warp-lang 1.0.2__py3-none-manylinux2014_x86_64.whl → 1.1.0__py3-none-manylinux2014_x86_64.whl

warp/examples/sim/example_granular.py

@@ -1,111 +1,124 @@
-# 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 Granular
-#
-# Shows how to set up a particle-based granular material model using the
-# wp.sim.ModelBuilder().
-#
-###########################################################################
-
-import warp as wp
-import warp.sim
-import warp.sim.render
-
-wp.init()
-
-
-class Example:
-    def __init__(self, stage):
-        self.frame_dt = 1.0 / 60
-        self.frame_count = 400
-
-        self.sim_substeps = 64
-        self.sim_dt = self.frame_dt / self.sim_substeps
-        self.sim_steps = self.frame_count * self.sim_substeps
-        self.sim_time = 0.0
-
-        self.radius = 0.1
-
-        builder = wp.sim.ModelBuilder()
-        builder.default_particle_radius = self.radius
-
-        builder.add_particle_grid(
-            dim_x=16,
-            dim_y=32,
-            dim_z=16,
-            cell_x=self.radius * 2.0,
-            cell_y=self.radius * 2.0,
-            cell_z=self.radius * 2.0,
-            pos=wp.vec3(0.0, 1.0, 0.0),
-            rot=wp.quat_identity(),
-            vel=wp.vec3(5.0, 0.0, 0.0),
-            mass=0.1,
-            jitter=self.radius * 0.1,
-        )
-
-        self.model = builder.finalize()
-        self.model.particle_kf = 25.0
-
-        self.model.soft_contact_kd = 100.0
-        self.model.soft_contact_kf *= 2.0
-
-        self.state_0 = self.model.state()
-        self.state_1 = self.model.state()
-
-        self.integrator = wp.sim.SemiImplicitIntegrator()
-
-        self.renderer = None
-        if stage:
-            self.renderer = wp.sim.render.SimRenderer(self.model, stage, scaling=20.0)
-
-        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)
-
-            # swap states
-            (self.state_0, self.state_1) = (self.state_1, self.state_0)
-
-    def step(self):
-        with wp.ScopedTimer("step", active=True):
-            self.model.particle_grid.build(self.state_0.particle_q, self.radius * 2.0)
-            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_path = "example_granular.usd"
-
-    example = Example(stage_path)
-
-    for _ in range(example.frame_count):
-        example.step()
-        example.render()
-
-    if example.renderer:
-        example.renderer.save()
+# 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 Granular
+#
+# Shows how to set up a particle-based granular material model using the
+# wp.sim.ModelBuilder().
+#
+###########################################################################
+
+import warp as wp
+import warp.sim
+import warp.sim.render
+
+wp.init()
+
+
+class Example:
+    def __init__(self, stage_path="example_granular.usd"):
+        fps = 60
+        self.frame_dt = 1.0 / fps
+
+        self.sim_substeps = 64
+        self.sim_dt = self.frame_dt / self.sim_substeps
+        self.sim_time = 0.0
+
+        self.radius = 0.1
+
+        builder = wp.sim.ModelBuilder()
+        builder.default_particle_radius = self.radius
+
+        builder.add_particle_grid(
+            dim_x=16,
+            dim_y=32,
+            dim_z=16,
+            cell_x=self.radius * 2.0,
+            cell_y=self.radius * 2.0,
+            cell_z=self.radius * 2.0,
+            pos=wp.vec3(0.0, 1.0, 0.0),
+            rot=wp.quat_identity(),
+            vel=wp.vec3(5.0, 0.0, 0.0),
+            mass=0.1,
+            jitter=self.radius * 0.1,
+        )
+
+        self.model = builder.finalize()
+        self.model.particle_kf = 25.0
+
+        self.model.soft_contact_kd = 100.0
+        self.model.soft_contact_kf *= 2.0
+
+        self.state_0 = self.model.state()
+        self.state_1 = self.model.state()
+
+        self.integrator = wp.sim.SemiImplicitIntegrator()
+
+        if stage_path:
+            self.renderer = wp.sim.render.SimRenderer(self.model, stage_path, scaling=20.0)
+        else:
+            self.renderer = None
+
+        self.use_cuda_graph = wp.get_device().is_cuda
+        if self.use_cuda_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)
+
+            # swap states
+            (self.state_0, self.state_1) = (self.state_1, self.state_0)
+
+    def step(self):
+        with wp.ScopedTimer("step"):
+            self.model.particle_grid.build(self.state_0.particle_q, self.radius * 2.0)
+            if self.use_cuda_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__":
+    import argparse
+
+    parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+    parser.add_argument("--device", type=str, default=None, help="Override the default Warp device.")
