ASR Model APIs¶

The Affine-Soft-Robot (ASR) Model includes the states for * Affine bodies * Soft bodies * Robots, with vision-based tactile sensors as soft bodies

class warp_ipc.sim_model.ASRModel(num_envs: int = 1, viz_envs: list[int] = [], device='cuda:0')¶

Bases: Model

ABD-IPC-Robots Model

ABD_centers: <warp.types.array object at 0x759da315a5f0>¶

class KinematicConstraintHelper(model: ASRModel, initial_stiffness: float = 10000.0)¶

Bases: object

increase_stiffness(factor: float = 2.0)¶

init() → None¶

initialize_stiffness()¶

is_satisfied()¶

project_system(sm, sys_grad)¶

reset()¶

reset_dof_satisfied()¶

set_initial_stiffness(initial_stiffness: float = 10000.0)¶

update_satisfied(x, y)¶

class LinearConstraintHelper(model: ASRModel)¶

Bases: object

add_constraint(constraint_row: asarray)¶

add_constraints(constraint_rows: asarray)¶

finalize()¶

init()¶

project_system(hess: BsrMatrix, grad: array)¶

class SetStateHelper(model: ASRModel)¶

Bases: object

clear_mask()¶

init() → None¶

X: <warp.types.array object at 0x759e5ca9e8c0>¶

a_y: <warp.types.array object at 0x759da315a2f0>¶

add_affine_body(x, face, density, E, mu, mass_xi: None | float = None, env_id: int = 0, nu: float = 0.3) → TriMeshBodyHandle¶

add_garment_stitch(stitches)¶

add_plane(n, o, mu) → None¶

add_robot(urdf_path: str, env_id: int = 0, start_coll_layer: int = 2, coll_layers: list[int] = [], disable_coll_layers: list[int] = [], mu: float = 0.3, self_collision: bool = False, **kwargs)¶

add_soft_shell_body(mesh, edge_stretching_stiffness: float = 0, density: float = 1000, E: float = 0, nu: float = 0.3, compression_softening: float = 0, bending_stiffness: float = 0, mu: float = 0, xi: float = 0.001, mass_thickness: None | float = None, env_id: int = 0) → TriMeshBodyHandle¶: Constitutive model: Baraff-Witkin and dihedral angle bendings NOTE: Since this repository is only for POC, interfaces functionality will be limited. This function must be called after all affine bodies are added. add_soft_vol_body must be called after all soft shell bodies are added.

add_soft_vol_body(mesh: UnstructuredGrid, density: float, E: float, nu: float, mu: float, env_id: int = 0, coll_layer: int = 0, self_coll: bool = True) → TetMeshBodyHandle¶: Constitutive model: Neo-Hookean/StVK for now; TODO: Corotated Linear NOTE: Since this repository is only for POC, interfaces functionality will be limited. This function must be called after all affine bodies are added.

add_world_prismatic_joint(handle: TetMeshBodyHandle | TriMeshBodyHandle, axis: ndarray[Any, dtype[_ScalarType_co]]) → WorldJointHandle¶

add_world_revolute_joint(handle: TetMeshBodyHandle | TriMeshBodyHandle, local_axis_position: ndarray[Any, dtype[_ScalarType_co]], axis_direction: ndarray[Any, dtype[_ScalarType_co]]) → WorldJointHandle¶

property affine_body_num: int¶

affine_density: <warp.types.array object at 0x759da315a950>¶

affine_ext_force_field: <warp.types.array object at 0x759da315a590>¶

affine_ext_y_force: <warp.types.array object at 0x759da315a5c0>¶

affine_flipped: <warp.types.array object at 0x759da315a8f0>¶

affine_is_closed: <warp.types.array object at 0x759da315a8c0>¶

affine_mass_matrix: <warp.types.array object at 0x759da315a890>¶

affine_mass_xi: <warp.types.array object at 0x759da315a920>¶

allocate_sim_cache()¶

append_sim_data(attr: str, values: asarray, type) → None¶

apply_set_state(x=None, y=None) → None¶: call apply set state manually mainly for initial scene visualization purpose

