warp-lang 0.11.0__py3-none-manylinux2014_x86_64.whl → 1.0.0__py3-none-manylinux2014_x86_64.whl

warp/examples/sim/example_rigid_chain.py

@@ -0,0 +1,191 @@
+# Copyright (c) 2022 NVIDIA CORPORATION.  All rights reserved.
+# NVIDIA CORPORATION and its licensors retain all intellectual property
+# and proprietary rights in and to this software, related documentation
+# and any modifications thereto.  Any use, reproduction, disclosure or
+# distribution of this software and related documentation without an express
+# license agreement from NVIDIA CORPORATION is strictly prohibited.
+
+###########################################################################
+# Example Sim Rigid Chain
+#
+# Shows how to set up a chain of rigid bodies connected by different joint
+# types using wp.sim.ModelBuilder(). There is one chain for each joint
+# type, including fixed joints which act as a flexible beam.
+#
+###########################################################################
+
+import os
+
+import numpy as np
+
+import warp as wp
+import warp.sim
+import warp.sim.render
+
+wp.init()
+
+
+class Example:
+    def __init__(self, stage):
+        self.chain_length = 8
+        self.chain_width = 1.0
+        self.chain_types = [
+            wp.sim.JOINT_REVOLUTE,
+            wp.sim.JOINT_FIXED,
+            wp.sim.JOINT_BALL,
+            wp.sim.JOINT_UNIVERSAL,
+            wp.sim.JOINT_COMPOUND,
+        ]
+
+        builder = wp.sim.ModelBuilder()
+
+        self.sim_time = 0.0
+        self.frame_dt = 1.0 / 100.0
+
+        episode_duration = 5.0  # seconds
+        self.episode_frames = int(episode_duration / self.frame_dt)
+
+        self.sim_substeps = 10
+        self.sim_dt = self.frame_dt / self.sim_substeps
+
+        for c, t in enumerate(self.chain_types):
+            # start a new articulation
+            builder.add_articulation()
+
+            for i in range(self.chain_length):
+                if i == 0:
+                    parent = -1
+                    parent_joint_xform = wp.transform([0.0, 0.0, c * 1.0], wp.quat_identity())
+                else:
+                    parent = builder.joint_count - 1
+                    parent_joint_xform = wp.transform([self.chain_width, 0.0, 0.0], wp.quat_identity())
+
+                # create body
+                b = builder.add_body(origin=wp.transform([i, 0.0, c * 1.0], wp.quat_identity()), armature=0.1)
+
+                # create shape
+                builder.add_shape_box(
+                    pos=wp.vec3(self.chain_width * 0.5, 0.0, 0.0),
+                    hx=self.chain_width * 0.5,
+                    hy=0.1,
+                    hz=0.1,
+                    density=10.0,
+                    body=b,
+                )
+
+                joint_type = t
+
+                if joint_type == wp.sim.JOINT_REVOLUTE:
+                    joint_limit_lower = -np.deg2rad(60.0)
+                    joint_limit_upper = np.deg2rad(60.0)
+                    builder.add_joint_revolute(
+                        parent=parent,
+                        child=b,
+                        axis=(0.0, 0.0, 1.0),
+                        parent_xform=parent_joint_xform,
+                        child_xform=wp.transform_identity(),
+                        limit_lower=joint_limit_lower,
+                        limit_upper=joint_limit_upper,
+                        target_ke=0.0,
+                        target_kd=0.0,
+                        limit_ke=1e5,
+                        limit_kd=1.0,
+                    )
+
+                elif joint_type == wp.sim.JOINT_UNIVERSAL:
+                    builder.add_joint_universal(
+                        parent=parent,
+                        child=b,
+                        axis_0=wp.sim.JointAxis((1.0, 0.0, 0.0), -np.deg2rad(60.0), np.deg2rad(60.0)),
+                        axis_1=wp.sim.JointAxis((0.0, 0.0, 1.0), -np.deg2rad(60.0), np.deg2rad(60.0)),
+                        parent_xform=parent_joint_xform,
