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

warp/tests/sim/test_cloth.py

@@ -1,863 +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 unittest
-from functools import partial
-
-import numpy as np
-
-import warp as wp
-import warp.sim
-import warp.sim.integrator
-import warp.sim.integrator_euler
-import warp.sim.integrator_vbd
-import warp.sim.integrator_xpbd
-import warp.sim.particles
-import warp.sim.render
-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 ClothSim:
-    def __init__(self, device, solver, use_cuda_graph=False, do_rendering=False):
-        self.frame_dt = 1 / 60
-        self.num_test_frames = 50
-        self.iterations = 5
-        self.do_rendering = do_rendering
-        self.device = device
-        self.use_cuda_graph = self.device.is_cuda and use_cuda_graph
-        self.builder = wp.sim.ModelBuilder()
-        self.solver = solver
-        self.renderer_scale_factor = 1.0
-
-        if solver != "semi_implicit":
-            self.num_substeps = 10
-        else:
-            self.num_substeps = 32
-        self.dt = self.frame_dt / self.num_substeps
-
-    def set_up_sagging_experiment(self):
-        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]
-
-        kd = 1.0e-7
-
-        if self.solver != "semi_implicit":
-            stretching_stiffness = 1e4
-            spring_ke = 1e3
-            bending_ke = 10
-        else:
-            stretching_stiffness = 1e5
-            spring_ke = 1e2
-            bending_ke = 0.0
-
-        self.builder.add_cloth_mesh(
-            pos=wp.vec3(0.0, 0.0, 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=0.1,
-            tri_ke=stretching_stiffness,
-            tri_ka=stretching_stiffness,
-            tri_kd=kd,
-            edge_ke=bending_ke,
-            add_springs=self.solver == "xpbd",
-            spring_ke=spring_ke,
-            spring_kd=0.0,
-        )
-
-        self.fixed_particles = [0, 9]
-
-        self.finalize(ground=False)
-
-        self.state1.particle_q.fill_(0.0)
-
-    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,
-            add_springs=self.solver == "xpbd",
-            spring_ke=1.0e3,
-            spring_kd=0.0,
-        )
-
-        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,
-            add_springs=self.solver == "xpbd",
-            spring_ke=1.0e3,
-            spring_kd=0.0,
-        )
-
-        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,
-            add_springs=self.solver == "xpbd",
-            spring_ke=1.0e3,
-            spring_kd=0.0,
-        )
-
-        self.fixed_particles = [0, 29, 36, 65, 72, 101]
-
-        self.finalize()
-
-    def set_self_collision_experiment(self):
-        elasticity_ke = 1e4
-        elasticity_kd = 1e-6
-
-        vs1 = [wp.vec3(v) for v in [[0, 0, 0], [1, 0, 0], [1, 0, 1], [0, 0, 1]]]
-        fs1 = [0, 1, 2, 0, 2, 3]
-
-        self.builder.add_cloth_mesh(
-            pos=wp.vec3(0.0, 0.0, 0.0),
-            rot=wp.quat_from_axis_angle(wp.vec3(1.0, 0.0, 0.0), 0.0),
-            scale=1.0,
-            vertices=vs1,
-            indices=fs1,
-            vel=wp.vec3(0.0, 0.0, 0.0),
-            density=0.02,
-            tri_ke=elasticity_ke,
-            tri_ka=elasticity_ke,
-            tri_kd=elasticity_kd,
-            add_springs=self.solver == "xpbd",
-            spring_ke=1.0e3,
-            spring_kd=0.0,
-        )
-
-        vs2 = [wp.vec3(v) for v in [[0.3, 0, 0.7], [0.3, 0, 0.2], [0.8, 0, 0.4]]]
-        fs2 = [0, 1, 2]
-
-        self.builder.add_cloth_mesh(
-            pos=wp.vec3(0.0, 0.5, 0.0),
-            rot=wp.quat_from_axis_angle(wp.vec3(1.0, 0.0, 0.0), 0.0),
-            scale=1.0,
-            vertices=vs2,
-            indices=fs2,
-            vel=wp.vec3(0.0, 0.0, 0.0),
-            density=0.02,
-            tri_ke=elasticity_ke,
-            tri_ka=elasticity_ke,
-            tri_kd=elasticity_kd,
-            add_springs=self.solver == "xpbd",
-            spring_ke=1.0e3,
-            spring_kd=0.0,
-        )
-
-        self.fixed_particles = range(0, 4)
