File size: 8,777 Bytes
912284f | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 133 134 135 136 137 138 139 140 141 142 143 144 145 146 147 148 149 150 151 152 153 154 155 156 157 158 159 160 161 162 163 164 165 166 167 168 169 170 171 172 173 174 175 176 177 178 179 180 181 182 183 184 185 186 187 188 189 190 191 192 193 194 195 196 197 198 199 200 201 202 203 204 205 206 207 208 209 210 211 212 213 214 215 216 217 218 219 220 221 222 223 224 225 226 227 228 229 230 231 232 233 234 235 236 237 238 239 240 241 242 243 244 245 246 247 248 249 250 | """Persistent simulation worker process for GRPO reward server.
Each worker binds to one GPU, initializes warp + GarmentCode once,
then loops on a task queue. Avoids per-request subprocess cold-start.
"""
from __future__ import annotations
import copy
import io
import multiprocessing as mp
import os
import sys
import time
import traceback
import uuid
from contextlib import redirect_stderr, redirect_stdout
from pathlib import Path
from typing import Any, Optional
_SCRIPT_DIR = Path(__file__).resolve().parent
_PROJECT_ROOT = _SCRIPT_DIR.parent
def _worker_loop(
gpu_id: int,
garmentcode_root: str,
sim_config_path: str,
task_queue: mp.Queue,
result_map: dict,
result_lock: mp.Lock,
result_event_map: dict,
):
"""Main loop for one persistent sim worker.
Runs in a child process with CUDA_VISIBLE_DEVICES pinned.
"""
os.environ["CUDA_VISIBLE_DEVICES"] = str(gpu_id)
gc_root = Path(garmentcode_root).resolve()
os.chdir(str(gc_root))
if str(gc_root) not in sys.path:
sys.path.insert(0, str(gc_root))
import yaml
from pygarment.meshgen.boxmeshgen import BoxMesh
from pygarment.meshgen.simulation import run_sim
import pygarment.data_config as data_config
from pygarment.meshgen.sim_config import PathCofig
sim_props_template = data_config.Properties(str(gc_root / sim_config_path))
sim_props_template_dict = copy.deepcopy(sim_props_template.properties)
sim_res_scale = sim_props_template_dict["sim"]["config"]["resolution_scale"]
sim_uv_config = copy.deepcopy(sim_props_template_dict["render"]["config"]["uv_texture"])
print(f"[SimWorker GPU={gpu_id}] Initialized, waiting for tasks...", flush=True)
while True:
try:
item = task_queue.get()
if item is None:
break
task_id = item["task_id"]
spec_json_path = item["spec_json_path"]
out_dir = Path(item["out_dir"])
sim_timeout_s = int(item.get("sim_timeout_s", 120))
t0 = time.perf_counter()
spec_path = Path(spec_json_path)
garment_name, _, _ = spec_path.stem.rpartition("_")
if not garment_name:
garment_name = spec_path.stem
# Some GarmentCode visualization paths expect this file to exist.
# Create a tiny placeholder to avoid repeated warning logs.
design_params_path = out_dir / "design_params.yaml"
if not design_params_path.exists():
design_params_path.write_text("{}\n", encoding="utf-8")
props = data_config.Properties()
props.properties = copy.deepcopy(sim_props_template_dict)
props.properties_on_load = copy.deepcopy(sim_props_template_dict)
props.set_section_stats(
"sim", fails={}, sim_time={}, spf={},
fin_frame={}, body_collisions={}, self_collisions={},
)
props.set_section_stats("render", render_time={})
# Fail fast for long-tail simulations.
if sim_timeout_s > 0:
cur_timeout = int(props["sim"]["config"].get("max_sim_time", sim_timeout_s))
props["sim"]["config"]["max_sim_time"] = min(cur_timeout, sim_timeout_s)
out_name = "sim_result"
paths = PathCofig(
in_element_path=spec_path.parent,
out_path=str(out_dir),
in_name=garment_name,
out_name=out_name,
body_name="mean_all",
smpl_body=False,
add_timestamp=False,
)
box_mesh = BoxMesh(str(spec_path), sim_res_scale)
box_mesh.load()
box_mesh.serialize(
paths, store_panels=False,
uv_config=sim_uv_config,
)
props.serialize(paths.element_sim_props)
