warp-lang 1.7.2rc1__py3-none-macosx_10_13_universal2.whl → 1.8.0__py3-none-macosx_10_13_universal2.whl

warp/tests/sim/test_xpbd.py

@@ -1,399 +0,0 @@
-# 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.
-
-from warp.sim.model import PARTICLE_FLAG_ACTIVE
-from warp.tests.unittest_utils import *
-
-# fmt: off
-CLOTH_POINTS = [
-    (-50.0000000, 0.0000000, -50.0000000),
-    (-38.8888893, 11.1111107, -50.0000000),
-    (-27.7777786, 22.2222214, -50.0000000),
-    (-16.6666679, 33.3333321, -50.0000000),
-    (-5.5555558, 44.4444427, -50.0000000),
-    (5.5555558, 55.5555573, -50.0000000),
-    (16.6666679, 66.6666641, -50.0000000),
-    (27.7777786, 77.7777786, -50.0000000),
-    (38.8888893, 88.8888855, -50.0000000),
-    (50.0000000, 100.0000000, -50.0000000),
-    (-50.0000000, 0.0000000, -38.8888893),
-    (-38.8888893, 11.1111107, -38.8888893),
-    (-27.7777786, 22.2222214, -38.8888893),
-    (-16.6666679, 33.3333321, -38.8888893),
-    (-5.5555558, 44.4444427, -38.8888893),
-    (5.5555558, 55.5555573, -38.8888893),
-    (16.6666679, 66.6666641, -38.8888893),
-    (27.7777786, 77.7777786, -38.8888893),
-    (38.8888893, 88.8888855, -38.8888893),
-    (50.0000000, 100.0000000, -38.8888893),
-    (-50.0000000, 0.0000000, -27.7777786),
-    (-38.8888893, 11.1111107, -27.7777786),
-    (-27.7777786, 22.2222214, -27.7777786),
-    (-16.6666679, 33.3333321, -27.7777786),
-    (-5.5555558, 44.4444427, -27.7777786),
-    (5.5555558, 55.5555573, -27.7777786),
-    (16.6666679, 66.6666641, -27.7777786),
-    (27.7777786, 77.7777786, -27.7777786),
-    (38.8888893, 88.8888855, -27.7777786),
-    (50.0000000, 100.0000000, -27.7777786),
-    (-50.0000000, 0.0000000, -16.6666679),
-    (-38.8888893, 11.1111107, -16.6666679),
-    (-27.7777786, 22.2222214, -16.6666679),
-    (-16.6666679, 33.3333321, -16.6666679),
-    (-5.5555558, 44.4444427, -16.6666679),
-    (5.5555558, 55.5555573, -16.6666679),
-    (16.6666679, 66.6666641, -16.6666679),
-    (27.7777786, 77.7777786, -16.6666679),
-    (38.8888893, 88.8888855, -16.6666679),
-    (50.0000000, 100.0000000, -16.6666679),
-    (-50.0000000, 0.0000000, -5.5555558),
-    (-38.8888893, 11.1111107, -5.5555558),
-    (-27.7777786, 22.2222214, -5.5555558),
-    (-16.6666679, 33.3333321, -5.5555558),
-    (-5.5555558, 44.4444427, -5.5555558),
-    (5.5555558, 55.5555573, -5.5555558),
-    (16.6666679, 66.6666641, -5.5555558),
-    (27.7777786, 77.7777786, -5.5555558),
-    (38.8888893, 88.8888855, -5.5555558),
-    (50.0000000, 100.0000000, -5.5555558),
-    (-50.0000000, 0.0000000, 5.5555558),
-    (-38.8888893, 11.1111107, 5.5555558),
-    (-27.7777786, 22.2222214, 5.5555558),
-    (-16.6666679, 33.3333321, 5.5555558),
-    (-5.5555558, 44.4444427, 5.5555558),
-    (5.5555558, 55.5555573, 5.5555558),
-    (16.6666679, 66.6666641, 5.5555558),
-    (27.7777786, 77.7777786, 5.5555558),
