warp-lang 1.9.1__py3-none-manylinux_2_34_aarch64.whl → 1.10.0rc2__py3-none-manylinux_2_34_aarch64.whl

warp/examples/optim/example_softbody_properties.py

@@ -1,400 +0,0 @@
-# SPDX-FileCopyrightText: Copyright (c) 2025 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 FEM Bounce
-#
-# Shows how to use Warp to optimize for the material parameters of a soft body,
-# such that it bounces off the wall and floor in order to hit a target.
-#
-# This example uses the built-in wp.Tape() object to compute gradients of
-# the distance to target (loss) w.r.t the material parameters, followed by
-# a simple gradient-descent optimization step.
-#
-###########################################################################
-
-import numpy as np
-
-import warp as wp
-import warp.optim
-import warp.sim
-import warp.sim.render
-
-
-@wp.kernel
-def assign_param(params: wp.array(dtype=wp.float32), tet_materials: wp.array2d(dtype=wp.float32)):
-    tid = wp.tid()
-    params_idx = 2 * wp.tid() % params.shape[0]
-    tet_materials[tid, 0] = params[params_idx]
-    tet_materials[tid, 1] = params[params_idx + 1]
-
-
-@wp.kernel
-def com_kernel(particle_q: wp.array(dtype=wp.vec3), com: wp.array(dtype=wp.vec3)):
-    tid = wp.tid()
-    point = particle_q[tid]
-    a = point / wp.float32(particle_q.shape[0])
-
-    # Atomically add the point coordinates to the accumulator
-    wp.atomic_add(com, 0, a)
-
-
-@wp.kernel
-def loss_kernel(
-    target: wp.vec3,
-    com: wp.array(dtype=wp.vec3),
-    pos_error: wp.array(dtype=float),
-    loss: wp.array(dtype=float),
-):
-    diff = com[0] - target
-    pos_error[0] = wp.dot(diff, diff)
-    norm = pos_error[0]
-    loss[0] = norm
-
-
-@wp.kernel
-def enforce_constraint_kernel(lower_bound: wp.float32, upper_bound: wp.float32, x: wp.array(dtype=wp.float32)):
-    tid = wp.tid()
-    if x[tid] < lower_bound:
-        x[tid] = lower_bound
-    elif x[tid] > upper_bound:
-        x[tid] = upper_bound
-
-
-class Example:
-    def __init__(
-        self,
-        stage_path="example_softbody_properties.usd",
-        material_behavior="anisotropic",
-        verbose=False,
-    ):
-        self.verbose = verbose
-        self.material_behavior = material_behavior
-
-        # seconds
-        sim_duration = 1.0
-
-        # control frequency
-        fps = 60
-        self.frame_dt = 1.0 / fps
-        frame_steps = int(sim_duration / self.frame_dt)
-
-        # sim frequency
-        self.sim_substeps = 16
-        self.sim_steps = frame_steps * self.sim_substeps
-        self.sim_dt = self.frame_dt / self.sim_substeps
-
-        self.iter = 0
-        self.render_time = 0.0
-
-        self.train_rate = 1e7
-
-        self.losses = []
-
-        self.hard_lower_bound = wp.float32(500.0)
-        self.hard_upper_bound = wp.float32(4e6)
-
-        # Create FEM model.
