PyPhysX - python wrapper for PhysX Nvidia

Installation

To install for the first time:

pip install git+https://github.com/petrikvladimir/pyphysx.git@master

To update if its already installed:

pip install --upgrade git+https://github.com/petrikvladimir/pyphysx.git@master

If pip install fails, build it from source:

git clone https://github.com/petrikvladimir/pyphysx.git
python setup.py install --user

Optionally, you can install in anaconda

conda create -n py38 python=3.8
conda activate py38
conda install -c anaconda gcc_linux-64 gxx_linux-64
pip install git+https://github.com/petrikvladimir/pyphysx.git@master

Trivial example

from pyphysx import *
from pyphysx_utils.rate import Rate
from pyphysx_render.pyrender import PyPhysxViewer

scene = Scene()
scene.add_actor(RigidStatic.create_plane(material=Material(static_friction=0.1, dynamic_friction=0.1, restitution=0.5)))

actor = RigidDynamic()
actor.attach_shape(Shape.create_box([0.2] * 3, Material(restitution=1.)))
actor.set_global_pose([0.5, 0.5, 1.0])
actor.set_mass(1.)
scene.add_actor(actor)

render = PyPhysxViewer(video_filename='videos/01_free_fall.gif')
render.add_physx_scene(scene)

rate = Rate(240)
while render.is_active:
    scene.simulate(rate.period())
    render.update()
    rate.sleep()

The code will render and simulate the scene and automatically generate video like this:

For more advanced examples, have a look into the folder examples. For example:

Features

PhysX interface

physics
- PhysX allows only one instance of Physics object per process - we enforce it in PyPhysX by using singleton that is initialized on the first use
- parallel computation control:
  - Physics.set_num_cpu(N) - creates CPU dispatcher with N threads
  - Physics.init_gpu() - initialize GPU computation
scene
- create scene and actors that will be simulated
- multiple scenes can be created in parallel
rigid actors (both static and dynamic)
- create/attach/detach geometries (box, sphere, convex mesh)
- create/update materials
- set/update flags or actor properties (velocity, kinematic target, mass)
D6Joint
- specify per axis limits and drives
transformations
- automatic transformation casting between pxTransform and tuple of position and numpy quaternion (see Transformation)

Rendering

PyRender is used for pyphysx scene rendering. It allows to render shadows, support off-screen rendering and provides nice user interface.

To record whole session into a video use: render = PyPhysxViewer(video_filename='videos/02_spade.gif')
Viewer control:
- mouse:
  - right button drag to rotate the scene
  - middle button to move the target location at which camera looks at
  - scroll mouse for zoom
- keys:
  - up/down/left/right: Move the target location at which camera looks at.
  - PgUp/PgDn: Zoom.
  - a: Toggles rotational animation mode.
  - c: Toggles backface culling.
  - f: Toggles fullscreen mode.
  - h: Toggles shadow rendering.
  - i: Toggles axis display mode (no axes, world axis, mesh axes, all axes).
  - l: Toggles lighting mode (scene lighting, Raymond lighting, or direct lighting).
  - m: Toggles face normal visualization.
  - n: Toggles vertex normal visualization.
  - o: Toggles orthographic mode.
  - q: Quits the viewer.
  - r: Starts recording a GIF, and pressing again stops recording and opens a file dialog.
  - s: Opens a file dialog to save the current view as an image.
  - w: Toggles wireframe mode (scene default, flip wireframes, all wireframe, or all solid).
  - z: Resets the camera to the initial view.

URDF parser

parse robot from URDF file
specify joint controller and command robot
support for full dynamic control or kinematic position or velocity control (that is standard for industrial robots), therefore you can control you robots without fine tunning PID joint controller

hyzcn / pyphysx