+    parser.add_argument(
+        "--stage_path",
+        type=lambda x: None if x == "None" else str(x),
+        default="example_granular.usd",
+        help="Path to the output USD file.",
+    )
+    parser.add_argument("--num_frames", type=int, default=400, help="Total number of frames.")
+
+    args = parser.parse_known_args()[0]
+
+    with wp.ScopedDevice(args.device):
+        example = Example(stage_path=args.stage_path)
+
+        for _ in range(args.num_frames):
+            example.step()
+            example.render()
+
+        if example.renderer:
+            example.renderer.save()

warp/examples/sim/example_granular_collision_sdf.py

@@ -1,186 +1,197 @@
-# 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 Granular Collision SDF
-#
-# Shows how to set up a particle-based granular material model using the
-# wp.sim.ModelBuilder(). This version shows how to create collision geometry
-# objects from SDFs.
-#
-# Note: requires a CUDA-capable device
-###########################################################################
-
-import math
-import os
-
-import numpy as np
-
-import warp as wp
-import warp.examples
-import warp.sim
-import warp.sim.render
-
-wp.init()
-
-
-class Example:
-    def __init__(self, stage):
-        self.frame_dt = 1.0 / 60
-        self.frame_count = 400
-
-        self.sim_substeps = 64
-        self.sim_dt = self.frame_dt / self.sim_substeps
-        self.sim_steps = self.frame_count * self.sim_substeps
-        self.sim_time = 0.0
-
-        self.radius = 0.1
-
-        builder = wp.sim.ModelBuilder()
-        builder.default_particle_radius = self.radius
-
-        builder.add_particle_grid(
-            dim_x=16,
-            dim_y=32,
-            dim_z=16,
-            cell_x=self.radius * 2.0,
-            cell_y=self.radius * 2.0,
-            cell_z=self.radius * 2.0,
-            pos=wp.vec3(0.0, 20.0, 0.0),
-            rot=wp.quat_identity(),
-            vel=wp.vec3(2.0, 0.0, 0.0),
-            mass=0.1,
-            jitter=self.radius * 0.1,
-        )
-        rock_file = open(os.path.join(warp.examples.get_asset_directory(), "rocks.nvdb"), "rb")
-        rock_vdb = wp.Volume.load_from_nvdb(rock_file.read())
-        rock_file.close()
-
-        rock_sdf = wp.sim.SDF(rock_vdb)
-
-        builder.add_shape_sdf(
-            ke=1.0e4,
-            kd=1000.0,
-            kf=1000.0,
-            mu=0.5,
-            sdf=rock_sdf,
-            body=-1,
-            pos=wp.vec3(0.0, 0.0, 0.0),
-            rot=wp.quat_from_axis_angle(wp.vec3(1.0, 0.0, 0.0), -0.5 * math.pi),
-            scale=wp.vec3(0.01, 0.01, 0.01),
-        )
-
-        mins = np.array([-3.0, -3.0, -3.0])
-        voxel_size = 0.2
-        maxs = np.array([3.0, 3.0, 3.0])
-        nums = np.ceil((maxs - mins) / (voxel_size)).astype(dtype=int)
-        center = np.array([0.0, 0.0, 0.0])
-        rad = 2.5
-        sphere_sdf_np = np.zeros(tuple(nums))
-        for x in range(nums[0]):
-            for y in range(nums[1]):
-                for z in range(nums[2]):
-                    pos = mins + voxel_size * np.array([x, y, z])
-                    dis = np.linalg.norm(pos - center)
-                    sphere_sdf_np[x, y, z] = dis - rad
-
-        sphere_vdb = wp.Volume.load_from_numpy(sphere_sdf_np, mins, voxel_size, rad + 3.0 * voxel_size)
-        sphere_sdf = wp.sim.SDF(sphere_vdb)
-
-        self.sphere_pos = wp.vec3(3.0, 15.0, 0.0)
-        self.sphere_scale = 1.0
-        self.sphere_radius = rad
-        builder.add_shape_sdf(
-            ke=1.0e4,
-            kd=1000.0,
-            kf=1000.0,
-            mu=0.5,
-            sdf=sphere_sdf,
-            body=-1,
-            pos=self.sphere_pos,
-            scale=wp.vec3(self.sphere_scale, self.sphere_scale, self.sphere_scale),
-        )
