warp-lang 1.6.1__py3-none-macosx_10_13_universal2.whl → 1.7.0__py3-none-macosx_10_13_universal2.whl

warp/sim/import_snu.py

@@ -1,10 +1,17 @@
-# 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.
-
+# SPDX-FileCopyrightText: Copyright (c) 2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
 
 import os
 import xml.etree.ElementTree as ET

warp/sim/import_urdf.py

@@ -1,9 +1,17 @@
-# 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.
+# SPDX-FileCopyrightText: Copyright (c) 2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
 
 import os
 import xml.etree.ElementTree as ET
@@ -12,7 +20,6 @@ from typing import Union
 import numpy as np
 
 import warp as wp
-import warp.sim
 from warp.sim.model import Mesh
 
 
@@ -38,6 +45,7 @@ def parse_urdf(
     joint_limit_lower=-1e6,
     joint_limit_upper=1e6,
     scale=1.0,
+    hide_visuals=False,
     parse_visuals_as_colliders=False,
     force_show_colliders=False,
     enable_self_collisions=True,
@@ -71,6 +79,7 @@ def parse_urdf(
         joint_limit_lower (float): The default lower joint limit if not specified in the URDF.
         joint_limit_upper (float): The default upper joint limit if not specified in the URDF.
         scale (float): The scaling factor to apply to the imported mechanism.
+        hide_visuals (bool): If True, hide visual shapes.
         parse_visuals_as_colliders (bool): If True, the geometry defined under the `<visual>` tags is used for collision handling instead of the `<collision>` geometries.
         force_show_colliders (bool): If True, the collision shapes are always shown, even if there are visual shapes.
         enable_self_collisions (bool): If True, self-collisions are enabled.
@@ -165,6 +174,22 @@ def parse_urdf(
                 )
                 shapes.append(s)
 
+            for capsule in geo.findall("capsule"):
+                s = builder.add_shape_capsule(
+                    body=link,
+                    pos=wp.vec3(tf.p),
+                    rot=wp.quat(tf.q),
+                    radius=float(capsule.get("radius") or "1") * scale,
+                    half_height=float(capsule.get("height") or "1") * 0.5 * scale,
+                    density=density,
+                    up_axis=2,  # capsules in URDF are aligned with z-axis
+                    is_visible=visible,
+                    has_ground_collision=not just_visual,
+                    has_shape_collision=not just_visual,
+                    **contact_vars,
+                )
+                shapes.append(s)
+
             for mesh in geo.findall("mesh"):
                 filename = mesh.get("filename")
                 if filename is None:
@@ -211,15 +236,15 @@ def parse_urdf(
                 scaling = np.array([float(x) * scale for x in scaling.split()])
                 if hasattr(m, "geometry"):
                     # multiple meshes are contained in a scene
-                    for geom in m.geometry.values():
-                        geom_vertices = np.array(geom.vertices, dtype=np.float32) * scaling
-                        geom_faces = np.array(geom.faces.flatten(), dtype=np.int32)
-                        geom_mesh = Mesh(geom_vertices, geom_faces)
+                    for m_geom in m.geometry.values():
+                        m_vertices = np.array(m_geom.vertices, dtype=np.float32) * scaling
+                        m_faces = np.array(m_geom.faces.flatten(), dtype=np.int32)
+                        m_mesh = Mesh(m_vertices, m_faces)
                         s = builder.add_shape_mesh(
                             body=link,
                             pos=wp.vec3(tf.p),
                             rot=wp.quat(tf.q),
-                            mesh=geom_mesh,
+                            mesh=m_mesh,
                             density=density,
                             is_visible=visible,
                             has_ground_collision=not just_visual,
@@ -270,7 +295,7 @@ def parse_urdf(
         if parse_visuals_as_colliders:
             colliders = visuals
         else:
-            s = parse_shapes(link, visuals, density=0.0, just_visual=True)
+            s = parse_shapes(link, visuals, density=0.0, just_visual=True, visible=not hide_visuals)
             visual_shapes.extend(s)
 
         show_colliders = force_show_colliders
@@ -301,10 +326,13 @@ def parse_urdf(
             I_m = rot @ wp.mat33(I_m)
             m = float(inertial.find("mass").get("value") or "0")
             builder.body_mass[link] = m
-            builder.body_inv_mass[link] = 1.0 / m
+            builder.body_inv_mass[link] = 1.0 / m if m > 0.0 else 0.0
             builder.body_com[link] = com
             builder.body_inertia[link] = I_m
-            builder.body_inv_inertia[link] = wp.inverse(I_m)
+            if any(x for x in I_m):
+                builder.body_inv_inertia[link] = wp.inverse(I_m)
+            else:
+                builder.body_inv_inertia[link] = I_m
         if m == 0.0 and ensure_nonstatic_links:
             # set the mass to something nonzero to ensure the body is dynamic
             m = static_link_mass
@@ -361,7 +389,7 @@ def parse_urdf(
 
