warp-lang 0.15.0__py3-none-manylinux2014_x86_64.whl → 1.0.0__py3-none-manylinux2014_x86_64.whl

warp/tests/test_verify_fp.py

@@ -0,0 +1,65 @@
+# Copyright (c) 2024 NVIDIA CORPORATION.  All rights reserved.
+# NVIDIA CORPORATION and its licensors retain all intellectual property
+# and proprietary rights in and to this software, related documentation
+# and any modifications thereto.  Any use, reproduction, disclosure or
+# distribution of this software and related documentation without an express
+# license agreement from NVIDIA CORPORATION is strictly prohibited.
+
+import unittest
+
+import warp as wp
+from warp.tests.unittest_utils import *
+
+wp.init()
+
+
+def setUpModule():
+    wp.config.verify_fp = True  # Enable checking floating-point values to be finite
+
+
+def tearDownModule():
+    wp.config.verify_fp = False
+
+
+@wp.struct
+class TestStruct:
+    field: wp.float32
+
+
+@wp.kernel
+def finite_kernel(foos: wp.array(dtype=TestStruct)):
+    i = wp.tid()
+    foos[i].field += wp.float32(1.0)
+
+
+def test_finite(test, device):
+    foos = wp.zeros((10,), dtype=TestStruct, device=device)
+
+    wp.launch(
+        kernel=finite_kernel,
+        dim=(10,),
+        inputs=[foos],
+        device=device,
+    )
+    wp.synchronize()
+
+    expected = TestStruct()
+    expected.field = 1.0
+    for f in foos.list():
+        if f.field != expected.field:
+            raise AssertionError(f"Unexpected result, got: {f} expected: {expected}")
+
+
+devices = get_test_devices()
+
+
+class TestVerifyFP(unittest.TestCase):
+    pass
+
+
+add_function_test(TestVerifyFP, "test_finite", test_finite, devices=devices)
+
+
+if __name__ == "__main__":
+    wp.build.clear_kernel_cache()
+    unittest.main(verbosity=2)

warp/tests/unittest_suites.py

@@ -118,6 +118,7 @@ def default_suite(test_loader: unittest.TestLoader):
     from warp.tests.test_import import TestImport
     from warp.tests.test_indexedarray import TestIndexedArray
     from warp.tests.test_intersect import TestIntersect
+    from warp.tests.test_jax import TestJax
     from warp.tests.test_large import TestLarge
     from warp.tests.test_launch import TestLaunch
     from warp.tests.test_lerp import TestLerp
@@ -165,6 +166,7 @@ def default_suite(test_loader: unittest.TestLoader):
     from warp.tests.test_vec import TestVec
     from warp.tests.test_vec_lite import TestVecLite
     from warp.tests.test_vec_scalar_ops import TestVecScalarOps
+    from warp.tests.test_verify_fp import TestVerifyFP
     from warp.tests.test_volume import TestVolume
     from warp.tests.test_volume_write import TestVolumeWrite
 
@@ -203,6 +205,7 @@ def default_suite(test_loader: unittest.TestLoader):
         TestImport,
         TestIndexedArray,
         TestIntersect,
+        TestJax,
         TestLarge,
         TestLaunch,
         TestLerp,
@@ -250,6 +253,7 @@ def default_suite(test_loader: unittest.TestLoader):
         TestVec,
         TestVecLite,
         TestVecScalarOps,
+        TestVerifyFP,
         TestVolume,
         TestVolumeWrite,
     ]

warp/utils.py

@@ -23,7 +23,29 @@ warnings_seen = set()
 
 def warp_showwarning(message, category, filename, lineno, file=None, line=None):
     """Version of warnings.showwarning that always prints to sys.stdout."""
-    sys.stdout.write(warnings.formatwarning(message, category, filename, lineno, line=line))
+
+    if warp.config.verbose_warnings:
+        s =  f"Warp {category.__name__}: {message} ({filename}:{lineno})\n"
+
+        if line is None:
+            try:
+                import linecache
+                line = linecache.getline(filename, lineno)
+            except Exception:
+                # When a warning is logged during Python shutdown, linecache
+                # and the import machinery don't work anymore
+                line = None
+                linecache = None
+        else:
+            line = line
+        if line:
+            line = line.strip()
+            s += "  %s\n" % line
+    else:
+        # simple warning
+        s =  f"Warp {category.__name__}: {message}\n"
+
+    sys.stdout.write(s)
 
 
 def warn(message, category=None, stacklevel=1):
@@ -723,6 +745,33 @@ class ScopedPeerAccess:
         wp.set_peer_access_enabled(self.target_device, self.peer_device, self.saved_setting)
 
