warp-lang 1.6.2__py3-none-win_amd64.whl → 1.7.0__py3-none-win_amd64.whl

warp/examples/optim/example_walker.py

@@ -1,317 +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.
-
-###########################################################################
-# Example Walker
-#
-# Trains a tetrahedral mesh quadruped to run. Feeds 8 time-varying input
-# phases as inputs into a single layer fully connected network with a tanh
-# activation function. Interprets the output of the network as tet
-# activations, which are fed into the wp.sim soft mesh model. This is
-# simulated forward in time and then evaluated based on the center of mass
-# momentum of the mesh.
-#
-# This example uses the deprecated wp.matmul() for matrix multiplication,
-# which will be removed in a future version. See the updated version of
-# this example, example_tile_walker.py, in examples/tile for the new
-# approach to GEMMs using Warp's tile API.
-#
-###########################################################################
-
-import math
-import os
-
-import numpy as np
-from pxr import Gf, Usd, UsdGeom
-
-import warp as wp
-import warp.examples
-import warp.optim
-import warp.sim
-import warp.sim.render
-
-
-@wp.kernel
-def loss_kernel(com: wp.array(dtype=wp.vec3), loss: wp.array(dtype=float)):
-    tid = wp.tid()
-    vx = com[tid][0]
-    vy = com[tid][1]
-    vz = com[tid][2]
-    delta = wp.sqrt(vx * vx) + wp.sqrt(vy * vy) - vz
-
-    wp.atomic_add(loss, 0, delta)
-
-
-@wp.kernel
-def com_kernel(velocities: wp.array(dtype=wp.vec3), n: int, com: wp.array(dtype=wp.vec3)):
-    tid = wp.tid()
-    v = velocities[tid]
-    a = v / wp.float32(n)
-    wp.atomic_add(com, 0, a)
-
-
-@wp.kernel
-def compute_phases(phases: wp.array(dtype=float), sim_time: float):
-    tid = wp.tid()
-    phases[tid] = wp.sin(phase_freq * sim_time + wp.float32(tid) * phase_step)
-
-
-@wp.kernel
-def activation_function(tet_activations: wp.array(dtype=float), activation_inputs: wp.array(dtype=float)):
-    tid = wp.tid()
-    activation = wp.tanh(activation_inputs[tid])
-    tet_activations[tid] = activation_strength * activation
-
-
-phase_count = 8
-phase_step = wp.constant((2.0 * math.pi) / phase_count)
-phase_freq = wp.constant(5.0)
-activation_strength = wp.constant(0.3)
-
-
-class Example:
-    def __init__(self, stage_path="example_walker.usd", verbose=False, num_frames=300):
-        self.verbose = verbose
-
-        fps = 60
-        self.frame_dt = 1.0 / fps
-        self.num_frames = num_frames
-
-        self.sim_substeps = 80
-        self.sim_dt = self.frame_dt / self.sim_substeps
-        self.sim_time = 0.0
-
-        self.iter = 0
-        self.train_rate = 0.025
-
-        self.phase_count = phase_count
-
-        self.render_time = 0.0
-
-        # bear
-        asset_stage = Usd.Stage.Open(os.path.join(warp.examples.get_asset_directory(), "bear.usd"))
-
-        geom = UsdGeom.Mesh(asset_stage.GetPrimAtPath("/root/bear"))
-        points = geom.GetPointsAttr().Get()
-
-        xform = Gf.Matrix4f(geom.ComputeLocalToWorldTransform(0.0))
-        for i in range(len(points)):
-            points[i] = xform.Transform(points[i])
-
-        self.points = [wp.vec3(point) for point in points]
-        self.tet_indices = geom.GetPrim().GetAttribute("tetraIndices").Get()
-
-        # sim model
-        builder = wp.sim.ModelBuilder()
-        builder.add_soft_mesh(
-            pos=wp.vec3(0.0, 0.5, 0.0),
-            rot=wp.quat_identity(),
-            scale=1.0,
-            vel=wp.vec3(0.0, 0.0, 0.0),
-            vertices=self.points,
-            indices=self.tet_indices,
-            density=1.0,
-            k_mu=2000.0,
-            k_lambda=2000.0,
-            k_damp=2.0,
-            tri_ke=0.0,
-            tri_ka=1e-8,
-            tri_kd=0.0,
-            tri_drag=0.0,
-            tri_lift=0.0,
-        )
-
-        # finalize model
-        self.model = builder.finalize(requires_grad=True)
-        self.control = self.model.control()
-
-        self.model.soft_contact_ke = 2.0e3
-        self.model.soft_contact_kd = 0.1
-        self.model.soft_contact_kf = 10.0
-        self.model.soft_contact_mu = 0.7
-
-        radii = wp.zeros(self.model.particle_count, dtype=float)
-        radii.fill_(0.05)
-        self.model.particle_radius = radii
-        self.model.ground = True
-
-        # allocate sim states
-        self.states = []
-        for _i in range(self.num_frames * self.sim_substeps + 1):
-            self.states.append(self.model.state(requires_grad=True))
-
-        # initialize the integrator.
-        self.integrator = wp.sim.SemiImplicitIntegrator()
-
-        # model input
-        self.phases = []
-        for _i in range(self.num_frames):
-            self.phases.append(wp.zeros(self.phase_count, dtype=float, requires_grad=True))
-
-        # single layer linear network
-        rng = np.random.default_rng(42)
-        k = 1.0 / self.phase_count
-        weights = rng.uniform(-np.sqrt(k), np.sqrt(k), (self.model.tet_count, self.phase_count))
-        self.weights = wp.array(weights, dtype=float, requires_grad=True)
-        self.bias = wp.zeros(self.model.tet_count, dtype=float, requires_grad=True)
-
-        # tanh activation layer
-        self.activation_inputs = []
-        self.tet_activations = []
-        for _i in range(self.num_frames):
-            self.activation_inputs.append(wp.zeros(self.model.tet_count, dtype=float, requires_grad=True))