+                        child_xform=wp.transform_identity(),
+                    )
+
+                elif joint_type == wp.sim.JOINT_BALL:
+                    builder.add_joint_ball(
+                        parent=parent,
+                        child=b,
+                        parent_xform=parent_joint_xform,
+                        child_xform=wp.transform_identity(),
+                    )
+
+                elif joint_type == wp.sim.JOINT_FIXED:
+                    builder.add_joint_fixed(
+                        parent=parent,
+                        child=b,
+                        parent_xform=parent_joint_xform,
+                        child_xform=wp.transform_identity(),
+                    )
+
+                elif joint_type == wp.sim.JOINT_COMPOUND:
+                    builder.add_joint_compound(
+                        parent=parent,
+                        child=b,
+                        axis_0=wp.sim.JointAxis((1.0, 0.0, 0.0), -np.deg2rad(60.0), np.deg2rad(60.0)),
+                        axis_1=wp.sim.JointAxis((0.0, 1.0, 0.0), -np.deg2rad(60.0), np.deg2rad(60.0)),
+                        axis_2=wp.sim.JointAxis((0.0, 0.0, 1.0), -np.deg2rad(60.0), np.deg2rad(60.0)),
+                        parent_xform=parent_joint_xform,
+                        child_xform=wp.transform_identity(),
+                    )
+
+        self.model = builder.finalize()
+        self.model.ground = False
+
+        self.integrator = wp.sim.FeatherstoneIntegrator(self.model)
+
+        self.renderer = None
+        if stage:
+            self.renderer = wp.sim.render.SimRenderer(self.model, stage, scaling=20.0)
+
+        self.state_0 = self.model.state()
+        self.state_1 = self.model.state()
+
+        wp.sim.eval_fk(self.model, self.model.joint_q, self.model.joint_qd, None, self.state_0)
+
+        self.use_graph = wp.get_device().is_cuda
+        if self.use_graph:
+            with wp.ScopedCapture() as capture:
+                self.simulate()
+            self.graph = capture.graph
+
+    def simulate(self):
+        for _ in range(self.sim_substeps):
+            self.state_0.clear_forces()
+            self.integrator.simulate(self.model, self.state_0, self.state_1, self.sim_dt)
+            self.state_0, self.state_1 = self.state_1, self.state_0
+
+    def step(self):
+        with wp.ScopedTimer("step", active=True):
+            if self.use_graph:
+                wp.capture_launch(self.graph)
+            else:
+                self.simulate()
+        self.sim_time += self.frame_dt
+
+    def render(self):
+        if self.renderer is None:
+            return
+
+        if self.renderer is None:
+            return
+
+        with wp.ScopedTimer("render", active=True):
+            self.renderer.begin_frame(self.sim_time)
+            self.renderer.render(self.state_0)
+            self.renderer.end_frame()
+
+
+if __name__ == "__main__":
+    stage = os.path.join(os.path.dirname(__file__), "example_rigid_chain.usd")
+
+    example = Example(stage)
+
+    for _ in range(example.episode_frames):
+        example.step()
+        example.render()
+
+    if example.renderer:
+        example.renderer.save()
+    if example.renderer:
+        example.renderer.save()

warp/examples/sim/example_rigid_contact.py

@@ -0,0 +1,176 @@
+# Copyright (c) 2022 NVIDIA CORPORATION.  All rights reserved.
+# NVIDIA CORPORATION and its licensors retain all intellectual property
+# and proprietary rights in and to this software, related documentation
+# and any modifications thereto.  Any use, reproduction, disclosure or
+# distribution of this software and related documentation without an express
+# license agreement from NVIDIA CORPORATION is strictly prohibited.
+
+###########################################################################
+# Example Sim Rigid Contact
+#
+# Shows how to set up free rigid bodies with different shape types falling
+# and colliding against each other and the ground using wp.sim.ModelBuilder().
