warp-lang 1.0.1__py3-none-manylinux2014_x86_64.whl → 1.1.0__py3-none-manylinux2014_x86_64.whl

warp/examples/optim/example_spring_cage.py

@@ -1,234 +1,239 @@
-# Copyright (c) 2023 NVIDIA CORPORATION.  All rights reserved.
-# NVIDIA CORPORATION and its licensors retain all intellectual property
-# and proprietary rights in and to this software, related documentation
-# and any modifications thereto.  Any use, reproduction, disclosure or
-# distribution of this software and related documentation without an express
-# license agreement from NVIDIA CORPORATION is strictly prohibited.
-
-###########################################################################
-# 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 os
-
-import numpy as np
-import warp as wp
-
-
-wp.init()
-
-
-@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=None,
-        verbose=False,
-    ):
-        import warp.sim
-
-        # Duration of the simulation, in seconds.
-        duration = 1.0
-
-        # Number of frames per second.
-        self.fps = 30.0
-
-        # Duration of a single simulation iteration in number of frames.
-        self.frame_count = int(duration * self.fps)
-
-        # 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 = 100
-
-        # 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 = warp.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 = warp.sim.SemiImplicitIntegrator()
-
-        # Initialize a state for each simulation step.
-        self.states = tuple(self.model.state() for _ in range(self.frame_count * 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:
-            import warp.sim.render
-
-            # Helper to render the physics scene as a USD file.
-            self.renderer = warp.sim.render.SimRenderer(self.model, stage, 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_graph = wp.get_device().is_cuda
-        if self.use_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
-
-        self.verbose = verbose
-
-    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):
-        if self.use_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
-
-        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.frame_count):
-            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__":
-
-    stage_path = os.path.join(wp.examples.get_output_directory(), "example_spring_cage.usd")
-
-    example = Example(stage_path, verbose=True)
-
-    for iteration in range(example.train_iters):
-        example.step()
-
-        loss = example.loss.numpy()[0]
-
-        if example.verbose:
-            print(f"[{iteration:3d}] loss={loss:.8f}")
-
-        if iteration == example.train_iters - 1 or iteration % example.render_iteration_steps == 0:
-            example.render()
-
-    if example.renderer:
-        example.renderer.save()
+# Copyright (c) 2023 NVIDIA CORPORATION.  All rights reserved.
+# NVIDIA CORPORATION and its licensors retain all intellectual property
+# and proprietary rights in and to this software, related documentation
+# and any modifications thereto.  Any use, reproduction, disclosure or
+# distribution of this software and related documentation without an express
+# license agreement from NVIDIA CORPORATION is strictly prohibited.
+
+###########################################################################
+# 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.init()
+
+
+@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()