     # topological sorting of joints because the FK solver will resolve body transforms
     # in joint order and needs the parent link transform to be resolved before the child
-    visited = {name: False for name in link_index.keys()}
+    visited = dict.fromkeys(link_index.keys(), False)
     sorted_joints = []
 
     # depth-first search
@@ -512,7 +540,7 @@ def parse_urdf(
 
             builder.add_joint_d6(
                 linear_axes=[
-                    warp.sim.JointAxis(
+                    wp.sim.JointAxis(
                         u,
                         limit_lower=lower * scale,
                         limit_upper=upper * scale,
@@ -522,7 +550,7 @@ def parse_urdf(
                         target_kd=joint_damping,
                         mode=joint_mode,
                     ),
-                    warp.sim.JointAxis(
+                    wp.sim.JointAxis(
                         v,
                         limit_lower=lower * scale,
                         limit_upper=upper * scale,

warp/sim/import_usd.py

@@ -1,10 +1,17 @@
-# 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.
-
+# SPDX-FileCopyrightText: Copyright (c) 2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
 
 import re
 

warp/sim/inertia.py

@@ -1,9 +1,17 @@
-# 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.
+# SPDX-FileCopyrightText: Copyright (c) 2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
 
 """Helper functions for computing rigid body inertia properties."""
 

warp/sim/integrator.py

@@ -1,9 +1,17 @@
-# 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.
+# SPDX-FileCopyrightText: Copyright (c) 2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
 
 import warp as wp
 

warp/sim/integrator_euler.py

@@ -1,9 +1,17 @@
-# 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.
+# SPDX-FileCopyrightText: Copyright (c) 2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
 
 """This module contains time-integration objects for simulating
 models + state forward in time.
@@ -551,7 +559,7 @@ def eval_tetrahedra(
     v20 = v2 - v0
     v30 = v3 - v0
 
-    Ds = wp.mat33(x10, x20, x30)
+    Ds = wp.matrix_from_cols(x10, x20, x30)
     Dm = pose[tid]
 
     inv_rest_volume = wp.determinant(Dm) * 6.0
@@ -566,7 +574,7 @@ def eval_tetrahedra(
 
     # F = Xs*Xm^-1
     F = Ds * Dm
-    dFdt = wp.mat33(v10, v20, v30) * Dm
+    dFdt = wp.matrix_from_cols(v10, v20, v30) * Dm
 
     col1 = wp.vec3(F[0, 0], F[1, 0], F[2, 0])
     col2 = wp.vec3(F[0, 1], F[1, 1], F[2, 1])
@@ -652,9 +660,9 @@ def eval_tetrahedra(
 
     # alpha = 1.0
 
-    # I = wp.mat33(wp.vec3(1.0, 0.0, 0.0),
-    #              wp.vec3(0.0, 1.0, 0.0),
-    #              wp.vec3(0.0, 0.0, 1.0))
+    # I = wp.matrix_from_cols(wp.vec3(1.0, 0.0, 0.0),
+    #                         wp.vec3(0.0, 1.0, 0.0),
+    #                         wp.vec3(0.0, 0.0, 1.0))
 
     # P = (F + wp.transpose(F) + I*(0.0-2.0))*k_mu
     # H = P * wp.transpose(Dm)

warp/sim/integrator_featherstone.py

@@ -1,9 +1,17 @@
-# 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.
+# SPDX-FileCopyrightText: Copyright (c) 2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
 
 import warp as wp
 
@@ -120,7 +128,7 @@ def spatial_transform_inertia(t: wp.transform, I: wp.spatial_matrix):
     r2 = wp.quat_rotate(q, wp.vec3(0.0, 1.0, 0.0))
     r3 = wp.quat_rotate(q, wp.vec3(0.0, 0.0, 1.0))
 