-
-        self.model = builder.finalize()
-        self.model.particle_kf = 25.0
-
-        self.model.soft_contact_kd = 100.0
-        self.model.soft_contact_kf *= 2.0
-
-        self.state_0 = self.model.state()
-        self.state_1 = self.model.state()
-
-        self.integrator = wp.sim.SemiImplicitIntegrator()
-
-        self.renderer = None
-        if stage:
-            self.renderer = wp.sim.render.SimRenderer(self.model, stage, scaling=20.0)
-
-        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()
-            wp.sim.collide(self.model, self.state_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", active=True):
-            self.model.particle_grid.build(self.state_0.particle_q, self.radius * 2.0)
-            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)
-
-            # Note the extra wp.quat_from_axis_angle(wp.vec3(1.0, 0.0, 0.0), math.pi) is because .usd is oriented differently from .nvdb
-            self.renderer.render_ref(
-                name="collision",
-                path=os.path.join(warp.examples.get_asset_directory(), "rocks.usd"),
-                pos=wp.vec3(0.0, 0.0, 0.0),
-                rot=wp.quat_from_axis_angle(wp.vec3(1.0, 0.0, 0.0), -0.5 * math.pi)
-                * wp.quat_from_axis_angle(wp.vec3(1.0, 0.0, 0.0), math.pi),
-                scale=wp.vec3(0.01, 0.01, 0.01),
-            )
-
-            self.renderer.render_sphere(
-                name="sphere",
-                pos=self.sphere_pos,
-                radius=self.sphere_scale * self.sphere_radius,
-                rot=wp.quat(0.0, 0.0, 0.0, 1.0),
-            )
-
-            self.renderer.render(self.state_0)
-            self.renderer.end_frame()
-
-
-if __name__ == "__main__":
-    stage_path = "example_granular_collision_sdf.usd"
-
-    example = Example(stage_path)
-
-    for _ in range(example.frame_count):
-        example.step()
-        example.render()
-
-    if example.renderer:
-        example.renderer.save()
+# 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 Granular Collision SDF
+#
+# Shows how to set up a particle-based granular material model using the
+# wp.sim.ModelBuilder(). This version shows how to create collision geometry
+# objects from SDFs.
+#
+# Note: requires a CUDA-capable device
+###########################################################################
+
+import math
+import os
+
+import numpy as np
+
+import warp as wp
+import warp.examples
+import warp.sim
+import warp.sim.render
+
+wp.init()
+
+
+class Example:
+    def __init__(self, stage_path="example_granular_collision_sdf.usd"):
+        fps = 60
+        self.frame_dt = 1.0 / fps
+
+        self.sim_substeps = 64
+        self.sim_dt = self.frame_dt / self.sim_substeps
+        self.sim_time = 0.0
+
+        self.radius = 0.1
+
+        builder = wp.sim.ModelBuilder()
+        builder.default_particle_radius = self.radius
+
+        builder.add_particle_grid(
+            dim_x=16,
+            dim_y=32,
+            dim_z=16,
+            cell_x=self.radius * 2.0,
+            cell_y=self.radius * 2.0,
+            cell_z=self.radius * 2.0,
+            pos=wp.vec3(0.0, 20.0, 0.0),
+            rot=wp.quat_identity(),
+            vel=wp.vec3(2.0, 0.0, 0.0),
+            mass=0.1,
+            jitter=self.radius * 0.1,
+        )
+        with open(os.path.join(warp.examples.get_asset_directory(), "rocks.nvdb"), "rb") as rock_file:
+            rock_vdb = wp.Volume.load_from_nvdb(rock_file.read())
+
+        rock_sdf = wp.sim.SDF(rock_vdb)
+
+        builder.add_shape_sdf(
+            ke=1.0e4,
+            kd=1000.0,
+            kf=1000.0,
+            mu=0.5,
+            sdf=rock_sdf,
+            body=-1,
+            pos=wp.vec3(0.0, 0.0, 0.0),
+            rot=wp.quat_from_axis_angle(wp.vec3(1.0, 0.0, 0.0), -0.5 * math.pi),
