Make examples portable

README.md

@@ -64,9 +64,9 @@ print(lengths)
 
 ## Running Examples
 
-The `examples` directory contains a number of scripts that show how to implement different simulation methods using the Warp API. Most examples will generate USD files containing time-sampled animations (stored in the current working directory). Before running examples, users should ensure that the ``usd-core`` and ``matplotlib`` packages are installed using:
+The `examples` directory contains a number of scripts that show how to implement different simulation methods using the Warp API. Most examples will generate USD files containing time-sampled animations (stored in the current working directory). Before running examples, users should ensure that the ``usd-core``, ``matplotlib``, and ``pyglet`` packages are installed using:
 
- pip install usd-core matplotlib
+ pip install usd-core matplotlib pyglet
 
 Examples can be run from the command-line as follows:
 

warp/examples/__init__.py

@@ -12,5 +12,5 @@ def get_source_directory():
  return os.path.realpath(os.path.dirname(__file__))
 
 
-def get_output_directory():
- return os.getcwd()
+def get_asset_directory():
+ return os.path.join(get_source_directory(), "assets")

warp/examples/benchmarks/benchmark.bat

@@ -1,15 +1,13 @@
-del outputs\benchmark.csv
+del benchmark.csv
 
 python benchmark_cloth.py warp_cpu
 python benchmark_cloth.py warp_gpu
-python benchmark_cloth.py taichi_cpu
-python benchmark_cloth.py taichi_gpu
+@REM python benchmark_cloth.py taichi_cpu
+@REM python benchmark_cloth.py taichi_gpu
 python benchmark_cloth.py numpy
-python benchmark_cloth.py cupy
-python benchmark_cloth.py torch_cpu
-python benchmark_cloth.py torch_gpu
-python benchmark_cloth.py numba
-python benchmark_cloth.py jax_cpu
-python benchmark_cloth.py jax_gpu
-
-
+@REM python benchmark_cloth.py cupy
+@REM python benchmark_cloth.py torch_cpu
+@REM python benchmark_cloth.py torch_gpu
+@REM python benchmark_cloth.py numba
+@REM python benchmark_cloth.py jax_cpu
+@REM python benchmark_cloth.py jax_gpu

warp/examples/benchmarks/benchmark.sh

@@ -1,10 +1,10 @@
-rm outputs/benchmark.csv
+rm benchmark.csv
 
 python3 benchmark_cloth.py warp_cpu
 python3 benchmark_cloth.py warp_gpu
 # python3 benchmark_cloth.py taichi_cpu
 # python3 benchmark_cloth.py taichi_gpu
-# python3 benchmark_cloth.py numpy
+python3 benchmark_cloth.py numpy
 # python3 benchmark_cloth.py cupy
 # python3 benchmark_cloth.py torch_cpu
 # python3 benchmark_cloth.py torch_gpu

warp/examples/benchmarks/benchmark_cloth.py

@@ -9,10 +9,8 @@
 import os
 import sys, getopt
 import numpy as np
-import math
-import ctypes
 
-sys.path.insert(0, os.path.abspath(os.path.join(os.path.dirname(__file__), "..")))
+sys.path.insert(0, os.path.abspath(os.path.join(os.path.dirname(__file__), ".")))
 
 from pxr import Usd, UsdGeom, Gf, Sdf
 
@@ -149,7 +147,7 @@ def run_benchmark(mode, dim, timers, render=False):
 
  if render:
  # set up grid for visualization
- stage = Usd.Stage.CreateNew(os.path.join(os.path.dirname(__file__), "outputs/benchmark.usd"))
+ stage = Usd.Stage.CreateNew("benchmark.usd")
  stage.SetStartTimeCode(0.0)
  stage.SetEndTimeCode(sim_duration * sim_fps)
  stage.SetTimeCodesPerSecond(sim_fps)
@@ -161,63 +159,63 @@ def run_benchmark(mode, dim, timers, render=False):
 
  with wp.ScopedTimer("Initialization", dict=timers):
  if mode == "warp_cpu":
- import examples.benchmark_cloth_warp
+ import benchmark_cloth_warp
 
