warp-lang 1.7.0__py3-none-manylinux_2_34_aarch64.whl

warp/examples/optim/example_fluid_checkpoint.py

@@ -0,0 +1,497 @@
+# SPDX-FileCopyrightText: Copyright (c) 2025 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 Fluid Checkpoint
+#
+# Shows how to implement a differentiable 2D stable-fluids solver and
+# optimize the initial velocity field to form the NVIDIA logo at the end
+# of the simulation. Gradient checkpointing to reduce memory usage
+# is manually implemented.
+#
+# References:
+# https://github.com/HIPS/autograd/blob/master/examples/fluidsim/fluidsim.py
+#
+###########################################################################
+
+import math
+import os
+
+import numpy as np
+
+import warp as wp
+import warp.examples
+import warp.optim
+
+try:
+    from PIL import Image
+except ImportError as err:
+    raise ImportError("This example requires the Pillow package. Please install it with 'pip install Pillow'.") from err
+
+
+N_GRID = wp.constant(512)
+DH = 1.0 / N_GRID  # Grid spacing
+FLUID_COLUMN_WIDTH = N_GRID / 10.0
+
+
+@wp.func
+def cyclic_index(idx: wp.int32):
+    """Helper function to index with periodic boundary conditions."""
+    ret_idx = idx % N_GRID
+    if ret_idx < 0:
+        ret_idx += N_GRID
+    return ret_idx
+
+
+@wp.kernel
+def fill_initial_density(density: wp.array2d(dtype=wp.float32)):
+    """Initialize the density array with three bands of fluid."""
+    i, j = wp.tid()
+
+    y_pos = wp.float32(i)
+
+    if FLUID_COLUMN_WIDTH <= y_pos < 2.0 * FLUID_COLUMN_WIDTH:
+        density[i, j] = 1.0
+    elif 4.5 * FLUID_COLUMN_WIDTH <= y_pos < 5.5 * FLUID_COLUMN_WIDTH:
+        density[i, j] = 1.0
+    elif 8.0 * FLUID_COLUMN_WIDTH <= y_pos < 9.0 * FLUID_COLUMN_WIDTH:
+        density[i, j] = 1.0
+    else:
+        density[i, j] = 0.0
+
+
+@wp.kernel
+def advect(
+    dt: float,
+    vx: wp.array2d(dtype=float),
+    vy: wp.array2d(dtype=float),
+    f0: wp.array2d(dtype=float),
+    f1: wp.array2d(dtype=float),
+):
+    """Move field f0 according to vx and vy velocities using an implicit Euler integrator."""
+
+    i, j = wp.tid()
+
+    center_xs = wp.float32(i) - vx[i, j] * dt
+    center_ys = wp.float32(j) - vy[i, j] * dt
+
+    # Compute indices of source cells.
+    left_idx = wp.int32(wp.floor(center_xs))
+    bot_idx = wp.int32(wp.floor(center_ys))
+
+    s1 = center_xs - wp.float32(left_idx)  # Relative weight of right cell
+    s0 = 1.0 - s1
+    t1 = center_ys - wp.float32(bot_idx)  # Relative weight of top cell
+    t0 = 1.0 - t1
+
+    i0 = cyclic_index(left_idx)
+    i1 = cyclic_index(left_idx + 1)
+    j0 = cyclic_index(bot_idx)
+    j1 = cyclic_index(bot_idx + 1)
+
+    # Perform bilinear interpolation of the four cells bounding the back-in-time position
+    f1[i, j] = s0 * (t0 * f0[i0, j0] + t1 * f0[i0, j1]) + s1 * (t0 * f0[i1, j0] + t1 * f0[i1, j1])
+
+
+@wp.kernel
+def divergence(wx: wp.array2d(dtype=float), wy: wp.array2d(dtype=float), div: wp.array2d(dtype=float)):
+    """Compute div(w)."""
+
+    i, j = wp.tid()
+
+    div[i, j] = (
+        0.5
+        * (
+            wx[cyclic_index(i + 1), j]
+            - wx[cyclic_index(i - 1), j]
+            + wy[i, cyclic_index(j + 1)]
+            - wy[i, cyclic_index(j - 1)]
+        )
+        / DH
+    )
+
+
+@wp.kernel
+def jacobi_iter(div: wp.array2d(dtype=float), p0: wp.array2d(dtype=float), p1: wp.array2d(dtype=float)):
+    """Calculate a single Jacobi iteration for solving the pressure Poisson equation."""
