Unset requires_grad for state variables, fix render_usd example

NVlabs · Oct 22, 2021 · 01123d3 · 01123d3
1 parent af89116
commit 01123d3
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Showing 2 changed files with 11 additions and 11 deletions.
diff --git a/dflex/model.py b/dflex/model.py
@@ -348,23 +348,23 @@ def state(self) -> State:
         # derived state (output only)
 
         if (self.particle_count):
-            s.particle_f = torch.empty_like(self.particle_qd, requires_grad=True)
+            s.particle_f = torch.empty_like(self.particle_qd, requires_grad=False)
 
 
         if (self.link_count):
 
             # joints
-            s.joint_qdd = torch.zeros_like(self.joint_qd, requires_grad=True)
-            s.joint_tau = torch.zeros_like(self.joint_qd, requires_grad=True)
-            s.joint_S_s = torch.empty((self.joint_dof_count, 6), dtype=torch.float32, device=self.adapter, requires_grad=True)            
+            s.joint_qdd = torch.zeros_like(self.joint_qd, requires_grad=False)
+            s.joint_tau = torch.zeros_like(self.joint_qd, requires_grad=False)
+            s.joint_S_s = torch.empty((self.joint_dof_count, 6), dtype=torch.float32, device=self.adapter, requires_grad=False)            
 
             # derived rigid body data (maximal coordinates)
-            s.body_X_sc = torch.empty((self.link_count, 7), dtype=torch.float32, device=self.adapter, requires_grad=True)
-            s.body_X_sm = torch.empty((self.link_count, 7), dtype=torch.float32, device=self.adapter, requires_grad=True)
-            s.body_I_s = torch.empty((self.link_count, 6, 6), dtype=torch.float32, device=self.adapter, requires_grad=True)
-            s.body_v_s = torch.empty((self.link_count, 6), dtype=torch.float32, device=self.adapter, requires_grad=True)
-            s.body_a_s = torch.empty((self.link_count, 6), dtype=torch.float32, device=self.adapter, requires_grad=True)
-            s.body_f_s = torch.zeros((self.link_count, 6), dtype=torch.float32, device=self.adapter, requires_grad=True)
+            s.body_X_sc = torch.empty((self.link_count, 7), dtype=torch.float32, device=self.adapter, requires_grad=False)
+            s.body_X_sm = torch.empty((self.link_count, 7), dtype=torch.float32, device=self.adapter, requires_grad=False)
+            s.body_I_s = torch.empty((self.link_count, 6, 6), dtype=torch.float32, device=self.adapter, requires_grad=False)
+            s.body_v_s = torch.empty((self.link_count, 6), dtype=torch.float32, device=self.adapter, requires_grad=False)
+            s.body_a_s = torch.empty((self.link_count, 6), dtype=torch.float32, device=self.adapter, requires_grad=False)
+            s.body_f_s = torch.zeros((self.link_count, 6), dtype=torch.float32, device=self.adapter, requires_grad=False)
             #s.body_ft_s = torch.zeros((self.link_count, 6), dtype=torch.float32, device=self.adapter, requires_grad=False)
             #s.body_f_ext_s = torch.zeros((self.link_count, 6), dtype=torch.float32, device=self.adapter, requires_grad=False)
 

diff --git a/examples/render_usd.py b/examples/render_usd.py
@@ -27,7 +27,7 @@
 # fmt: on
 
 settings = load_settings("examples/config/ansys_cylinder_jello.json")
-settings.sim_duration = 0.2
+settings.sim_duration = 2.2
 settings.sim_substeps = 100
 settings.sim_dt = 5e-5
 settings.initial_y = 0.08