 
+class ScopedCapture:
+    def __init__(self, device=None, stream=None, force_module_load=None, external=False):
+        self.device = device
+        self.stream = stream
+        self.force_module_load = force_module_load
+        self.external = external
+        self.active = False
+        self.graph = None
+
+    def __enter__(self):
+        try:
+            wp.capture_begin(
+                device=self.device, stream=self.stream, force_module_load=self.force_module_load, external=self.external
+            )
+            self.active = True
+            return self
+        except:
+            raise
+
+    def __exit__(self, exc_type, exc_value, traceback):
+        if self.active:
+            try:
+                self.graph = wp.capture_end(device=self.device, stream=self.stream)
+            finally:
+                self.active = False
+
+
 # helper kernels for adj_matmul
 @wp.kernel
 def add_kernel_2d(x: wp.array2d(dtype=Any), acc: wp.array2d(dtype=Any), beta: Any):

{warp_lang-0.15.0.dist-info → warp_lang-1.0.0.dist-info}/METADATA

@@ -1,6 +1,6 @@
 Metadata-Version: 2.1
 Name: warp-lang
-Version: 0.15.0
+Version: 1.0.0
 Summary: A Python framework for high-performance simulation and graphics programming
 Author-email: NVIDIA <mmacklin@nvidia.com>
 License: NVIDIA Software License