arap_compression_k: <warp.types.array object at 0x759da314dab0>¶

arap_stretch_k: <warp.types.array object at 0x759da314da80>¶

bending: <warp.types.array object at 0x759da314db10>¶

bending_e: <warp.types.array object at 0x759da314db70>¶

bending_h: <warp.types.array object at 0x759da314dba0>¶

bending_rest_angle: <warp.types.array object at 0x759da314db40>¶

bending_stiffness: <warp.types.array object at 0x759da314dbd0>¶

body_collision_layer: <warp.types.array object at 0x759da315a7d0>¶

body_enable_self_collision: <warp.types.array object at 0x759da315a770>¶

body_env_id: <warp.types.array object at 0x759da315a7a0>¶

body_is_affine: <warp.types.array object at 0x759da315a740>¶

body_q: <warp.types.array object at 0x759da315aa70>¶

body_qd: <warp.types.array object at 0x759da315aaa0>¶

check_initial_state_valid(exclude_self_collision: bool = False) → bool¶

clear_grad() → None¶

collision_layer_filter: <warp.types.array object at 0x759da315a800>¶

property collision_map¶

disable_affine_kinematic_constraint(handle: TetMeshBodyHandle | TriMeshBodyHandle) → None¶

property dummy_robot: Robot | None¶

property dx_div_dv_scale¶

edge: <warp.types.array object at 0x759da314d060>¶

edge2body: <warp.types.array object at 0x759da315a710>¶

edge2env: <warp.types.array object at 0x759da315a650>¶

edge_area: <warp.types.array object at 0x759da3159e70>¶

edge_stretching_stiffness: <warp.types.array object at 0x759da314dae0>¶

edge_xi: <warp.types.array object at 0x759da3159ed0>¶

enable_affine_kinematic_constraint(handle: TetMeshBodyHandle | TriMeshBodyHandle) → None¶

env_origins: <warp.types.array object at 0x759da315aa40>¶

env_states: <warp.types.array object at 0x759da315a830>¶

face: <warp.types.array object at 0x759da314d8d0>¶

face2body: <warp.types.array object at 0x759da315a6e0>¶

face2env: <warp.types.array object at 0x759da315a680>¶

face_xi: <warp.types.array object at 0x759da3159f00>¶

finalize() → None¶

fn_x: <warp.types.array object at 0x759da3159de0>¶

ft_x: <warp.types.array object at 0x759da3159e10>¶

get_affine_body_mesh_from_handle(handle: TriMeshBodyHandle) → Trimesh¶

get_affine_body_meshes_from_handle(handles: List[TriMeshBodyHandle], concat=True) → list[Trimesh] | Trimesh¶

get_affine_body_state(body_handle: TetMeshBodyHandle | TriMeshBodyHandle, return_numpy: bool = True) → Tuple[ndarray[Any, dtype[_ScalarType_co]], ndarray[Any, dtype[_ScalarType_co]]]¶

get_affine_body_state_matrix(body_handle: TetMeshBodyHandle | TriMeshBodyHandle, return_numpy: bool = True) → ndarray[Any, dtype[_ScalarType_co]]¶

get_affine_body_velocity(body_handle: TetMeshBodyHandle | TriMeshBodyHandle, return_numpy: bool = True) → Tuple[ndarray[Any, dtype[_ScalarType_co]], ndarray[Any, dtype[_ScalarType_co]]]¶

get_affine_body_velocity_matrix(body_handle: TetMeshBodyHandle | TriMeshBodyHandle, return_numpy: bool = True) → ndarray[Any, dtype[_ScalarType_co]]¶

get_affine_body_wp_meshes_from_handle(handles: list[TriMeshBodyHandle]) → list[Mesh]¶

get_body_env_id(handle: TetMeshBodyHandle | TriMeshBodyHandle) → int¶

get_body_face(handle: TetMeshBodyHandle | TriMeshBodyHandle) → Tensor¶

get_body_mesh(handle: TetMeshBodyHandle | TriMeshBodyHandle)¶

get_body_target_mesh(handle: TetMeshBodyHandle | TriMeshBodyHandle)¶

get_body_x(handle: TetMeshBodyHandle | TriMeshBodyHandle) → Tensor¶

get_body_x_target(handle: TetMeshBodyHandle | TriMeshBodyHandle) → Tensor¶

get_element_by_handle(handle: TetMeshBodyHandle, return_numpy=True) → Tuple[ndarray[Any, dtype[_ScalarType_co]], ndarray[Any, dtype[_ScalarType_co]]]¶

