warp-lang 1.6.2__py3-none-macosx_10_13_universal2.whl → 1.7.1__py3-none-macosx_10_13_universal2.whl

warp/tests/test_vbd.py

@@ -1,386 +0,0 @@
-# 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 contextlib
-import io
-import unittest
-
-import warp as wp
-import warp.optim
-import warp.sim
-from warp.sim.model import (
-    PARTICLE_FLAG_ACTIVE,
-)
-from warp.tests.unittest_utils import *
-
-
-class VBDClothSim:
-    def __init__(self, device):
-        # fmt: off
-        self.pts = [
-            (-50.0000000, 0.0000000, -50.0000000),
-            (-38.8888893, 11.1111107, -50.0000000),
-            (-27.7777786, 22.2222214, -50.0000000),
-            (-16.6666679, 33.3333321, -50.0000000),
-            (-5.5555558, 44.4444427, -50.0000000),
-            (5.5555558, 55.5555573, -50.0000000),
-            (16.6666679, 66.6666641, -50.0000000),
-            (27.7777786, 77.7777786, -50.0000000),
-            (38.8888893, 88.8888855, -50.0000000),
-            (50.0000000, 100.0000000, -50.0000000),
-            (-50.0000000, 0.0000000, -38.8888893),
-            (-38.8888893, 11.1111107, -38.8888893),
-            (-27.7777786, 22.2222214, -38.8888893),
-            (-16.6666679, 33.3333321, -38.8888893),
-            (-5.5555558, 44.4444427, -38.8888893),
-            (5.5555558, 55.5555573, -38.8888893),
-            (16.6666679, 66.6666641, -38.8888893),
-            (27.7777786, 77.7777786, -38.8888893),
-            (38.8888893, 88.8888855, -38.8888893),
-            (50.0000000, 100.0000000, -38.8888893),
-            (-50.0000000, 0.0000000, -27.7777786),
-            (-38.8888893, 11.1111107, -27.7777786),
-            (-27.7777786, 22.2222214, -27.7777786),
-            (-16.6666679, 33.3333321, -27.7777786),
-            (-5.5555558, 44.4444427, -27.7777786),
-            (5.5555558, 55.5555573, -27.7777786),
-            (16.6666679, 66.6666641, -27.7777786),
-            (27.7777786, 77.7777786, -27.7777786),
-            (38.8888893, 88.8888855, -27.7777786),
-            (50.0000000, 100.0000000, -27.7777786),
-            (-50.0000000, 0.0000000, -16.6666679),
-            (-38.8888893, 11.1111107, -16.6666679),
-            (-27.7777786, 22.2222214, -16.6666679),
-            (-16.6666679, 33.3333321, -16.6666679),
-            (-5.5555558, 44.4444427, -16.6666679),
-            (5.5555558, 55.5555573, -16.6666679),
-            (16.6666679, 66.6666641, -16.6666679),
-            (27.7777786, 77.7777786, -16.6666679),
-            (38.8888893, 88.8888855, -16.6666679),
-            (50.0000000, 100.0000000, -16.6666679),
-            (-50.0000000, 0.0000000, -5.5555558),
-            (-38.8888893, 11.1111107, -5.5555558),
-            (-27.7777786, 22.2222214, -5.5555558),
-            (-16.6666679, 33.3333321, -5.5555558),
-            (-5.5555558, 44.4444427, -5.5555558),
-            (5.5555558, 55.5555573, -5.5555558),
-            (16.6666679, 66.6666641, -5.5555558),
-            (27.7777786, 77.7777786, -5.5555558),
-            (38.8888893, 88.8888855, -5.5555558),
-            (50.0000000, 100.0000000, -5.5555558),
-            (-50.0000000, 0.0000000, 5.5555558),
-            (-38.8888893, 11.1111107, 5.5555558),
-            (-27.7777786, 22.2222214, 5.5555558),
-            (-16.6666679, 33.3333321, 5.5555558),
-            (-5.5555558, 44.4444427, 5.5555558),
-            (5.5555558, 55.5555573, 5.5555558),
-            (16.6666679, 66.6666641, 5.5555558),
-            (27.7777786, 77.7777786, 5.5555558),
