warp-lang 1.0.2__py3-none-win_amd64.whl → 1.2.0__py3-none-win_amd64.whl

warp/examples/sim/example_rigid_gyroscopic.py

@@ -1,95 +1,107 @@
-# 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 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 = "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()
+# 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 warp as wp
+import warp.sim
+import warp.sim.render
+
+
+class Example:
+    def __init__(self, stage_path="example_rigid_gyroscopic.usd"):
+        fps = 120
+        self.sim_dt = 1.0 / fps
+        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()
+
+        if stage_path:
+            self.renderer = wp.sim.render.SimRenderer(self.model, stage_path, scaling=100.0)
+        else:
+            self.renderer = None
+
+    def step(self):
+        with wp.ScopedTimer("step"):
+            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"):
+            self.renderer.begin_frame(self.sim_time)
+            self.renderer.render(self.state)
+            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_rigid_gyroscopic.usd",
+        help="Path to the output USD file.",
+    )
+    parser.add_argument("--num_frames", type=int, default=2000, 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_rigid_soft_contact.py

@@ -1,122 +1,132 @@
-# 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 FEM
-#
-# Shows how to set up a rigid sphere colliding with an FEM beam
-# using wp.sim.ModelBuilder().
-#
-###########################################################################
-
-import warp as wp
-import warp.sim
-import warp.sim.render
-
-wp.init()
-
-
-class Example:
-    def __init__(self, stage):
-        self.sim_width = 8
-        self.sim_height = 8
-
-        self.sim_fps = 60.0
-        self.frame_dt = 1.0 / self.sim_fps
-        self.sim_substeps = 32
-        self.sim_duration = 5.0
-        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
-        self.sim_iterations = 1
-        self.sim_relaxation = 1.0
-        self.profiler = {}
-
-        builder = wp.sim.ModelBuilder()
-        builder.default_particle_radius = 0.01
-
-        builder.add_soft_grid(
-            pos=wp.vec3(0.0, 0.0, 0.0),
-            rot=wp.quat_identity(),
-            vel=wp.vec3(0.0, 0.0, 0.0),
-            dim_x=20,
-            dim_y=10,
-            dim_z=10,
-            cell_x=0.1,
-            cell_y=0.1,
-            cell_z=0.1,
-            density=100.0,
-            k_mu=50000.0,
-            k_lambda=20000.0,
-            k_damp=0.0,
-        )
-
-        b = builder.add_body(origin=wp.transform((0.5, 2.5, 0.5), wp.quat_identity()))
-        builder.add_shape_sphere(body=b, radius=0.75, density=100.0)
-
-        self.model = builder.finalize()
-        self.model.ground = True
-        self.model.soft_contact_ke = 1.0e3
-        self.model.soft_contact_kd = 0.0
-        self.model.soft_contact_kf = 1.0e3
-
-        self.integrator = wp.sim.SemiImplicitIntegrator()
-
-        self.state_0 = self.model.state()
-        self.state_1 = self.model.state()
-
-        self.renderer = None
-        if stage:
-            self.renderer = wp.sim.render.SimRenderer(self.model, stage, scaling=1.0)
-
-        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 s in range(self.sim_substeps):
-            wp.sim.collide(self.model, self.state_0)
-
-            self.state_0.clear_forces()
-            self.state_1.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", dict=self.profiler):
-            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_rigid_soft_contact.usd"
-
-    example = Example(stage_path)
-
-    for i in range(example.sim_frames):
-        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 Rigid FEM
+#
+# Shows how to set up a rigid sphere colliding with an FEM beam
+# using wp.sim.ModelBuilder().
+#
+###########################################################################
+
+import warp as wp
+import warp.sim
+import warp.sim.render
+
+
+class Example:
+    def __init__(self, stage_path="example_rigid_soft_contact.usd"):
+        self.sim_width = 8
+        self.sim_height = 8
+
+        fps = 60
+        self.frame_dt = 1.0 / fps
+        self.sim_substeps = 32
+        self.sim_dt = self.frame_dt / self.sim_substeps
+        self.sim_time = 0.0
+        self.sim_iterations = 1
+        self.sim_relaxation = 1.0
+        self.profiler = {}
+
+        builder = wp.sim.ModelBuilder()
+        builder.default_particle_radius = 0.01
+
+        builder.add_soft_grid(
+            pos=wp.vec3(0.0, 0.0, 0.0),
+            rot=wp.quat_identity(),
+            vel=wp.vec3(0.0, 0.0, 0.0),
+            dim_x=20,
+            dim_y=10,
+            dim_z=10,
+            cell_x=0.1,
+            cell_y=0.1,
+            cell_z=0.1,
+            density=100.0,
+            k_mu=50000.0,
+            k_lambda=20000.0,
+            k_damp=0.0,
+        )
+
+        b = builder.add_body(origin=wp.transform((0.5, 2.5, 0.5), wp.quat_identity()))
+        builder.add_shape_sphere(body=b, radius=0.75, density=100.0)
+
+        self.model = builder.finalize()
+        self.model.ground = True
+        self.model.soft_contact_ke = 1.0e3
+        self.model.soft_contact_kd = 0.0
+        self.model.soft_contact_kf = 1.0e3
+
+        self.integrator = wp.sim.SemiImplicitIntegrator()
+
+        self.state_0 = self.model.state()
+        self.state_1 = self.model.state()
+
+        if stage_path:
+            self.renderer = wp.sim.render.SimRenderer(self.model, stage_path, scaling=1.0)
+        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 _s in range(self.sim_substeps):
+            wp.sim.collide(self.model, self.state_0)
+
+            self.state_0.clear_forces()
+            self.state_1.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", dict=self.profiler):
+            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_rigid_soft_contact.usd",
+        help="Path to the output USD file.",
+    )
+    parser.add_argument("--num_frames", type=int, default=300, 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()