-
-        self.finalize(handle_self_contact=True, ground=False)
-        self.model.soft_contact_radius = 0.1
-        self.model.soft_contact_margin = 0.1
-        self.model.soft_contact_ke = 1e4
-        self.model.soft_contact_kd = 1e-3
-        self.model.soft_contact_mu = 0.2
-        self.model.gravity = wp.vec3(0.0, -1000.0, 0)
-        self.num_test_frames = 30
-
-    def set_body_collision_experiment(self, handle_self_contact=False):
-        self.renderer_scale_factor = 1.0
-        elasticity_ke = 1e4
-        elasticity_kd = 1e-6
-
-        vs1 = [wp.vec3(v) for v in [[0, 0, 0], [1, 0, 0], [1, 0, 1], [0, 0, 1]]]
-        fs1 = [0, 1, 2, 0, 2, 3]
-
-        self.builder.add_cloth_mesh(
-            pos=wp.vec3(0.0, 0.0, 0.0),
-            rot=wp.quat_from_axis_angle(wp.vec3(1.0, 0.0, 0.0), 0.0),
-            scale=1.0,
-            vertices=vs1,
-            indices=fs1,
-            vel=wp.vec3(0.0, 0.0, 0.0),
-            density=0.02,
-            tri_ke=elasticity_ke,
-            tri_ka=elasticity_ke,
-            tri_kd=elasticity_kd,
-            add_springs=self.solver == "xpbd",
-            spring_ke=1.0e3,
-            spring_kd=0.0,
-            particle_radius=0.1,
-        )
-
-        self.builder.add_shape_box(-1, pos=wp.vec3(0, -3.3, 0), hx=3, hy=3, hz=3)
-
-        self.fixed_particles = []
-
-        self.finalize(handle_self_contact=handle_self_contact, ground=False)
-        self.model.soft_contact_radius = 0.1
-        self.model.soft_contact_margin = 0.1
-        self.model.soft_contact_ke = 1e4
-        self.model.soft_contact_kd = 1e-3
-        self.model.soft_contact_mu = 0.2
-        self.model.gravity = wp.vec3(0.0, -1000.0, 0)
-        self.num_test_frames = 30
-
-    def set_up_non_zero_rest_angle_bending_experiment(self):
-        # fmt: off
-        vs =[
-            [ 0.     ,  1.     , -1.     ],
-            [ 0.     ,  1.     ,  1.     ],
-            [ 0.70711,  0.70711, -1.     ],
-            [ 0.70711,  0.70711,  1.     ],
-            [ 1.     ,  0.     , -1.     ],
-            [ 1.     , -0.     ,  1.     ],
-            [ 0.70711, -0.70711, -1.     ],
-            [ 0.70711, -0.70711,  1.     ],
-            [ 0.     , -1.     , -1.     ],
-            [ 0.     , -1.     ,  1.     ],
-            [-0.70711, -0.70711, -1.     ],
-            [-0.70711, -0.70711,  1.     ],
-            [-1.     ,  0.     , -1.     ],
-            [-1.     , -0.     ,  1.     ],
-            [-0.70711,  0.70711, -1.     ],
-            [-0.70711,  0.70711,  1.     ],
-        ]
-        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,
-            13, 15, 14,
-            15,  1,  0,
-        ]
-        # fmt: on
-
-        stretching_stiffness = 1e5
-        stretching_damping = 1e-5
-        edge_ke = 100
-        bending_damping = 1e-4
-        vs = [wp.vec3(v) for v in vs]
-
-        self.builder.add_cloth_mesh(
-            pos=wp.vec3(0.0, 0.0, 0.0),
-            rot=wp.quat_identity(),
-            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,
-            add_springs=self.solver == "xpbd",
-            spring_ke=1.0e3,
-            spring_kd=0.0,
-        )
-        self.fixed_particles = [0, 1]
-
-        self.finalize(handle_self_contact=False, ground=False)
-
-    def set_free_falling_experiment(self):
-        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]
-        if self.solver != "semi_implicit":
-            stretching_stiffness = 1e4
-            spring_ke = 1e3
-            bending_ke = 10
-        else:
-            stretching_stiffness = 1e2
-            spring_ke = 1e2
-            bending_ke = 10
-
-        self.builder.add_cloth_mesh(
-            vertices=vertices,
-            indices=faces_flatten,
-            scale=0.1,
-            density=2,
-            pos=wp.vec3(0.0, 4.0, 0.0),
-            rot=wp.quat_identity(),
-            vel=wp.vec3(0.0, 0.0, 0.0),
-            edge_ke=bending_ke,
-            edge_kd=0.0,
-            tri_ke=stretching_stiffness,
-            tri_ka=stretching_stiffness,
