morphopt 3.1.6__tar.gz → 3.2.0__tar.gz

morphopt-3.2.0/PKG-INFO

@@ -0,0 +1,151 @@
+Metadata-Version: 2.4
+Name: morphopt
+Version: 3.2.0
+Summary: A morphing optimization framework using PyTorch and Abaqus.
+Requires-Python: >=3.12
+Description-Content-Type: text/markdown
+Requires-Dist: torch>=2.9.1
+Requires-Dist: torchvision>=0.15.1
+Requires-Dist: numpy>=2.0.0
+Requires-Dist: pypardiso>=0.4.7
+Requires-Dist: pyside6>=6.8.0
+Requires-Dist: pyvista>=0.47.1
+Requires-Dist: pyvistaqt>=0.11.3
+Requires-Dist: vtk>=9.6.1
+Requires-Dist: gmsh>=4.15.0
+Requires-Dist: tabulate>=0.9.0
+Requires-Dist: imageio>=2.37.3
+Requires-Dist: bspmap>=1.0.3
+Requires-Dist: torchfea>=1.1.0
+Requires-Dist: trimesh>=4.11.5
+Requires-Dist: networkx>=3.6.1
+Requires-Dist: scipy>=1.17.1
+Requires-Dist: cpgeo>=1.0.12
+
+# MorphOpt — A Differentiable Optimization Framework for Soft Structure & Morphology Design
+
+**Developed by Zenan Song**
+
+A differentiable structural optimization framework that eliminates manual sensitivity derivation by fusing the adjoint method with automatic differentiation (AD). The sensitivity corresponds to the virtual work of residual force derivatives on the adjoint displacement field, computed via a single backpropagation through the residual graph. MorphOpt provides a unified interface for geometry, load, and material definition, calls torchfea for GPU-accelerated differentiable nonlinear FEA and adjoint-AD sensitivity, and employs a trust-region optimizer with L-BFGS for design updates. Validated on SIMP topology optimization with B-spline density fields and pneumatic soft robot shape optimization with deformation-dependent follower loads.
+
+## Features
+
+- Custom model definition covering geometry, material, and load parameters
+- Differentiable FEA via torchfea with automatic solving and sensitivity propagation
+- L-BFGS and trust-region methods for parameter updates within a subproblem framework
+- Fully extensible via inheritance — users customize every component in their definition scripts
+
+## Quick Start
+
+Install the package:
+
+```bash
+pip install morphopt
+```
+
+Requirements: Python ≥ 3.12; a PyTorch **float64** build is recommended.
+
+> **Optimizations are run as scripts.** Each job is an ordinary Python file that calls `morphopt.start_optimization(...)`. It runs headlessly in a terminal (local or remote), and a finished run can be stopped and resumed later from its result folder. Script execution is the recommended way to run jobs.
+
+1. **Run a minimal example** — execute it directly in a terminal:
+
+   ```bash
+   # Shape optimization (pneumatic bending actuator)
+   python examples/bendingactuator.py
+
+   # SIMP topology optimization (compliant gripper)
+   python examples/gripper.py
+   ```
+
+2. **Run your own job** — copy an example as a starting point, adapt the definition (geometry, material, load, updater, objective), and launch it as a script:
+
+   ```bash
+   python my_task.py
+   ```
+
+   Each run writes its results (logs, FEA files, restart script) into a timestamped result folder under the run root.
+