+
+    i, j = wp.tid()
+
+    p1[i, j] = 0.25 * (
+        -DH * DH * div[i, j]
+        + p0[cyclic_index(i - 1), j]
+        + p0[cyclic_index(i + 1), j]
+        + p0[i, cyclic_index(j - 1)]
+        + p0[i, cyclic_index(j + 1)]
+    )
+
+
+@wp.kernel
+def update_velocities(
+    p: wp.array2d(dtype=float),
+    wx: wp.array2d(dtype=float),
+    wy: wp.array2d(dtype=float),
+    vx: wp.array2d(dtype=float),
+    vy: wp.array2d(dtype=float),
+):
+    """Given p and (wx, wy), compute an 'incompressible' velocity field (vx, vy)."""
+
+    i, j = wp.tid()
+
+    vx[i, j] = wx[i, j] - 0.5 * (p[cyclic_index(i + 1), j] - p[cyclic_index(i - 1), j]) / DH
+    vy[i, j] = wy[i, j] - 0.5 * (p[i, cyclic_index(j + 1)] - p[i, cyclic_index(j - 1)]) / DH
+
+
+@wp.kernel
+def compute_loss(
+    actual_state: wp.array2d(dtype=float), target_state: wp.array2d(dtype=float), loss: wp.array(dtype=float)
+):
+    i, j = wp.tid()
+
+    loss_value = (
+        (actual_state[i, j] - target_state[i, j])
+        * (actual_state[i, j] - target_state[i, j])
+        / wp.float32(N_GRID * N_GRID)
+    )
+
+    wp.atomic_add(loss, 0, loss_value)
+
+
+class Example:
+    def __init__(self, sim_steps=1000):
+        self.pressure_arrays = []
+        self.wx_arrays = []
+        self.wy_arrays = []
+        self.vx_arrays = []
+        self.vy_arrays = []
+        self.density_arrays = []
+        self.div_arrays = []
+
+        # Memory usage is minimized when the segment size is approx. sqrt(sim_steps)
+        self.segment_size = math.ceil(math.sqrt(sim_steps))
+
+        # TODO: For now, let's just round up sim_steps so each segment is the same size
+        self.num_segments = math.ceil(sim_steps / self.segment_size)
+        self.sim_steps = self.segment_size * self.num_segments
+
+        self.pressure_iterations = 50
+        self.dt = 1.0
+
+        # Store enough arrays to step through a segment without overwriting arrays
+        # NOTE: Need an extra array to store the final time-advanced velocities and densities
+        for _step in range(self.segment_size + 1):
+            self.vx_arrays.append(wp.zeros((N_GRID, N_GRID), dtype=float, requires_grad=True))
+            self.vy_arrays.append(wp.zeros((N_GRID, N_GRID), dtype=float, requires_grad=True))
+            self.density_arrays.append(wp.zeros((N_GRID, N_GRID), dtype=float, requires_grad=True))
+
+        for _step in range(self.segment_size):
+            self.wx_arrays.append(wp.zeros((N_GRID, N_GRID), dtype=float, requires_grad=True))
+            self.wy_arrays.append(wp.zeros((N_GRID, N_GRID), dtype=float, requires_grad=True))
+            self.div_arrays.append(wp.zeros((N_GRID, N_GRID), dtype=float, requires_grad=True))
+
+            for _iter in range(self.pressure_iterations):
+                self.pressure_arrays.append(wp.zeros((N_GRID, N_GRID), dtype=float, requires_grad=True))
+
+        # Allocate one more pressure array for the final time step
+        self.pressure_arrays.append(wp.zeros((N_GRID, N_GRID), dtype=float, requires_grad=True))
+
+        # Allocate memory to save the fluid state at the start of each segment
+        self.segment_start_vx_arrays = []
+        self.segment_start_vy_arrays = []
+        self.segment_start_density_arrays = []
+        self.segment_start_pressure_arrays = []
+
+        for _segment_index in range(self.num_segments):
+            self.segment_start_vx_arrays.append(wp.zeros((N_GRID, N_GRID), dtype=float))
+            self.segment_start_vy_arrays.append(wp.zeros((N_GRID, N_GRID), dtype=float))
+            self.segment_start_density_arrays.append(wp.zeros((N_GRID, N_GRID), dtype=float))
+            self.segment_start_pressure_arrays.append(wp.zeros((N_GRID, N_GRID), dtype=float))
+
+        # To restore previously computed gradients before calling tape.backward()
+        self.vx_array_grad_saved = wp.zeros((N_GRID, N_GRID), dtype=float)
+        self.vy_array_grad_saved = wp.zeros((N_GRID, N_GRID), dtype=float)
+        self.density_array_grad_saved = wp.zeros((N_GRID, N_GRID), dtype=float)
+        self.pressure_array_grad_saved = wp.zeros((N_GRID, N_GRID), dtype=float)
