warp-lang 1.7.0__py3-none-manylinux_2_28_x86_64.whl

warp/tests/sim/test_sim_kinematics.py

@@ -0,0 +1,98 @@
+# 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 math
+import os
+import unittest
+
+import warp as wp
+import warp.examples
+import warp.sim
+from warp.tests.unittest_utils import *
+
+
+def test_fk_ik(test, device):
+    builder = wp.sim.ModelBuilder()
+
+    num_envs = 1
+
+    for i in range(num_envs):
+        wp.sim.parse_mjcf(
+            os.path.join(warp.examples.get_asset_directory(), "nv_ant.xml"),
+            builder,
+            stiffness=0.0,
+            damping=1.0,
+            armature=0.1,
+            contact_ke=1.0e4,
+            contact_kd=1.0e2,
+            contact_kf=1.0e2,
+            contact_mu=0.75,
+            limit_ke=1.0e3,
+            limit_kd=1.0e1,
+            up_axis="y",
+        )
+
+        coord_count = 15
+        dof_count = 14
+
+        coord_start = i * coord_count
+        dof_start = i * dof_count
+
+        # base
+        builder.joint_q[coord_start : coord_start + 3] = [i * 2.0, 0.70, 0.0]
+        builder.joint_q[coord_start + 3 : coord_start + 7] = wp.quat_from_axis_angle(
+            wp.vec3(1.0, 0.0, 0.0), -math.pi * 0.5
+        )
+
+        # joints
+        builder.joint_q[coord_start + 7 : coord_start + coord_count] = [0.0, 1.0, 0.0, -1.0, 0.0, -1.0, 0.0, 1.0]
+        builder.joint_qd[dof_start + 6 : dof_start + dof_count] = [1.0, 1.0, 1.0, -1.0, 1.0, -1.0, 1.0, 1.0]
+
+    # finalize model
+    model = builder.finalize(device=device)
+    model.ground = True
+    model.joint_attach_ke *= 16.0
+    model.joint_attach_kd *= 4.0
+
+    state = model.state()
+
+    # save a copy of joint values
+    q_fk = model.joint_q.numpy()
+    qd_fk = model.joint_qd.numpy()
+
+    wp.sim.eval_fk(model, model.joint_q, model.joint_qd, None, state)
+
+    q_ik = wp.zeros_like(model.joint_q, device=device)
+    qd_ik = wp.zeros_like(model.joint_qd, device=device)
+
+    wp.sim.eval_ik(model, state, q_ik, qd_ik)
+
+    assert_np_equal(q_fk, q_ik.numpy(), tol=1e-6)
+    assert_np_equal(qd_fk, qd_ik.numpy(), tol=1e-6)
+
+
+devices = get_test_devices()
+
+
+class TestSimKinematics(unittest.TestCase):
+    pass
+
+
+add_function_test(TestSimKinematics, "test_fk_ik", test_fk_ik, devices=devices)
+
+
+if __name__ == "__main__":
+    wp.clear_kernel_cache()
+    unittest.main(verbosity=2, failfast=True)

warp/tests/sim/test_vbd.py

@@ -0,0 +1,597 @@
+# 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
+import warp.sim.graph_coloring
+import warp.sim.integrator_vbd
+from warp.sim.model import PARTICLE_FLAG_ACTIVE
+from warp.tests.unittest_utils import *
+
+# fmt: off
+CLOTH_POINTS = [
+    (-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),
+]
+
+CLOTH_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
+class VBDClothSim:
+    def __init__(self, device, use_cuda_graph=False):
+        self.frame_dt = 1 / 60
+        self.num_test_frames = 100
+        self.num_substeps = 10
+        self.iterations = 10
+        self.dt = self.frame_dt / self.num_substeps
+        self.device = device
+        self.use_cuda_graph = self.device.is_cuda and use_cuda_graph
+        self.builder = wp.sim.ModelBuilder()
+
+    def set_up_sagging_experiment(self):
+        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 CLOTH_POINTS]
+        faces_flatten = [fv - 1 for fv in CLOTH_FACES]
+
+        self.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=faces_flatten,
+            vel=wp.vec3(0.0, 0.0, 0.0),
+            density=0.02,
+            tri_ke=stiffness,
+            tri_ka=stiffness,
+            tri_kd=kd,
+        )
+        self.fixed_particles = [0, 9]
+
+    def set_up_bending_experiment(self):
+        stretching_stiffness = 1e4
+        stretching_damping = 1e-6
+        bending_damping = 1e-3
+        # fmt: off
+        vs = [[-6.0, 0.0, -6.0], [-3.6, 0.0, -6.0], [-1.2, 0.0, -6.0], [1.2, 0.0, -6.0], [3.6, 0.0, -6.0], [6.0, 0.0, -6.0],
+         [-6.0, 0.0, -3.6], [-3.6, 0.0, -3.6], [-1.2, 0.0, -3.6], [1.2, 0.0, -3.6], [3.6, 0.0, -3.6], [6.0, 0.0, -3.6],