-    (38.8888893, 88.8888855, 5.5555558),
-    (50.0000000, 100.0000000, 5.5555558),
-    (-50.0000000, 0.0000000, 16.6666679),
-    (-38.8888893, 11.1111107, 16.6666679),
-    (-27.7777786, 22.2222214, 16.6666679),
-    (-16.6666679, 33.3333321, 16.6666679),
-    (-5.5555558, 44.4444427, 16.6666679),
-    (5.5555558, 55.5555573, 16.6666679),
-    (16.6666679, 66.6666641, 16.6666679),
-    (27.7777786, 77.7777786, 16.6666679),
-    (38.8888893, 88.8888855, 16.6666679),
-    (50.0000000, 100.0000000, 16.6666679),
-    (-50.0000000, 0.0000000, 27.7777786),
-    (-38.8888893, 11.1111107, 27.7777786),
-    (-27.7777786, 22.2222214, 27.7777786),
-    (-16.6666679, 33.3333321, 27.7777786),
-    (-5.5555558, 44.4444427, 27.7777786),
-    (5.5555558, 55.5555573, 27.7777786),
-    (16.6666679, 66.6666641, 27.7777786),
-    (27.7777786, 77.7777786, 27.7777786),
-    (38.8888893, 88.8888855, 27.7777786),
-    (50.0000000, 100.0000000, 27.7777786),
-    (-50.0000000, 0.0000000, 38.8888893),
-    (-38.8888893, 11.1111107, 38.8888893),
-    (-27.7777786, 22.2222214, 38.8888893),
-    (-16.6666679, 33.3333321, 38.8888893),
-    (-5.5555558, 44.4444427, 38.8888893),
-    (5.5555558, 55.5555573, 38.8888893),
-    (16.6666679, 66.6666641, 38.8888893),
-    (27.7777786, 77.7777786, 38.8888893),
-    (38.8888893, 88.8888855, 38.8888893),
-    (50.0000000, 100.0000000, 38.8888893),
-    (-50.0000000, 0.0000000, 50.0000000),
-    (-38.8888893, 11.1111107, 50.0000000),
-    (-27.7777786, 22.2222214, 50.0000000),
-    (-16.6666679, 33.3333321, 50.0000000),
-    (-5.5555558, 44.4444427, 50.0000000),
-    (5.5555558, 55.5555573, 50.0000000),
-    (16.6666679, 66.6666641, 50.0000000),
-    (27.7777786, 77.7777786, 50.0000000),
-    (38.8888893, 88.8888855, 50.0000000),
-    (50.0000000, 100.0000000, 50.0000000),
-]
-
-CLOTH_FACES = [
-    1, 12, 2,
-    1, 11, 12,
-    2, 12, 3,
-    12, 13, 3,
-    3, 14, 4,
-    3, 13, 14,
-    4, 14, 5,
-    14, 15, 5,
-    5, 16, 6,
-    5, 15, 16,
-    6, 16, 7,
-    16, 17, 7,
-    7, 18, 8,
-    7, 17, 18,
-    8, 18, 9,
-    18, 19, 9,
-    9, 20, 10,
-    9, 19, 20,
-    11, 21, 12,
-    21, 22, 12,
-    12, 23, 13,
-    12, 22, 23,
-    13, 23, 14,
-    23, 24, 14,
-    14, 25, 15,
-    14, 24, 25,
-    15, 25, 16,
-    25, 26, 16,
-    16, 27, 17,
-    16, 26, 27,
-    17, 27, 18,
-    27, 28, 18,
-    18, 29, 19,
-    18, 28, 29,
-    19, 29, 20,
-    29, 30, 20,
-    21, 32, 22,
-    21, 31, 32,
-    22, 32, 23,
-    32, 33, 23,
-    23, 34, 24,
-    23, 33, 34,
-    24, 34, 25,
-    34, 35, 25,
-    25, 36, 26,
-    25, 35, 36,
-    26, 36, 27,
-    36, 37, 27,
-    27, 38, 28,
-    27, 37, 38,
-    28, 38, 29,
-    38, 39, 29,
-    29, 40, 30,
-    29, 39, 40,
-    31, 41, 32,
-    41, 42, 32,
-    32, 43, 33,
-    32, 42, 43,
-    33, 43, 34,
-    43, 44, 34,
-    34, 45, 35,
-    34, 44, 45,
-    35, 45, 36,
-    45, 46, 36,
