warp-lang 1.0.2__py3-none-manylinux2014_x86_64.whl → 1.2.0__py3-none-manylinux2014_x86_64.whl

warp/tests/test_runlength_encode.py

@@ -1,190 +1,188 @@
-# 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.
-
-import unittest
-from functools import partial
-
-import numpy as np
-
-import warp as wp
-from warp.tests.unittest_utils import *
-from warp.utils import runlength_encode
-
-wp.init()
-
-
-def test_runlength_encode_int(test, device, n):
-    rng = np.random.default_rng(123)
-
-    values_np = np.sort(rng.integers(-10, high=10, size=n, dtype=int))
-
-    unique_values_np, unique_counts_np = np.unique(values_np, return_counts=True)
-
-    values = wp.array(values_np, device=device, dtype=int)
-
-    unique_values = wp.empty_like(values)
-    unique_counts = wp.empty_like(values)
-
-    run_count = runlength_encode(values, unique_values, unique_counts)
-
-    test.assertEqual(run_count, len(unique_values_np))
-    assert_np_equal(unique_values.numpy()[:run_count], unique_values_np[:run_count])
-    assert_np_equal(unique_counts.numpy()[:run_count], unique_counts_np[:run_count])
-
-
-def test_runlength_encode_error_insufficient_storage(test, device):
-    values = wp.zeros(123, dtype=int, device=device)
-    run_values = wp.empty(1, dtype=int, device=device)
-    run_lengths = wp.empty(123, dtype=int, device=device)
-    with test.assertRaisesRegex(
-        RuntimeError,
-        r"Output array storage sizes must be at least equal to value_count$",
-    ):
-        runlength_encode(values, run_values, run_lengths)
-
-    values = wp.zeros(123, dtype=int, device="cpu")
-    run_values = wp.empty(123, dtype=int, device="cpu")
-    run_lengths = wp.empty(1, dtype=int, device="cpu")
-    with test.assertRaisesRegex(
-        RuntimeError,
-        r"Output array storage sizes must be at least equal to value_count$",
-    ):
-        runlength_encode(values, run_values, run_lengths)
-
-
-def test_runlength_encode_error_dtypes_mismatch(test, device):
-    values = wp.zeros(123, dtype=int, device=device)
-    run_values = wp.empty(123, dtype=float, device=device)
-    run_lengths = wp.empty_like(values, device=device)
-    with test.assertRaisesRegex(
-        RuntimeError,
-        r"values and run_values data types do not match$",
-    ):
-        runlength_encode(values, run_values, run_lengths)
-
-
-def test_runlength_encode_error_run_length_unsupported_dtype(test, device):
-    values = wp.zeros(123, dtype=int, device=device)
-    run_values = wp.empty(123, dtype=int, device=device)
-    run_lengths = wp.empty(123, dtype=float, device=device)
-    with test.assertRaisesRegex(
-        RuntimeError,
-        r"run_lengths array must be of type int32$",
-    ):
-        runlength_encode(values, run_values, run_lengths)
-
-
-def test_runlength_encode_error_run_count_unsupported_dtype(test, device):
-    values = wp.zeros(123, dtype=int, device=device)
-    run_values = wp.empty_like(values, device=device)
-    run_lengths = wp.empty_like(values, device=device)
-    run_count = wp.empty(shape=(1,), dtype=float, device=device)
-    with test.assertRaisesRegex(
-        RuntimeError,
-        r"run_count array must be of type int32$",
-    ):
-        runlength_encode(values, run_values, run_lengths, run_count=run_count)
-
-
-def test_runlength_encode_error_unsupported_dtype(test, device):
-    values = wp.zeros(123, dtype=float, device=device)
-    run_values = wp.empty(123, dtype=float, device=device)
-    run_lengths = wp.empty(123, dtype=int, device=device)