-            tri_kd=0.0,
-            add_springs=self.solver == "xpbd",
-            spring_ke=spring_ke,
-            spring_kd=0.0,
-        )
-        self.fixed_particles = []
-        self.num_test_frames = 30
-        self.finalize(ground=False)
-
-    def finalize(self, handle_self_contact=False, ground=True):
-        self.builder.color(include_bending=True)
-
-        self.model = self.builder.finalize(device=self.device)
-        self.model.ground = ground
-        self.model.gravity = wp.vec3(0, -1000.0, 0)
-        self.model.soft_contact_ke = 1.0e4
-        self.model.soft_contact_kd = 1.0e-2
-
-        self.set_points_fixed(self.model, self.fixed_particles)
-
-        if self.solver == "vbd":
-            self.integrator = wp.sim.VBDIntegrator(self.model, self.iterations, handle_self_contact=handle_self_contact)
-        elif self.solver == "xpbd":
-            self.integrator = wp.sim.XPBDIntegrator(
-                self.iterations,
-            )
-        elif self.solver == "semi_implicit":
-            self.integrator = wp.sim.SemiImplicitIntegrator()
-        else:
-            raise ValueError("Unsupported solver type: " + self.solver)
-
-        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:
-            if self.solver == "vbd":
-                wp.set_module_options({"block_dim": 256}, warp.sim.integrator_vbd)
-                wp.load_module(warp.sim.integrator_vbd, device=self.device)
-            elif self.solver == "xpbd":
-                wp.set_module_options({"block_dim": 256}, warp.sim.integrator_xpbd)
-                wp.load_module(warp.sim.integrator_xpbd, device=self.device)
-            elif self.solver == "semi_implicit":
-                wp.set_module_options({"block_dim": 256}, warp.sim.integrator_euler)
-                wp.load_module(warp.sim.integrator_euler, device=self.device)
-            wp.load_module(warp.sim.particles, device=self.device)
-            wp.load_module(warp.sim.integrator, device=self.device)
-            collide_module = importlib.import_module("warp.sim.collide")
-            wp.set_module_options({"block_dim": 256}, collide_module)
-            wp.load_module(collide_module, device=self.device)
-            wp.load_module(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.state0.clear_forces()
-            wp.sim.collide(self.model, self.state0)
-
-            self.integrator.simulate(self.model, self.state0, self.state1, self.dt, None)
-            (self.state0, self.state1) = (self.state1, self.state0)
-
-    def run(self):
-        self.sim_time = 0.0
-
-        if self.do_rendering:
-            self.renderer = wp.sim.render.SimRendererOpenGL(self.model, "cloth_sim", scaling=self.renderer_scale_factor)
-        else:
-            self.renderer = None
-
-        for _frame in range(self.num_test_frames):
-            if self.graph:
-                wp.capture_launch(self.graph)
-            else:
-                self.simulate()
-
-                if self.renderer is not None:
-                    self.renderer.begin_frame()
-                    self.renderer.render(self.state0)
-                    self.renderer.end_frame()
-
-            self.sim_time = self.sim_time + self.frame_dt
-
-    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_cloth_sagging(test, device, solver):
-    example = ClothSim(device, solver, use_cuda_graph=True)
-    example.set_up_sagging_experiment()
-
-    initial_pos = example.state0.particle_q.numpy().copy()
-
-    example.run()
-
-    fixed_points = np.where(np.logical_not(example.model.particle_flags.numpy()))
-    # examine that the simulation does not explode
-    final_pos = example.state0.particle_q.numpy()
-    test.assertTrue((initial_pos[fixed_points, :] == final_pos[fixed_points, :]).all())
-    test.assertTrue((final_pos < 1e5).all())
-    # examine that the simulation has moved
-    test.assertTrue((example.init_pos != final_pos).any())
-
-
-def test_cloth_bending(test, device, solver):
-    example = ClothSim(device, solver, use_cuda_graph=True)
