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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 | # 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 Gyroscopic
#
# Demonstrates the Dzhanibekov effect where rigid bodies will tumble in
# free space due to unstable axes of rotation.
#
###########################################################################
import os
import warp as wp
import warp.sim
import warp.sim.render
wp.init()
class Example:
def __init__(self, stage):
self.sim_steps = 2000
self.sim_dt = 1.0 / 120.0
self.sim_time = 0.0
self.scale = 0.5
builder = wp.sim.ModelBuilder()
b = builder.add_body()
# axis shape
builder.add_shape_box(
pos=wp.vec3(0.3 * self.scale, 0.0, 0.0),
hx=0.25 * self.scale,
hy=0.1 * self.scale,
hz=0.1 * self.scale,
density=100.0,
body=b,
)
# tip shape
builder.add_shape_box(
pos=wp.vec3(0.0, 0.0, 0.0), hx=0.05 * self.scale, hy=0.2 * self.scale, hz=1.0 * self.scale, density=100.0, body=b
)
# initial spin
builder.body_qd[0] = (25.0, 0.01, 0.01, 0.0, 0.0, 0.0)
builder.gravity = 0.0
self.model = builder.finalize()
self.model.ground = False
self.integrator = wp.sim.SemiImplicitIntegrator()
self.state = self.model.state()
self.renderer = wp.sim.render.SimRenderer(self.model, stage, scaling=100.0)
def update(self):
with wp.ScopedTimer("simulate", active=True):
self.state.clear_forces()
self.state = self.integrator.simulate(self.model, self.state, self.state, self.sim_dt)
self.sim_time += self.sim_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)
self.renderer.end_frame()
if __name__ == "__main__":
stage_path = os.path.join(os.path.dirname(__file__), "outputs/example_sim_rigid_gyroscopic.usd")
example = Example(stage_path)
for i in range(example.sim_steps):
example.update()
example.render()
example.renderer.save()
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