+#
+###########################################################################
+
+import math
+import os
+
+import numpy as np
+from pxr import Usd, UsdGeom
+
+import warp as wp
+import warp.sim
+import warp.sim.render
+
+wp.init()
+
+
+class Example:
+    def __init__(self, stage):
+        builder = wp.sim.ModelBuilder()
+
+        self.sim_time = 0.0
+        self.frame_dt = 1.0 / 60.0
+
+        episode_duration = 20.0  # seconds
+        self.episode_frames = int(episode_duration / self.frame_dt)
+
+        self.sim_substeps = 10
+        self.sim_dt = self.frame_dt / self.sim_substeps
+
+        self.num_bodies = 8
+        self.scale = 0.8
+        self.ke = 1.0e5
+        self.kd = 250.0
+        self.kf = 500.0
+
+        # boxes
+        for i in range(self.num_bodies):
+            b = builder.add_body(origin=wp.transform((i, 1.0, 0.0), wp.quat_identity()))
+
+            builder.add_shape_box(
+                pos=wp.vec3(0.0, 0.0, 0.0),
+                hx=0.5 * self.scale,
+                hy=0.2 * self.scale,
+                hz=0.2 * self.scale,
+                body=i,
+                ke=self.ke,
+                kd=self.kd,
+                kf=self.kf,
+            )
+
+        # spheres
+        for i in range(self.num_bodies):
+            b = builder.add_body(origin=wp.transform((i, 1.0, 2.0), wp.quat_identity()))
+
+            builder.add_shape_sphere(
+                pos=wp.vec3(0.0, 0.0, 0.0), radius=0.25 * self.scale, body=b, ke=self.ke, kd=self.kd, kf=self.kf
+            )
+
+        # capsules
+        for i in range(self.num_bodies):
+            b = builder.add_body(origin=wp.transform((i, 1.0, 6.0), wp.quat_identity()))
+
+            builder.add_shape_capsule(
+                pos=wp.vec3(0.0, 0.0, 0.0),
+                radius=0.25 * self.scale,
+                half_height=self.scale * 0.5,
+                up_axis=0,
+                body=b,
+                ke=self.ke,
+                kd=self.kd,
+                kf=self.kf,
+            )
+
+        # initial spin
+        for i in range(len(builder.body_qd)):
+            builder.body_qd[i] = (0.0, 2.0, 10.0, 0.0, 0.0, 0.0)
+
+        # meshes
+        bunny = self.load_mesh(os.path.join(os.path.dirname(__file__), "../assets/bunny.usd"), "/bunny/bunny")
+        for i in range(self.num_bodies):
+            b = builder.add_body(
+                origin=wp.transform(
+                    (i * 0.5 * self.scale, 1.0 + i * 1.7 * self.scale, 4.0 + i * 0.5 * self.scale),
+                    wp.quat_from_axis_angle(wp.vec3(0.0, 1.0, 0.0), math.pi * 0.1 * i),
+                )
+            )
+
+            builder.add_shape_mesh(
+                body=b,
+                mesh=bunny,
+                pos=wp.vec3(0.0, 0.0, 0.0),
+                scale=wp.vec3(self.scale, self.scale, self.scale),
+                ke=self.ke,
+                kd=self.kd,
+                kf=self.kf,
+                density=1e3,
+            )
+
+        # finalize model
+        self.model = builder.finalize()
+        self.model.ground = True
+
+        self.integrator = wp.sim.SemiImplicitIntegrator()
+
+        self.renderer = None
+        if stage:
+            self.renderer = wp.sim.render.SimRenderer(self.model, stage, scaling=0.5)
+
+        self.state_0 = self.model.state()
+        self.state_1 = self.model.state()
+
+        wp.sim.eval_fk(self.model, self.model.joint_q, self.model.joint_qd, None, self.state_0)
+
+        self.use_graph = wp.get_device().is_cuda
+        if self.use_graph:
+            with wp.ScopedCapture() as capture:
+                self.simulate()
+            self.graph = capture.graph
+
+    def load_mesh(self, filename, path):
+        asset_stage = Usd.Stage.Open(filename)
+        mesh_geom = UsdGeom.Mesh(asset_stage.GetPrimAtPath(path))
+
+        points = np.array(mesh_geom.GetPointsAttr().Get())
+        indices = np.array(mesh_geom.GetFaceVertexIndicesAttr().Get()).flatten()
+
+        return wp.sim.Mesh(points, indices)
+
+    def simulate(self):
+        for _ in range(self.sim_substeps):