- integrator = examples.benchmark_cloth_warp.WpIntegrator(cloth, "cpu")
+ integrator = benchmark_cloth_warp.WpIntegrator(cloth, "cpu")
 
  elif mode == "warp_gpu":
- import examples.benchmark_cloth_warp
+ import benchmark_cloth_warp
 
- integrator = examples.benchmark_cloth_warp.WpIntegrator(cloth, "cuda")
+ integrator = benchmark_cloth_warp.WpIntegrator(cloth, "cuda")
 
  elif mode == "taichi_cpu":
- import examples.benchmark_cloth_taichi
+ import benchmark_cloth_taichi
 
- integrator = examples.benchmark_cloth_taichi.TiIntegrator(cloth, "cpu")
+ integrator = benchmark_cloth_taichi.TiIntegrator(cloth, "cpu")
 
  elif mode == "taichi_gpu":
- import examples.benchmark_cloth_taichi
+ import benchmark_cloth_taichi
 
- integrator = examples.benchmark_cloth_taichi.TiIntegrator(cloth, "cuda")
+ integrator = benchmark_cloth_taichi.TiIntegrator(cloth, "cuda")
 
  elif mode == "numpy":
- import examples.benchmark_cloth_numpy
+ import benchmark_cloth_numpy
 
- integrator = examples.benchmark_cloth_numpy.NpIntegrator(cloth)
+ integrator = benchmark_cloth_numpy.NpIntegrator(cloth)
 
  elif mode == "cupy":
- import examples.benchmark_cloth_cupy
+ import benchmark_cloth_cupy
 
- integrator = examples.benchmark_cloth_cupy.CpIntegrator(cloth)
+ integrator = benchmark_cloth_cupy.CpIntegrator(cloth)
 
  elif mode == "numba":
- import examples.benchmark_cloth_numba
+ import benchmark_cloth_numba
 
- integrator = examples.benchmark_cloth_numba.NbIntegrator(cloth)
+ integrator = benchmark_cloth_numba.NbIntegrator(cloth)
 
  elif mode == "torch_cpu":
- import examples.benchmark_cloth_pytorch
+ import benchmark_cloth_pytorch
 
- integrator = examples.benchmark_cloth_pytorch.TrIntegrator(cloth, "cpu")
+ integrator = benchmark_cloth_pytorch.TrIntegrator(cloth, "cpu")
 
  elif mode == "torch_gpu":
- import examples.benchmark_cloth_pytorch
+ import benchmark_cloth_pytorch
 
- integrator = examples.benchmark_cloth_pytorch.TrIntegrator(cloth, "cuda")
+ integrator = benchmark_cloth_pytorch.TrIntegrator(cloth, "cuda")
 
  elif mode == "jax_cpu":
  os.environ["JAX_PLATFORM_NAME"] = "cpu"
 
- import examples.benchmark_cloth_jax
+ import benchmark_cloth_jax
 
- integrator = examples.benchmark_cloth_jax.JxIntegrator(cloth)
+ integrator = benchmark_cloth_jax.JxIntegrator(cloth)
 
  elif mode == "jax_gpu":
  os.environ["JAX_PLATFORM_NAME"] = "gpu"
 
- import examples.benchmark_cloth_jax
+ import benchmark_cloth_jax
 
- integrator = examples.benchmark_cloth_jax.JxIntegrator(cloth)
+ integrator = benchmark_cloth_jax.JxIntegrator(cloth)
 
  else:
  raise RuntimeError("Unknown simulation backend")
@@ -260,7 +258,7 @@ def run_benchmark(mode, dim, timers, render=False):
 for k, v in timers.items():
  print("{:16} min: {:8.2f} max: {:8.2f} avg: {:8.2f}".format(k, np.min(v), np.max(v), np.mean(v)))
 
