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Fix warp kernel error in isaac sim

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This commit is contained in:
Balakumar Sundaralingam
2024-06-28 18:25:07 -07:00
parent ec527d77e9
commit 14b554bf36
6 changed files with 47 additions and 9 deletions
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20
src/curobo/rollout/cost/bound_cost.py
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@@ -23,7 +23,7 @@ from curobo.types.robot import JointState
from curobo.types.tensor import T_DOF
from curobo.util.logger import log_error
from curobo.util.torch_utils import get_cache_fn_decorator, get_torch_jit_decorator
from curobo.util.warp import init_warp
from curobo.util.warp import init_warp, warp_support_kernel_key
# Local Folder
from .cost_base import CostBase, CostConfig
@@ -106,8 +106,15 @@ class BoundCost(CostBase, BoundCostConfig):
)
self._out_gv_buffer = self._out_ga_buffer = self._out_gj_buffer = empty_buffer
if self.use_l2_kernel:
if not warp_support_kernel_key():
# define a compile-time constant so that warp hash is different for different dof
# this is required in older warp versions < 1.2.1 as warp hash didn't consider the
# name of kernels. Newer warp versions have fixed this issue.
WARP_CUROBO_BOUNDCOST_DOF_GLOBAL_CONSTANT = wp.constant(self.dof)
if self.cost_type == BoundCostType.POSITION:
self._l2_cost = make_bound_pos_kernel(self.dof)
if self.cost_type == BoundCostType.BOUNDS_SMOOTH:
self._l2_cost = make_bound_pos_smooth_kernel(self.dof)
@@ -1552,8 +1559,8 @@ def make_bound_pos_smooth_kernel(dof_template: int):
module = wp.get_module(forward_bound_smooth_loop_warp.__module__)
key = "forward_bound_smooth_loop_warp_" + str(dof_template)
return wp.Kernel(forward_bound_smooth_loop_warp, key=key, module=module)
new_kernel = wp.Kernel(forward_bound_smooth_loop_warp, key=key, module=module)
return new_kernel
@get_cache_fn_decorator()
@@ -1650,6 +1657,7 @@ def make_bound_pos_kernel(dof_template: int):
for i in range(dof_template):
out_grad_p[b_addrs + i] = g_p[i]
module = wp.get_module(forward_bound_pos_loop_warp.__module__)
key = "forward_bound_pos_loop_warp_" + str(dof_template)
return wp.Kernel(forward_bound_pos_loop_warp, key=key, module=module)
wp_module = wp.get_module(forward_bound_pos_loop_warp.__module__)
key = "bound_pos_loop_warp_" + str(dof_template)
new_kernel = wp.Kernel(forward_bound_pos_loop_warp, key=key, module=wp_module)
return new_kernel

11
src/curobo/rollout/cost/dist_cost.py
View File

@@ -20,7 +20,7 @@ import warp as wp
# CuRobo
from curobo.util.logger import log_error
from curobo.util.torch_utils import get_cache_fn_decorator, get_torch_jit_decorator
from curobo.util.warp import init_warp
from curobo.util.warp import init_warp, warp_support_kernel_key
# Local Folder
from .cost_base import CostBase, CostConfig
@@ -226,7 +226,8 @@ def make_l2_kernel(dof_template: int):
module = wp.get_module(forward_l2_loop_warp.__module__)
key = "forward_l2_loop" + str(dof_template)
return wp.Kernel(forward_l2_loop_warp, key=key, module=module)
new_kernel = wp.Kernel(forward_l2_loop_warp, key=key, module=module)
return new_kernel
# create a bound cost tensor:
@@ -342,6 +343,12 @@ class DistCost(CostBase, DistCostConfig):
self._init_post_config()
init_warp()
if self.use_l2_kernel:
if not warp_support_kernel_key():
# define a compile-time constant so that warp hash is different for different dof
# this is required in older warp versions < 1.2.1 as warp hash didn't consider the
# name of kernels. Newer warp versions have fixed this issue.
WARP_CUROBO_DISTCOST_DOF_GLOBAL_CONSTANT = wp.constant(self.dof)
self._l2_dof_kernel = make_l2_kernel(self.dof)
def _init_post_config(self):