warp-lang 1.9.0__py3-none-manylinux_2_34_aarch64.whl → 1.10.0rc2__py3-none-manylinux_2_34_aarch64.whl

warp/examples/sim/example_rigid_chain.py

@@ -1,203 +0,0 @@
-# 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.
-
-###########################################################################
-# Example Sim Rigid Chain
-#
-# Shows how to set up a chain of rigid bodies connected by different joint
-# types using wp.sim.ModelBuilder(). There is one chain for each joint
-# type, including fixed joints which act as a flexible beam.
-#
-###########################################################################
-
-import numpy as np
-
-import warp as wp
-import warp.sim
-import warp.sim.render
-
-
-class Example:
-    def __init__(self, stage_path="example_rigid_chain.usd"):
-        self.chain_length = 8
-        self.chain_width = 1.0
-        self.chain_types = [
-            wp.sim.JOINT_REVOLUTE,
-            wp.sim.JOINT_FIXED,
-            wp.sim.JOINT_BALL,
-            wp.sim.JOINT_UNIVERSAL,
-            wp.sim.JOINT_COMPOUND,
-        ]
-
-        builder = wp.sim.ModelBuilder()
-
-        self.sim_time = 0.0
-        fps = 100
-        self.frame_dt = 1.0 / fps
-
-        self.sim_substeps = 10
-        self.sim_dt = self.frame_dt / self.sim_substeps
-
-        for c, t in enumerate(self.chain_types):
-            # start a new articulation
-            builder.add_articulation()
-
-            for i in range(self.chain_length):
-                if i == 0:
-                    parent = -1
-                    parent_joint_xform = wp.transform([0.0, 0.0, c * 1.0], wp.quat_identity())
-                else:
-                    parent = builder.joint_count - 1
-                    parent_joint_xform = wp.transform([self.chain_width, 0.0, 0.0], wp.quat_identity())
-
-                # create body
-                b = builder.add_body(origin=wp.transform([i, 0.0, c * 1.0], wp.quat_identity()), armature=0.1)
-
-                # create shape
-                builder.add_shape_box(
-                    pos=wp.vec3(self.chain_width * 0.5, 0.0, 0.0),
-                    hx=self.chain_width * 0.5,
-                    hy=0.1,
-                    hz=0.1,
-                    density=10.0,
-                    body=b,
-                )
-
-                joint_type = t
-
-                if joint_type == wp.sim.JOINT_REVOLUTE:
-                    joint_limit_lower = -np.deg2rad(60.0)
-                    joint_limit_upper = np.deg2rad(60.0)
-                    builder.add_joint_revolute(
-                        parent=parent,
-                        child=b,
-                        axis=(0.0, 0.0, 1.0),
-                        parent_xform=parent_joint_xform,
-                        child_xform=wp.transform_identity(),
-                        limit_lower=joint_limit_lower,
-                        limit_upper=joint_limit_upper,
-                        target_ke=0.0,
-                        target_kd=0.0,
-                        limit_ke=1e5,
-                        limit_kd=1.0,
-                    )
-
-                elif joint_type == wp.sim.JOINT_UNIVERSAL:
-                    builder.add_joint_universal(
-                        parent=parent,
-                        child=b,
-                        axis_0=wp.sim.JointAxis((1.0, 0.0, 0.0), -np.deg2rad(60.0), np.deg2rad(60.0)),
-                        axis_1=wp.sim.JointAxis((0.0, 0.0, 1.0), -np.deg2rad(60.0), np.deg2rad(60.0)),
-                        parent_xform=parent_joint_xform,
-                        child_xform=wp.transform_identity(),
-                    )
-
-                elif joint_type == wp.sim.JOINT_BALL:
-                    builder.add_joint_ball(
-                        parent=parent,
-                        child=b,
-                        parent_xform=parent_joint_xform,
-                        child_xform=wp.transform_identity(),
-                    )
-
-                elif joint_type == wp.sim.JOINT_FIXED:
-                    builder.add_joint_fixed(
-                        parent=parent,
-                        child=b,
-                        parent_xform=parent_joint_xform,
-                        child_xform=wp.transform_identity(),
-                    )
-
-                elif joint_type == wp.sim.JOINT_COMPOUND:
-                    builder.add_joint_compound(
-                        parent=parent,
-                        child=b,
-                        axis_0=wp.sim.JointAxis((1.0, 0.0, 0.0), -np.deg2rad(60.0), np.deg2rad(60.0)),
-                        axis_1=wp.sim.JointAxis((0.0, 1.0, 0.0), -np.deg2rad(60.0), np.deg2rad(60.0)),
-                        axis_2=wp.sim.JointAxis((0.0, 0.0, 1.0), -np.deg2rad(60.0), np.deg2rad(60.0)),
-                        parent_xform=parent_joint_xform,
-                        child_xform=wp.transform_identity(),
-                    )
-
-        self.model = builder.finalize()
-        self.model.ground = False
-
-        self.integrator = wp.sim.FeatherstoneIntegrator(self.model)
-
-        if stage_path:
-            self.renderer = wp.sim.render.SimRenderer(self.model, stage_path, scaling=20.0)
-        else:
-            self.renderer = None
-
-        self.state_0 = self.model.state()
-        self.state_1 = self.model.state()
-
-        wp.sim.eval_fk(self.model, self.model.joint_q, self.model.joint_qd, None, self.state_0)
-
-        # simulate() allocates memory via a clone, so we can't use graph capture if the device does not support mempools
-        self.use_cuda_graph = wp.get_device().is_cuda and wp.is_mempool_enabled(wp.get_device())
-        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)
-            self.state_0, self.state_1 = self.state_1, self.state_0
-
-    def step(self):
-        with wp.ScopedTimer("step"):
-            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_chain.usd",
-        help="Path to the output USD file.",
-    )
-    parser.add_argument("--num_frames", type=int, default=500, 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_contact.py