+
+        wp.launch(fill_initial_density, (N_GRID, N_GRID), inputs=[self.density_arrays[0]])
+
+        target_base = Image.open(os.path.join(warp.examples.get_asset_directory(), "nvidia_logo.png"))
+        target_resized = target_base.resize((N_GRID, N_GRID))
+
+        target_np = np.array(target_resized)[:, :, 0] / 255.0
+        self.target_wp = wp.array(target_np, dtype=float)
+
+        self.loss = wp.zeros((1,), dtype=float, requires_grad=True)
+
+        self.train_rate = 0.01
+        self.optimizer = warp.optim.Adam([self.vx_arrays[0].flatten(), self.vy_arrays[0].flatten()], lr=self.train_rate)
+
+        # Capture forward/backward passes and tape.zero()
+        self.use_cuda_graph = wp.get_device().is_cuda
+        self.forward_graph = None
+        self.backward_graph = None
+        self.zero_tape_graph = None
+
+        if self.use_cuda_graph:
+            with wp.ScopedCapture() as capture:
+                self.forward()
+            self.forward_graph = capture.graph
+
+            with wp.ScopedCapture() as capture:
+                self.backward()
+            self.backward_graph = capture.graph
+
+            # tape.zero() launches many memsets, which can be a significant overhead for smaller problems
+            with wp.ScopedCapture() as capture:
+                self.tape.zero()
+            self.zero_tape_graph = capture.graph
+
+    def step(self, step_index) -> None:
+        """Perform a single time step from t=step_index-1 to t=step_index.
+
+        1. Self-advection of velocity components (store output in wx_arrays and wy_arrays)
+        2. Incompressibility constraint (store output in vx_arrays and vy_arrays)
+        3. Advection of density using velocities (vx_arrays, vy_arrays)
+        """
+
+        wp.launch(
+            advect,
+            (N_GRID, N_GRID),
+            inputs=[
+                self.dt,
+                self.vx_arrays[step_index - 1],
+                self.vy_arrays[step_index - 1],
+                self.vx_arrays[step_index - 1],
+            ],
+            outputs=[self.wx_arrays[step_index - 1]],
+        )
+        wp.launch(
+            advect,
+            (N_GRID, N_GRID),
+            inputs=[
+                self.dt,
+                self.vx_arrays[step_index - 1],
+                self.vy_arrays[step_index - 1],
+                self.vy_arrays[step_index - 1],
+            ],
+            outputs=[self.wy_arrays[step_index - 1]],
+        )
+
+        # Pressure projection using a few Jacobi iterations
+        wp.launch(
+            divergence,
+            (N_GRID, N_GRID),
+            inputs=[self.wx_arrays[step_index - 1], self.wy_arrays[step_index - 1]],
+            outputs=[self.div_arrays[step_index - 1]],
+        )
+
+        # NOTE: Uses previous step's final pressure as the initial guess
+        for k in range(self.pressure_iterations):
+            input_index = self.pressure_iterations * (step_index - 1) + k
+            output_index = input_index + 1
+
+            wp.launch(
+                jacobi_iter,
+                (N_GRID, N_GRID),
+                inputs=[self.div_arrays[step_index - 1], self.pressure_arrays[input_index]],
+                outputs=[self.pressure_arrays[output_index]],
+            )
+
+        # NOTE: output_index should be self.pressure_iterations*step_index at this point
+        wp.launch(
+            update_velocities,
+            (N_GRID, N_GRID),
+            inputs=[self.pressure_arrays[output_index], self.wx_arrays[step_index - 1], self.wy_arrays[step_index - 1]],
+            outputs=[self.vx_arrays[step_index], self.vy_arrays[step_index]],
+        )
+
+        wp.launch(
+            advect,
+            (N_GRID, N_GRID),
+            inputs=[
+                self.dt,
+                self.vx_arrays[step_index],
+                self.vy_arrays[step_index],
+                self.density_arrays[step_index - 1],
+            ],
+            outputs=[self.density_arrays[step_index]],
+        )
+
+    def forward(self) -> None:
+        """Advance the simulation forward in segments, storing the fluid state at the start of each segment.
