genesis-world/examples/coupling/flush_cubes.py at main · Genesis-Embodied-AI/genesis-world · GitHub

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import os
import argparse
import numpy as np
import genesis as gs


def main():
    parser = argparse.ArgumentParser()
    parser.add_argument("-v", "--vis", action="store_true", default=False)
    args = parser.parse_args()

    ########################## init ##########################
    gs.init(precision="32", logging_level="info")

    ########################## create a scene ##########################

    scene = gs.Scene(
        sim_options=gs.options.SimOptions(
            dt=4e-3,
            substeps=20,
        ),
        mpm_options=gs.options.MPMOptions(
            lower_bound=(-0.45, -0.65, -0.01),
            upper_bound=(0.45, 0.65, 1.0),
            grid_density=64,
        ),
        viewer_options=gs.options.ViewerOptions(
            camera_pos=(4.5, 1.0, 1.42),
            camera_lookat=(0.0, 0.0, 0.3),
            camera_fov=22,
        ),
        show_viewer=args.vis,
        vis_options=gs.options.VisOptions(
            visualize_mpm_boundary=True,
            rendered_envs_idx=[0],
        ),
    )

    plane = scene.add_entity(morph=gs.morphs.Plane())
    cube0 = scene.add_entity(
        material=gs.materials.MPM.Elastic(rho=400),
        morph=gs.morphs.Box(
            pos=(0.0, 0.25, 0.4),
            size=(0.12, 0.12, 0.12),
        ),
        surface=gs.surfaces.Rough(
            color=(1.0, 0.5, 0.5, 1.0),
            vis_mode="particle",
        ),
    )

    cube0 = scene.add_entity(
        material=gs.materials.MPM.Elastic(rho=400),
        morph=gs.morphs.Sphere(
            pos=(0.15, 0.45, 0.5),
            radius=0.06,
        ),
        surface=gs.surfaces.Rough(
            color=(1.0, 1.0, 0.5, 1.0),
            vis_mode="particle",
        ),
    )

    cube0 = scene.add_entity(
        material=gs.materials.MPM.Elastic(rho=400),
        morph=gs.morphs.Cylinder(
            pos=(-0.15, 0.45, 0.6),
            radius=0.05,
            height=0.14,
        ),
        surface=gs.surfaces.Rough(
            color=(0.5, 1.0, 1.0, 1.0),
            vis_mode="particle",
        ),
    )
    emitter1 = scene.add_emitter(
        material=gs.materials.MPM.Liquid(sampler="random"),
        max_particles=800000,
        surface=gs.surfaces.Rough(
            color=(0.0, 0.9, 0.4, 1.0),
        ),
    )
    emitter2 = scene.add_emitter(
        material=gs.materials.MPM.Liquid(sampler="random"),
        max_particles=800000,
        surface=gs.surfaces.Rough(
            color=(0.0, 0.4, 0.9, 1.0),
        ),
    )
    scene.build(n_envs=0)

    horizon = 100 if "PYTEST_VERSION" not in os.environ else 5
    for i in range(horizon):
        emitter1.emit(
            pos=np.array([0.16, -0.4, 0.5]),
            direction=np.array([0.0, 0.0, -1.0]),
            speed=1.5,
            droplet_shape="circle",
            droplet_size=0.16,
        )
        emitter2.emit(
            pos=np.array([-0.16, -0.4, 0.5]),
            direction=np.array([0.0, 0.0, -1.0]),
            speed=1.5,
            droplet_shape="circle",
            droplet_size=0.16,
        )
        scene.step()


if __name__ == "__main__":
    main()