-    36, 47, 37,
-    36, 46, 47,
-    37, 47, 38,
-    47, 48, 38,
-    38, 49, 39,
-    38, 48, 49,
-    39, 49, 40,
-    49, 50, 40,
-    41, 52, 42,
-    41, 51, 52,
-    42, 52, 43,
-    52, 53, 43,
-    43, 54, 44,
-    43, 53, 54,
-    44, 54, 45,
-    54, 55, 45,
-    45, 56, 46,
-    45, 55, 56,
-    46, 56, 47,
-    56, 57, 47,
-    47, 58, 48,
-    47, 57, 58,
-    48, 58, 49,
-    58, 59, 49,
-    49, 60, 50,
-    49, 59, 60,
-    51, 61, 52,
-    61, 62, 52,
-    52, 63, 53,
-    52, 62, 63,
-    53, 63, 54,
-    63, 64, 54,
-    54, 65, 55,
-    54, 64, 65,
-    55, 65, 56,
-    65, 66, 56,
-    56, 67, 57,
-    56, 66, 67,
-    57, 67, 58,
-    67, 68, 58,
-    58, 69, 59,
-    58, 68, 69,
-    59, 69, 60,
-    69, 70, 60,
-    61, 72, 62,
-    61, 71, 72,
-    62, 72, 63,
-    72, 73, 63,
-    63, 74, 64,
-    63, 73, 74,
-    64, 74, 65,
-    74, 75, 65,
-    65, 76, 66,
-    65, 75, 76,
-    66, 76, 67,
-    76, 77, 67,
-    67, 78, 68,
-    67, 77, 78,
-    68, 78, 69,
-    78, 79, 69,
-    69, 80, 70,
-    69, 79, 80,
-    71, 81, 72,
-    81, 82, 72,
-    72, 83, 73,
-    72, 82, 83,
-    73, 83, 74,
-    83, 84, 74,
-    74, 85, 75,
-    74, 84, 85,
-    75, 85, 76,
-    85, 86, 76,
-    76, 87, 77,
-    76, 86, 87,
-    77, 87, 78,
-    87, 88, 78,
-    78, 89, 79,
-    78, 88, 89,
-    79, 89, 80,
-    89, 90, 80,
-    81, 92, 82,
-    81, 91, 92,
-    82, 92, 83,
-    92, 93, 83,
-    83, 94, 84,
-    83, 93, 94,
-    84, 94, 85,
-    94, 95, 85,
-    85, 96, 86,
-    85, 95, 96,
-    86, 96, 87,
-    96, 97, 87,
-    87, 98, 88,
-    87, 97, 98,
-    88, 98, 89,
-    98, 99, 89,
-    89, 100, 90,
-    89, 99, 100
-]
-
-# fmt: on
-class XPBDClothSim:
-    def __init__(self, device, use_cuda_graph=False):
-        self.frame_dt = 1 / 60
-        self.num_test_frames = 100
-        self.num_substeps = 20
-        self.iterations = 2
-        self.dt = self.frame_dt / self.num_substeps
-        self.device = device
-        self.use_cuda_graph = self.device.is_cuda and use_cuda_graph
-        self.builder = wp.sim.ModelBuilder()
-
-    def set_free_falling_experiment(self):
-        self.input_scale_factor = 1.0
-        self.renderer_scale_factor = 0.01
-        vertices = [wp.vec3(v) * self.input_scale_factor for v in CLOTH_POINTS]
-        faces_flatten = [fv - 1 for fv in CLOTH_FACES]
-
-        self.builder.add_cloth_mesh(
-            vertices=vertices,
-            indices=faces_flatten,
-            scale=0.05,
-            density=10,
-            pos=wp.vec3(0.0, 4.0, 0.0),
-            rot=wp.quat_identity(),
-            vel=wp.vec3(0.0, 0.0, 0.0),
-            edge_ke=1.0e2,
-            add_springs=True,
-            spring_ke=1.0e3,
-            spring_kd=0.0,
-        )
-        self.fixed_particles = []
-        self.num_test_frames = 30
-
-    def finalize(self, ground=True):
