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66c9c8a | 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 | # 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 importlib
import os
import unittest
import warp as wp
from warp.tests.unittest_utils import get_unique_cuda_test_devices, sanitize_identifier
wp.init()
# registers an example to run as a TestCase
def add_example_test(cls, name, devices=None, options={}):
def run(test, device):
# The copy() is needed because pop() is used to avoid passing extra args to Example()
# Can remove once all examples accept **kwargs and we no longer need to pop()
test_options = options.copy()
try:
module = importlib.import_module(f"examples.{name}")
torch_cuda_required = test_options.setdefault("torch_cuda_required", False)
test_options.pop("torch_cuda_required", None)
if torch_cuda_required and wp.get_device(device).is_cuda:
# Ensure torch has CUDA support
import torch
if not torch.cuda.is_available():
test.skipTest("Torch not compiled with CUDA support")
except Exception as e:
test.skipTest(f"{e}")
# create default USD stage output path which many examples expect
test_options.setdefault(
"stage", os.path.join(os.path.dirname(__file__), f"outputs/{name}_{sanitize_identifier(device)}.usd")
)
try:
os.remove(test_options["stage"])
except OSError:
pass
num_frames = test_options.get("num_frames", 10)
test_options.pop("num_frames", None)
# Don't want to force load all modules by default for serial test runner
wp.config.graph_capture_module_load_default = False
try:
enable_backward = test_options.get("enable_backward", True)
wp.set_module_options({"enable_backward": enable_backward}, module)
test_options.pop("enable_backward", None)
with wp.ScopedDevice(device):
wp.load_module(module, device=wp.get_device())
extra_load_modules = test_options.get("load_modules", [])
for module_name in extra_load_modules:
wp.load_module(module_name, device=wp.get_device())
test_options.pop("load_modules", None)
e = module.Example(**test_options)
# disable scoped timer to avoid log spam from time steps
wp.ScopedTimer.enabled = False
for _ in range(num_frames):
e.update()
e.render()
except Exception as e:
test.fail(f"{e}")
finally:
wp.ScopedTimer.enabled = True
wp.config.graph_capture_module_load_default = True
from warp.tests.unittest_utils import add_function_test
add_function_test(cls, f"test_{name}", run, devices=devices, check_output=False)
# TODO: Make the example classes use the passed in device
cuda_test_devices = get_unique_cuda_test_devices()
# NOTE: To give the parallel test runner more opportunities to parallelize test cases,
# we break up the tests into multiple TestCase classes that should be non-conflicting
# w.r.t. kernel compilation
class TestExamples(unittest.TestCase):
pass
# Exclude unless we can run headless somehow
# add_example_test(TestExamples, name="example_render_opengl", options={})
add_example_test(TestExamples, name="example_dem", devices=cuda_test_devices)
add_example_test(TestExamples, name="example_diffray", devices=cuda_test_devices)
add_example_test(TestExamples, name="example_fluid", devices=cuda_test_devices)
add_example_test(TestExamples, name="example_jacobian_ik", devices=cuda_test_devices)
add_example_test(TestExamples, name="example_marching_cubes", devices=cuda_test_devices)
add_example_test(TestExamples, name="example_mesh", devices=cuda_test_devices)
add_example_test(TestExamples, name="example_mesh_intersect", devices=cuda_test_devices, options={"num_frames": 1})
add_example_test(TestExamples, name="example_nvdb", devices=cuda_test_devices)
add_example_test(TestExamples, name="example_raycast", devices=cuda_test_devices)
add_example_test(TestExamples, name="example_raymarch", devices=cuda_test_devices)
add_example_test(TestExamples, name="example_sph", devices=cuda_test_devices)
add_example_test(TestExamples, name="example_wave", devices=cuda_test_devices, options={"resx": 256, "resy": 256})
class TestSimExamples(unittest.TestCase):
pass
add_example_test(
TestSimExamples,
name="example_sim_cartpole",
