Note
Click here to download the full example code
Physical Simulation of Bouncing Ball on HandΒΆ
print(__doc__)
import os
from pytransform3d.urdf import UrdfTransformManager
import numpy as np
import pytransform3d.visualizer as pv
from distance3d import hydroelastic_contact
from distance3d.hydroelastic_contact import HydroelasticBoundingVolumeHierarchy
dt = 0.001
g = np.array([9.81, 0, 0])
fig = pv.figure()
class PhysicsObject:
def __init__(self, rigid_body, artist, mass, velocity, fixed=False):
self.rigid_body = rigid_body
self.fixed = fixed
self.mass = mass
self.acceleration = np.zeros(3, dtype=float)
self.velocity = velocity
self.artist_ = artist
self.forces = []
def step(self):
if self.fixed:
self.forces = []
return
gravity_force = g * self.mass
self.forces.append(gravity_force)
self.acceleration = np.add.reduce(self.forces) / self.mass
self.velocity += dt * self.acceleration
self.rigid_body.body2origin_[:3, 3] += self.velocity * dt
self.artist_.set_data(self.rigid_body.body2origin_, self.rigid_body.vertices_,
self.rigid_body.tetrahedra_)
self.forces = []
class AnimationCallback:
def __init__(self, p_objects):
self.p_objects = p_objects
self.artists = []
for p_object in p_objects:
self.artists.append(p_object.artist_)
def __call__(self, step):
global xs, ys
for i in range(len(self.p_objects)):
for j in range(i + 1, len(self.p_objects)):
intersection, wrench12, wrench21, details = hydroelastic_contact.contact_forces(
self.p_objects[i].rigid_body, self.p_objects[j].rigid_body, return_details=True)
if intersection:
self.p_objects[i].forces.append(wrench21[:3])
self.p_objects[j].forces.append(wrench12[:3])
self.p_objects[i].step()
sum_vel = 0
sum_acc = 0
for p_object in self.p_objects:
o_vel = np.sqrt(p_object.velocity[0] * p_object.velocity[0]
+ p_object.velocity[1] * p_object.velocity[1]
+ p_object.velocity[2] * p_object.velocity[2])
o_acc = np.sqrt(p_object.acceleration[0] * p_object.acceleration[0]
+ p_object.acceleration[1] * p_object.acceleration[1]
+ p_object.acceleration[2] * p_object.acceleration[2])
sum_vel += o_vel
sum_acc += o_acc
return self.artists
GPa = 100000000
BASE_DIR = "test/data/"
data_dir = BASE_DIR
search_path = ".."
while (not os.path.exists(data_dir) and
os.path.dirname(search_path) != "distance3d"):
search_path = os.path.join(search_path, "..")
data_dir = os.path.join(search_path, BASE_DIR)
tm = UrdfTransformManager()
filename = os.path.join(data_dir, "mia_hand.urdf")
with open(filename, "r") as f:
robot_urdf = f.read()
tm.load_urdf(robot_urdf, mesh_path=data_dir)
robot_bvh = HydroelasticBoundingVolumeHierarchy(tm, "mia_hand")
robot_bvh.fill_tree_with_colliders(tm, make_artists=True)
for rb in robot_bvh.get_colliders():
rb.youngs_modulus = 100 * GPa
rb = hydroelastic_contact.RigidBody.make_sphere(np.array([-0.1, 0.01, 0.0]), 0.02, 1)
rb.youngs_modulus = 100 * GPa
p_objects = []
for collider in robot_bvh.get_colliders():
p_objects.append(PhysicsObject(collider, collider.artist_, 100, np.array([0.0, 0.0, 0.0]), True))
collider.artist_.add_artist(fig)
p_objects.append(PhysicsObject(rb, rb.artist_, 100, np.array([0.0, 0.0, 0.0]), False))
rb.artist_.add_artist(fig)
fig.view_init()
if "__file__" in globals():
fig.animate(AnimationCallback(p_objects), 500, loop=True)
fig.show()
else:
fig.save_image("__open3d_rendered_image.jpg")
Total running time of the script: ( 0 minutes 0.000 seconds)