+3. **Optional — the GUI** is a visual aid for authoring a problem definition and inspecting finished runs in one window. It can also export a runnable script (`.py`), which you can either run directly in the UI or further customize before executing it via Step 2 in a terminal.
+
+   ```bash
+   morphopt-ui            # console command, available after `pip install morphopt`
+   # python -m morphopt.ui works too (handy when running from a source code directory)
+   ```
+
+The complete UI workflow (definition part + observer part) is described in [`docs/UI_usage.md`](docs/UI_usage.md).
+
+Further references:
+
+- Task definition guide: `docs/module_definition_guide.md`
+- Module API reference: `docs/module_reference.md`
+- Theory & papers: `docs/theory/`
+
+## Directory Overview
+
+- `src/morphopt/`
+  - `optcore` — Core package (controller, params, solver, objective, updaters)
+  - `shapeopt/` — B-spline shape optimization
+  - `simp/` — SIMP topology optimization
+  - `codesign/` — Shell co-design (shape + material)
+  - `ui/` — PySide6 graphical UI (definition + observer in one window)
+- `examples/` — Example tasks (bending actuator, gripper, etc.)
+- `docs/` — Usage guides, API reference, theory papers
+- `tests/` — Gradient checks, geometry tests, UI tests
+- `ui_runs/` — runs launched from the UI and their results (`<label>_T<timestamp>/`)
+
+## License
+
+Research use preferred. For production or commercial use, please evaluate and ensure numerical and engineering robustness first.
+
+## Citation
+
+If you use MorphOpt in your research, please cite:
+
+- TRO 2023
+
+```
+@ARTICLE{10296178,
+  author={Chen, Feifei and Song, Zenan and Chen, Shitong and Gu, Guoying and Zhu, Xiangyang},
+  journal={IEEE Transactions on Robotics}, 
+  title={Morphological Design for Pneumatic Soft Actuators and Robots With Desired Deformation Behavior}, 
+  year={2023},
+  volume={39},
+  number={6},
+  pages={4408-4428},
+  keywords={Shape;Surface morphology;Robots;Splines (mathematics);Pneumatic systems;Actuators;Soft robotics;Morphological design;shape optimization;pneumatic soft robots},
+  doi={10.1109/TRO.2023.3323825}}
+```
+
+- TRO 2026
+
+```
+@ARTICLE{11617347,
+  author={Song, Zenan and Chen, Feifei and Gu, Guoying and Zhu, Xiangyang},
+  journal={IEEE Transactions on Robotics}, 
+  title={Continuum Jacobian-Based Computational Morphogenesis for Soft Robotic Workspace Optimization}, 
+  year={2026},
+  volume={42},
+  number={},
+  pages={3048-3068},
+  keywords={Optimization;Design methodology;Surfaces;Modeling;End effectors;Shape;Soft robotics;Deformation;Vectors;Robots;Computational morphogenesis;Jacobian shape derivative;soft robotics;workspace optimization},
+  doi={10.1109/TRO.2026.3716051}}
+
+```
+
+- TMECH 2026
+
+```
+@ARTICLE{11536090,
+  author={Song, Zenan and Zhou, Guozhen and Chen, Feifei},
+  journal={IEEE/ASME Transactions on Mechatronics}, 
+  title={Contact-Aware Soft Robot Design via Differentiable Simulation and Morphological Optimization}, 
+  year={2026},
+  volume={31},
+  number={4},
+  pages={4576-4584},
+  keywords={Contacts;Optimization;Modeling;Design methodology;Soft robotics;Surfaces;Actuators;Materials;Force;Simulation;Differentiable contact modeling;morphological design;soft robotics},
+  doi={10.1109/TMECH.2026.3692920}}
+
+```
+
+