+            self.state_0.clear_forces()
+            wp.sim.collide(self.model, self.state_0)
+            self.integrator.simulate(self.model, self.state_0, self.state_1, self.sim_dt)
+            self.state_0, self.state_1 = self.state_1, self.state_0
+
+    def step(self):
+        with wp.ScopedTimer("step", active=True):
+            if self.use_graph:
+                wp.capture_launch(self.graph)
+            else:
+                self.simulate()
+        self.sim_time += self.frame_dt
+
+    def render(self):
+        if self.renderer is None:
+            return
+
+        with wp.ScopedTimer("render", active=True):
+            self.renderer.begin_frame(self.sim_time)
+            self.renderer.render(self.state_0)
+            self.renderer.end_frame()
+
+
+if __name__ == "__main__":
+    stage = os.path.join(os.path.dirname(__file__), "example_rigid_contact.usd")
+
+    example = Example(stage)
+
+    for _ in range(example.episode_frames):
+        example.step()
+        example.render()
+
+    if example.renderer:
+        example.renderer.save()

warp/examples/sim/example_rigid_force.py

@@ -0,0 +1,126 @@
+# Copyright (c) 2022 NVIDIA CORPORATION.  All rights reserved.
+# NVIDIA CORPORATION and its licensors retain all intellectual property
+# and proprietary rights in and to this software, related documentation
+# and any modifications thereto.  Any use, reproduction, disclosure or
+# distribution of this software and related documentation without an express
+# license agreement from NVIDIA CORPORATION is strictly prohibited.
+
+###########################################################################
+# Example Sim Rigid Force
+#
+# Shows how to apply an external force (torque) to a rigid body causing
+# it to roll.
+#
+###########################################################################
+
+import os
+import argparse
+
+import warp as wp
+import warp.sim
+import warp.sim.render
+
+wp.init()
+
+
+class Example:
+    parser = argparse.ArgumentParser()
+    parser.add_argument("--opengl", action="store_true")
+
+    def __init__(self, stage=None, args=None, **kwargs):
+        if args is None:
+            # Read args from kwargs, add default arg values from parser
+            args = argparse.Namespace(**kwargs)
+            args = Example.parser.parse_args(args=[], namespace=args)
+        self._args = args
+
+        self.sim_fps = 60.0
+        self.sim_substeps = 5
+        self.sim_duration = 5.0
+        self.frame_dt = 1.0 / self.sim_fps
+        self.sim_frames = int(self.sim_duration * self.sim_fps)
+        self.sim_dt = (1.0 / self.sim_fps) / self.sim_substeps
+        self.sim_time = 0.0
+
+        builder = wp.sim.ModelBuilder()
+
+        b = builder.add_body(origin=wp.transform((0.0, 10.0, 0.0), wp.quat_identity()))
+        builder.add_shape_box(body=b, hx=1.0, hy=1.0, hz=1.0, density=100.0)
+
+        self.model = builder.finalize()
+        self.model.ground = True
+
+        self.integrator = wp.sim.XPBDIntegrator()
+
+        self.state_0 = self.model.state()
+        self.state_1 = self.model.state()
+
+        self.renderer = None
+        if args.opengl:
+            self.renderer = wp.sim.render.SimRendererOpenGL(self.model, stage)
+        else:
+            if stage:
+                self.renderer = wp.sim.render.SimRenderer(self.model, stage)
+
+        self.use_graph = wp.get_device().is_cuda
+        if self.use_graph:
+            with wp.ScopedCapture() as capture:
+                self.simulate()
+            self.graph = capture.graph
+
+    def simulate(self):
+        for _ in range(self.sim_substeps):
+            wp.sim.collide(self.model, self.state_0)
+
+            self.state_0.clear_forces()
+            self.state_1.clear_forces()
+
+            self.state_0.body_f.assign(
+                [
+                    [0.0, 0.0, -7000.0, 0.0, 0.0, 0.0],
+                ]
+            )
+
+            self.integrator.simulate(self.model, self.state_0, self.state_1, self.sim_dt)
+
+            # swap states