-        self.model = self.builder.finalize(device=self.device)
-        self.model.ground = ground
-        self.model.gravity = wp.vec3(0, -10.0, 0)
-        self.model.soft_contact_ke = 1.0e4
-        self.model.soft_contact_kd = 1.0e2
-
-        self.set_points_fixed(self.model, self.fixed_particles)
-
-        self.integrator = wp.sim.XPBDIntegrator(self.iterations)
-        self.state0 = self.model.state()
-        self.state1 = self.model.state()
-
-        self.init_pos = np.array(self.state0.particle_q.numpy(), copy=True)
-
-        self.graph = None
-        if self.use_cuda_graph:
-            with wp.ScopedCapture(device=self.device, force_module_load=False) as capture:
-                self.simulate()
-            self.graph = capture.graph
-
-    def simulate(self):
-        for _step in range(self.num_substeps * self.num_test_frames):
-            self.integrator.simulate(self.model, self.state0, self.state1, self.dt, None)
-            (self.state0, self.state1) = (self.state1, self.state0)
-
-    def run(self):
-        if self.graph:
-            wp.capture_launch(self.graph)
-        else:
-            self.simulate()
-
-    def set_points_fixed(self, model, fixed_particles):
-        if len(fixed_particles):
-            flags = model.particle_flags.numpy()
-            for fixed_v_id in fixed_particles:
-                flags[fixed_v_id] = wp.uint32(int(flags[fixed_v_id]) & ~int(PARTICLE_FLAG_ACTIVE))
-
-            model.particle_flags = wp.array(flags, device=model.device)
-
-
-def test_xpbd_free_falling(test, device):
-    example = XPBDClothSim(device)
-    example.set_free_falling_experiment()
-    example.finalize(ground=False)
-    initial_pos = example.state0.particle_q.numpy().copy()
-
-    example.run()
-
-    # examine that the simulation does not explode
-    final_pos = example.state0.particle_q.numpy()
-    test.assertTrue((final_pos < 1e5).all())
-    # examine that the simulation have moved
-    test.assertTrue((example.init_pos != final_pos).any())
-
-    gravity = np.array(example.model.gravity)
-    diff = final_pos - initial_pos
-    vertical_translation_norm = diff @ gravity[..., None] / (np.linalg.norm(gravity) ** 2)
-    # ensure it's free-falling
-    test.assertTrue((np.abs(vertical_translation_norm - 0.5 * np.linalg.norm(gravity) * (example.dt**2)) < 2e-1).all())
-    horizontal_move = diff - (vertical_translation_norm * gravity)
-    # ensure its horizontal translation is minimal
-    test.assertTrue((np.abs(horizontal_move) < 1e-1).all())
-
-
-devices = get_test_devices(mode="basic")
-
-
-class TestXPBD(unittest.TestCase):
-    pass
-
-
-add_function_test(TestXPBD, "test_xpbd_free_falling", test_xpbd_free_falling, devices=devices)
-
-
-if __name__ == "__main__":
-    wp.clear_kernel_cache()
-    unittest.main(verbosity=2)

warp/tests/test_mlp.py

@@ -1,282 +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.