-report = open(os.path.join(os.path.dirname(__file__), "outputs/benchmark.csv"), "a")
+report = open(os.path.join("benchmark.csv"), "a")
 writer = csv.writer(report, delimiter=",")
 
 if report.tell() == 0:

warp/examples/browse.py

@@ -20,7 +20,7 @@ def open_file(filename):
 if __name__ == "__main__":
  import warp.examples
 
- source_dir = wp.examples.get_source_directory()
+ source_dir = warp.examples.get_source_directory()
  print(f"Example source directory: {source_dir}")
 
  try:

warp/examples/core/example_dem.py

@@ -14,8 +14,6 @@
 #
 ###########################################################################
 
-import os
-
 import numpy as np
 
 import warp as wp
@@ -209,9 +207,7 @@ def particle_grid(self, dim_x, dim_y, dim_z, lower, radius, jitter):
 
 
 if __name__ == "__main__":
- import warp.examples
-
- stage_path = os.path.join(wp.examples.get_output_directory(), "example_dem.usd")
+ stage_path = "example_dem.usd"
 
  example = Example(stage_path)
 

warp/examples/core/example_marching_cubes.py

@@ -15,7 +15,6 @@
 ###########################################################################
 
 
-import os
 from typing import Optional
 
 import warp as wp
@@ -163,10 +162,7 @@ def render(self):
 
 
 if __name__ == "__main__":
- import warp.examples
-
- this_file = os.path.basename(__file__).split(".")[0]
- stage_path = os.path.join(wp.examples.get_output_directory(), f"{this_file}.usd")
+ stage_path = "example_marching_cubes.usd"
 
  example = Example(stage_path)
  for _ in range(240):

warp/examples/core/example_mesh.py

@@ -21,6 +21,7 @@
 from pxr import Usd, UsdGeom
 
 import warp as wp
+import warp.examples
 import warp.render
 
 wp.init()
@@ -93,7 +94,7 @@ def __init__(self, stage):
 
  self.sim_margin = 0.1
 
- usd_stage = Usd.Stage.Open(os.path.join(os.path.dirname(__file__), "../assets/bunny.usd"))
+ usd_stage = Usd.Stage.Open(os.path.join(warp.examples.get_asset_directory(), "bunny.usd"))
  usd_geom = UsdGeom.Mesh(usd_stage.GetPrimAtPath("/bunny/bunny"))
  usd_scale = 10.0
 
@@ -142,9 +143,7 @@ def render(self):
 
 
 if __name__ == "__main__":
- import warp.examples
-
- stage_path = os.path.join(wp.examples.get_output_directory(), "example_mesh.usd")
+ stage_path = "example_mesh.usd"
 
  example = Example(stage_path)
 

warp/examples/core/example_mesh_intersect.py

@@ -18,6 +18,7 @@
 from pxr import Usd, UsdGeom
 
 import warp as wp
+import warp.examples
 import warp.render
 
 
@@ -86,8 +87,8 @@ def __init__(self, stage):
  self.query_count = 1024
  self.has_queried = False
 
- self.path_0 = "../assets/cube.usda"
- self.path_1 = "../assets/sphere.usda"
+ self.path_0 = os.path.join(warp.examples.get_asset_directory(), "cube.usda")
+ self.path_1 = os.path.join(warp.examples.get_asset_directory(), "sphere.usda")
 
  self.mesh_0 = self.load_mesh(self.path_0, "/Cube/Cube_001")
  self.mesh_1 = self.load_mesh(self.path_1, "/Sphere/Sphere")
@@ -143,14 +144,14 @@ def render(self):
  xform = self.xforms[i]
  self.renderer.render_ref(
  f"mesh_{i}_0",
- os.path.join(os.path.dirname(__file__), self.path_0),
+ self.path_0,
  pos=wp.vec3(xform.p[0] + offset, xform.p[1], xform.p[2]),
  rot=xform.q,
  scale=wp.vec3(1.0, 1.0, 1.0),
  )
  self.renderer.render_ref(
  f"mesh_{i}_1",
- os.path.join(os.path.dirname(__file__), self.path_1),
+ self.path_1,
  pos=wp.vec3(offset, 0.0, 0.0),
  rot=wp.quat_identity(),
  scale=wp.vec3(1.0, 1.0, 1.0),
@@ -169,8 +170,7 @@ def render(self):
 