{warp_lang-0.15.0.dist-info → warp_lang-1.0.0.dist-info}/RECORD

@@ -1,23 +1,35 @@
-warp/__init__.py,sha256=k0Wvo4kzveEDfsogZA68eJN_O_Mbg1-ZmMK9x_AjJ9s,4201
+warp/__init__.py,sha256=-8W-odWSF51v1b5d4Kj37bpeO2e1xx_c_Gb9_O5Mk3E,4239
 warp/__init__.pyi,sha256=xRyS7nyFH3H_hKLtF4HCHEHF31pXBjiQrWRyUgw9mpA,22
 warp/build.py,sha256=s2_MN9cwzMOPGkgeE22Mv98X7ECeyHwj2788YCoeaY4,4408
 warp/build_dll.py,sha256=SaxhwB1PfwqkrJCLHdsnNK9s3JEdmAladef1J-WcmWA,16372
 warp/builtins.py,sha256=YbmYPI0VWG3FPSUSKZoEdHy17O2Q53LyiaI-w2A2vUs,116614
-warp/codegen.py,sha256=nSQephABVweWvPRWVBPacAEQIAPhBuTtYHQp60itoUs,99518
-warp/config.py,sha256=ol_xz0aSuFBr6_FNQBm1HicAAkD1stsx7BWnG9oZJkk,1634
-warp/constants.py,sha256=R0nHcEdy46MBCuX989tZrY_CtVdxjnoi_3vm4_Pa28g,1211
-warp/context.py,sha256=Q5dl161yEjczszlPBfVGR-L9BygI0hARAyiK0oeL7kA,200247
+warp/codegen.py,sha256=jO3pxNZr70GQ9HLcJfNMAoB8UgaIC6Ih2i7nB2fFlTk,99861
+warp/config.py,sha256=S9c2jYS54ntTdbaiLk4eOWU3kLjO-QKRMPxhRutxvxs,1720
+warp/constants.py,sha256=02tCDba7vk0qsfsXW9tAfxcQK_F3kfVbyMXg2ZVmCfw,1308
+warp/context.py,sha256=hfP0UTdumS6OeqkPurgr0tnDcrnb4zIoj74W8YESlqs,201336
 warp/dlpack.py,sha256=OWsfVOuNOYPVGykL5t-W4waYYlnDgw0YnzlV0KkKHZc,17014
 warp/fabric.py,sha256=1F8-jc97Sny8FRwYo8eAGaF2FZCdiqOhkUTpbn66ljc,11605
-warp/jax.py,sha256=uBynTsn3qD7bXaLUw5yVQuS4KRJRPT26wQgAJedTfgE,1557
+warp/jax.py,sha256=SKAv-0rluugEPEBE9wZBCW6WQ6PjPkC2XaLjrU8xfwo,2852
+warp/jax_experimental.py,sha256=77GqrEkqVJaGiznxCWlPeOtTpCmyDN7Y0uZ3a5bD2oU,13743
 warp/sparse.py,sha256=TmWd0P2VUqWw4aTt2fypYy1-LPH1BHkjJscwpI2leuE,42999
-warp/stubs.py,sha256=_Dq3iiZtV2MKz_tmjo-kKIXaOhT2xHLHDVTsAEg1mPI,60124
-warp/tape.py,sha256=-iqboNOLXkM474y8dL8LoDTluRY-pjKjnSfGZGC4t_w,9023
+warp/stubs.py,sha256=n72LvcARf75TDuGmzP-eFPywfo_IObxrdfLBFZ1h8j4,60162
+warp/tape.py,sha256=AHdc1wQWhbEqSHtXl-s8S0nD5ncbYO17iI94pXkZZtk,8751
 warp/torch.py,sha256=JdAcr7SCXOyJVHUAC3qErMATevdTTwB4MCMKLnCMaoY,10088
 warp/types.py,sha256=TVuJ9dfw554sm2J0-yNDAwIk4ixMuED5m2R8-qlwcQ4,152977
-warp/utils.py,sha256=XRJSW55icR4QKtOm3wLrlSoLulJZg8UuQxuhRaDE4Q8,26702
+warp/utils.py,sha256=nfNPvFZR0KWazXlwmej9T9xYOK8eALxAOniYabjcao8,28212
 warp/bin/warp-clang.so,sha256=ULZPN-wVzAXgiPT1s_Oo9oR6ou4V9DTIX6H_SZWg3kw,59972664
 warp/bin/warp.so,sha256=JbAWfCBc3mH1rX1Y6dDFBqcaQHzdKccN-A7qkoaWkM4,85067304
+warp/examples/assets/bunny.usd,sha256=nTThxXaS0R-MZ-1mpurJSHBjf3mYu50DeDKKDYcpPkM,524749
+warp/examples/assets/cartpole.urdf,sha256=SmvdJIcdFXEltIbBFJXCH2SpNTY4ucNSDAhTCaoaSNc,2704
+warp/examples/assets/crazyflie.usd,sha256=WBRoJ9LBPUdaKDHOyXVo5KzsPPIEjFwA_hkmQTlQhEM,205330
+warp/examples/assets/cube.usda,sha256=GR8pfODMM_3_MBzLp2DRcJDxBM_NzmYX0asNs-DCvsI,1930