-    R = wp.mat33(r1, r2, r3)
+    R = wp.matrix_from_cols(r1, r2, r3)
     S = wp.skew(p) @ R
 
     T = spatial_adjoint(R, S)
@@ -290,7 +298,7 @@ def jcalc_motion(
     if type == wp.sim.JOINT_UNIVERSAL:
         axis_0 = joint_axis[axis_start + 0]
         axis_1 = joint_axis[axis_start + 1]
-        q_off = wp.quat_from_matrix(wp.mat33(axis_0, axis_1, wp.cross(axis_0, axis_1)))
+        q_off = wp.quat_from_matrix(wp.matrix_from_cols(axis_0, axis_1, wp.cross(axis_0, axis_1)))
         local_0 = wp.quat_rotate(q_off, wp.vec3(1.0, 0.0, 0.0))
         local_1 = wp.quat_rotate(q_off, wp.vec3(0.0, 1.0, 0.0))
 
@@ -311,7 +319,7 @@ def jcalc_motion(
         axis_0 = joint_axis[axis_start + 0]
         axis_1 = joint_axis[axis_start + 1]
         axis_2 = joint_axis[axis_start + 2]
-        q_off = wp.quat_from_matrix(wp.mat33(axis_0, axis_1, axis_2))
+        q_off = wp.quat_from_matrix(wp.matrix_from_cols(axis_0, axis_1, axis_2))
         local_0 = wp.quat_rotate(q_off, wp.vec3(1.0, 0.0, 0.0))
         local_1 = wp.quat_rotate(q_off, wp.vec3(0.0, 1.0, 0.0))
         local_2 = wp.quat_rotate(q_off, wp.vec3(0.0, 0.0, 1.0))
@@ -2058,13 +2066,6 @@ class FeatherstoneIntegrator(Integrator):
                         ],
                         device=model.device,
                     )
-                    # if wp.context.runtime.tape:
-                    #     wp.context.runtime.tape.record_func(
-                    #         backward=lambda: adj_matmul(
-                    #             a, b, c, a.grad, b.grad, c.grad, d.grad, alpha, beta, allow_tf32x3_arith, device
-                    #         ),
-                    #         arrays=[a, b, c, d],
-                    #     )
                     # print("joint_qdd:")
                     # print(state_aug.joint_qdd.numpy())
                     # print("\n\n")

warp/sim/integrator_vbd.py

@@ -1,9 +1,18 @@
-# Copyright (c) 2024 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.
+# SPDX-FileCopyrightText: Copyright (c) 2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 import numpy as np
 
 import warp as wp
@@ -337,6 +346,172 @@ def evaluate_stvk_force_hessian(
     return f, h
 