-    with test.assertRaisesRegex(
-        RuntimeError,
-        r"Unsupported data type$",
-    ):
-        runlength_encode(values, run_values, run_lengths)
-
-
-devices = get_test_devices()
-
-
-class TestRunlengthEncode(unittest.TestCase):
-    @unittest.skipUnless(wp.is_cuda_available(), "Requires CUDA")
-    def test_runlength_encode_error_devices_mismatch(self):
-        values = wp.zeros(123, dtype=int, device="cpu")
-        run_values = wp.empty_like(values, device="cuda:0")
-        run_lengths = wp.empty_like(values, device="cuda:0")
-        with self.assertRaisesRegex(
-            RuntimeError,
-            r"Array storage devices do not match$",
-        ):
-            runlength_encode(values, run_values, run_lengths)
-
-        values = wp.zeros(123, dtype=int, device="cpu")
-        run_values = wp.empty_like(values, device="cpu")
-        run_lengths = wp.empty_like(values, device="cuda:0")
-        with self.assertRaisesRegex(
-            RuntimeError,
-            r"Array storage devices do not match$",
-        ):
-            runlength_encode(values, run_values, run_lengths)
-
-        values = wp.zeros(123, dtype=int, device="cpu")
-        run_values = wp.empty_like(values, device="cuda:0")
-        run_lengths = wp.empty_like(values, device="cpu")
-        with self.assertRaisesRegex(
-            RuntimeError,
-            r"Array storage devices do not match$",
-        ):
-            runlength_encode(values, run_values, run_lengths)
-
-    @unittest.skipUnless(wp.is_cuda_available(), "Requires CUDA")
-    def test_runlength_encode_error_run_count_device_mismatch(self):
-        values = wp.zeros(123, dtype=int, device="cpu")
-        run_values = wp.empty_like(values, device="cpu")
-        run_lengths = wp.empty_like(values, device="cpu")
-        run_count = wp.empty(shape=(1,), dtype=int, device="cuda:0")
-        with self.assertRaisesRegex(
-            RuntimeError,
-            r"run_count storage device does not match other arrays$",
-        ):
-            runlength_encode(values, run_values, run_lengths, run_count=run_count)
-
-
-add_function_test(
-    TestRunlengthEncode, "test_runlength_encode_int", partial(test_runlength_encode_int, n=100), devices=devices
-)
-add_function_test(
-    TestRunlengthEncode, "test_runlength_encode_empty", partial(test_runlength_encode_int, n=0), devices=devices
-)
-add_function_test(
-    TestRunlengthEncode,
-    "test_runlength_encode_error_insufficient_storage",
-    test_runlength_encode_error_insufficient_storage,
-    devices=devices,
-)
-add_function_test(
-    TestRunlengthEncode,
-    "test_runlength_encode_error_dtypes_mismatch",
-    test_runlength_encode_error_dtypes_mismatch,
-    devices=devices,
-)
-add_function_test(
-    TestRunlengthEncode,
-    "test_runlength_encode_error_run_length_unsupported_dtype",
-    test_runlength_encode_error_run_length_unsupported_dtype,
-    devices=devices,
-)
-add_function_test(
-    TestRunlengthEncode,
-    "test_runlength_encode_error_run_count_unsupported_dtype",
-    test_runlength_encode_error_run_count_unsupported_dtype,
-    devices=devices,
-)
-add_function_test(
-    TestRunlengthEncode,
-    "test_runlength_encode_error_unsupported_dtype",
-    test_runlength_encode_error_unsupported_dtype,
-    devices=devices,
-)
-
-
-if __name__ == "__main__":
-    wp.build.clear_kernel_cache()
-    unittest.main(verbosity=2)
+# 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.