-        self.cell_dim = 2
-        self.cell_size = 0.1
-        center = self.cell_size * self.cell_dim * 0.5
-        self.grid_origin = wp.vec3(-0.5, 1.0, -center)
-        self.create_model()
-
-        self.integrator = wp.sim.SemiImplicitIntegrator()
-
-        self.target = wp.vec3(-1.0, 1.5, 0.0)
-        # Initialize material parameters
-        if self.material_behavior == "anisotropic":
-            # Different Lame parameters for each tet
-            self.material_params = wp.array(
-                self.model.tet_materials.numpy()[:, :2].flatten(),
-                dtype=wp.float32,
-                requires_grad=True,
-            )
-        else:
-            # Same Lame parameters for all tets
-            self.material_params = wp.array(
-                self.model.tet_materials.numpy()[0, :2].flatten(),
-                dtype=wp.float32,
-                requires_grad=True,
-            )
-
-        self.optimizer = wp.optim.SGD(
-            [self.material_params],
-            lr=self.train_rate,
-            nesterov=False,
-        )
-
-        self.com = wp.array([wp.vec3(0.0, 0.0, 0.0)], dtype=wp.vec3, requires_grad=True)
-        self.pos_error = wp.zeros(1, dtype=wp.float32, requires_grad=True)
-        self.loss = wp.zeros(1, dtype=wp.float32, requires_grad=True)
-
-        # allocate sim states for trajectory
-        self.states = []
-        for _i in range(self.sim_steps + 1):
-            self.states.append(self.model.state())
-
-        if stage_path:
-            self.renderer = wp.sim.render.SimRenderer(self.model, stage_path, scaling=1.0)
-        else:
-            self.renderer = None
-
-        # capture forward/backward passes
-        self.use_cuda_graph = wp.get_device().is_cuda
-        if self.use_cuda_graph:
-            with wp.ScopedCapture() as capture:
-                self.tape = wp.Tape()
-                with self.tape:
-                    self.forward()
-                self.tape.backward(self.loss)
-            self.graph = capture.graph
-
-    def create_model(self):
-        builder = wp.sim.ModelBuilder()
-        builder.default_particle_radius = 0.0005
-
-        total_mass = 0.2
-        num_particles = (self.cell_dim + 1) ** 3
-        particle_mass = total_mass / num_particles
-        particle_density = particle_mass / (self.cell_size**3)
-        if self.verbose:
-            print(f"Particle density: {particle_density}")
-
-        young_mod = 1.5 * 1e4
-        poisson_ratio = 0.3
-        k_mu = 0.5 * young_mod / (1.0 + poisson_ratio)
-        k_lambda = young_mod * poisson_ratio / ((1 + poisson_ratio) * (1 - 2 * poisson_ratio))
-
-        builder.add_soft_grid(
-            pos=self.grid_origin,
-            rot=wp.quat_identity(),
-            vel=wp.vec3(5.0, -5.0, 0.0),
-            dim_x=self.cell_dim,
-            dim_y=self.cell_dim,
-            dim_z=self.cell_dim,
-            cell_x=self.cell_size,
-            cell_y=self.cell_size,
-            cell_z=self.cell_size,
-            density=particle_density,
-            k_mu=k_mu,
-            k_lambda=k_lambda,
-            k_damp=0.0,
-            tri_ke=1e-4,
-            tri_ka=1e-4,
-            tri_kd=1e-4,
-            tri_drag=0.0,
-            tri_lift=0.0,
-            fix_bottom=False,
-        )
-
-        ke = 1.0e3
-        kf = 0.0
-        kd = 1.0e0
-        mu = 0.2
-        builder.add_shape_box(
-            body=-1,
-            pos=wp.vec3(2.0, 1.0, 0.0),
-            hx=0.25,
-            hy=1.0,
-            hz=1.0,
-            ke=ke,
-            kf=kf,
-            kd=kd,
-            mu=mu,
-        )
-
-        # use `requires_grad=True` to create a model for differentiable simulation
-        self.model = builder.finalize(requires_grad=True)
-        self.model.ground = True
-
-        self.model.soft_contact_ke = ke
-        self.model.soft_contact_kf = kf
-        self.model.soft_contact_kd = kd
-        self.model.soft_contact_mu = mu
-        self.model.soft_contact_margin = 0.001
-        self.model.soft_contact_restitution = 1.0
-
-    def forward(self):
-        wp.launch(
-            kernel=assign_param,
-            dim=self.model.tet_count,
-            inputs=(self.material_params,),
-            outputs=(self.model.tet_materials,),
-        )
-        # run control loop
-        for i in range(self.sim_steps):
-            wp.sim.collide(self.model, self.states[i])
-            self.states[i].clear_forces()
-
-            self.integrator.simulate(self.model, self.states[i], self.states[i + 1], self.sim_dt)
-
-        # Update loss
-        # Compute the center of mass for the last time step.