+            (self.state_0, self.state_1) = (self.state_1, self.state_0)
+
+    def step(self):
+        with wp.ScopedTimer("step"):
+            if self.use_graph:
+                wp.capture_launch(self.graph)
+            else:
+                self.simulate()
+        self.sim_time += self.frame_dt
+
+    def render(self):
+        if self.renderer is None:
+            return
+
+        with wp.ScopedTimer("render"):
+            self.renderer.begin_frame(self.sim_time)
+            self.renderer.render(self.state_0)
+            self.renderer.end_frame()
+
+
+if __name__ == "__main__":
+    stage_path = os.path.join(os.path.dirname(__file__), "example_rigid_force.usd")
+
+    args = Example.parser.parse_args()
+
+    example = Example(stage_path, args=args)
+
+    if args.opengl:
+        while example.renderer.is_running():
+            example.step()
+            example.render()
+    else:
+        for i in range(example.sim_frames):
+            example.step()
+            example.render()
+
+    if example.renderer:
+        example.renderer.save()
+
+    example.renderer = None

warp/examples/sim/example_rigid_gyroscopic.py

@@ -0,0 +1,97 @@
+# Copyright (c) 2022 NVIDIA CORPORATION.  All rights reserved.
+# NVIDIA CORPORATION and its licensors retain all intellectual property
+# and proprietary rights in and to this software, related documentation
+# and any modifications thereto.  Any use, reproduction, disclosure or
+# distribution of this software and related documentation without an express
+# license agreement from NVIDIA CORPORATION is strictly prohibited.
+
+###########################################################################
+# Example Sim Rigid Gyroscopic
+#
+# Demonstrates the Dzhanibekov effect where rigid bodies will tumble in
+# free space due to unstable axes of rotation.
+#
+###########################################################################
+
+import os
+
+import warp as wp
+import warp.sim
+import warp.sim.render
+
+wp.init()
+
+
+class Example:
+    def __init__(self, stage):
+        self.sim_steps = 2000
+        self.sim_dt = 1.0 / 120.0
+        self.sim_time = 0.0
+
+        self.scale = 0.5
+
+        builder = wp.sim.ModelBuilder()
+
+        b = builder.add_body()
+
+        # axis shape
+        builder.add_shape_box(
+            pos=wp.vec3(0.3 * self.scale, 0.0, 0.0),
+            hx=0.25 * self.scale,
+            hy=0.1 * self.scale,
+            hz=0.1 * self.scale,
+            density=100.0,
+            body=b,
+        )
+
+        # tip shape
+        builder.add_shape_box(
+            pos=wp.vec3(0.0, 0.0, 0.0),
+            hx=0.05 * self.scale,
+            hy=0.2 * self.scale,
+            hz=1.0 * self.scale,
+            density=100.0,
+            body=b,
+        )
+
+        # initial spin
+        builder.body_qd[0] = (25.0, 0.01, 0.01, 0.0, 0.0, 0.0)
+
+        builder.gravity = 0.0
+        self.model = builder.finalize()
+        self.model.ground = False
+
+        self.integrator = wp.sim.SemiImplicitIntegrator()
+        self.state = self.model.state()
+
+        self.renderer = None
+        if stage:
+            self.renderer = wp.sim.render.SimRenderer(self.model, stage, scaling=100.0)
+
+    def step(self):
+        with wp.ScopedTimer("step", active=True):
+            self.state.clear_forces()
+            self.state = self.integrator.simulate(self.model, self.state, self.state, self.sim_dt)
+            self.sim_time += self.sim_dt
+
+    def render(self):
+        if self.renderer is None:
+            return
+
+        with wp.ScopedTimer("render", active=True):
+            self.renderer.begin_frame(self.sim_time)
+            self.renderer.render(self.state)
+            self.renderer.end_frame()
+
+
+if __name__ == "__main__":
+    stage_path = os.path.join(os.path.dirname(__file__), "example_rigid_gyroscopic.usd")
+
+    example = Example(stage_path)
+
+    for i in range(example.sim_steps):
+        example.step()
+        example.render()
+
+    if example.renderer:
+        example.renderer.save()