-            (38.8888893, 88.8888855, 5.5555558),
-            (50.0000000, 100.0000000, 5.5555558),
-            (-50.0000000, 0.0000000, 16.6666679),
-            (-38.8888893, 11.1111107, 16.6666679),
-            (-27.7777786, 22.2222214, 16.6666679),
-            (-16.6666679, 33.3333321, 16.6666679),
-            (-5.5555558, 44.4444427, 16.6666679),
-            (5.5555558, 55.5555573, 16.6666679),
-            (16.6666679, 66.6666641, 16.6666679),
-            (27.7777786, 77.7777786, 16.6666679),
-            (38.8888893, 88.8888855, 16.6666679),
-            (50.0000000, 100.0000000, 16.6666679),
-            (-50.0000000, 0.0000000, 27.7777786),
-            (-38.8888893, 11.1111107, 27.7777786),
-            (-27.7777786, 22.2222214, 27.7777786),
-            (-16.6666679, 33.3333321, 27.7777786),
-            (-5.5555558, 44.4444427, 27.7777786),
-            (5.5555558, 55.5555573, 27.7777786),
-            (16.6666679, 66.6666641, 27.7777786),
-            (27.7777786, 77.7777786, 27.7777786),
-            (38.8888893, 88.8888855, 27.7777786),
-            (50.0000000, 100.0000000, 27.7777786),
-            (-50.0000000, 0.0000000, 38.8888893),
-            (-38.8888893, 11.1111107, 38.8888893),
-            (-27.7777786, 22.2222214, 38.8888893),
-            (-16.6666679, 33.3333321, 38.8888893),
-            (-5.5555558, 44.4444427, 38.8888893),
-            (5.5555558, 55.5555573, 38.8888893),
-            (16.6666679, 66.6666641, 38.8888893),
-            (27.7777786, 77.7777786, 38.8888893),
-            (38.8888893, 88.8888855, 38.8888893),
-            (50.0000000, 100.0000000, 38.8888893),
-            (-50.0000000, 0.0000000, 50.0000000),
-            (-38.8888893, 11.1111107, 50.0000000),
-            (-27.7777786, 22.2222214, 50.0000000),
-            (-16.6666679, 33.3333321, 50.0000000),
-            (-5.5555558, 44.4444427, 50.0000000),
-            (5.5555558, 55.5555573, 50.0000000),
-            (16.6666679, 66.6666641, 50.0000000),
-            (27.7777786, 77.7777786, 50.0000000),
-            (38.8888893, 88.8888855, 50.0000000),
-            (50.0000000, 100.0000000, 50.0000000),
-        ]
-
-        self.faces = [
-            1, 12, 2,
-            1, 11, 12,
-            2, 12, 3,
-            12, 13, 3,
-            3, 14, 4,
-            3, 13, 14,
-            4, 14, 5,
-            14, 15, 5,
-            5, 16, 6,
-            5, 15, 16,
-            6, 16, 7,
-            16, 17, 7,
-            7, 18, 8,
-            7, 17, 18,
-            8, 18, 9,
-            18, 19, 9,
-            9, 20, 10,
-            9, 19, 20,
-            11, 21, 12,
-            21, 22, 12,
-            12, 23, 13,
-            12, 22, 23,
-            13, 23, 14,
-            23, 24, 14,
-            14, 25, 15,
-            14, 24, 25,
-            15, 25, 16,
-            25, 26, 16,
-            16, 27, 17,
-            16, 26, 27,
-            17, 27, 18,
-            27, 28, 18,
-            18, 29, 19,
-            18, 28, 29,
-            19, 29, 20,
-            29, 30, 20,
-            21, 32, 22,
-            21, 31, 32,
-            22, 32, 23,
-            32, 33, 23,
-            23, 34, 24,
-            23, 33, 34,
-            24, 34, 25,
-            34, 35, 25,
-            25, 36, 26,
-            25, 35, 36,
-            26, 36, 27,
-            36, 37, 27,
-            27, 38, 28,
-            27, 37, 38,
-            28, 38, 29,
-            38, 39, 29,