+         [-6.0, 0.0, -1.2], [-3.6, 0.0, -1.2], [-1.2, 0.0, -1.2], [1.2, 0.0, -1.2], [3.6, 0.0, -1.2], [6.0, 0.0, -1.2],
+         [-6.0, 0.0, 1.2], [-3.6, 0.0, 1.2], [-1.2, 0.0, 1.2], [1.2, 0.0, 1.2], [3.6, 0.0, 1.2], [6.0, 0.0, 1.2],
+         [-6.0, 0.0, 3.6], [-3.6, 0.0, 3.6], [-1.2, 0.0, 3.6], [1.2, 0.0, 3.6], [3.6, 0.0, 3.6], [6.0, 0.0, 3.6],
+         [-6.0, 0.0, 6.0], [-3.6, 0.0, 6.0], [-1.2, 0.0, 6.0], [1.2, 0.0, 6.0], [3.6, 0.0, 6.0], [6.0, 0.0, 6.0]]
+
+        fs = [0, 7, 1, 0, 6, 7, 1, 7, 2, 7, 8, 2, 2, 9, 3, 2, 8, 9, 3, 9, 4, 9, 10, 4, 4, 11, 5, 4, 10, 11, 6, 12, 7, 12, 13,
+         7, 7, 14, 8, 7, 13, 14, 8, 14, 9, 14, 15, 9, 9, 16, 10, 9, 15, 16, 10, 16, 11, 16, 17, 11, 12, 19, 13, 12, 18,
+         19, 13, 19, 14, 19, 20, 14, 14, 21, 15, 14, 20, 21, 15, 21, 16, 21, 22, 16, 16, 23, 17, 16, 22, 23, 18, 24, 19,
+         24, 25, 19, 19, 26, 20, 19, 25, 26, 20, 26, 21, 26, 27, 21, 21, 28, 22, 21, 27, 28, 22, 28, 23, 28, 29, 23, 24,
+         31, 25, 24, 30, 31, 25, 31, 26, 31, 32, 26, 26, 33, 27, 26, 32, 33, 27, 33, 28, 33, 34, 28, 28, 35, 29, 28, 34,
+         35]
+        # fmt: on
+
+        vs = [wp.vec3(v) for v in vs]
+
+        self.builder.add_cloth_mesh(
+            pos=wp.vec3(0.0, 10.0, 0.0),
+            rot=wp.quat_from_axis_angle(wp.vec3(1.0, 0.0, 0.0), 0.0),
+            scale=1.0,
+            vertices=vs,
+            indices=fs,
+            vel=wp.vec3(0.0, 0.0, 0.0),
+            density=0.02,
+            tri_ke=stretching_stiffness,
+            tri_ka=stretching_stiffness,
+            tri_kd=stretching_damping,
+            edge_ke=10,
+            edge_kd=bending_damping,
+        )
+
+        self.builder.add_cloth_mesh(
+            pos=wp.vec3(15.0, 10.0, 0.0),
+            rot=wp.quat_from_axis_angle(wp.vec3(1.0, 0.0, 0.0), 0.0),
+            scale=1.0,
+            vertices=vs,
+            indices=fs,
+            vel=wp.vec3(0.0, 0.0, 0.0),
+            density=0.02,
+            tri_ke=stretching_stiffness,
+            tri_ka=stretching_stiffness,
+            tri_kd=stretching_damping,
+            edge_ke=100,
+            edge_kd=bending_damping,
+        )
+
+        self.builder.add_cloth_mesh(
+            pos=wp.vec3(30.0, 10.0, 0.0),
+            rot=wp.quat_from_axis_angle(wp.vec3(1.0, 0.0, 0.0), 0.0),
+            scale=1.0,
+            vertices=vs,
+            indices=fs,
+            vel=wp.vec3(0.0, 0.0, 0.0),
+            density=0.02,
+            tri_ke=stretching_stiffness,
+            tri_ka=stretching_stiffness,
+            tri_kd=stretching_damping,
+            edge_ke=1000,
+            edge_kd=bending_damping,
+        )
+
+        self.fixed_particles = [0, 29, 36, 65, 72, 101]
+
+    def set_up_non_zero_rest_angle_bending_experiment(self):
+        # fmt: off
+        vs = [
+            [  0.     ,  10.     , -10.     ],
+            [  0.     ,  10.     ,  10.     ],
+            [  7.07107,   7.07107, -10.     ],
+            [  7.07107,   7.07107,  10.     ],
+            [ 10.     ,   0.     , -10.     ],
+            [ 10.     ,  -0.     ,  10.     ],
+            [  7.07107,  -7.07107, -10.     ],
+            [  7.07107,  -7.07107,  10.     ],
+            [  0.     , -10.     , -10.     ],
+            [  0.     , -10.     ,  10.     ],
+            [ -7.07107,  -7.07107, -10.     ],
+            [ -7.07107,  -7.07107,  10.     ],
+            [-10.     ,   0.     , -10.     ],
+            [-10.     ,  -0.     ,  10.     ],
+            [ -7.07107,   7.07107, -10.     ],
+            [ -7.07107,   7.07107,  10.     ],
+        ]
+        fs = [
+          1,  2,  0,
+          3,  4,  2,
+          5,  6,  4,
+          7,  8,  6,
+          9, 10,  8,
+         11, 12, 10,
+          3,  5,  4,
+         13, 14, 12,
+         15,  0, 14,
+          1,  3,  2,
+          5,  7,  6,
+          7,  9,  8,
+          9, 11, 10,
+         11, 13, 12,
+        ]
+        # fmt: on
+
+        stretching_stiffness = 1e4
+        stretching_damping = 1e-6
+        edge_ke = 1000
+        bending_damping = 1e-2
+        vs = [wp.vec3(v) for v in vs]
+
+        self.builder.add_cloth_mesh(
+            pos=wp.vec3(0.0, 10.0, 0.0),