@@ -1,195 +0,0 @@
-# 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.
-
-###########################################################################
-# Example Sim Rigid Contact
-#
-# Shows how to set up free rigid bodies with different shape types falling
-# and colliding against each other and the ground using wp.sim.ModelBuilder().
-#
-###########################################################################
-
-import math
-import os
-
-import numpy as np
-from pxr import Usd, UsdGeom
-
-import warp as wp
-import warp.examples
-import warp.sim
-import warp.sim.render
-
-
-class Example:
-    def __init__(self, stage_path="example_rigid_contact.usd"):
-        builder = wp.sim.ModelBuilder()
-
-        self.sim_time = 0.0
-        fps = 60
-        self.frame_dt = 1.0 / fps
-
-        self.sim_substeps = 10
-        self.sim_dt = self.frame_dt / self.sim_substeps
-
-        self.num_bodies = 8
-        self.scale = 0.8
-        self.ke = 1.0e5
-        self.kd = 250.0
-        self.kf = 500.0
-
-        # boxes
-        for i in range(self.num_bodies):
-            b = builder.add_body(origin=wp.transform((i, 1.0, 0.0), wp.quat_identity()))
-
-            builder.add_shape_box(
-                pos=wp.vec3(0.0, 0.0, 0.0),
-                hx=0.5 * self.scale,
-                hy=0.2 * self.scale,
-                hz=0.2 * self.scale,
-                body=i,
-                ke=self.ke,
-                kd=self.kd,
-                kf=self.kf,
-            )
-
-        # spheres
-        for i in range(self.num_bodies):
-            b = builder.add_body(origin=wp.transform((i, 1.0, 2.0), wp.quat_identity()))
-
-            builder.add_shape_sphere(
-                pos=wp.vec3(0.0, 0.0, 0.0), radius=0.25 * self.scale, body=b, ke=self.ke, kd=self.kd, kf=self.kf
-            )
-
-        # capsules
-        for i in range(self.num_bodies):
-            b = builder.add_body(origin=wp.transform((i, 1.0, 6.0), wp.quat_identity()))
-
-            builder.add_shape_capsule(
-                pos=wp.vec3(0.0, 0.0, 0.0),
-                radius=0.25 * self.scale,
-                half_height=self.scale * 0.5,
-                up_axis=0,
-                body=b,
-                ke=self.ke,
-                kd=self.kd,
-                kf=self.kf,
-            )
-
-        # initial spin
-        for i in range(len(builder.body_qd)):
-            builder.body_qd[i] = (0.0, 2.0, 10.0, 0.0, 0.0, 0.0)
-
-        # meshes
-        bunny = self.load_mesh(os.path.join(warp.examples.get_asset_directory(), "bunny.usd"), "/root/bunny")
-        for i in range(self.num_bodies):
-            b = builder.add_body(
-                origin=wp.transform(
-                    (i * 0.5 * self.scale, 1.0 + i * 1.7 * self.scale, 4.0 + i * 0.5 * self.scale),
-                    wp.quat_from_axis_angle(wp.vec3(0.0, 1.0, 0.0), math.pi * 0.1 * i),
-                )
-            )
-
-            builder.add_shape_mesh(
-                body=b,
-                mesh=bunny,
-                pos=wp.vec3(0.0, 0.0, 0.0),
-                scale=wp.vec3(self.scale, self.scale, self.scale),
-                ke=self.ke,
-                kd=self.kd,
-                kf=self.kf,
-                density=1e3,
-            )
-
-        # finalize model
-        self.model = builder.finalize()
-        self.model.ground = True
-
-        self.integrator = wp.sim.SemiImplicitIntegrator()
-
-        if stage_path:
-            self.renderer = wp.sim.render.SimRenderer(self.model, stage_path, scaling=0.5)
-        else:
-            self.renderer = None
-
-        self.state_0 = self.model.state()
-        self.state_1 = self.model.state()
-
-        wp.sim.eval_fk(self.model, self.model.joint_q, self.model.joint_qd, None, self.state_0)
-
-        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 load_mesh(self, filename, path):
-        asset_stage = Usd.Stage.Open(filename)
-        mesh_geom = UsdGeom.Mesh(asset_stage.GetPrimAtPath(path))
-
-        points = np.array(mesh_geom.GetPointsAttr().Get())
-        indices = np.array(mesh_geom.GetFaceVertexIndicesAttr().Get()).flatten()
-
-        return wp.sim.Mesh(points, indices)
-
-    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)
-            self.state_0, self.state_1 = self.state_1, self.state_0
-
-    def step(self):
-        with wp.ScopedTimer("step", active=True):
-            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", active=True):
-            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_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()