+
+        The loss function is also evaluated at the end of the function.
+        """
+        self.loss.zero_()
+
+        for segment_index in range(self.num_segments):
+            # Save start-of-segment values
+            wp.copy(self.segment_start_vx_arrays[segment_index], self.vx_arrays[0])
+            wp.copy(self.segment_start_vy_arrays[segment_index], self.vy_arrays[0])
+            wp.copy(self.segment_start_density_arrays[segment_index], self.density_arrays[0])
+            wp.copy(self.segment_start_pressure_arrays[segment_index], self.pressure_arrays[0])
+
+            for t in range(1, self.segment_size + 1):
+                # sim_t = (segment_index - 1) * self.segment_size + t
+                self.step(t)
+
+            # Set the initial conditions for the next segment
+            if segment_index < self.num_segments - 1:
+                wp.copy(self.vx_arrays[0], self.vx_arrays[-1])
+                wp.copy(self.vy_arrays[0], self.vy_arrays[-1])
+                wp.copy(self.density_arrays[0], self.density_arrays[-1])
+                wp.copy(self.pressure_arrays[0], self.pressure_arrays[-1])
+
+        wp.launch(
+            compute_loss,
+            (N_GRID, N_GRID),
+            inputs=[self.density_arrays[self.segment_size], self.target_wp],
+            outputs=[self.loss],
+        )
+
+    def backward(self) -> None:
+        """Compute the adjoints using a checkpointing approach.
+
+        Starting from the final segment, the forward pass for the segment is
+        repeated, this time recording the kernel launches onto a tape. Any
+        previously computed adjoints are restored prior to evaluating the
+        backward pass for the segment. This process is repeated until the
+        adjoints of the initial state have been calculated.
+        """
+
+        for segment_index in range(self.num_segments - 1, -1, -1):
+            # Restore state at the start of the segment
+            wp.copy(self.vx_arrays[0], self.segment_start_vx_arrays[segment_index])
+            wp.copy(self.vy_arrays[0], self.segment_start_vy_arrays[segment_index])
+            wp.copy(self.density_arrays[0], self.segment_start_density_arrays[segment_index])
+            wp.copy(self.pressure_arrays[0], self.segment_start_pressure_arrays[segment_index])
+
+            # Record operations on tape
+            with wp.Tape() as self.tape:
+                for t in range(1, self.segment_size + 1):
+                    self.step(t)
+
+            if segment_index == self.num_segments - 1:
+                self.loss.grad.fill_(1.0)
+
+                wp.launch(
+                    compute_loss,
+                    (N_GRID, N_GRID),
+                    inputs=[self.density_arrays[self.segment_size], self.target_wp],
+                    outputs=[self.loss],
+                    adj_inputs=[self.density_arrays[self.segment_size].grad, None],
+                    adj_outputs=[self.loss.grad],
+                    adjoint=True,
+                )
+            else:
+                # Fill in previously computed gradients from the last segment
+                wp.copy(self.vx_arrays[-1].grad, self.vx_array_grad_saved)
+                wp.copy(self.vy_arrays[-1].grad, self.vy_array_grad_saved)
+                wp.copy(self.density_arrays[-1].grad, self.density_array_grad_saved)
+                wp.copy(self.pressure_arrays[-1].grad, self.pressure_array_grad_saved)
+
+            self.tape.backward()
+
+            if segment_index > 0:
+                # Save the gradients to variables and zero-out the gradients for the next segment
+                wp.copy(self.vx_array_grad_saved, self.vx_arrays[0].grad)
+                wp.copy(self.vy_array_grad_saved, self.vy_arrays[0].grad)
+                wp.copy(self.density_array_grad_saved, self.density_arrays[0].grad)
+                wp.copy(self.pressure_array_grad_saved, self.pressure_arrays[0].grad)
+
+                self.tape.zero()
+
+        # Done with backward pass, we're interested in self.vx_arrays[0].grad and self.vy_arrays[0].grad
+
+
+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(
+        "--num_frames", type=int, default=1000, help="Number of frames to simulate before computing loss."