# GarmentCode still prints per-frame progress even with verbose=False.
# Swallow worker stdout/stderr to avoid severe multi-process log I/O slowdown.
with redirect_stdout(io.StringIO()), redirect_stderr(io.StringIO()):
run_sim(
box_mesh.name,
props,
paths,
save_v_norms=False,
store_usd=False,
optimize_storage=False,
verbose=False,
)
props.serialize(paths.element_sim_props)
rd = out_dir / out_name
front = rd / f"{out_name}_render_front.png"
back = rd / f"{out_name}_render_back.png"
sim_props_file = rd / "sim_props.yaml"
sim_mesh = rd / f"{out_name}_sim.obj"
render_ok = front.exists() and back.exists()
physics_ok = False
if sim_props_file.exists():
try:
sp = yaml.safe_load(sim_props_file.read_text())
fails = sp["sim"]["stats"]["fails"]
fatal = (
"crashes", "frame_timeout", "simulation_timeout",
"cloth_body_intersection", "cloth_self_intersection",
"static_equilibrium",
)
physics_ok = not any(fails.get(k, []) for k in fatal)
except Exception:
physics_ok = False
result = {
"success": render_ok and physics_ok,
"sim_mesh": str(sim_mesh) if sim_mesh.exists() else None,
"sim_time": round(time.perf_counter() - t0, 4),
"gpu_id": gpu_id,
"error": None,
}
except Exception as e:
result = {
"success": False,
"sim_mesh": None,
"sim_time": 0,
"gpu_id": gpu_id,
"error": f"{type(e).__name__}: {e}\n{traceback.format_exc()}",
}
with result_lock:
# Task may already be timed out on server side; drop late results.
if task_id in result_event_map:
result_map[task_id] = result
result_event_map[task_id].set()
class SimWorkerPool:
"""Pool of persistent simulation workers with dynamic scheduling."""
def __init__(
self,
gpus: list[int],
garmentcode_root: str,
sim_config: str,
sim_timeout_s: int = 120,
):
self.gpus = gpus
self.sim_timeout_s = sim_timeout_s
self.manager = mp.Manager()
self.result_map = self.manager.dict()
self.result_lock = mp.Lock()
self.result_event_map = self.manager.dict()
self.task_queue: mp.Queue = mp.Queue()
self.workers: dict[int, mp.Process] = {}
for gpu_id in gpus:
p = mp.Process(
target=_worker_loop,
args=(
gpu_id, garmentcode_root, sim_config,
self.task_queue, self.result_map, self.result_lock,
self.result_event_map,
),
daemon=True,
)
p.start()
self.workers[gpu_id] = p
def submit(
self,
spec_json_path: str,
out_dir: str,
) -> str:
"""Submit a simulation task. Returns task_id."""
task_id = uuid.uuid4().hex[:12]
evt = self.manager.Event()
with self.result_lock:
self.result_event_map[task_id] = evt
self.task_queue.put({
"task_id": task_id,
"spec_json_path": spec_json_path,
"out_dir": out_dir,
"sim_timeout_s": self.sim_timeout_s,
})
return task_id
def wait(self, task_id: str, timeout: float = 600) -> dict:
"""Block until task completes. Returns result dict."""
evt = self.result_event_map.get(task_id)
if evt is not None:
evt.wait(timeout=timeout)
with self.result_lock:
result = dict(self.result_map.pop(task_id, {
"success": False, "sim_mesh": None, "sim_time": 0,
"gpu_id": None,
"error": "timeout",
}))
self.result_event_map.pop(task_id, None)
return result
def submit_and_wait(
self,
spec_json_path: str,
out_dir: str,
timeout: float = 600,
) -> dict:
"""Submit and block for result."""
tid = self.submit(spec_json_path, out_dir)
return self.wait(tid, timeout)
def shutdown(self):
for _ in self.workers.values():
self.task_queue.put(None)
for p in self.workers.values():
p.join(timeout=10)
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