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| # 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 Contact | |
| # | |
| # Shows how to set up free rigid bodies with different shape types falling | |
| # and colliding against each other and the ground using wp.sim.ModelBuilder(). | |
| # | |
| ########################################################################### | |
| import math | |
| import os | |
| import numpy as np | |
| from pxr import Usd, UsdGeom | |
| import warp as wp | |
| import warp.sim | |
| import warp.sim.render | |
| wp.init() | |
| class Example: | |
| def __init__(self, stage): | |
| self.device = wp.get_device() | |
| builder = wp.sim.ModelBuilder() | |
| self.sim_time = 0.0 | |
| self.frame_dt = 1.0 / 60.0 | |
| episode_duration = 20.0 # seconds | |
| self.episode_frames = int(episode_duration / self.frame_dt) | |
| self.sim_substeps = 10 | |
| self.sim_dt = self.frame_dt / self.sim_substeps | |
| self.num_bodies = 8 | |
| self.scale = 0.8 | |
| self.ke = 1.0e5 | |
| self.kd = 250.0 | |
| self.kf = 500.0 | |
| # boxes | |
| for i in range(self.num_bodies): | |
| b = builder.add_body(origin=wp.transform((i, 1.0, 0.0), wp.quat_identity())) | |
| builder.add_shape_box( | |
| pos=wp.vec3(0.0, 0.0, 0.0), | |
| hx=0.5 * self.scale, | |
| hy=0.2 * self.scale, | |
| hz=0.2 * self.scale, | |
| body=i, | |
| ke=self.ke, | |
| kd=self.kd, | |
| kf=self.kf, | |
| ) | |
| # spheres | |
| for i in range(self.num_bodies): | |
| b = builder.add_body(origin=wp.transform((i, 1.0, 2.0), wp.quat_identity())) | |
| builder.add_shape_sphere( | |
| pos=wp.vec3(0.0, 0.0, 0.0), radius=0.25 * self.scale, body=b, ke=self.ke, kd=self.kd, kf=self.kf | |
| ) | |
| # capsules | |
| for i in range(self.num_bodies): | |
| b = builder.add_body(origin=wp.transform((i, 1.0, 6.0), wp.quat_identity())) | |
| builder.add_shape_capsule( | |
| pos=wp.vec3(0.0, 0.0, 0.0), | |
| radius=0.25 * self.scale, | |
| half_height=self.scale * 0.5, | |
| up_axis=0, | |
| body=b, | |
| ke=self.ke, | |
| kd=self.kd, | |
| kf=self.kf, | |
| ) | |
| # initial spin | |
| for i in range(len(builder.body_qd)): | |
| builder.body_qd[i] = (0.0, 2.0, 10.0, 0.0, 0.0, 0.0) | |
| # meshes | |
| bunny = self.load_mesh(os.path.join(os.path.dirname(__file__), "assets/bunny.usd"), "/bunny/bunny") | |
| for i in range(self.num_bodies): | |
| b = builder.add_body( | |
| origin=wp.transform( | |
| (i * 0.5 * self.scale, 1.0 + i * 1.7 * self.scale, 4.0 + i * 0.5 * self.scale), | |
| wp.quat_from_axis_angle(wp.vec3(0.0, 1.0, 0.0), math.pi * 0.1 * i), | |
| ) | |
| ) | |
| builder.add_shape_mesh( | |
| body=b, | |
| mesh=bunny, | |
| pos=wp.vec3(0.0, 0.0, 0.0), | |
| scale=wp.vec3(self.scale, self.scale, self.scale), | |
| ke=self.ke, | |
| kd=self.kd, | |
| kf=self.kf, | |
| density=1e3, | |
| ) | |
| # finalize model | |
| self.model = builder.finalize() | |
| self.model.ground = True | |
| self.integrator = wp.sim.SemiImplicitIntegrator() | |
| self.renderer = wp.sim.render.SimRenderer(self.model, stage, scaling=0.5) | |
| 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 load_mesh(self, filename, path): | |
| asset_stage = Usd.Stage.Open(filename) | |
| mesh_geom = UsdGeom.Mesh(asset_stage.GetPrimAtPath(path)) | |
| points = np.array(mesh_geom.GetPointsAttr().Get()) | |
| indices = np.array(mesh_geom.GetFaceVertexIndicesAttr().Get()).flatten() | |
| return wp.sim.Mesh(points, indices) | |
| 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() | |
| wp.sim.collide(self.model, self.state_0) | |
| 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_contact.usd") | |
| example = Example(stage) | |
| example.run() | |
| 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() | |