+warp/examples/assets/nv_ant.xml,sha256=teW_qZDb9UwzgYDWB3VJbALdeolH_P9IanrSLLDsqQI,5327
+warp/examples/assets/nv_humanoid.xml,sha256=sNa8ONmGVNdq0v6l2pIcwqQxDzNYwdMaSU_Jb7MLp1o,12201
+warp/examples/assets/quadruped.urdf,sha256=jHaDp6nIEN1vEWfUHe0ZJf_ZrUljJKd0xO0Ply7V-3I,10013
+warp/examples/assets/rocks.nvdb,sha256=nbLzLSnvz1m26MPfESYp0LIAaPtVJoqRW4FmYM_ptVE,938332
+warp/examples/assets/rocks.usd,sha256=ExwLqPHQezpAkre8p9wIEzeMrFHgO9QPYNnPruXM2xY,853514
+warp/examples/assets/sphere.usda,sha256=NqTi0pOYDTzYNKhJxyrjpFi9a2OASMhm2pBbHCX0W6g,35318
+warp/examples/assets/torus.usda,sha256=rdJoYgz1fyw01sKDHeYIbuTMkq91UL2VlaHCtZ1cWtA,340830
 warp/examples/benchmarks/benchmark_api.py,sha256=v5ZDhvpCFwb9XR6FJOC5tS57oRpv0RFbbBn9cpnxia8,10076
 warp/examples/benchmarks/benchmark_cloth.py,sha256=fGP0VkJJU5F5nLhP8sGHyva3P5Wra_tDNmrwnCKCkQg,9223
 warp/examples/benchmarks/benchmark_cloth_cupy.py,sha256=74vm-LUW-4sg8mzhAxuiHJgVwO_IxAmddo6d5YJ37m8,2574
@@ -28,9 +40,9 @@ warp/examples/benchmarks/benchmark_cloth_pytorch.py,sha256=6CExU-Da0aqCFudwpwvXf
 warp/examples/benchmarks/benchmark_cloth_taichi.py,sha256=PIV3lADe6_bKE1H3WhJBeXRlpOdq-wkH_amjqGlS1Z0,3674
 warp/examples/benchmarks/benchmark_cloth_warp.py,sha256=gZQVsJd0qLtqiCCPLUmW44t1YGzZMT15BhyOavQMW48,4187
 warp/examples/benchmarks/benchmark_launches.py,sha256=iapZfV2CgYjgrRZiIFtv8TSg0CEUCUTR_GOffZ0uqDc,6190
-warp/examples/core/example_dem.py,sha256=CmN0cXZqJbU_FmGLiZ6wiwg6CT5aLBDmIquTVQdatV0,6472
-warp/examples/core/example_fluid.py,sha256=484EIYlAkQLmm0GiB1ms2uYxys4vYn7wiVgPAPJwfKU,7449
-warp/examples/core/example_graph_capture.py,sha256=2vLB_rhwQ9R_J6D9QP--gwRttHKBc83EXqdw61nDbh8,3931
+warp/examples/core/example_dem.py,sha256=OoGuCqCU4eXEFkNw08_0GxpByxEvSQc5CZIZYXXzEzc,6458
+warp/examples/core/example_fluid.py,sha256=G1FurT92H6q3nlrxipwH-RmJWnN5r5ex1PKksp5x4Y4,7467
+warp/examples/core/example_graph_capture.py,sha256=d6rtNb7lPUYBUlCEht80vFE4VnKYgiA-rSoZbro1sn4,3843
 warp/examples/core/example_marching_cubes.py,sha256=UlrhBMZZcLCnQedqMb1MYjZpdesgHih7s4-ady9hxp4,5613
 warp/examples/core/example_mesh.py,sha256=BUgTC-7hUS00lxgXzaddoZNGqrHkLGnShYLpLFPo4bs,4779
 warp/examples/core/example_mesh_intersect.py,sha256=iXBeb0z8qqFx3xCnCXcxpN4eadO3jakB8ggIo_RExYk,6419
@@ -41,12 +53,6 @@ warp/examples/core/example_render_opengl.py,sha256=wczc1gQLtML67Bd_QCaq0uCWk6Qkp
 warp/examples/core/example_sph.py,sha256=d7K3nH9bJgPJTEcg6ZwW8WUCzBS9agCZHJU_8HMdAAk,12319
 warp/examples/core/example_torch.py,sha256=ARv_8YQYBi7ogL0E1Kh1II3u6DaDA9k-4VFi3aXHTjc,5300
 warp/examples/core/example_wave.py,sha256=wKchL5ZOvsC6-QCFQ11AWepwa0MMrVnVSN3gXhNfa-c,7824
-warp/examples/env/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