+            rot=wp.quat_from_axis_angle(wp.vec3(1.0, 0.0, 0.0), np.pi / 2),
+            scale=1.0,
+            vertices=vs,
+            indices=fs,
+            vel=wp.vec3(0.0, 0.0, 0.0),
+            density=0.02,
+            tri_ke=stretching_stiffness,
+            tri_ka=stretching_stiffness,
+            tri_kd=stretching_damping,
+            edge_ke=edge_ke,
+            edge_kd=bending_damping,
+        )
+        self.fixed_particles = [0, 1]
+
+    def finalize(self):
+        self.builder.color()
+
+        self.model = self.builder.finalize(device=self.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.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)
+
+        self.graph = None
+        if self.use_cuda_graph:
+            wp.load_module(device=self.device)
+            wp.set_module_options({"block_dim": 256}, warp.sim.integrator_vbd)
+            wp.load_module(warp.sim.integrator_vbd, device=self.device)
+            with wp.ScopedCapture(device=self.device, force_module_load=False) as capture:
+                self.simulate()
+            self.graph = capture.graph
+
+    def simulate(self):
+        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)
+
+    def run(self):
+        if self.graph:
+            wp.capture_launch(self.graph)
+        else:
+            self.simulate()
+
+    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)
+
+
+def test_vbd_cloth(test, device):
+    with contextlib.redirect_stdout(io.StringIO()) as f:
+        example = VBDClothSim(device)
+        example.set_up_bending_experiment()
+        example.finalize()
+        example.model.ground = False
+
+    test.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()
+
+    # examine that the simulation does not explode
+    final_pos = example.state0.particle_q.numpy()
+    test.assertTrue((final_pos < 1e5).all())
+    # examine that the simulation have moved
+    test.assertTrue((example.init_pos != final_pos).any())
+
+
+def test_vbd_cloth_cuda_graph(test, device):
+    with contextlib.redirect_stdout(io.StringIO()) as f:
+        example = VBDClothSim(device, use_cuda_graph=True)
+        example.set_up_sagging_experiment()
+        example.finalize()
+
+    test.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()
+
+    # examine that the simulation does not explode
+    final_pos = example.state0.particle_q.numpy()
+    test.assertTrue((final_pos < 1e5).all())
+    # examine that the simulation have moved
+    test.assertTrue((example.init_pos != final_pos).any())
+
+
+def test_vbd_bending(test, device):
+    example = VBDClothSim(device, use_cuda_graph=True)
+    example.set_up_bending_experiment()
+    example.finalize()
+
+    example.run()
+
+    # examine that the simulation does not explode
+    final_pos = example.state0.particle_q.numpy()
+    test.assertTrue((final_pos < 1e5).all())
+    # examine that the simulation have moved
+    test.assertTrue((example.init_pos != final_pos).any())
+
+
+def test_vbd_bending_non_zero_rest_angle_bending(test, device):
+    example = VBDClothSim(device, use_cuda_graph=True)
+    example.set_up_non_zero_rest_angle_bending_experiment()
+    example.finalize()
+    example.run()
+
+    # examine that the simulation does not explode
+    final_pos = example.state0.particle_q.numpy()
+    test.assertTrue((final_pos < 1e5).all())
+    # examine that the simulation have moved
+    test.assertTrue((example.init_pos != final_pos).any())
+
+
+devices = get_test_devices()
+cuda_devices = get_selected_cuda_test_devices()
+
+
+class TestVbd(unittest.TestCase):
+    pass
+
+
+add_function_test(TestVbd, "test_vbd_cloth", test_vbd_cloth, devices=devices)
+add_function_test(TestVbd, "test_vbd_cloth_cuda_graph", test_vbd_cloth_cuda_graph, devices=cuda_devices)
+add_function_test(TestVbd, "test_vbd_bending", test_vbd_bending, devices=devices, check_output=False)
+add_function_test(
+    TestVbd,
+    "test_vbd_bending_non_zero_rest_angle_bending",
+    test_vbd_bending_non_zero_rest_angle_bending,
+    devices=devices,
+    check_output=False,
+)
+
+
+if __name__ == "__main__":
+    wp.clear_kernel_cache()
+    unittest.main(verbosity=2)