+
+import unittest
+from functools import partial
+
+import numpy as np
+
+import warp as wp
+from warp.tests.unittest_utils import *
+from warp.utils import runlength_encode
+
+
+def test_runlength_encode_int(test, device, n):
+    rng = np.random.default_rng(123)
+
+    values_np = np.sort(rng.integers(-10, high=10, size=n, dtype=int))
+
+    unique_values_np, unique_counts_np = np.unique(values_np, return_counts=True)
+
+    values = wp.array(values_np, device=device, dtype=int)
+
+    unique_values = wp.empty_like(values)
+    unique_counts = wp.empty_like(values)
+
+    run_count = runlength_encode(values, unique_values, unique_counts)
+
+    test.assertEqual(run_count, len(unique_values_np))
+    assert_np_equal(unique_values.numpy()[:run_count], unique_values_np[:run_count])
+    assert_np_equal(unique_counts.numpy()[:run_count], unique_counts_np[:run_count])
+
+
+def test_runlength_encode_error_insufficient_storage(test, device):
+    values = wp.zeros(123, dtype=int, device=device)
+    run_values = wp.empty(1, dtype=int, device=device)
+    run_lengths = wp.empty(123, dtype=int, device=device)
+    with test.assertRaisesRegex(
+        RuntimeError,
+        r"Output array storage sizes must be at least equal to value_count$",
+    ):
+        runlength_encode(values, run_values, run_lengths)
+
+    values = wp.zeros(123, dtype=int, device="cpu")
+    run_values = wp.empty(123, dtype=int, device="cpu")
+    run_lengths = wp.empty(1, dtype=int, device="cpu")
+    with test.assertRaisesRegex(
+        RuntimeError,
+        r"Output array storage sizes must be at least equal to value_count$",
+    ):
+        runlength_encode(values, run_values, run_lengths)
+
+
+def test_runlength_encode_error_dtypes_mismatch(test, device):
+    values = wp.zeros(123, dtype=int, device=device)
+    run_values = wp.empty(123, dtype=float, device=device)
+    run_lengths = wp.empty_like(values, device=device)
+    with test.assertRaisesRegex(
+        RuntimeError,
+        r"values and run_values data types do not match$",
+    ):
+        runlength_encode(values, run_values, run_lengths)
+
+
+def test_runlength_encode_error_run_length_unsupported_dtype(test, device):
+    values = wp.zeros(123, dtype=int, device=device)
+    run_values = wp.empty(123, dtype=int, device=device)
+    run_lengths = wp.empty(123, dtype=float, device=device)
+    with test.assertRaisesRegex(
+        RuntimeError,
+        r"run_lengths array must be of type int32$",
+    ):
+        runlength_encode(values, run_values, run_lengths)
+
+
+def test_runlength_encode_error_run_count_unsupported_dtype(test, device):
+    values = wp.zeros(123, dtype=int, device=device)
+    run_values = wp.empty_like(values, device=device)
+    run_lengths = wp.empty_like(values, device=device)
+    run_count = wp.empty(shape=(1,), dtype=float, device=device)
+    with test.assertRaisesRegex(
+        RuntimeError,
+        r"run_count array must be of type int32$",
+    ):
+        runlength_encode(values, run_values, run_lengths, run_count=run_count)
+
+
+def test_runlength_encode_error_unsupported_dtype(test, device):
+    values = wp.zeros(123, dtype=float, device=device)
+    run_values = wp.empty(123, dtype=float, device=device)
+    run_lengths = wp.empty(123, dtype=int, device=device)
+    with test.assertRaisesRegex(
+        RuntimeError,
+        r"Unsupported data type$",
+    ):
+        runlength_encode(values, run_values, run_lengths)
+
+
+devices = get_test_devices()
+
+
+class TestRunlengthEncode(unittest.TestCase):
+    @unittest.skipUnless(wp.is_cuda_available(), "Requires CUDA")
+    def test_runlength_encode_error_devices_mismatch(self):
+        values = wp.zeros(123, dtype=int, device="cpu")
+        run_values = wp.empty_like(values, device="cuda:0")
+        run_lengths = wp.empty_like(values, device="cuda:0")