-        wp.launch(
-            kernel=com_kernel,
-            dim=self.model.particle_count,
-            inputs=(self.states[-1].particle_q,),
-            outputs=(self.com,),
-        )
-
-        # calculate loss
-        wp.launch(
-            kernel=loss_kernel,
-            dim=1,
-            inputs=(
-                self.target,
-                self.com,
-            ),
-            outputs=(self.pos_error, self.loss),
-        )
-
-        return self.loss
-
-    def step(self):
-        with wp.ScopedTimer("step"):
-            if self.use_cuda_graph:
-                wp.capture_launch(self.graph)
-            else:
-                self.tape = wp.Tape()
-                with self.tape:
-                    self.forward()
-                self.tape.backward(loss=self.loss)
-
-            if self.verbose:
-                self.log_step()
-
-            self.optimizer.step([self.material_params.grad])
-
-            wp.launch(
-                kernel=enforce_constraint_kernel,
-                dim=self.material_params.shape[0],
-                inputs=(
-                    self.hard_lower_bound,
-                    self.hard_upper_bound,
-                ),
-                outputs=(self.material_params,),
-            )
-
-            self.losses.append(self.loss.numpy()[0])
-
-            # clear grads for next iteration
-            self.tape.zero()
-            self.loss.zero_()
-            self.com.zero_()
-            self.pos_error.zero_()
-
-            self.iter = self.iter + 1
-
-    def log_step(self):
-        x = self.material_params.numpy().reshape(-1, 2)
-        x_grad = self.material_params.grad.numpy().reshape(-1, 2)
-
-        print(f"Iter: {self.iter} Loss: {self.loss.numpy()[0]}")
-
-        print(f"Pos error: {np.sqrt(self.pos_error.numpy()[0])}")
-
-        print(
-            f"Max Mu: {np.max(x[:, 0])}, Min Mu: {np.min(x[:, 0])}, "
-            f"Max Lambda: {np.max(x[:, 1])}, Min Lambda: {np.min(x[:, 1])}"
-        )
-
-        print(
-            f"Max Mu Grad: {np.max(x_grad[:, 0])}, Min Mu Grad: {np.min(x_grad[:, 0])}, "
-            f"Max Lambda Grad: {np.max(x_grad[:, 1])}, Min Lambda Grad: {np.min(x_grad[:, 1])}"
-        )
-
-    def render(self):
-        if self.renderer is None:
-            return
-
-        with wp.ScopedTimer("render"):
-            # draw trajectory
-            traj_verts = [np.mean(self.states[0].particle_q.numpy(), axis=0).tolist()]
-            for i in range(0, self.sim_steps, self.sim_substeps):
-                traj_verts.append(np.mean(self.states[i].particle_q.numpy(), axis=0).tolist())
-
-                self.renderer.begin_frame(self.render_time)
-                self.renderer.render(self.states[i])
-                self.renderer.render_box(
-                    pos=self.target,
-                    rot=wp.quat_identity(),
-                    extents=(0.1, 0.1, 0.1),
-                    name="target",
-                    color=(0.0, 0.0, 0.0),
-                )
-                self.renderer.render_line_strip(
-                    vertices=traj_verts,
-                    color=wp.render.bourke_color_map(0.0, self.losses[0], self.losses[-1]),
-                    radius=0.02,
-                    name=f"traj_{self.iter - 1}",
-                )
-                self.renderer.end_frame()
-
-                from pxr import Gf, UsdGeom
-
-                particles_prim = self.renderer.stage.GetPrimAtPath("/root/particles")
-                particles = UsdGeom.Points.Get(self.renderer.stage, particles_prim.GetPath())
-                particles.CreateDisplayColorAttr().Set([Gf.Vec3f(1.0, 1.0, 1.0)], time=self.renderer.time)
-
-                self.render_time += self.frame_dt
-
-
-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_softbody_properties.usd",
-        help="Path to the output USD file.",
-    )
-    parser.add_argument(
-        "--train_iters",
-        type=int,
-        default=300,
-        help="Total number of training iterations.",
-    )
-    parser.add_argument(
-        "--material_behavior",
-        default="anisotropic",
-        choices=["anisotropic", "isotropic"],
-        help="Set material behavior to be Anisotropic or Isotropic.",
-    )
-    parser.add_argument(
-        "--verbose",
-        action="store_true",
-        help="Print out additional status messages during execution.",
-    )
-
-    args = parser.parse_known_args()[0]
-
-    with wp.ScopedDevice(args.device):
-        example = Example(
-            stage_path=args.stage_path,
-            material_behavior=args.material_behavior,
-            verbose=args.verbose,
-        )
-
-        # replay and optimize
-        for i in range(args.train_iters):
-            example.step()
-            if i == 0 or i % 50 == 0 or i == args.train_iters - 1:
-                example.render()
-
-        if example.renderer:
-            example.renderer.save()

warp/examples/optim/example_spring_cage.py

@@ -1,245 +0,0 @@
-# SPDX-FileCopyrightText: Copyright (c) 2023 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 Diff Sim Spring Cage
-#
-# A single particle is attached with springs to each point of a cage.