-
-import unittest
-
-import numpy as np
-
-import warp as wp
-from warp.tests.unittest_utils import *
-
-
-@wp.func
-def mlp_activation(z: float):
-    return wp.tanh(z)
-
-
-@wp.kernel
-def mlp_kernel(
-    weights: wp.array2d(dtype=float),
-    bias: wp.array(dtype=float),
-    x: wp.array2d(dtype=float),
-    y: wp.array2d(dtype=float),
-):
-    wp.mlp(weights, bias, mlp_activation, wp.tid(), x, y)
-
-
-@wp.kernel
-def loss_kernel(x: wp.array2d(dtype=float), loss: wp.array(dtype=float)):
-    i, j = wp.tid()
-
-    wp.atomic_add(loss, 0, x[i, j] * x[i, j])
-
-
-def test_mlp(test, device):
-    rng = np.random.default_rng(123)
-
-    m = 10
-    n = 200
-
-    batches = 20000
-
-    weights = wp.array(rng.random(size=(m, n)) * 0.5 - 0.5, dtype=float, device=device)
-    bias = wp.array(rng.random(size=m) * 0.5 - 0.5, dtype=float, device=device)
-
-    x = wp.array(rng.random(size=(n, batches)), dtype=float, device=device)
-    y = wp.zeros(shape=(m, batches), device=device)
-
-    with wp.ScopedTimer("warp", active=False):
-        wp.launch(mlp_kernel, dim=batches, inputs=[weights, bias, x, y], device=device)
-        wp.synchronize()
-
-    # A*x + b
-    with wp.ScopedTimer("numpy", active=False):
-        expect = np.tanh(weights.numpy().reshape(m, n) @ x.numpy().reshape(-1, batches) + bias.numpy().reshape(m, 1))
-
-    result = y.numpy().reshape(-1, batches)
-
-    assert_np_equal(result, expect, tol=1.0e-6)
-
-
-def create_mlp(m, n):
-    import torch
-
-    torch.manual_seed(0)
-
-    class FeedForward(torch.nn.Module):
-        def __init__(self, input_size, hidden_size):
-            super(FeedForward, self).__init__()
-
-            self.input_size = input_size
-            self.hidden_size = hidden_size
-            self.fc1 = torch.nn.Linear(self.input_size, self.hidden_size)
-            self.act = torch.nn.Tanh()
-
-        def forward(self, x):
-            out = self.fc1(x)
-            out = self.act(out)
-            return out
-
-    return FeedForward(m, n)
-
-
-def create_golden():
-    import torch
-
-    rng = np.random.default_rng(123)
-
-    input_size = 32
-    hidden_size = 16
-    batch_size = 64
-
-    network = create_mlp(input_size, hidden_size)
-
-    x = torch.Tensor(rng.random(size=(batch_size, input_size)))
-    x.requires_grad = True
-
-    y = network.forward(x)
-    y.retain_grad()
-
-    loss = torch.inner(y.flatten(), y.flatten())
-    loss.backward(retain_graph=True)
-
-    results = {}
-    results["weights"] = network.fc1.weight.cpu().detach().numpy()
-    results["weights_grad"] = network.fc1.weight.grad.cpu().detach().numpy()
-    results["bias"] = network.fc1.bias.cpu().detach().numpy()
-    results["bias_grad"] = network.fc1.bias.grad.cpu().detach().numpy()
-    results["x"] = x.cpu().detach().numpy()
-    results["x_grad"] = x.grad.cpu().detach().numpy()
-    results["y"] = y.cpu().detach().numpy()
-    results["y_grad"] = y.grad.cpu().detach().numpy()
-    results["loss"] = loss.cpu().detach().numpy()
-
-    np.save(os.path.join(os.path.dirname(__file__), "assets/mlp_golden.npy"), results, allow_pickle=True)
-
-
-def load_golden():
-    return np.load(os.path.join(os.path.dirname(__file__), "assets/mlp_golden.npy"), allow_pickle=True).item()
-
-
-def test_mlp_grad(test, device):
-    # uncomment to re-build golden files
-    # create_golden()
-
-    results = load_golden()
-
-    torch_weights = results["weights"]
-    torch_weights_grad = results["weights_grad"]
-    torch_bias = results["bias"]
-    torch_bias_grad = results["bias_grad"]
-    torch_x = results["x"].T
-    torch_x_grad = results["x_grad"].T
-    torch_y = results["y"].T
-    torch_y_grad = results["y_grad"].T
-    torch_loss = results["loss"].T
-
-    weights = wp.array(torch_weights, dtype=float, device=device, requires_grad=True)
-    bias = wp.array(torch_bias, dtype=float, device=device, requires_grad=True)
-