-            29, 40, 30,
-            29, 39, 40,
-            31, 41, 32,
-            41, 42, 32,
-            32, 43, 33,
-            32, 42, 43,
-            33, 43, 34,
-            43, 44, 34,
-            34, 45, 35,
-            34, 44, 45,
-            35, 45, 36,
-            45, 46, 36,
-            36, 47, 37,
-            36, 46, 47,
-            37, 47, 38,
-            47, 48, 38,
-            38, 49, 39,
-            38, 48, 49,
-            39, 49, 40,
-            49, 50, 40,
-            41, 52, 42,
-            41, 51, 52,
-            42, 52, 43,
-            52, 53, 43,
-            43, 54, 44,
-            43, 53, 54,
-            44, 54, 45,
-            54, 55, 45,
-            45, 56, 46,
-            45, 55, 56,
-            46, 56, 47,
-            56, 57, 47,
-            47, 58, 48,
-            47, 57, 58,
-            48, 58, 49,
-            58, 59, 49,
-            49, 60, 50,
-            49, 59, 60,
-            51, 61, 52,
-            61, 62, 52,
-            52, 63, 53,
-            52, 62, 63,
-            53, 63, 54,
-            63, 64, 54,
-            54, 65, 55,
-            54, 64, 65,
-            55, 65, 56,
-            65, 66, 56,
-            56, 67, 57,
-            56, 66, 67,
-            57, 67, 58,
-            67, 68, 58,
-            58, 69, 59,
-            58, 68, 69,
-            59, 69, 60,
-            69, 70, 60,
-            61, 72, 62,
-            61, 71, 72,
-            62, 72, 63,
-            72, 73, 63,
-            63, 74, 64,
-            63, 73, 74,
-            64, 74, 65,
-            74, 75, 65,
-            65, 76, 66,
-            65, 75, 76,
-            66, 76, 67,
-            76, 77, 67,
-            67, 78, 68,
-            67, 77, 78,
-            68, 78, 69,
-            78, 79, 69,
-            69, 80, 70,
-            69, 79, 80,
-            71, 81, 72,
-            81, 82, 72,
-            72, 83, 73,
-            72, 82, 83,
-            73, 83, 74,
-            83, 84, 74,
-            74, 85, 75,
-            74, 84, 85,
-            75, 85, 76,
-            85, 86, 76,
-            76, 87, 77,
-            76, 86, 87,
-            77, 87, 78,
-            87, 88, 78,
-            78, 89, 79,
-            78, 88, 89,
-            79, 89, 80,
-            89, 90, 80,
-            81, 92, 82,
-            81, 91, 92,
-            82, 92, 83,
-            92, 93, 83,
-            83, 94, 84,
-            83, 93, 94,
-            84, 94, 85,
-            94, 95, 85,
-            85, 96, 86,
-            85, 95, 96,
-            86, 96, 87,
-            96, 97, 87,
-            87, 98, 88,
-            87, 97, 98,
-            88, 98, 89,
-            98, 99, 89,
-            89, 100, 90,
-            89, 99, 100
-        ]
-
-        # fmt: on
-
-        self.dt = 1 / 60
-        self.num_test_frames = 100
-        self.num_substeps = 10
-        self.iterations = 10
-
-        stiffness = 1e5
-        kd = 1.0e-7
-
-        self.input_scale_factor = 1.0
-        self.renderer_scale_factor = 0.01
-        vertices = [wp.vec3(v) * self.input_scale_factor for v in self.pts]
-        fs_flatten = [fv - 1 for fv in self.faces]
-
-        builder = wp.sim.ModelBuilder()
-        builder.add_cloth_mesh(
-            pos=wp.vec3(0.0, 200.0, 0.0),
-            rot=wp.quat_from_axis_angle(wp.vec3(1.0, 0.0, 0.0), 0.0),
-            scale=1.0,
-            vertices=vertices,
-            indices=fs_flatten,
-            vel=wp.vec3(0.0, 0.0, 0.0),