-    example.set_up_bending_experiment()
-
-    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 has moved
-    test.assertTrue((example.init_pos != final_pos).any())
-
-
-def test_cloth_bending_non_zero_rest_angle_bending(test, device, solver):
-    example = ClothSim(device, solver, use_cuda_graph=True)
-    example.set_up_non_zero_rest_angle_bending_experiment()
-
-    example.run()
-
-    # examine that the simulation does not explode
-    final_pos = example.state0.particle_q.numpy()
-    test.assertTrue((np.abs(final_pos) < 1e5).all())
-    # examine that the simulation has moved
-    test.assertTrue((example.init_pos != final_pos).any())
-
-
-def test_cloth_body_collision(test, device, solver):
-    example = ClothSim(device, solver, use_cuda_graph=True)
-    example.set_body_collision_experiment(handle_self_contact=False)
-
-    example.run()
-
-    # examine that the velocity has died out
-    final_vel = example.state0.particle_qd.numpy()
-    final_pos = example.state0.particle_q.numpy()
-    test.assertTrue((np.linalg.norm(final_vel, axis=1) < 1.0).all())
-    # examine that the simulation has moved
-    test.assertTrue((example.init_pos[:, 1] != final_pos[:, 1]).any())
-
-    # run again with handle_self_contact=True
-    example = ClothSim(device, solver, use_cuda_graph=True)
-    example.set_body_collision_experiment(handle_self_contact=True)
-    example.run()
-    # examine that the velocity has died out
-    final_vel = example.state0.particle_qd.numpy()
-    final_pos = example.state0.particle_q.numpy()
-    test.assertTrue((np.linalg.norm(final_vel, axis=1) < 1.0).all())
-    # examine that the simulation has moved
-    test.assertTrue((example.init_pos[:, 1] != final_pos[:, 1]).any())
-
-
-def test_cloth_self_collision(test, device, solver):
-    example = ClothSim(device, solver, use_cuda_graph=True)
-    example.set_self_collision_experiment()
-
-    example.run()
-
-    # examine that the velocity has died out
-    final_vel = example.state0.particle_qd.numpy()
-    final_pos = example.state0.particle_q.numpy()
-    test.assertTrue((np.linalg.norm(final_vel, axis=1) < 1.0).all())
-    # examine that the simulation has moved
-    test.assertTrue((example.init_pos != final_pos).any())
-
-
-def test_cloth_free_fall(test, device, solver):
-    example = ClothSim(device, solver)
-    example.set_free_falling_experiment()
-
-    initial_pos = example.state0.particle_q.numpy().copy()
-
-    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 has moved
-    test.assertTrue((example.init_pos != final_pos).any())
-
-    gravity = np.array(example.model.gravity)
-    diff = final_pos - initial_pos
-    vertical_translation_norm = diff @ gravity[..., None] / (np.linalg.norm(gravity) ** 2)
-    # ensure it's free-falling
-    test.assertTrue((np.abs(vertical_translation_norm - 0.5 * np.linalg.norm(gravity) * (example.dt**2)) < 2e-1).all())
-    horizontal_move = diff - (vertical_translation_norm * gravity)
-    # ensure its horizontal translation is minimal
-    test.assertTrue((np.abs(horizontal_move) < 1e-1).all())
-
-
-devices = get_test_devices(mode="basic")
-
-
-class TestCloth(unittest.TestCase):
-    pass
-
-
-tests_to_run = {
-    "xpbd": [
-        test_cloth_free_fall,
-        test_cloth_sagging,
-        test_cloth_bending,
-        test_cloth_bending_non_zero_rest_angle_bending,
-    ],
-    "semi_implicit": [
-        test_cloth_free_fall,
-        test_cloth_sagging,
-        test_cloth_bending,
-    ],
-    "vbd": [
-        test_cloth_free_fall,
-        test_cloth_sagging,
-        test_cloth_bending,
-        test_cloth_self_collision,
-        test_cloth_body_collision,
-        test_cloth_bending_non_zero_rest_angle_bending,
-    ],
-}
-
-for solver, tests in tests_to_run.items():
-    for test in tests:
-        add_function_test(
-            TestCloth, f"{test.__name__}_{solver}", partial(test, solver=solver), devices=devices, check_output=False
-        )
-
-
-if __name__ == "__main__":
-    wp.clear_kernel_cache()
-    unittest.main(verbosity=2, failfast=True)