-# The objective is to optimize the rest length of the springs in order
-# for the particle to be pulled towards a target position.
-#
-###########################################################################
-
-import numpy as np
-
-import warp as wp
-import warp.sim
-import warp.sim.render
-
-
-@wp.kernel
-def compute_loss_kernel(
-    pos: wp.array(dtype=wp.vec3),
-    target_pos: wp.vec3,
-    loss: wp.array(dtype=float),
-):
-    loss[0] = wp.length_sq(pos[0] - target_pos)
-
-
-@wp.kernel(enable_backward=False)
-def apply_gradient_kernel(
-    spring_rest_lengths_grad: wp.array(dtype=float),
-    train_rate: float,
-    spring_rest_lengths: wp.array(dtype=float),
-):
-    tid = wp.tid()
-
-    spring_rest_lengths[tid] -= spring_rest_lengths_grad[tid] * train_rate
-
-
-class Example:
-    def __init__(self, stage_path="example_spring_cage.usd", num_frames=30, train_iters=25):
-        # Number of frames per second.
-        self.fps = 30
-
-        # Duration of a single simulation iteration in number of frames.
-        self.num_frames = num_frames
-
-        # Number of simulation steps to take per frame.
-        self.sim_substep_count = 1
-
-        # Delta time between each simulation substep.
-        self.sim_dt = 1.0 / (self.fps * self.sim_substep_count)
-
-        # Target position that we want the main particle to reach by optimising
-        # the rest lengths of the springs.
-        self.target_pos = (0.125, 0.25, 0.375)
-
-        # Number of training iterations.
-        self.train_iters = train_iters
-
-        # Factor by which the rest lengths of the springs are adjusted after each
-        # iteration, relatively to the corresponding gradients. Lower values
-        # converge more slowly but have less chances to miss the local minimum.
-        self.train_rate = 0.5
-
-        # Initialize the helper to build a physics scene.
-        builder = wp.sim.ModelBuilder()
-
-        # Define the main particle at the origin.
-        particle_mass = 1.0
-        builder.add_particle((0.0, 0.0, 0.0), (0.0, 0.0, 0.0), particle_mass)
-
-        # Define the cage made of points that will be pulling our main particle
-        # using springs.
-        # fmt: off
-        builder.add_particle((-0.7,  0.8,  0.2), (0.0, 0.0, 0.0), 0.0)
-        builder.add_particle(( 0.0,  0.2,  1.1), (0.0, 0.0, 0.0), 0.0)
-        builder.add_particle(( 0.1,  0.1, -1.2), (0.0, 0.0, 0.0), 0.0)
-        builder.add_particle(( 0.6,  0.4,  0.4), (0.0, 0.0, 0.0), 0.0)
-        builder.add_particle(( 0.7, -0.9, -0.2), (0.0, 0.0, 0.0), 0.0)
-        builder.add_particle((-0.8, -0.8,  0.1), (0.0, 0.0, 0.0), 0.0)
-        builder.add_particle((-0.9,  0.2, -0.8), (0.0, 0.0, 0.0), 0.0)
-        builder.add_particle(( 1.0,  0.4, -0.1), (0.0, 0.0, 0.0), 0.0)
-        # fmt: on
-
-        # Define the spring constraints between the main particle and the cage points.
-        spring_elastic_stiffness = 100.0
-        spring_elastic_damping = 10.0
-        for i in range(1, builder.particle_count):
-            builder.add_spring(0, i, spring_elastic_stiffness, spring_elastic_damping, 0)
-
-        # Build the model and set-up its properties.
-        self.model = builder.finalize(requires_grad=True)
-        self.model.gravity = np.array((0.0, 0.0, 0.0))
-        self.model.ground = False
-
-        # Use the Euler integrator for stepping through the simulation.