devices=cuda_test_devices,
options={"load_modules": ["warp.sim.collide", "warp.sim.integrator_euler", "warp.sim.articulation"]},
)
add_example_test(
TestSimExamples,
name="example_sim_cloth",
devices=cuda_test_devices,
options={"load_modules": ["warp.sim.collide", "warp.sim.integrator_euler", "warp.sim.particles"]},
)
add_example_test(TestSimExamples, name="example_sim_fk_grad", devices=cuda_test_devices)
add_example_test(
TestSimExamples, name="example_sim_fk_grad_torch", devices=cuda_test_devices, options={"torch_cuda_required": True}
)
add_example_test(
TestSimExamples,
name="example_sim_grad_bounce",
devices=cuda_test_devices,
options={"load_modules": ["warp.sim.integrator_euler", "warp.sim.particles"]},
)
add_example_test(
TestSimExamples,
name="example_sim_grad_cloth",
devices=cuda_test_devices,
options={"load_modules": ["warp.sim.integrator_euler", "warp.sim.particles"]},
)
add_example_test(TestSimExamples, name="example_sim_granular", devices=cuda_test_devices)
add_example_test(TestSimExamples, name="example_sim_granular_collision_sdf", devices=cuda_test_devices)
add_example_test(TestSimExamples, name="example_sim_neo_hookean", devices=cuda_test_devices)
add_example_test(TestSimExamples, name="example_sim_particle_chain", devices=cuda_test_devices)
add_example_test(
TestSimExamples,
name="example_sim_quadruped",
devices=cuda_test_devices,
options={"load_modules": ["warp.sim.integrator_xpbd", "warp.sim.integrator_euler"]},
)
add_example_test(
TestSimExamples,
name="example_sim_rigid_chain",
devices=cuda_test_devices,
options={"load_modules": ["warp.sim.integrator_xpbd", "warp.sim.integrator_euler"]},
)
add_example_test(
TestSimExamples,
name="example_sim_rigid_contact",
devices=cuda_test_devices,
options={"load_modules": ["warp.sim.integrator_euler"]},
)
add_example_test(TestSimExamples, name="example_sim_rigid_fem", devices=cuda_test_devices)
add_example_test(TestSimExamples, name="example_sim_rigid_force", devices=cuda_test_devices)
add_example_test(TestSimExamples, name="example_sim_rigid_gyroscopic", devices=cuda_test_devices)
add_example_test(TestSimExamples, name="example_sim_rigid_kinematics", devices=cuda_test_devices)
add_example_test(TestSimExamples, name="example_sim_trajopt", devices=cuda_test_devices)
class TestFemExamples(unittest.TestCase):
pass
add_example_test(
TestFemExamples,
name="fem.example_diffusion_mgpu",
devices=cuda_test_devices,
options={"quiet": True, "num_frames": 1, "enable_backward": False},
)
# The following examples do not need CUDA, but they need USD
add_example_test(
TestFemExamples,
name="fem.example_apic_fluid",
devices=cuda_test_devices,
options={"quiet": True, "res": [16, 16, 16], "enable_backward": False},
)
add_example_test(
TestFemExamples,
name="fem.example_diffusion",
devices=cuda_test_devices,
options={"quiet": True, "resolution": 10, "mesh": "tri", "num_frames": 1, "enable_backward": False},
)
add_example_test(
TestFemExamples,
name="fem.example_diffusion_3d",
devices=cuda_test_devices,
options={"quiet": True, "resolution": 10, "num_frames": 1, "enable_backward": False},
)
add_example_test(
TestFemExamples,
name="fem.example_deformed_geometry",
devices=cuda_test_devices,
options={"quiet": True, "resolution": 10, "num_frames": 1, "mesh": "tri", "enable_backward": False},
)
add_example_test(
TestFemExamples,
name="fem.example_convection_diffusion",
devices=cuda_test_devices,
options={"quiet": True, "resolution": 20, "enable_backward": False},
)
add_example_test(
TestFemExamples,
name="fem.example_mixed_elasticity",
devices=cuda_test_devices,
options={"quiet": True, "nonconforming_stresses": True, "mesh": "quad", "num_frames": 1, "enable_backward": False},
)
add_example_test(
TestFemExamples,
name="fem.example_stokes_transfer",
devices=cuda_test_devices,
options={"quiet": True, "num_frames": 1, "enable_backward": False},
)
if __name__ == "__main__":
# force rebuild of all kernels
wp.build.clear_kernel_cache()
unittest.main(verbosity=2, failfast=True)
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