAxis((1.0, 0.0, 0.0), -np.deg2rad(60.0), np.deg2rad(60.0)),
axis_1=wp.sim.JointAxis((0.0, 1.0, 0.0), -np.deg2rad(60.0), np.deg2rad(60.0)),
axis_2=wp.sim.JointAxis((0.0, 0.0, 1.0), -np.deg2rad(60.0), np.deg2rad(60.0)),
parent_xform=parent_joint_xform,
child_xform=wp.transform_identity(),
)
# finalize model
self.model = builder.finalize()
self.model.ground = False
self.integrator = wp.sim.XPBDIntegrator(iterations=5)
self.renderer = wp.sim.render.SimRenderer(self.model, stage, scaling=20.0)
self.state_0 = self.model.state()
self.state_1 = self.model.state()
wp.sim.eval_fk(self.model, self.model.joint_q, self.model.joint_qd, None, self.state_0)
self.use_graph = wp.get_device().is_cuda
self.graph = None
if self.use_graph:
# create update graph
wp.capture_begin(self.device)
try:
self.update()
finally:
self.graph = wp.capture_end(self.device)
def update(self):
with wp.ScopedTimer("simulate", active=True):
if not self.use_graph or self.graph is None:
for _ in range(self.sim_substeps):
self.state_0.clear_forces()
self.integrator.simulate(self.model, self.state_0, self.state_1, self.sim_dt)
self.state_0, self.state_1 = self.state_1, self.state_0
else:
wp.capture_launch(self.graph)
if not wp.get_device().is_capturing:
self.sim_time += self.frame_dt
def render(self, is_live=False):
with wp.ScopedTimer("render", active=True):
time = 0.0 if is_live else self.sim_time
self.renderer.begin_frame(time)
self.renderer.render(self.state_0)
self.renderer.end_frame()
if __name__ == "__main__":
stage = os.path.join(os.path.dirname(__file__), "outputs/example_sim_rigid_chain.usd")
example = Example(stage)
profiler = {}
with wp.ScopedTimer("simulate", detailed=False, print=False, active=True, dict=profiler):
for _ in range(example.episode_frames):
example.update()
example.render()
wp.synchronize()
example.renderer.save()
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