static get_env_pos(num_envs: int, n_row: int, n_col: int, env_spacing: float, device: str = 'cuda:0') → tensor¶

get_environment_states()¶

get_joint_value(joint_handle: WorldJointHandle) → float¶

get_scene_mesh() → Trimesh¶

get_soft_body_from_handle(handle: TetMeshBodyHandle) → UnstructuredGrid¶

get_soft_body_mesh_from_handle(handle: TetMeshBodyHandle) → Trimesh¶

get_soft_body_meshes_from_handle(handles: List[TetMeshBodyHandle], concat=True) → list[Trimesh] | Trimesh¶

get_soft_body_pos(body_handle: TetMeshBodyHandle | TriMeshBodyHandle, return_numpy: bool = True) → ndarray[Any, dtype[_ScalarType_co]]¶

get_soft_body_velocity(body_handle: TetMeshBodyHandle | TriMeshBodyHandle, return_numpy: bool = True) → ndarray[Any, dtype[_ScalarType_co]]¶

get_soft_nodes_from_idxs(idxs: list[tuple[int, int]]) → ndarray[Any, dtype[_ScalarType_co]]¶

get_soft_surf_verts_from_handle(handle: TetMeshBodyHandle | TriMeshBodyHandle) → ndarray[Any, dtype[_ScalarType_co]]¶

get_soft_verts_from_handle(handle: TetMeshBodyHandle | TriMeshBodyHandle) → ndarray[Any, dtype[_ScalarType_co]]¶

half_space_mu: <warp.types.array object at 0x759da315aa10>¶

half_space_n: <warp.types.array object at 0x759da315a9b0>¶

half_space_o: <warp.types.array object at 0x759da315a9e0>¶

hat_x: <warp.types.array object at 0x759da3159d50>¶

hat_y: <warp.types.array object at 0x759da3159fc0>¶

hess_affine_diag: COOMatrix3x3¶

hess_barrier: COOMatrix3x3¶

hess_friction: COOMatrix3x3¶

hess_soft_bending_elastic: COOMatrix3x3¶

hess_soft_diag: COOMatrix3x3¶

hess_soft_shell_elastic: COOMatrix3x3¶

hess_soft_vol_elastic: COOMatrix3x3¶

hess_stitch: COOMatrix3x3¶

init() → None¶

initialize_hat_x_y(x: array, y: array) → None¶

initialize_tilde_x_y(x: array, y: array) → None¶

initialize_tilde_x_y_adjoint(x: array, y: array) → None¶

mass_body: <warp.types.array object at 0x759da3159f60>¶

merge_sys_grad() → None¶

property n_affine_dofs: int¶

property n_dofs: int¶

negate(gradient: array) → None¶

negate_vec12d(gradient: array) → None¶

negate_vec3d(gradient: array) → None¶

node2body: <warp.types.array object at 0x759da315a6b0>¶

node2env: <warp.types.array object at 0x759da315a620>¶

node_area: <warp.types.array object at 0x759da3159e40>¶

node_xi: <warp.types.array object at 0x759da3159ea0>¶

property num_HS¶

property num_body¶

property num_cloth_edges¶

property num_edge¶

property num_face¶

property num_surf_verts¶

property num_x¶

particle_q: <warp.types.array object at 0x759e5ca9e8f0>¶

particle_qd: <warp.types.array object at 0x759da3159d80>¶

particle_qdd: <warp.types.array object at 0x759da3159db0>¶

requires_grad(flag=True) → None¶

reset_environement(env_id)¶

safeguard_direction_x(direction_x: array) → None¶

save_sim_x_to_xt(sim_x: array) → None¶

property scale¶

set_affine_kinematic_target(handle: TetMeshBodyHandle | TriMeshBodyHandle, target_rot_mat: ndarray[Any, dtype[_ScalarType_co]] | Tensor, target_translation: ndarray[Any, dtype[_ScalarType_co]] | Tensor) → None¶

set_affine_state(handle: TetMeshBodyHandle | TriMeshBodyHandle, rotation: ndarray[Any, dtype[_ScalarType_co]] | Tensor, translation: ndarray[Any, dtype[_ScalarType_co]] | Tensor) → None¶