morphopt-3.2.0/README.md

@@ -0,0 +1,127 @@
+# MorphOpt — A Differentiable Optimization Framework for Soft Structure & Morphology Design
+
+**Developed by Zenan Song**
+
+A differentiable structural optimization framework that eliminates manual sensitivity derivation by fusing the adjoint method with automatic differentiation (AD). The sensitivity corresponds to the virtual work of residual force derivatives on the adjoint displacement field, computed via a single backpropagation through the residual graph. MorphOpt provides a unified interface for geometry, load, and material definition, calls torchfea for GPU-accelerated differentiable nonlinear FEA and adjoint-AD sensitivity, and employs a trust-region optimizer with L-BFGS for design updates. Validated on SIMP topology optimization with B-spline density fields and pneumatic soft robot shape optimization with deformation-dependent follower loads.
+
+## Features
+
+- Custom model definition covering geometry, material, and load parameters
+- Differentiable FEA via torchfea with automatic solving and sensitivity propagation
+- L-BFGS and trust-region methods for parameter updates within a subproblem framework
+- Fully extensible via inheritance — users customize every component in their definition scripts
+
+## Quick Start
+
+Install the package:
+
+```bash
+pip install morphopt
+```
+
+Requirements: Python ≥ 3.12; a PyTorch **float64** build is recommended.
+
+> **Optimizations are run as scripts.** Each job is an ordinary Python file that calls `morphopt.start_optimization(...)`. It runs headlessly in a terminal (local or remote), and a finished run can be stopped and resumed later from its result folder. Script execution is the recommended way to run jobs.
+
+1. **Run a minimal example** — execute it directly in a terminal:
+
+   ```bash
+   # Shape optimization (pneumatic bending actuator)
+   python examples/bendingactuator.py
+
+   # SIMP topology optimization (compliant gripper)
+   python examples/gripper.py
+   ```
+
+2. **Run your own job** — copy an example as a starting point, adapt the definition (geometry, material, load, updater, objective), and launch it as a script:
+
+   ```bash
+   python my_task.py
+   ```
+
+   Each run writes its results (logs, FEA files, restart script) into a timestamped result folder under the run root.
+
+3. **Optional — the GUI** is a visual aid for authoring a problem definition and inspecting finished runs in one window. It can also export a runnable script (`.py`), which you can either run directly in the UI or further customize before executing it via Step 2 in a terminal.
+
+   ```bash
+   morphopt-ui            # console command, available after `pip install morphopt`
+   # python -m morphopt.ui works too (handy when running from a source code directory)
+   ```
+
+The complete UI workflow (definition part + observer part) is described in [`docs/UI_usage.md`](docs/UI_usage.md).
+
+Further references:
+
+- Task definition guide: `docs/module_definition_guide.md`
+- Module API reference: `docs/module_reference.md`
+- Theory & papers: `docs/theory/`
+
+## Directory Overview
+
+- `src/morphopt/`
+  - `optcore` — Core package (controller, params, solver, objective, updaters)
+  - `shapeopt/` — B-spline shape optimization
+  - `simp/` — SIMP topology optimization
+  - `codesign/` — Shell co-design (shape + material)
+  - `ui/` — PySide6 graphical UI (definition + observer in one window)
+- `examples/` — Example tasks (bending actuator, gripper, etc.)
+- `docs/` — Usage guides, API reference, theory papers
+- `tests/` — Gradient checks, geometry tests, UI tests
+- `ui_runs/` — runs launched from the UI and their results (`<label>_T<timestamp>/`)
+
+## License
+
+Research use preferred. For production or commercial use, please evaluate and ensure numerical and engineering robustness first.
+
+## Citation
+
+If you use MorphOpt in your research, please cite:
+
+- TRO 2023
+
+```
+@ARTICLE{10296178,
+  author={Chen, Feifei and Song, Zenan and Chen, Shitong and Gu, Guoying and Zhu, Xiangyang},
+  journal={IEEE Transactions on Robotics}, 
+  title={Morphological Design for Pneumatic Soft Actuators and Robots With Desired Deformation Behavior}, 
+  year={2023},
+  volume={39},
+  number={6},
+  pages={4408-4428},
+  keywords={Shape;Surface morphology;Robots;Splines (mathematics);Pneumatic systems;Actuators;Soft robotics;Morphological design;shape optimization;pneumatic soft robots},
+  doi={10.1109/TRO.2023.3323825}}
+```
+
+- TRO 2026
+
+```
+@ARTICLE{11617347,
+  author={Song, Zenan and Chen, Feifei and Gu, Guoying and Zhu, Xiangyang},
+  journal={IEEE Transactions on Robotics}, 
+  title={Continuum Jacobian-Based Computational Morphogenesis for Soft Robotic Workspace Optimization}, 
+  year={2026},
+  volume={42},
+  number={},
+  pages={3048-3068},
+  keywords={Optimization;Design methodology;Surfaces;Modeling;End effectors;Shape;Soft robotics;Deformation;Vectors;Robots;Computational morphogenesis;Jacobian shape derivative;soft robotics;workspace optimization},
+  doi={10.1109/TRO.2026.3716051}}
+
+```
+
+- TMECH 2026
+
+```
+@ARTICLE{11536090,
+  author={Song, Zenan and Zhou, Guozhen and Chen, Feifei},
+  journal={IEEE/ASME Transactions on Mechatronics}, 
+  title={Contact-Aware Soft Robot Design via Differentiable Simulation and Morphological Optimization}, 
+  year={2026},
+  volume={31},
+  number={4},
+  pages={4576-4584},
+  keywords={Contacts;Optimization;Modeling;Design methodology;Soft robotics;Surfaces;Actuators;Materials;Force;Simulation;Differentiable contact modeling;morphological design;soft robotics},
+  doi={10.1109/TMECH.2026.3692920}}
+
+```
+
+

{morphopt-3.1.6 → morphopt-3.2.0}/pyproject.toml

@@ -1,6 +1,6 @@
 [project]
 name = "morphopt"
-version = "3.1.6"
+version = "3.2.0"
 description = "A morphing optimization framework using PyTorch and Abaqus."
 readme = "README.md"
 requires-python = ">=3.12"
@@ -17,7 +17,7 @@ dependencies = [
     "tabulate>=0.9.0",
     "imageio>=2.37.3",
     "bspmap>=1.0.3",
-    "torchfea>=1.0.17",
+    "torchfea>=1.1.0",
     "trimesh>=4.11.5",
     "networkx>=3.6.1",
     "scipy>=1.17.1",