-            self.tet_activations.append(wp.zeros(self.model.tet_count, dtype=float, requires_grad=True))
-
-        # optimization
-        self.loss = wp.zeros(1, dtype=float, requires_grad=True)
-        self.coms = []
-        for _i in range(self.num_frames):
-            self.coms.append(wp.zeros(1, dtype=wp.vec3, requires_grad=True))
-        self.optimizer = warp.optim.Adam([self.weights.flatten()], lr=self.train_rate)
-
-        # rendering
-        if stage_path:
-            self.renderer = wp.sim.render.SimRenderer(self.model, stage_path)
-        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:
-                    for i in range(self.num_frames):
-                        self.forward(i)
-                self.tape.backward(self.loss)
-            self.graph = capture.graph
-
-    def forward(self, frame):
-        with wp.ScopedTimer("network", active=self.verbose):
-            # build sinusoidal input phases
-            wp.launch(kernel=compute_phases, dim=self.phase_count, inputs=[self.phases[frame], self.sim_time])
-            # fully connected, linear transformation layer
-            wp.matmul(
-                self.weights,
-                self.phases[frame].reshape((self.phase_count, 1)),
-                self.bias.reshape((self.model.tet_count, 1)),
-                self.activation_inputs[frame].reshape((self.model.tet_count, 1)),
-            )
-            # tanh activation function
-            wp.launch(
-                kernel=activation_function,
-                dim=self.model.tet_count,
-                inputs=[self.tet_activations[frame], self.activation_inputs[frame]],
-            )
-            self.control.tet_activations = self.tet_activations[frame]
-
-        with wp.ScopedTimer("simulate", active=self.verbose):
-            # run simulation loop
-            for i in range(self.sim_substeps):
-                self.states[frame * self.sim_substeps + i].clear_forces()
-                self.integrator.simulate(
-                    self.model,
-                    self.states[frame * self.sim_substeps + i],
-                    self.states[frame * self.sim_substeps + i + 1],
-                    self.sim_dt,
-                    self.control,
-                )
-                self.sim_time += self.sim_dt
-
-        with wp.ScopedTimer("loss", active=self.verbose):
-            # compute center of mass velocity
-            wp.launch(
-                com_kernel,
-                dim=self.model.particle_count,
-                inputs=[
-                    self.states[(frame + 1) * self.sim_substeps].particle_qd,
-                    self.model.particle_count,
-                    self.coms[frame],
-                ],
-                outputs=[],
-            )
-            # compute loss
-            wp.launch(loss_kernel, dim=1, inputs=[self.coms[frame], self.loss], outputs=[])
-
-    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:
-                    for i in range(self.num_frames):
-                        self.forward(i)
-                self.tape.backward(self.loss)
-
-            # optimization
-            x = self.weights.grad.flatten()
-            self.optimizer.step([x])
-
-        loss = self.loss.numpy()
-        if self.verbose:
-            print(f"Iteration {self.iter}: {loss}")
-
-        # reset sim
-        self.sim_time = 0.0
-        self.states[0] = self.model.state(requires_grad=True)
-
-        # clear grads and zero arrays for next iteration
-        self.tape.zero()
-        self.loss.zero_()
-        for i in range(self.num_frames):
-            self.coms[i].zero_()
-
-        self.iter += 1
-
-    def render(self):
-        if self.renderer is None:
-            return
-
-        with wp.ScopedTimer("render"):
-            for i in range(self.num_frames + 1):
-                self.renderer.begin_frame(self.render_time)
-                self.renderer.render(self.states[i * self.sim_substeps])
-                self.renderer.end_frame()
-
-                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_walker.usd",
-        help="Path to the output USD file.",
-    )
-    parser.add_argument("--num_frames", type=int, default=300, help="Total number of frames per training iteration.")
-    parser.add_argument("--train_iters", type=int, default=30, 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, verbose=args.verbose, num_frames=args.num_frames)
-
-        for _ in range(args.train_iters):
-            example.step()
-            example.render()
-
-        if example.renderer:
-            example.renderer.save()

warp/native/cutlass_gemm.cpp

@@ -1,43 +0,0 @@
-/*
- * SPDX-FileCopyrightText: Copyright (c) 2022 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.
- */
-
-#include "builtin.h"
-
-// stubs for platforms where there is no CUDA
-#if !WP_ENABLE_CUDA || !WP_ENABLE_CUTLASS
-
-extern "C"
-{
-
-WP_API
-bool cutlass_gemm(
-                  void* context, int compute_capability,
-                  int m, int n, int k,
-                  const char* datatype_str,
-                  const void* a, const void* b, const void* c, void* d,
-                  float alpha, float beta,
-                  bool row_major_a, bool row_major_b,
-                  bool allow_tf32x3_arith,
-                  int batch_count)
-{
-    printf("CUDA is disabled and/or CUTLASS is disabled.\n");
-    return false;
-}
-
-} // extern "C"
-
-#endif // !WP_ENABLE_CUDA || !WP_ENABLE_CUTLASS