Merge branch 'main' into fem_rigid_debug

Author: Libero0809

examples/collision/contype.py

@@ -0,0 +1,89 @@
+"""
+NOTE: contype and conaffinity are 32-bit integer bitmasks used for contact filtering of contact pairs.
+When the contype of one geom and the conaffinity of the other geom share a common bit set to 1, two geoms can collide.
+Plane:      contype=0xFFFF, conaffinity=0xFFFF (1111 1111 1111 1111)
+Red Cube:   contype=1, conaffinity=1 (0001) -> collide with Plane and Blue Cube
+Green Cube: contype=2, conaffinity=2 (0010) -> collide with Plane and Blue Cube
+Blue Cube:  contype=3, conaffinity=3 (0011) -> collide with Plane, Red Cube, and Green Cube
+Dragon:     contype=4, conaffinity=4 (0100) -> collide with Plane only
+"""
+
+import argparse
+
+import genesis as gs
+
+
+def main():
+    parser = argparse.ArgumentParser()
+    parser.add_argument("-v", "--vis", action="store_true", default=False)
+    args = parser.parse_args()
+
+    gs.init()
+
+    scene = gs.Scene(
+        viewer_options=gs.options.ViewerOptions(
+            camera_pos=(0.0, -2, 1.5),
+            camera_lookat=(0.0, 0.0, 0.5),
+            camera_fov=40,
+            max_FPS=200,
+        ),
+        show_viewer=args.vis,
+    )
+
+    scene.add_entity(gs.morphs.Plane())
+
+    scene.add_entity(
+        gs.morphs.Box(
+            pos=(0.025, 0, 0.5),
+            quat=(0, 0, 0, 1),
+            size=(0.1, 0.1, 0.1),
+            contype=1,
+            conaffinity=1,
+        ),
+        surface=gs.surfaces.Default(
+            color=(1.0, 0.0, 0.0, 1.0),
+        ),
+    )
+    scene.add_entity(
+        gs.morphs.Box(
+            pos=(-0.025, 0, 1.0),
+            quat=(0, 0, 0, 1),
+            size=(0.1, 0.1, 0.1),
+            contype=2,
+            conaffinity=2,
+        ),
+        surface=gs.surfaces.Default(
+            color=(0.0, 1.0, 0.0, 1.0),
+        ),
+    )
+    scene.add_entity(
+        gs.morphs.Box(
+            pos=(0.0, 0, 1.5),
+            quat=(0, 0, 0, 1),
+            size=(0.1, 0.1, 0.1),
+            contype=3,
+            conaffinity=3,
+        ),
+        surface=gs.surfaces.Default(
+            color=(0.0, 0.0, 1.0, 1.0),
+        ),
+    )
+    scene.add_entity(
+        morph=gs.morphs.Mesh(
+            file="meshes/dragon/dragon.obj",
+            scale=0.004,
+            euler=(0, 0, 90),
+            pos=(-0.1, 0.0, 1.0),
+            contype=4,
+            conaffinity=4,
+        ),
+    )
+
+    scene.build()
+
+    for i in range(1000):
+        scene.step()
+
+
+if __name__ == "__main__":
+    main()

examples/drone/hover_env.py

@@ -2,7 +2,12 @@
 import math
 import copy
 import genesis as gs
-from genesis.utils.geom import quat_to_xyz, transform_by_quat, inv_quat, transform_quat_by_quat
+from genesis.utils.geom import (
+    quat_to_xyz,
+    transform_by_quat,
+    inv_quat,
+    transform_quat_by_quat,
+)
 
 
 def gs_rand_float(lower, upper, shape, device):
@@ -147,7 +152,10 @@ def step(self, actions):
         self.last_rel_pos = self.commands - self.last_base_pos
         self.base_quat[:] = self.drone.get_quat()
         self.base_euler = quat_to_xyz(
-            transform_quat_by_quat(torch.ones_like(self.base_quat) * self.inv_base_init_quat, self.base_quat),
+            transform_quat_by_quat(
+                torch.ones_like(self.base_quat) * self.inv_base_init_quat,
+                self.base_quat,
+            ),
             rpy=True,
             degrees=True,
         )