-        self.integrator = wp.sim.SemiImplicitIntegrator()
-
-        # Initialize a state for each simulation step.
-        self.states = tuple(self.model.state() for _ in range(self.num_frames * self.sim_substep_count + 1))
-
-        # Initialize a loss value that will represent the distance of the main
-        # particle to the target position. It needs to be defined as an array
-        # so that it can be written out by a kernel.
-        self.loss = wp.zeros(1, dtype=float, requires_grad=True)
-
-        if stage_path:
-            # Helper to render the physics scene as a USD file.
-            self.renderer = warp.sim.render.SimRenderer(self.model, stage_path, fps=self.fps, scaling=10.0)
-
-            # Allows rendering one simulation to USD every N training iterations.
-            self.render_iteration_steps = 2
-
-            # Frame number used to render the simulation iterations onto the USD file.
-            self.render_frame = 0
-        else:
-            self.renderer = None
-
-        self.use_cuda_graph = wp.get_device().is_cuda
-        if self.use_cuda_graph:
-            # Capture all the kernel launches into a CUDA graph so that they can
-            # all be run in a single graph launch, which helps with performance.
-            with wp.ScopedCapture() as capture:
-                self.tape = wp.Tape()
-                with self.tape:
-                    self.forward()
-                self.tape.backward(loss=self.loss)
-            self.graph = capture.graph
-
-    def forward(self):
-        for i in range(1, len(self.states)):
-            prev = self.states[i - 1]
-            curr = self.states[i]
-            prev.clear_forces()
-            self.integrator.simulate(
-                self.model,
-                prev,
-                curr,
-                self.sim_dt,
-            )
-
-        last_state = self.states[-1]
-        wp.launch(
-            compute_loss_kernel,
-            dim=1,
-            inputs=(
-                last_state.particle_q,
-                self.target_pos,
-            ),
-            outputs=(self.loss,),
-        )
-
-    def step(self):
-        with wp.ScopedTimer("step"):
-            if self.use_cuda_graph:
-                wp.capture_launch(self.graph)
-            else:
-                self.tape = wp.Tape()
-                with self.tape:
-                    self.forward()
-                self.tape.backward(loss=self.loss)
-
-            wp.launch(
-                apply_gradient_kernel,
-                dim=self.model.spring_count,
-                inputs=(
-                    self.model.spring_rest_length.grad,
-                    self.train_rate,
-                ),
-                outputs=(self.model.spring_rest_length,),
-            )
-
-            self.tape.zero()
-
-    def render(self):
-        if self.renderer is None:
-            return
-
-        with wp.ScopedTimer("render"):
-            self.renderer.begin_frame(0.0)
-            self.renderer.render_box(
-                name="target",
-                pos=self.target_pos,
-                rot=wp.quat_identity(),
-                extents=(0.1, 0.1, 0.1),
-                color=(1.0, 0.0, 0.0),
-            )
-            self.renderer.end_frame()
-
-            for frame in range(self.num_frames):
-                self.renderer.begin_frame(self.render_frame / self.fps)
-                self.renderer.render(self.states[frame * self.sim_substep_count])
-                self.renderer.end_frame()
-
-                self.render_frame += 1
-
-
-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_spring_cage.usd",
-        help="Path to the output USD file.",
-    )
-    parser.add_argument("--num_frames", type=int, default=30, help="Total number of frames per training iteration.")
-    parser.add_argument("--train_iters", type=int, default=25, help="Total number of training iterations.")
-    parser.add_argument("--verbose", action="store_true", help="Print out additional status messages during execution.")
-
-    args = parser.parse_known_args()[0]
-
-    with wp.ScopedDevice(args.device):
-        example = Example(stage_path=args.stage_path, num_frames=args.num_frames, train_iters=args.train_iters)
-
-        for iteration in range(args.train_iters):
-            example.step()
-
-            loss = example.loss.numpy()[0]
-
-            if args.verbose:
-                print(f"[{iteration:3d}] loss={loss:.8f}")
-
-            if example.renderer and (
-                iteration == example.train_iters - 1 or iteration % example.render_iteration_steps == 0
-            ):
-                example.render()
-
-        if example.renderer:
-            example.renderer.save()