+    )
+    parser.add_argument("--train_iters", type=int, default=50, help="Total number of training iterations.")
+    parser.add_argument(
+        "--headless",
+        action="store_true",
+        help="Run in headless mode, suppressing the opening of any graphical windows.",
+    )
+
+    args = parser.parse_known_args()[0]
+
+    with wp.ScopedDevice(args.device):
+        example = Example(sim_steps=args.num_frames)
+
+        wp.synchronize_device()
+
+        if (device := wp.get_device()).is_cuda:
+            print(f"Current memory usage: {wp.get_mempool_used_mem_current(device) / (1024 * 1024 * 1024):.4f} GiB")
+
+        # Main training loop
+        for train_iter in range(args.train_iters):
+            if example.forward_graph:
+                wp.capture_launch(example.forward_graph)
+            else:
+                example.forward()
+
+            if example.backward_graph:
+                wp.capture_launch(example.backward_graph)
+            else:
+                example.backward()
+
+            example.optimizer.step([example.vx_arrays[0].grad.flatten(), example.vy_arrays[0].grad.flatten()])
+
+            # Clear grad arrays for next iteration
+            if example.zero_tape_graph:
+                wp.capture_launch(example.zero_tape_graph)
+            else:
+                example.tape.zero()
+
+            print(f"Iteration {train_iter:05d} loss: {example.loss.numpy()[0]:.6f}")
+
+        if not args.headless:
+            import matplotlib
+            import matplotlib.pyplot as plt
+
+            if matplotlib.rcParams["figure.raise_window"]:
+                matplotlib.rcParams["figure.raise_window"] = False
+
+            fig, ax = plt.subplots()
+            image = ax.imshow(example.density_arrays[-1].numpy(), cmap="viridis", origin="lower", vmin=0, vmax=1)
+            ax.set_xticks([])
+            ax.set_yticks([])
+            ax.set_title("Fluid Density")
+
+            # Run the final simulation to the stop time
+            for _ in range(args.num_frames):
+                example.step(1)
+                # Swap pointers
+                (example.vx_arrays[0], example.vx_arrays[1]) = (example.vx_arrays[1], example.vx_arrays[0])
+                (example.vy_arrays[0], example.vy_arrays[1]) = (example.vy_arrays[1], example.vy_arrays[0])
+                (example.density_arrays[0], example.density_arrays[1]) = (
+                    example.density_arrays[1],
+                    example.density_arrays[0],
+                )
+                (example.pressure_arrays[0], example.pressure_arrays[example.pressure_iterations]) = (
+                    example.pressure_arrays[example.pressure_iterations],
+                    example.pressure_arrays[0],
+                )
+
+                image.set_data(example.density_arrays[0].numpy())
+                plt.pause(0.001)
+
+            plt.show()

warp/examples/optim/example_inverse_kinematics.py

@@ -0,0 +1,182 @@
+# 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.
+
+###########################################################################
+# Example Sim Rigid Kinematics
+#
+# Tests rigid body forward and backwards kinematics through the
+# wp.sim.eval_ik() and wp.sim.eval_fk() methods.