 
+@wp.func
+def mat_vec_cross_from_3_basis(e1: wp.vec3, e2: wp.vec3, e3: wp.vec3, a: wp.vec3):
+    e1_cross_a = wp.cross(e1, a)
+    e2_cross_a = wp.cross(e2, a)
+    e3_cross_a = wp.cross(e3, a)
+
+    return wp.mat33(
+        e1_cross_a[0],
+        e2_cross_a[0],
+        e3_cross_a[0],
+        e1_cross_a[1],
+        e2_cross_a[1],
+        e3_cross_a[1],
+        e1_cross_a[2],
+        e2_cross_a[2],
+        e3_cross_a[2],
+    )
+
+
+@wp.func
+def mat_vec_cross(mat: wp.mat33, a: wp.vec3):
+    e1 = wp.vec3(mat[0, 0], mat[1, 0], mat[2, 0])
+    e2 = wp.vec3(mat[0, 1], mat[1, 1], mat[2, 1])
+    e3 = wp.vec3(mat[0, 2], mat[1, 2], mat[2, 2])
+
+    return mat_vec_cross_from_3_basis(e1, e2, e3, a)
+
+
+@wp.func
+def evaluate_dihedral_angle_based_bending_force_hessian(
+    bending_index: int,
+    v_order: int,
+    pos: wp.array(dtype=wp.vec3),
+    pos_prev: wp.array(dtype=wp.vec3),
+    edge_indices: wp.array(dtype=wp.int32, ndim=2),
+    edge_rest_angle: wp.array(dtype=float),
+    edge_rest_length: wp.array(dtype=float),
+    stiffness: float,
+    damping: float,
+    dt: float,
+):
+    if edge_indices[bending_index, 0] == -1 or edge_indices[bending_index, 1] == -1:
+        return wp.vec3(0.0), wp.mat33(0.0)
+
+    x1 = pos[edge_indices[bending_index, 0]]
+    x2 = pos[edge_indices[bending_index, 2]]
+    x3 = pos[edge_indices[bending_index, 3]]
+    x4 = pos[edge_indices[bending_index, 1]]
+
+    e1 = wp.vec3(1.0, 0.0, 0.0)
+    e2 = wp.vec3(0.0, 1.0, 0.0)
+    e3 = wp.vec3(0.0, 0.0, 1.0)
+
+    n1 = wp.cross((x2 - x1), (x3 - x1))
+    n2 = wp.cross((x3 - x4), (x2 - x4))
+    n1_norm = wp.length(n1)
+    n2_norm = wp.length(n2)
+
+    # degenerated bending edge
+    if n1_norm < 1.0e-6 or n2_norm < 1.0e-6:
+        return wp.vec3(0.0), wp.mat33(0.0)
+
+    n1_n = n1 / n1_norm
+    n2_n = n2 / n2_norm
+
+    # avoid the infinite gradient of acos at -1 or 1
+    cos_theta = wp.dot(n1_n, n2_n)
+    if wp.abs(cos_theta) > 0.9999:
+        cos_theta = 0.9999 * wp.sign(cos_theta)
+
+    angle_sign = wp.sign(wp.dot(wp.cross(n2, n1), x3 - x2))
+    theta = wp.acos(cos_theta) * angle_sign
+    rest_angle = edge_rest_angle[bending_index]
+
+    dE_dtheta = stiffness * (theta - rest_angle)
+
+    d_theta_d_cos_theta = angle_sign * (-1.0 / wp.sqrt(1.0 - cos_theta * cos_theta))
+    sin_theta = angle_sign * wp.sqrt(1.0 - cos_theta * cos_theta)
+    one_over_sin_theta = 1.0 / sin_theta
+    d_one_over_sin_theta_d_cos_theta = cos_theta / (sin_theta * sin_theta * sin_theta)
+
+    e_rest_len = edge_rest_length[bending_index]
+
+    if v_order == 0:
+        d_cos_theta_dx1 = 1.0 / n1_norm * (-wp.cross(x3 - x1, n2_n) + wp.cross(x2 - x1, n2_n))
+        d_one_over_sin_theta_dx1 = d_cos_theta_dx1 * d_one_over_sin_theta_d_cos_theta
+
+        d_theta_dx1 = d_theta_d_cos_theta * d_cos_theta_dx1
+        d2_theta_dx1_dx1 = -wp.outer(d_one_over_sin_theta_dx1, d_cos_theta_dx1)
+
+        dE_dx1 = e_rest_len * dE_dtheta * d_theta_d_cos_theta * d_cos_theta_dx1
+
+        d2_E_dx1_dx1 = (
+            e_rest_len * stiffness * (wp.outer(d_theta_dx1, d_theta_dx1) + (theta - rest_angle) * d2_theta_dx1_dx1)
+        )
+
+        bending_force = -dE_dx1
+        bending_hessian = d2_E_dx1_dx1
+    elif v_order == 1:
+        d_cos_theta_dx4 = 1.0 / n2_norm * (-wp.cross(x2 - x4, n1_n) + wp.cross(x3 - x4, n1_n))
+        d_one_over_sin_theta_dx4 = d_cos_theta_dx4 * d_one_over_sin_theta_d_cos_theta
+