+        with self.assertRaisesRegex(
+            RuntimeError,
+            r"Array storage devices do not match$",
+        ):
+            runlength_encode(values, run_values, run_lengths)
+
+        values = wp.zeros(123, dtype=int, device="cpu")
+        run_values = wp.empty_like(values, device="cpu")
+        run_lengths = wp.empty_like(values, device="cuda:0")
+        with self.assertRaisesRegex(
+            RuntimeError,
+            r"Array storage devices do not match$",
+        ):
+            runlength_encode(values, run_values, run_lengths)
+
+        values = wp.zeros(123, dtype=int, device="cpu")
+        run_values = wp.empty_like(values, device="cuda:0")
+        run_lengths = wp.empty_like(values, device="cpu")
+        with self.assertRaisesRegex(
+            RuntimeError,
+            r"Array storage devices do not match$",
+        ):
+            runlength_encode(values, run_values, run_lengths)
+
+    @unittest.skipUnless(wp.is_cuda_available(), "Requires CUDA")
+    def test_runlength_encode_error_run_count_device_mismatch(self):
+        values = wp.zeros(123, dtype=int, device="cpu")
+        run_values = wp.empty_like(values, device="cpu")
+        run_lengths = wp.empty_like(values, device="cpu")
+        run_count = wp.empty(shape=(1,), dtype=int, device="cuda:0")
+        with self.assertRaisesRegex(
+            RuntimeError,
+            r"run_count storage device does not match other arrays$",
+        ):
+            runlength_encode(values, run_values, run_lengths, run_count=run_count)
+
+
+add_function_test(
+    TestRunlengthEncode, "test_runlength_encode_int", partial(test_runlength_encode_int, n=100), devices=devices
+)
+add_function_test(
+    TestRunlengthEncode, "test_runlength_encode_empty", partial(test_runlength_encode_int, n=0), devices=devices
+)
+add_function_test(
+    TestRunlengthEncode,
+    "test_runlength_encode_error_insufficient_storage",
+    test_runlength_encode_error_insufficient_storage,
+    devices=devices,
+)
+add_function_test(
+    TestRunlengthEncode,
+    "test_runlength_encode_error_dtypes_mismatch",
+    test_runlength_encode_error_dtypes_mismatch,
+    devices=devices,
+)
+add_function_test(
+    TestRunlengthEncode,
+    "test_runlength_encode_error_run_length_unsupported_dtype",
+    test_runlength_encode_error_run_length_unsupported_dtype,
+    devices=devices,
+)
+add_function_test(
+    TestRunlengthEncode,
+    "test_runlength_encode_error_run_count_unsupported_dtype",
+    test_runlength_encode_error_run_count_unsupported_dtype,
+    devices=devices,
+)
+add_function_test(
+    TestRunlengthEncode,
+    "test_runlength_encode_error_unsupported_dtype",
+    test_runlength_encode_error_unsupported_dtype,
+    devices=devices,
+)
+
+
+if __name__ == "__main__":
+    wp.build.clear_kernel_cache()
+    unittest.main(verbosity=2)

warp/tests/test_sim_grad.py

@@ -0,0 +1,241 @@
+# Copyright (c) 2022 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.
+
+import unittest
+
+import numpy as np
+
+import warp as wp
+import warp.sim
+from warp.tests.unittest_utils import *
+
+
+@wp.kernel
+def evaluate_loss(
+    joint_q: wp.array(dtype=float),
+    weighting: float,
+    target: float,
+    # output
+    loss: wp.array(dtype=float),
+):
+    tid = wp.tid()
+    # wp.atomic_add(loss, 0, weighting * (target - joint_q[tid * 2 + 1]) ** 2.0)
+    d = wp.abs(target - joint_q[tid * 2 + 1])
+    wp.atomic_add(loss, 0, weighting * d)
+
+
+@wp.kernel
+def assign_action(action: wp.array(dtype=float), joint_act: wp.array(dtype=float)):
+    tid = wp.tid()
+    joint_act[2 * tid] = action[tid]
+
+
+def gradcheck(func, inputs, device, eps=1e-1, tol=1e-2):
+    """
+    Checks that the gradient of the Warp kernel is correct by comparing it to the
+    numerical gradient computed using finite differences.