+#
+###########################################################################
+
+import numpy as np
+
+import warp as wp
+import warp.sim
+import warp.sim.render
+
+TARGET = wp.constant(wp.vec3(2.0, 1.0, 0.0))
+
+
+@wp.kernel
+def compute_loss(body_q: wp.array(dtype=wp.transform), body_index: int, loss: wp.array(dtype=float)):
+    x = wp.transform_get_translation(body_q[body_index])
+
+    delta = x - TARGET
+    loss[0] = wp.dot(delta, delta)
+
+
+@wp.kernel
+def step_kernel(x: wp.array(dtype=float), grad: wp.array(dtype=float), alpha: float):
+    tid = wp.tid()
+
+    # gradient descent step
+    x[tid] = x[tid] - grad[tid] * alpha
+
+
+class Example:
+    def __init__(self, stage_path="example_inverse_kinematics.usd", verbose=False):
+        self.verbose = verbose
+
+        fps = 60
+        self.frame_dt = 1.0 / fps
+        self.render_time = 0.0
+
+        builder = wp.sim.ModelBuilder()
+        builder.add_articulation()
+
+        chain_length = 4
+        chain_width = 1.0
+
+        for i in range(chain_length):
+            if i == 0:
+                parent = -1
+                parent_joint_xform = wp.transform([0.0, 0.0, 0.0], wp.quat_identity())
+            else:
+                parent = builder.joint_count - 1
+                parent_joint_xform = wp.transform([chain_width, 0.0, 0.0], wp.quat_identity())
+
+            # create body
+            b = builder.add_body(origin=wp.transform([i, 0.0, 0.0], wp.quat_identity()), armature=0.1)
+
+            builder.add_joint_revolute(
+                parent=parent,
+                child=b,
+                axis=(0.0, 0.0, 1.0),
+                parent_xform=parent_joint_xform,
+                child_xform=wp.transform_identity(),
+                limit_lower=-np.deg2rad(60.0),
+                limit_upper=np.deg2rad(60.0),
+                target_ke=0.0,
+                target_kd=0.0,
+                limit_ke=30.0,
+                limit_kd=30.0,
+            )
+
+            if i == chain_length - 1:
+                # create end effector
+                builder.add_shape_sphere(pos=wp.vec3(0.0, 0.0, 0.0), radius=0.1, density=10.0, body=b)
+
+            else:
+                # create shape
+                builder.add_shape_box(
+                    pos=wp.vec3(chain_width * 0.5, 0.0, 0.0), hx=chain_width * 0.5, hy=0.1, hz=0.1, density=10.0, body=b
+                )
+
+        # finalize model
+        self.model = builder.finalize()
+        self.model.ground = False
+
+        self.state = self.model.state()
+
+        if stage_path:
+            self.renderer = wp.sim.render.SimRenderer(self.model, stage_path, scaling=50.0)
+        else:
+            self.renderer = None
+
+        # optimization variables
+        self.loss = wp.zeros(1, dtype=float)
+
+        self.model.joint_q.requires_grad = True
+        self.state.body_q.requires_grad = True
+        self.loss.requires_grad = True
+
+        self.train_rate = 0.01
+
+    def forward(self):
+        wp.sim.eval_fk(self.model, self.model.joint_q, self.model.joint_qd, None, self.state)
+
+        wp.launch(compute_loss, dim=1, inputs=[self.state.body_q, len(self.state.body_q) - 1, self.loss])
+
+    def step(self):
+        with wp.ScopedTimer("step"):
+            tape = wp.Tape()
+            with tape:
+                self.forward()
+            tape.backward(loss=self.loss)
+
+            if self.verbose:
+                print(f"loss: {self.loss}")
+                print(f"joint_grad: {tape.gradients[self.model.joint_q]}")
+
+            # gradient descent
+            wp.launch(
+                step_kernel,
+                dim=len(self.model.joint_q),
+                inputs=[self.model.joint_q, tape.gradients[self.model.joint_q], self.train_rate],
+            )
+
+            # zero gradients
+            tape.zero()
+
+    def render(self):
+        if self.renderer is None:
+            return
+
+        with wp.ScopedTimer("render"):
+            self.renderer.begin_frame(self.render_time)
+            self.renderer.render(self.state)
+            self.renderer.render_sphere(
+                name="target", pos=TARGET, rot=wp.quat_identity(), radius=0.1, color=(1.0, 0.0, 0.0)
+            )
+            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_inverse_kinematics.usd",
+        help="Path to the output USD file.",
+    )
+    parser.add_argument("--train_iters", type=int, default=512, 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)
+
+        for _ in range(args.train_iters):
+            example.step()
+            example.render()
+
+        if example.renderer:
+            example.renderer.save()