-    x = wp.array(torch_x, dtype=float, device=device, requires_grad=True)
-    y = wp.array(torch_y, dtype=float, device=device, requires_grad=True)
-    y.zero_()
-
-    loss = wp.zeros(1, dtype=float, device=device, requires_grad=True)
-
-    m = torch_weights.shape[0]
-    n = torch_weights.shape[1]
-    b = torch_x.shape[1]
-
-    tape = wp.Tape()
-    with tape:
-        wp.launch(mlp_kernel, dim=b, inputs=[weights, bias, x, y], device=device)
-        wp.launch(loss_kernel, dim=y.shape, inputs=[y, loss], device=device)
-
-    tape.backward(loss=loss)
-
-    # check forward result
-    assert_np_equal(y.numpy().reshape(-1, b), torch_y, tol=1.0e-1)
-    assert_np_equal(loss.numpy(), torch_loss, tol=1.0e-1)
-
-    # check backward result
-    assert_np_equal(tape.gradients[weights].numpy().reshape(m, n), torch_weights_grad, tol=1.0e-1)
-    assert_np_equal(tape.gradients[bias].numpy(), torch_bias_grad, tol=1.0e-1)
-    assert_np_equal(tape.gradients[x].numpy().reshape(n, b), torch_x_grad, tol=1.0e-1)
-    assert_np_equal(tape.gradients[y].numpy().reshape(m, b), torch_y_grad, tol=1.0e-1)
-
-
-def profile_mlp_torch():
-    import torch
-
-    rng = np.random.default_rng(123)
-
-    m = 128
-    n = 64
-
-    steps = 20
-
-    for i in range(steps):
-        b = 2**i
-
-        network = create_mlp(m, n)
-
-        x = torch.Tensor(rng.random(size=(b, m)))
-
-        with wp.ScopedTimer("torch_forward" + str(b)):
-            y = network.forward(x)
-            torch.cuda.synchronize()
-
-    for i in range(steps):
-        b = 2**i
-
-        network = create_mlp(m, n)
-
-        x = torch.Tensor(rng.random(size=(b, m)))
-        y = network.forward(x)
-
-        loss = torch.norm(y)
-
-        # run once to alloc all gradients
-        loss.backward(retain_graph=True)
-
-        with wp.ScopedTimer("torch-backward" + str(b)):
-            loss.backward()
-            torch.cuda.synchronize()
-
-
-def profile_mlp_warp(device):
-    rng = np.random.default_rng(123)
-
-    m = 128
-    n = 64
-
-    steps = 20
-
-    for i in range(steps):
-        b = 2**i
-
-        weights = wp.array(rng.random(size=(m, n)) * 0.5 - 0.5, dtype=float, device=device)
-        bias = wp.array(rng.random(size=m) * 0.5 - 0.5, dtype=float, device=device)
-
-        x = wp.array(rng.random(size=(n, b)), dtype=float, device=device)
-        y = wp.zeros(shape=(m, b), device=device)
-
-        with wp.ScopedTimer("warp-forward" + str(b)):
-            wp.launch(mlp_kernel, dim=b, inputs=[weights, bias, x, y], device=device)
-            wp.synchronize()
-
-    for i in range(steps):
-        b = 2**i
-
-        weights = wp.array(rng.random(size=(m, n)) * 0.5 - 0.5, dtype=float, device=device, requires_grad=True)
-        bias = wp.array(rng.random(size=m) * 0.5 - 0.5, dtype=float, device=device, requires_grad=True)
-
-        x = wp.array(rng.random(size=(n, b)), dtype=float, device=device, requires_grad=True)
-        y = wp.zeros(shape=(m, b), device=device, requires_grad=True)
-
-        loss = wp.zeros(1, dtype=float, device=device)
-
-        tape = wp.Tape()
-        with tape:
-            wp.launch(mlp_kernel, dim=b, inputs=[weights, bias, x, y], device=device)
-            wp.launch(loss_kernel, dim=y.size, inputs=[y.flatten(), loss], device=device)
-
-        # run backward once to ensure all adjoints are allocated
-        tape.backward(loss)
-        wp.synchronize()
-
-        with wp.ScopedTimer("warp-backward" + str(b)):
-            tape.backward(loss)
-            wp.synchronize()
-
-
-# profile_mlp_warp("cuda")
-# profile_mlp_torch()
-
-
-devices = get_test_devices()
-
-
-class TestMLP(unittest.TestCase):
-    pass
-
-
-add_function_test(TestMLP, "test_mlp", test_mlp, devices=devices, check_output=False)
-add_function_test(TestMLP, "test_mlp_grad", test_mlp_grad, devices=devices, check_output=False)
-
-
-if __name__ == "__main__":
-    wp.clear_kernel_cache()
-    unittest.main(verbosity=2, failfast=False)