+    """
+
+    def f(xs):
+        # call the kernel without taping for finite differences
+        wp_xs = [wp.array(xs[i], ndim=1, dtype=inputs[i].dtype, device=device) for i in range(len(inputs))]
+        output = func(*wp_xs)
+        return output.numpy()[0]
+
+    # compute numerical gradient
+    numerical_grad = []
+    np_xs = []
+    for i in range(len(inputs)):
+        np_xs.append(inputs[i].numpy().flatten().copy())
+        numerical_grad.append(np.zeros_like(np_xs[-1]))
+        inputs[i].requires_grad = True
+
+    for i in range(len(np_xs)):
+        for j in range(len(np_xs[i])):
+            np_xs[i][j] += eps
+            y1 = f(np_xs)
+            np_xs[i][j] -= 2 * eps
+            y2 = f(np_xs)
+            np_xs[i][j] += eps
+            numerical_grad[i][j] = (y1 - y2) / (2 * eps)
+
+    # compute analytical gradient
+    tape = wp.Tape()
+    with tape:
+        output = func(*inputs)
+
+    tape.backward(loss=output)
+
+    # compare gradients
+    for i in range(len(inputs)):
+        grad = tape.gradients[inputs[i]]
+        assert_np_equal(grad.numpy(), numerical_grad[i], tol=tol)
+        # ensure the signs match
+        assert np.allclose(grad.numpy() * numerical_grad[i] > 0, True)
+
+    tape.zero()
+
+
+def test_box_pushing_on_rails(test, device, joint_type, integrator_type):
+    # Two boxes on a rail (prismatic or D6 joint), one is pushed, the other is passive.
+    # The absolute distance to a target is measured and gradients are compared for
+    # a push that is too far and too close.
+    num_envs = 2
+    num_steps = 200
+    sim_substeps = 2
+    dt = 1 / 30
+
+    target = 5.0
+
+    if integrator_type == 0:
+        contact_ke = 1e5
+        contact_kd = 1e3
+    else:
+        contact_ke = 1e5
+        contact_kd = 1e1
+
+    complete_builder = wp.sim.ModelBuilder()
+
+    complete_builder.default_shape_ke = contact_ke
+    complete_builder.default_shape_kd = contact_kd
+
+    for _ in range(num_envs):
+        builder = wp.sim.ModelBuilder()
+
+        builder.default_shape_ke = complete_builder.default_shape_ke
+        builder.default_shape_kd = complete_builder.default_shape_kd
+
+        b0 = builder.add_body(name="pusher")
+        builder.add_shape_box(b0, density=1000.0)
+
+        b1 = builder.add_body(name="passive")
+        builder.add_shape_box(b1, hx=0.4, hy=0.4, hz=0.4, density=1000.0)
+
+        if joint_type == 0:
+            builder.add_joint_prismatic(-1, b0)
+            builder.add_joint_prismatic(-1, b1)
+        else:
+            builder.add_joint_d6(-1, b0, linear_axes=[wp.sim.JointAxis((1.0, 0.0, 0.0))])
+            builder.add_joint_d6(-1, b1, linear_axes=[wp.sim.JointAxis((1.0, 0.0, 0.0))])
+
+        builder.joint_q[-2:] = [0.0, 1.0]
+        complete_builder.add_builder(builder)
+
+    assert complete_builder.body_count == 2 * num_envs
+    assert complete_builder.joint_count == 2 * num_envs
+    assert set(complete_builder.shape_collision_group) == set(range(1, num_envs + 1))
+
+    complete_builder.gravity = 0.0
+    model = complete_builder.finalize(device=device, requires_grad=True)
+    model.ground = False
+    model.joint_attach_ke = 32000.0 * 16
+    model.joint_attach_kd = 500.0 * 4
+
+    if integrator_type == 0:
+        integrator = wp.sim.FeatherstoneIntegrator(model, update_mass_matrix_every=num_steps * sim_substeps)
+    elif integrator_type == 1:
+        integrator = wp.sim.SemiImplicitIntegrator()
+        sim_substeps *= 5
+    else:
+        integrator = wp.sim.XPBDIntegrator(iterations=2, rigid_contact_relaxation=1.0)
+
+    # renderer = wp.sim.render.SimRenderer(model, "test_sim_grad.usd", scaling=1.0)
+    renderer = None
+    render_time = 0.0
+
+    def rollout(action: wp.array) -> wp.array:
+        nonlocal render_time
+        states = [model.state() for _ in range(num_steps * sim_substeps + 1)]
+
+        if not isinstance(integrator, wp.sim.FeatherstoneIntegrator):
+            # apply initial generalized coordinates
+            wp.sim.eval_fk(model, model.joint_q, model.joint_qd, None, states[0])
+
+        control_active = model.control()
+        control_nop = model.control()
+
+        wp.launch(
+            assign_action,
+            dim=num_envs,
+            inputs=[action],
+            outputs=[control_active.joint_act],
+            device=model.device,
+        )
+
+        i = 0
+        for step in range(num_steps):
+            wp.sim.collide(model, states[i])
+            control = control_active if step < 10 else control_nop
+            if renderer:
+                renderer.begin_frame(render_time)
+                renderer.render(states[i])
+                renderer.end_frame()
+                render_time += dt
+            for _ in range(sim_substeps):
+                integrator.simulate(model, states[i], states[i + 1], dt / sim_substeps, control)
+                i += 1
+
+        if not isinstance(integrator, wp.sim.FeatherstoneIntegrator):
+            # compute generalized coordinates
+            wp.sim.eval_ik(model, states[-1], states[-1].joint_q, states[-1].joint_qd)
+
+        loss = wp.zeros(1, requires_grad=True, device=device)
+        wp.launch(
+            evaluate_loss,
+            dim=num_envs,
+            inputs=[states[-1].joint_q, 1.0, target],
+            outputs=[loss],
+            device=model.device,
+        )
+
+        if renderer:
+            renderer.save()
+
+        return loss
+
+    action_too_far = wp.array(
+        [5000.0 for _ in range(num_envs)],
+        device=device,
+        dtype=wp.float32,
+        requires_grad=True,
+    )
+    tol = 1e-2
+    if isinstance(integrator, wp.sim.XPBDIntegrator):
+        # Euler, XPBD do not yield as accurate gradients, but at least the
+        # signs should match
+        tol = 0.1
+    gradcheck(rollout, [action_too_far], device=device, eps=0.2, tol=tol)
+
+    action_too_close = wp.array(
+        [1500.0 for _ in range(num_envs)],
+        device=device,
+        dtype=wp.float32,
+        requires_grad=True,
+    )
+    gradcheck(rollout, [action_too_close], device=device, eps=0.2, tol=tol)
+
+
+devices = get_test_devices()
+
+
+class TestSimGradients(unittest.TestCase):
+    pass
+
+
+for int_type, int_name in enumerate(["featherstone", "semiimplicit"]):
+    for jt_type, jt_name in enumerate(["prismatic", "d6"]):
+        test_name = f"test_box_pushing_on_rails_{int_name}_{jt_name}"
+
+        def test_fn(self, device, jt_type=jt_type, int_type=int_type):
+            return test_box_pushing_on_rails(self, device, jt_type, int_type)
+
+        add_function_test(TestSimGradients, test_name, test_fn, devices=devices)
+
+
+if __name__ == "__main__":
+    wp.build.clear_kernel_cache()
+    unittest.main(verbosity=2, failfast=True)