-            density=0.02,
-            tri_ke=stiffness,
-            tri_ka=stiffness,
-            tri_kd=kd,
-        )
-        builder.color()
-
-        self.model = builder.finalize(device=device)
-        self.model.ground = True
-        self.model.gravity = wp.vec3(0, -1000.0, 0)
-
-        self.model.soft_contact_ke = 1.0e4
-        self.model.soft_contact_kd = 1.0e2
-
-        self.dt = self.dt / self.num_substeps
-        self.fixed_particles = [0, 9]
-
-        self.set_points_fixed(self.model, self.fixed_particles)
-
-        self.integrator = wp.sim.VBDIntegrator(self.model, self.iterations)
-        self.state0 = self.model.state()
-        self.state1 = self.model.state()
-
-        self.init_pos = np.array(self.state0.particle_q.numpy(), copy=True)
-
-    def run(self, test):
-        for _step in range(self.num_substeps * self.num_test_frames):
-            self.integrator.simulate(self.model, self.state0, self.state1, self.dt, None)
-            (self.state0, self.state1) = (self.state1, self.state0)
-
-        # examine that the simulation does not explode
-        final_pos = self.state0.particle_q.numpy()
-        test.assertTrue((final_pos < 1e5).all())
-        # examine that the simulation have moved
-        test.assertTrue((self.init_pos != final_pos).any())
-
-    def set_points_fixed(self, model, fixed_particles):
-        if len(fixed_particles):
-            flags = model.particle_flags.numpy()
-            for fixed_v_id in fixed_particles:
-                flags[fixed_v_id] = wp.uint32(int(flags[fixed_v_id]) & ~int(PARTICLE_FLAG_ACTIVE))
-
-            model.particle_flags = wp.array(flags, device=model.device)
-
-
-devices = get_test_devices()
-
-
-class TestVBD(unittest.TestCase):
-    def test_vbd_cloth(self):
-        for device in devices:
-            with contextlib.redirect_stdout(io.StringIO()) as f:
-                example = VBDClothSim(device)
-            self.assertRegex(
-                f.getvalue(),
-                r"Warp UserWarning: The graph is not optimizable anymore, terminated with a max/min ratio: 2.0 without reaching the target ratio: 1.1",
-            )
-
-            example.run(self)
-
-
-if __name__ == "__main__":
-    wp.clear_kernel_cache()
-    unittest.main(verbosity=2)

warp/tests/unused_test_misc.py

@@ -1,77 +0,0 @@
-# SPDX-FileCopyrightText: Copyright (c) 2021 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
-
-
-@wp.kernel
-def arange(out: wp.array(dtype=int)):
-    tid = wp.tid()
-    out[tid] = tid
-
-
-device = "cuda:0"
-cmds = []
-
-n = 10
-arrays = []
-
-for _i in range(5):
-    arrays.append(wp.zeros(n, dtype=int, device=device))
-
-# setup CUDA graph
-wp.capture_begin()
-
-# launch kernels and keep command object around
-for i in range(5):
-    cmd = wp.launch(arange, dim=n, inputs=[arrays[i]], device=device, record_cmd=True)
-    cmds.append(cmd)
-
-graph = wp.capture_end()
-
-# ---------------------------------------
-
-ref = np.arange(0, n, dtype=int)
-wp.capture_launch(graph)
-
-for i in range(5):
-    print(arrays[i].numpy())
-
-
-# ---------------------------------------
-
-n = 16
-arrays = []
-
-for _i in range(5):
-    arrays.append(wp.zeros(n, dtype=int, device=device))
-
-# update graph params
-for i in range(5):
-    cmd.set_dim(n)
-    cmd.set_param(arrays[i])
-
-    cmd.update_graph()
-
-
-wp.capture_launch(graph)
-wp.synchronize()
-
-ref = np.arange(0, n, dtype=int)
-
-for i in range(5):
-    print(arrays[i].numpy())