+        d_theta_dx4 = d_theta_d_cos_theta * d_cos_theta_dx4
+        d2_theta_dx4_dx4 = -wp.outer(d_one_over_sin_theta_dx4, d_cos_theta_dx4)
+
+        dE_dx4 = e_rest_len * dE_dtheta * d_theta_d_cos_theta * d_cos_theta_dx4
+        d2_E_dx4_dx4 = (
+            e_rest_len * stiffness * (wp.outer(d_theta_dx4, d_theta_dx4) + (theta - rest_angle) * (d2_theta_dx4_dx4))
+        )
+
+        bending_force = -dE_dx4
+        bending_hessian = d2_E_dx4_dx4
+    elif v_order == 2:
+        d_cos_theta_dx2 = 1.0 / n1_norm * wp.cross(x3 - x1, n2_n) - 1.0 / n2_norm * wp.cross(x3 - x4, n1_n)
+        dn1_dx2 = mat_vec_cross_from_3_basis(e1, e2, e3, x3 - x1)
+        dn2_dx2 = -mat_vec_cross_from_3_basis(e1, e2, e3, x3 - x4)
+        d_one_over_sin_theta_dx2 = d_cos_theta_dx2 * d_one_over_sin_theta_d_cos_theta
+        d2_cos_theta_dx2_dx2 = -mat_vec_cross(dn2_dx2, (x3 - x1)) / (n1_norm * n2_norm) + mat_vec_cross(
+            dn1_dx2, x3 - x4
+        ) / (n1_norm * n2_norm)
+
+        d_theta_dx2 = d_theta_d_cos_theta * d_cos_theta_dx2
+        d2_theta_dx2_dx2 = (
+            -wp.outer(d_one_over_sin_theta_dx2, d_cos_theta_dx2) - one_over_sin_theta * d2_cos_theta_dx2_dx2
+        )
+
+        dE_dx2 = e_rest_len * dE_dtheta * d_theta_d_cos_theta * d_cos_theta_dx2
+        d2_E_dx2_dx2 = (
+            e_rest_len * stiffness * (wp.outer(d_theta_dx2, d_theta_dx2) + (theta - rest_angle) * d2_theta_dx2_dx2)
+        )
+
+        bending_force = -dE_dx2
+        bending_hessian = d2_E_dx2_dx2
+    else:
+        d_cos_theta_dx3 = -1.0 / n1_norm * wp.cross(x2 - x1, n2_n) + 1.0 / n2_norm * wp.cross(x2 - x4, n1_n)
+        dn1_dx3 = -mat_vec_cross_from_3_basis(e1, e2, e3, x2 - x1)
+        dn2_dx3 = mat_vec_cross_from_3_basis(e1, e2, e3, x2 - x4)
+        d_one_over_sin_theta_dx3 = d_cos_theta_dx3 * d_one_over_sin_theta_d_cos_theta
+        d2_cos_theta_dx3_dx3 = mat_vec_cross(dn2_dx3, (x2 - x1)) / (n1_norm * n2_norm) - mat_vec_cross(
+            dn1_dx3, x2 - x4
+        ) / (n1_norm * n2_norm)
+
+        d_theta_dx3 = d_theta_d_cos_theta * d_cos_theta_dx3
+        d2_theta_dx3_dx3 = (
+            -wp.outer(d_one_over_sin_theta_dx3, d_cos_theta_dx3) - one_over_sin_theta * d2_cos_theta_dx3_dx3
+        )
+
+        dE_dx3 = e_rest_len * dE_dtheta * d_theta_d_cos_theta * d_cos_theta_dx3
+
+        d2_E_dx3_dx3 = (
+            e_rest_len * stiffness * (wp.outer(d_theta_dx3, d_theta_dx3) + (theta - rest_angle) * d2_theta_dx3_dx3)
+        )
+
+        bending_force = -dE_dx3
+        bending_hessian = d2_E_dx3_dx3
+
+    displacement = pos_prev[edge_indices[bending_index, v_order]] - pos[edge_indices[bending_index, v_order]]
+    h_d = bending_hessian * (damping / dt)
+    f_d = h_d * displacement
+
+    bending_force = bending_force + f_d
+    bending_hessian = bending_hessian + h_d
+
+    return bending_force, bending_hessian
+
+
 @wp.func
 def evaluate_ground_contact_force_hessian(
     particle_pos: wp.vec3,
@@ -857,6 +1032,9 @@ def VBD_solve_trimesh_no_self_contact(
     tri_materials: wp.array(dtype=float, ndim=2),
     tri_areas: wp.array(dtype=float),
     edge_indices: wp.array(dtype=wp.int32, ndim=2),
+    edge_rest_angles: wp.array(dtype=float),
+    edge_rest_length: wp.array(dtype=float),
+    edge_bending_properties: wp.array(dtype=float, ndim=2),
     adjacency: ForceElementAdjacencyInfo,
     # contact info
     #   self contact
@@ -948,6 +1126,24 @@ def VBD_solve_trimesh_no_self_contact(
             )
         # fmt: on
 