warp/examples/sim/example_rigid_force.py

@@ -1,133 +0,0 @@
-# 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.
-
-###########################################################################
-# Example Sim Rigid Force
-#
-# Shows how to apply an external force (torque) to a rigid body causing
-# it to roll.
-#
-###########################################################################
-
-import warp as wp
-import warp.sim
-import warp.sim.render
-
-
-class Example:
-    def __init__(self, stage_path="example_rigid_force.usd", use_opengl=False):
-        fps = 60
-        self.frame_dt = 1.0 / fps
-        self.sim_substeps = 5
-        self.sim_dt = self.frame_dt / self.sim_substeps
-        self.sim_time = 0.0
-
-        builder = wp.sim.ModelBuilder()
-
-        b = builder.add_body(origin=wp.transform((0.0, 10.0, 0.0), wp.quat_identity()))
-        builder.add_shape_box(body=b, hx=1.0, hy=1.0, hz=1.0, density=100.0)
-
-        self.model = builder.finalize()
-        self.model.ground = True
-
-        self.integrator = wp.sim.XPBDIntegrator()
-
-        self.state_0 = self.model.state()
-        self.state_1 = self.model.state()
-
-        if use_opengl:
-            self.renderer = wp.sim.render.SimRendererOpenGL(self.model, stage_path)
-        elif stage_path:
-            self.renderer = wp.sim.render.SimRenderer(self.model, stage_path)
-        else:
-            self.renderer = None
-
-        # simulate() allocates memory via a clone, so we can't use graph capture if the device does not support mempools
-        self.use_cuda_graph = wp.get_device().is_cuda and wp.is_mempool_enabled(wp.get_device())
-        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):
-            wp.sim.collide(self.model, self.state_0)
-
-            self.state_0.clear_forces()
-            self.state_1.clear_forces()
-
-            self.state_0.body_f.assign(
-                [
-                    [0.0, 0.0, -7000.0, 0.0, 0.0, 0.0],
-                ]
-            )
-
-            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"):
-            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_force.usd",
-        help="Path to the output USD file.",
-    )
-    parser.add_argument("--num_frames", type=int, default=300, help="Total number of frames.")
-    parser.add_argument(
-        "--opengl",
-        action="store_true",
-        help="Open an interactive window to play back animations in real time. Ignores --num_frames if used.",
-    )
-
-    args = parser.parse_known_args()[0]
-
-    with wp.ScopedDevice(args.device):
-        example = Example(stage_path=args.stage_path, use_opengl=args.opengl)
-
-        if args.opengl:
-            while example.renderer.is_running():
-                example.step()
-                example.render()
-        else:
-            for _ in range(args.num_frames):
-                example.step()
-                example.render()
-
-        if example.renderer:
-            example.renderer.save()

warp/examples/sim/example_rigid_gyroscopic.py

@@ -1,115 +0,0 @@
-# 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.
-
-###########################################################################
-# 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()