{morphopt-3.1.6 → morphopt-3.2.0}/src/morphopt/codesign/feaparams.py

@@ -40,7 +40,7 @@ class CodesignFEAParams(FEAParams):
             )
             surfcenter = surfnodes.mean(dim=1)
 
-            fe.assembly.get_instance('final_model').external_surface = 'surface_1_offset'
+            fe.assembly.get_instance('final_model').exterior_surface = 'surface_1_offset'
 
             mesh_1all = fe.assembly.get_instance('final_model').get_mesh(surf_name='surface_1_All')
             mesh_1offset = fe.assembly.get_instance('final_model').get_mesh(surf_name='surface_1_offset')
@@ -72,4 +72,4 @@ class CodesignFEAParams(FEAParams):
 
             raise ValueError("The Gaussian weights of the C3D6 elements are negative. Please check the mesh quality.")
         
-        return fe
+        return fe

{morphopt-3.1.6 → morphopt-3.2.0}/src/morphopt/opt_runner.py

@@ -2,8 +2,8 @@
 
 Runs started from *code* never open a UI: the PySide6 observer lives inside the
 MorphOpt UI and simply polls the result folder on disk (per finished
-iteration).  The old ``no_gui`` flag and the separate observer process were
-therefore removed; ``view_optimization_result`` lives on the UI side now.
+iteration).  The old ``no_gui`` flag and separate observer process were
+therefore removed; browse results from the observer page in the main UI.
 """
 
 

{morphopt-3.1.6 → morphopt-3.2.0}/src/morphopt/optcore/modelparams/geometry.py

@@ -85,6 +85,8 @@ class FixedGeometryINP(FixedGeometry):
         
         assembly = torchfea.Assembly()
 
-        assembly.add_part(part=fe_ext.assembly.get_part(self._part_name), name='final_model')
-        assembly.add_instance(instance=torchfea.Instance(part_name='final_model', external_surface='surface_0_All'), name='final_model')
-        return assembly
+        assembly.add_part(part=fe_ext.assembly.get_part(self._part_name), name='final_model')
+        instance = torchfea.Instance(part_name='final_model')
+        assembly.add_instance(instance=instance, name='final_model')
+        instance.exterior_surface = 'surface_0_All'
+        return assembly

{morphopt-3.1.6 → morphopt-3.2.0}/src/morphopt/shapeopt/geometryparams.py

@@ -640,7 +640,9 @@ class GeometryParams(BaseGeometry):
         assembly = torchfea.Assembly()
 
         assembly.add_part(part=part, name='final_model')
-        assembly.add_instance(instance=torchfea.Instance(part_name='final_model', external_surface='surface_0_All'), name='final_model')
+        instance = torchfea.Instance(part_name='final_model')
+        assembly.add_instance(instance=instance, name='final_model')
+        instance.exterior_surface = 'surface_0_All'
         return assembly
 
     def _regenerate(self, path_result: str, pools = None):
@@ -776,4 +778,3 @@ class GeometryParams(BaseGeometry):
             nodes_new[part.mid_pt_idxmap_torch[:, 2]] = (nodes_new[part.mid_pt_idxmap_torch[:, 0]] + nodes_new[part.mid_pt_idxmap_torch[:, 1]]) / 2
 
         part.nodes = nodes_new
-        

{morphopt-3.1.6 → morphopt-3.2.0}/src/morphopt/ui/__init__.py

@@ -21,7 +21,8 @@ ui/widgets/          modeltree / editor / stepmatrix / codeeditor / viewer
 ui/schemes/          per-scheme templates + generators
 ui/launcher.py       headless job launch / continue / result helpers
 
-The design spec lives at the repository root in ``UIprompt.md``.
+The maintainability contract lives in
+``docs/codestructure/ui_code_design.md``.
 """
 
 from __future__ import annotations

{morphopt-3.1.6 → morphopt-3.2.0}/src/morphopt/ui/app.py

@@ -38,13 +38,20 @@ def configure_environment() -> None:
     os.environ.setdefault("KMP_DUPLICATE_LIB_OK", "True")
 
 
-def main() -> int:
+def create_application(argv: list[str] | None = None):
+    """Create the shared QApplication with MorphOpt's process-wide settings."""
     configure_environment()
 
     from PySide6.QtWidgets import QApplication
 
-    app = QApplication(sys.argv)
+    app = QApplication.instance() or QApplication(argv or sys.argv)
     app.setStyleSheet(_DARK_QSS)
+    return app
+
+
+def main() -> int:
+    """Launch the definition page in the main application window."""
+    app = create_application()
 
     from .mainwindow import MainWindow