+            scale=wp.vec3(0.01, 0.01, 0.01),
+        )
+
+        mins = np.array([-3.0, -3.0, -3.0])
+        voxel_size = 0.2
+        maxs = np.array([3.0, 3.0, 3.0])
+        nums = np.ceil((maxs - mins) / (voxel_size)).astype(dtype=int)
+        center = np.array([0.0, 0.0, 0.0])
+        rad = 2.5
+        sphere_sdf_np = np.zeros(tuple(nums))
+        for x in range(nums[0]):
+            for y in range(nums[1]):
+                for z in range(nums[2]):
+                    pos = mins + voxel_size * np.array([x, y, z])
+                    dis = np.linalg.norm(pos - center)
+                    sphere_sdf_np[x, y, z] = dis - rad
+
+        sphere_vdb = wp.Volume.load_from_numpy(sphere_sdf_np, mins, voxel_size, rad + 3.0 * voxel_size)
+        sphere_sdf = wp.sim.SDF(sphere_vdb)
+
+        self.sphere_pos = wp.vec3(3.0, 15.0, 0.0)
+        self.sphere_scale = 1.0
+        self.sphere_radius = rad
+        builder.add_shape_sdf(
+            ke=1.0e4,
+            kd=1000.0,
+            kf=1000.0,
+            mu=0.5,
+            sdf=sphere_sdf,
+            body=-1,
+            pos=self.sphere_pos,
+            scale=wp.vec3(self.sphere_scale, self.sphere_scale, self.sphere_scale),
+        )
+
+        self.model = builder.finalize()
+        self.model.particle_kf = 25.0
+
+        self.model.soft_contact_kd = 100.0
+        self.model.soft_contact_kf *= 2.0
+
+        self.state_0 = self.model.state()
+        self.state_1 = self.model.state()
+
+        self.integrator = wp.sim.SemiImplicitIntegrator()
+
+        if stage_path:
+            self.renderer = wp.sim.render.SimRenderer(self.model, stage_path, scaling=20.0)
+        else:
+            self.renderer = None
+
+        self.use_cuda_graph = wp.get_device().is_cuda
+        if self.use_cuda_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()
+            wp.sim.collide(self.model, self.state_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"):
+            self.model.particle_grid.build(self.state_0.particle_q, self.radius * 2.0)
+            if self.use_cuda_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)
+
+            # Note the extra wp.quat_from_axis_angle(wp.vec3(1.0, 0.0, 0.0), math.pi) is because .usd is oriented differently from .nvdb
+            self.renderer.render_ref(
+                name="collision",
+                path=os.path.join(warp.examples.get_asset_directory(), "rocks.usd"),
+                pos=wp.vec3(0.0, 0.0, 0.0),
+                rot=wp.quat(0.0, 0.0, 0.0, 1.0),
+                scale=wp.vec3(0.01, 0.01, 0.01),
+            )
+
+            self.renderer.render_sphere(
+                name="sphere",
+                pos=self.sphere_pos,
+                radius=self.sphere_scale * self.sphere_radius,
+                rot=wp.quat(0.0, 0.0, 0.0, 1.0),
+            )
+
+            self.renderer.render(self.state_0)
+            self.renderer.end_frame()
+
+
+if __name__ == "__main__":
+    import argparse
+
+    parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter)
+    parser.add_argument("--device", type=str, default=None, help="Override the default Warp device.")
+    parser.add_argument(
+        "--stage_path",
+        type=lambda x: None if x == "None" else str(x),
+        default="example_granular_collision_sdf.usd",
+        help="Path to the output USD file.",
+    )
+    parser.add_argument("--num_frames", type=int, default=400, help="Total number of frames.")
+
+    args = parser.parse_known_args()[0]
+
+    with wp.ScopedDevice(args.device):
+        example = Example(stage_path=args.stage_path)
+
+        for _ in range(args.num_frames):
+            example.step()
+            example.render()
+
+        if example.renderer:
+            example.renderer.save()