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Copy pathuse_cpu.patch
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81 lines (68 loc) · 3.09 KB
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diff --git a/examples/locomotion/go2_eval.py b/examples/locomotion/go2_eval.py
index 32ee5ad..5ea904a 100644
--- a/examples/locomotion/go2_eval.py
+++ b/examples/locomotion/go2_eval.py
@@ -17,7 +17,7 @@ def main():
parser.add_argument("--ckpt", type=int, default=100)
args = parser.parse_args()
- gs.init()
+ gs.init(backend=gs.cpu)
log_dir = f"{args.log_dir}/{args.exp_name}/{args.param_name}"
env_cfg, obs_cfg, reward_cfg, command_cfg, train_cfg = pickle.load(open(f"{log_dir}/cfgs.pkl", "rb"))
@@ -30,12 +30,13 @@ def main():
reward_cfg=reward_cfg,
command_cfg=command_cfg,
show_viewer=True,
+ device="cpu"
)
- runner = OnPolicyRunner(env, train_cfg, log_dir, device="cuda:0")
+ runner = OnPolicyRunner(env, train_cfg, log_dir, device="cpu")
resume_path = os.path.join(log_dir, f"model_{args.ckpt}.pt")
runner.load(resume_path)
- policy = runner.get_inference_policy(device="cuda:0")
+ policy = runner.get_inference_policy(device="cpu")
obs, _ = env.reset()
with torch.no_grad():
diff --git a/examples/locomotion/go2_train.py b/examples/locomotion/go2_train.py
index 8715872..de38ac6 100644
--- a/examples/locomotion/go2_train.py
+++ b/examples/locomotion/go2_train.py
@@ -145,7 +145,7 @@ def main():
parser.add_argument("--max_iterations", type=int, default=100)
args = parser.parse_args()
- gs.init(logging_level="warning")
+ gs.init(logging_level="warning", backend=gs.cpu)
log_dir = f"{args.log_dir}/{args.exp_name}/{args.param_name}"
env_cfg, obs_cfg, reward_cfg, command_cfg = get_cfgs()
@@ -158,10 +158,10 @@ def main():
os.makedirs(log_dir, exist_ok=True)
env = Go2Env(
- num_envs=args.num_envs, env_cfg=env_cfg, obs_cfg=obs_cfg, reward_cfg=reward_cfg, command_cfg=command_cfg
+ num_envs=args.num_envs, env_cfg=env_cfg, obs_cfg=obs_cfg, reward_cfg=reward_cfg, command_cfg=command_cfg, device="cpu"
)
- runner = OnPolicyRunner(env, train_cfg, log_dir, device="cuda:0")
+ runner = OnPolicyRunner(env, train_cfg, log_dir, device="cpu")
pickle.dump(
[env_cfg, obs_cfg, reward_cfg, command_cfg, train_cfg],
diff --git a/examples/tutorials/control_your_robot.py b/examples/tutorials/control_your_robot.py
index 72a9fad..1c2e172 100644
--- a/examples/tutorials/control_your_robot.py
+++ b/examples/tutorials/control_your_robot.py
@@ -3,7 +3,7 @@ import numpy as np
import genesis as gs
########################## init ##########################
-gs.init(backend=gs.gpu)
+gs.init(backend=gs.cpu)
########################## create a scene ##########################
scene = gs.Scene(
diff --git a/examples/tutorials/parallel_simulation.py b/examples/tutorials/parallel_simulation.py
index d90f85a..c5ccca1 100644
--- a/examples/tutorials/parallel_simulation.py
+++ b/examples/tutorials/parallel_simulation.py
@@ -3,7 +3,7 @@ import torch
import genesis as gs
########################## init ##########################
-gs.init(backend=gs.gpu)
+gs.init(backend=gs.cpu)
########################## create a scene ##########################
scene = gs.Scene(