加载文件时发生错误。请再试一次。
加载文件时发生错误。请再试一次。
加载文件时发生错误。请再试一次。
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由 Zhou Xian 创作于73f9d2d2
import argparseimport torchimport genesis as gsdef main(): parser = argparse.ArgumentParser() parser.add_argument("-v", "--vis", action="store_true", default=False) args = parser.parse_args() ########################## init ########################## gs.init(seed=0, precision="32", logging_level="debug") ########################## create a scene ########################## scene = gs.Scene( sim_options=gs.options.SimOptions( dt=2e-3, substeps=10, requires_grad=True, ), mpm_options=gs.options.MPMOptions( lower_bound=(0.0, -1.0, 0.0), upper_bound=(1.0, 1.0, 0.55), ), viewer_options=gs.options.ViewerOptions( camera_pos=(2.5, -0.15, 2.42), camera_lookat=(0.5, 0.5, 0.1), ), show_viewer=args.vis, ) ########################## entities ########################## plane = scene.add_entity(gs.morphs.URDF(file="urdf/plane/plane.urdf", fixed=True)) stick = scene.add_entity( material=gs.materials.Tool(friction=8.0), morph=gs.morphs.Mesh( file="meshes/stirrer.obj", scale=0.6, pos=(0.5, 0.5, 0.05), euler=(90.0, 0.0, 0.0), ), surface=gs.surfaces.Default( color=(1.0, 1.0, 1.0, 1.0), ), ) obj1 = scene.add_entity( material=gs.materials.MPM.Elastic(rho=500), morph=gs.morphs.Box( lower=(0.2, 0.1, 0.05), upper=(0.4, 0.3, 0.15), ), surface=gs.surfaces.Default( color=(0.9, 0.9, 0.9, 1.0), ), vis_mode="particle", ) obj2 = scene.add_entity( material=gs.materials.MPM.Elastic(rho=500), morph=gs.morphs.Mesh( file="meshes/duck.obj", pos=(0.4, 0.55, 0.056), scale=0.07, euler=(90.0, 0.0, 90.0), ), surface=gs.surfaces.Default( color=(0.9, 0.8, 0.2, 1.0), ),
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vis_mode="particle",
)
########################## cameras ##########################
cam_0 = scene.add_camera(
pos=(1.5, 0.5, 2.42),
lookat=(0.5, 0.5, 0.1),
fov=30,
GUI=True,
)
cam_1 = scene.add_camera(
pos=(-3.0, 1.5, 2.0),
lookat=(0.5, 0.5, 0.1),
fov=30,
GUI=True,
)
########################## build ##########################
scene.build()
########################## forward + backward twice ##########################
for _ in range(2):
scene.reset()
horizon = 150
init_pos = gs.tensor([0.3, 0.1, 0.28], requires_grad=True)
# forward pass
print("forward")
timer = gs.tools.Timer()
stick.set_position(init_pos)
v_obj1_init = gs.tensor([0.0, -1.0, 0.0], requires_grad=True)
obj1.set_velocity(v_obj1_init)
pos_obj1_init = gs.tensor([0.3, 0.3, 0.1], requires_grad=True)
obj1.set_position(pos_obj1_init)
loss = 0
v_list = []
w_list = []
for i in range(horizon):
v_i = gs.tensor([0.0, 1.0, 0.0], requires_grad=True)
# w_i = gs.tensor([2.0, 0.0, 0.0], requires_grad=True)
# stick.set_velocity(vel=v_i, ang=w_i)
stick.set_velocity(vel=v_i)
v_list.append(v_i)
# w_list.append(w_i)
scene.step()
# img0 = cam_0.render()
# img1 = cam_1.render()
# you can use a scene_state
if i == 25:
# compute loss
goal = gs.tensor([0.5, 0.8, 0.05])
mpm_particles = scene.get_state().solvers_state[3]
loss += torch.pow(mpm_particles.pos[mpm_particles.active == 1] - goal, 2).sum()
# you can also use an entity's state
if i == horizon - 1:
# compute loss
goal = gs.tensor([0.5, 0.8, 0.05])
state = obj1.get_state()
loss += torch.pow(state.pos - goal, 2).sum()
timer.stamp("forward took: ")
# backward pass
print("backward")
loss.backward() # this lets gradient flow all the way back to tensor input
timer.stamp("backward took: ")
for v_i in v_list:
print(v_i.grad)