set_body_collision_layer(handle: TetMeshBodyHandle | TriMeshBodyHandle, layer_index: int) → None¶

set_body_env_id(handle: TetMeshBodyHandle | TriMeshBodyHandle, env_id: int) → None¶

set_body_self_collision(handle: TetMeshBodyHandle | TriMeshBodyHandle, to_enable: bool) → None¶

set_collision_layer_filter(layer_i: int, layer_j: int, to_enable_collision: bool) → None¶

set_kinematic_stiffness(weight) → None¶

set_robot_state(joint_params: dict[str, float], root_tf: ndarray[Any, dtype[_ScalarType_co]] = array([[1., 0., 0., 0.], [0., 1., 0., 0.], [0., 0., 1., 0.], [0., 0., 0., 1.]]), env_ids: list[int] = [])¶

set_soft_kinematic_constraint(handle: TetMeshBodyHandle | TriMeshBodyHandle, verts_mask: ndarray[Any, dtype[_ScalarType_co]] | Tensor) → None¶

set_soft_kinematic_target(handle: TetMeshBodyHandle | TriMeshBodyHandle, target_verts: ndarray[Any, dtype[_ScalarType_co]] | Tensor) → None¶

set_soft_state(handle: TetMeshBodyHandle | TriMeshBodyHandle, positions: ndarray[Any, dtype[_ScalarType_co]] | Tensor) → None¶

property shape_count_sim: int¶

property soft_bending_connectivity_num: int¶

property soft_kinematic_constraint: Tensor¶

property soft_kinematic_target: Tensor¶

soft_shell_E: <warp.types.array object at 0x759da314d930>¶

soft_shell_IB: <warp.types.array object at 0x759da314d900>¶

property soft_shell_elastic_connectivity_num: int¶

property soft_shell_elastic_connectivity_offset: int¶

soft_shell_elem_vol: <warp.types.array object at 0x759da314d990>¶

soft_shell_nu: <warp.types.array object at 0x759da314d960>¶

property soft_shell_tris_num¶

soft_tet_E: <warp.types.array object at 0x759da314d9c0>¶

soft_tet_IB: <warp.types.array object at 0x759da314da20>¶

soft_tet_elem_vol: <warp.types.array object at 0x759da314da50>¶

soft_tet_nu: <warp.types.array object at 0x759da314d9f0>¶

soft_tilde_x: <warp.types.array object at 0x759da3159f90>¶

soft_verts_mass: <warp.types.array object at 0x759da315a980>¶

property soft_verts_num¶

property soft_vol_body_offset: int¶

property soft_vol_elastic_connectivity_num: int¶

property soft_vol_tets_num¶

state(requires_grad=None) → State¶

Returns a state object for the model

The returned state will be initialized with the initial configuration given in the model description.

Parameters:: requires_grad (bool) – Manual overwrite whether the state variables should have requires_grad enabled (defaults to None to use the model’s setting requires_grad)
Returns:: The state object
Return type:: State

step(dt)¶

stitch: <warp.types.array object at 0x759da3159cc0>¶

stitch_map: <warp.types.array object at 0x759da3159cf0>¶

stitch_num_per_x: <warp.types.array object at 0x759da3159d20>¶

surf_vi: <warp.types.array object at 0x759da312d990>¶

sys_to_x(sys_direction: array, direction_x: array) → None¶

property tac_handles: list[list[TetMeshBodyHandle]]¶

tet_envs: <warp.types.array object at 0x759da315a860>¶

tets: <warp.types.array object at 0x759da314d8a0>¶

tilde_y: <warp.types.array object at 0x759da315a440>¶

v_y: <warp.types.array object at 0x759da315a1a0>¶

vol_body: <warp.types.array object at 0x759da3159f30>¶

write_scene(filename: str, divide: bool = False, double_face: bool = False) → None¶

write_target_scene(filename: str) → None¶

property x_target: Tensor¶

update rigid targets

Type:: TODO

xt: <warp.types.array object at 0x759da314d030>¶

y: <warp.types.array object at 0x759da3159ff0>¶

y_to_x(direction: array, direction_x: array) → None¶