+    for i_adj_edge in range(get_vertex_num_adjacent_edges(adjacency, particle_index)):
+        nei_edge_index, vertex_order_on_edge = get_vertex_adjacent_edge_id_order(adjacency, particle_index, i_adj_edge)
+        f_edge, h_edge = evaluate_dihedral_angle_based_bending_force_hessian(
+            nei_edge_index,
+            vertex_order_on_edge,
+            pos,
+            prev_pos,
+            edge_indices,
+            edge_rest_angles,
+            edge_rest_length,
+            edge_bending_properties[nei_edge_index, 0],
+            edge_bending_properties[nei_edge_index, 1],
+            dt,
+        )
+
+        f = f + f_edge
+        h = h + h_edge
+
     # body-particle contact
     particle_contact_count = min(body_particle_contact_count[particle_index], body_particle_contact_buffer_pre_alloc)
 
@@ -1063,6 +1259,9 @@ def VBD_solve_trimesh_with_self_contact_penetration_free(
     tri_materials: wp.array(dtype=float, ndim=2),
     tri_areas: wp.array(dtype=float),
     edge_indices: wp.array(dtype=wp.int32, ndim=2),
+    edge_rest_angles: wp.array(dtype=float),
+    edge_rest_length: wp.array(dtype=float),
+    edge_bending_properties: wp.array(dtype=float, ndim=2),
     adjacency: ForceElementAdjacencyInfo,
     # contact info
     #   self contact
@@ -1230,6 +1429,15 @@ def VBD_solve_trimesh_with_self_contact_penetration_free(
     for i_adj_edge in range(get_vertex_num_adjacent_edges(adjacency, particle_index)):
         nei_edge_index, vertex_order_on_edge = get_vertex_adjacent_edge_id_order(adjacency, particle_index, i_adj_edge)
         # vertex is on the edge; otherwise it only effects the bending energy n
+        if edge_bending_properties[nei_edge_index, 0] != 0:
+            f_edge, h_edge = evaluate_dihedral_angle_based_bending_force_hessian(
+                nei_edge_index, vertex_order_on_edge, pos, pos_prev, edge_indices, edge_rest_angles, edge_rest_length,
+                edge_bending_properties[nei_edge_index, 0], edge_bending_properties[nei_edge_index, 1], dt
+            )
+
+            f = f + f_edge
+            h = h + h_edge
+
         if vertex_order_on_edge == 2 or vertex_order_on_edge == 3:
             # collisions of neighbor triangles
             if wp.static("contact_info" in VBD_DEBUG_PRINTING_OPTIONS):
@@ -1563,6 +1771,9 @@ class VBDIntegrator(Integrator):
                         self.model.tri_materials,
                         self.model.tri_areas,
                         self.model.edge_indices,
+                        self.model.edge_rest_angle,
+                        self.model.edge_rest_length,
+                        self.model.edge_bending_properties,
                         self.adjacency,
                         self.model.soft_contact_ke,
                         self.model.soft_contact_mu,
@@ -1650,6 +1861,9 @@ class VBDIntegrator(Integrator):
                         self.model.tri_materials,
                         self.model.tri_areas,
                         self.model.edge_indices,
+                        self.model.edge_rest_angle,
+                        self.model.edge_rest_length,
+                        self.model.edge_bending_properties,
                         self.adjacency,
                         #   self-contact
                         self.trimesh_collision_detector.collision_info,
@@ -1774,7 +1988,7 @@ class VBDIntegrator(Integrator):
             vertex_adjacent_edges[buffer_offset_v1 + fill_count_v1 * 2 + 1] = 3
             vertex_adjacent_edges_fill_count[v1] = fill_count_v1 + 1
 
-            o0 = edges_array[edge_id, 2]
+            o0 = edges_array[edge_id, 0]
             if o0 != -1:
                 fill_count_o0 = vertex_adjacent_edges_fill_count[o0]
                 buffer_offset_o0 = vertex_adjacent_edges_offsets[o0]
@@ -1782,7 +1996,7 @@ class VBDIntegrator(Integrator):
                 vertex_adjacent_edges[buffer_offset_o0 + fill_count_o0 * 2 + 1] = 0
                 vertex_adjacent_edges_fill_count[o0] = fill_count_o0 + 1
 
-            o1 = edges_array[edge_id, 3]
+            o1 = edges_array[edge_id, 1]
             if o1 != -1:
                 fill_count_o1 = vertex_adjacent_edges_fill_count[o1]
                 buffer_offset_o1 = vertex_adjacent_edges_offsets[o1]