  # create collision meshes
  def load_mesh(self, path, prim):
- usd_path = os.path.join(os.path.dirname(__file__), path)
- usd_stage = Usd.Stage.Open(usd_path)
+ usd_stage = Usd.Stage.Open(path)
  usd_geom = UsdGeom.Mesh(usd_stage.GetPrimAtPath(prim))
 
  mesh = wp.Mesh(
@@ -182,9 +182,7 @@ def load_mesh(self, path, prim):
 
 
 if __name__ == "__main__":
- import warp.examples
-
- stage_path = os.path.join(wp.examples.get_output_directory(), "example_mesh_intersect.usd")
+ stage_path = "example_mesh_intersect.usd"
 
  example = Example(stage_path)
 

warp/examples/core/example_nvdb.py

@@ -21,6 +21,7 @@
 import numpy as np
 
 import warp as wp
+import warp.examples
 import warp.render
 
 wp.init()
@@ -108,7 +109,7 @@ def __init__(self, stage):
  self.velocities = wp.from_numpy(init_vel.astype(np.float32), dtype=wp.vec3)
 
  # load collision volume
- file = open(os.path.join(os.path.dirname(__file__), "../assets/rocks.nvdb"), "rb")
+ file = open(os.path.join(warp.examples.get_asset_directory(), "rocks.nvdb"), "rb")
 
  # create Volume object
  self.volume = wp.Volume.load_from_nvdb(file)
@@ -146,7 +147,7 @@ def render(self):
 
  self.renderer.render_ref(
  name="collision",
- path=os.path.join(os.path.dirname(__file__), "../assets/rocks.usd"),
+ path=os.path.join(warp.examples.get_asset_directory(), "rocks.usd"),
  pos=wp.vec3(0.0, 0.0, 0.0),
  rot=wp.quat_from_axis_angle(wp.vec3(1.0, 0.0, 0.0), math.pi),
  scale=wp.vec3(1.0, 1.0, 1.0),
@@ -157,9 +158,7 @@ def render(self):
 
 
 if __name__ == "__main__":
- import warp.examples
-
- stage_path = os.path.join(wp.examples.get_output_directory(), "example_nvdb.usd")
+ stage_path = "example_nvdb.usd"
 
  example = Example(stage_path)
 

warp/examples/core/example_raycast.py

@@ -19,6 +19,7 @@
 from pxr import Usd, UsdGeom
 
 import warp as wp
+import warp.examples
 
 wp.init()
 
@@ -52,7 +53,7 @@ def __init__(self, **kwargs):
  self.height = 1024
  self.cam_pos = (0.0, 1.0, 2.0)
 
- asset_stage = Usd.Stage.Open(os.path.join(os.path.dirname(__file__), "../assets/bunny.usd"))
+ asset_stage = Usd.Stage.Open(os.path.join(warp.examples.get_asset_directory(), "bunny.usd"))
  mesh_geom = UsdGeom.Mesh(asset_stage.GetPrimAtPath("/bunny/bunny"))
 
  points = np.array(mesh_geom.GetPointsAttr().Get())

warp/examples/core/example_sph.py

@@ -20,8 +20,6 @@
 #
 ###########################################################################
 
-import os
-
 import numpy as np
 
 import warp as wp
@@ -377,9 +375,7 @@ def render(self):
 
 
 if __name__ == "__main__":
- import warp.examples
-
- stage_path = os.path.join(wp.examples.get_output_directory(), "example_sph.usd")
+ stage_path = "example_sph.usd"
 
  example = Example(stage_path)