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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 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() | |