-warp/examples/env/env_ant.py,sha256=uCAsA2pFd_cIpY12WnQDuCAmSKUmzC3gR1iDA8Csio8,2059
-warp/examples/env/env_cartpole.py,sha256=_rBq9Y_r_I-aKE5lWg3s6qIKn5YpamGnZumg2bAJc4U,2060
-warp/examples/env/env_humanoid.py,sha256=qQOyvKM8dB2EKsmMvllolLadK47lnbfRYKEGr0VJmEM,2198
-warp/examples/env/env_usd.py,sha256=XVL2qN8oZpdbklAHMNv9wT8GQlu2QuWkFwfE4eNEVcA,3999
-warp/examples/env/environment.py,sha256=mX-OgsKgIWEVaBXEhnGhJZSZkJL8tR3pDmXOfs0bbP0,19844
 warp/examples/fem/bsr_utils.py,sha256=XRkic2nu6mXiluH5rJRB6I_QjpF_-nExWR8sC_QKgkA,12098
 warp/examples/fem/example_apic_fluid.py,sha256=zvOjlqzizHrVPipli-nyX9F4fh8bVJBZG2eoeO7z0rs,14166
 warp/examples/fem/example_convection_diffusion.py,sha256=gvVL3M4Drpb1Dfj8hxmgMYS1_5JSP4fPkT0ZqOR_pgI,5647
@@ -62,27 +68,27 @@ warp/examples/fem/example_stokes.py,sha256=CeroQ6eeUcns8iYhIAzxkNXNb0Mm8YczFitPh
 warp/examples/fem/example_stokes_transfer.py,sha256=11eZWgNEMYRgF5EbgCPvJXuk2HIqOzVlnLkY7jmmHP4,9187
 warp/examples/fem/mesh_utils.py,sha256=MU_OHnKZ-ZuNZkOLSb4dHDJt1n4FiRuLjcZ8IussQIY,3703
 warp/examples/fem/plot_utils.py,sha256=Y7H_hzg9Wftq5aG4f6P6GMPMRKsAmeUJZL2BEv-xEU4,9232
-warp/examples/optim/example_bounce.py,sha256=zZUgtlaCyrp1djsoZmgDXLLLRZqi3KNAH06xYjn6Jvg,7981
-warp/examples/optim/example_cloth_throw.py,sha256=jg9uxsiZSmT317FAii86zaF-q_5gKveapX1MpGEbHDk,6679
-warp/examples/optim/example_diffray.py,sha256=8vZ_qmUm5yc19nUleDz-In1p4Oke6otQG-B_sjOwD7s,17601
-warp/examples/optim/example_drone.py,sha256=QxnOTclyFDYWDoDlHKALSs5Kd2kMAMnnPhd8sQDGp4Y,27781
+warp/examples/optim/example_bounce.py,sha256=SoL7-g0Ijaf7D_SMetDje9LFvJgxXQHSCDRPpp4eBtQ,8095
+warp/examples/optim/example_cloth_throw.py,sha256=KKmNLRdgwDE386d670HyyombjdiL32BadEBYXbQhxyQ,6794
+warp/examples/optim/example_diffray.py,sha256=jF22sSm_6gsREjn1e309BqDnmXUWIbnDiroRViF2ReI,17605
+warp/examples/optim/example_drone.py,sha256=5o8EfInqUBuitYc-KSooN3B18pVN6jK7jz1la_I7xs4,28583
 warp/examples/optim/example_inverse_kinematics.py,sha256=HcWzaLBMIg9sdZz0vXMllI17uTjbR1jNegv1aFtfTz4,5372
 warp/examples/optim/example_inverse_kinematics_torch.py,sha256=bLghhNBd3YuJz4T32l-Cynr1eDUb8UwJBJuGb8sw6aA,5954
-warp/examples/optim/example_spring_cage.py,sha256=liu9ig49dPQIGkwCHy9bOjOp_GG_jXvQcefhHBOmJMA,8125
-warp/examples/optim/example_trajectory.py,sha256=i6cf7ntpUAJoYonXSY_qpqHMtqVQgnwexf87d-_H3Rk,6927
-warp/examples/sim/example_cartpole.py,sha256=3R1QuN-PDS5Yd2DXzw5qXaswEmmrnCfMPu_gPJtMfuo,4280
-warp/examples/sim/example_cloth.py,sha256=tR99f77O6RHMewJgUFUuClHhWdOZ8EkBNlxXGn2k4fI,5885
-warp/examples/sim/example_granular.py,sha256=rJxg3BLBv9KT-FJACtBzBAtRCxkkxIvx6fNYEsflJRs,3512
-warp/examples/sim/example_granular_collision_sdf.py,sha256=4qLciQDxSnC-9oaXj_IdGajhnTs7PUcqDGk-ScYwem4,6147
-warp/examples/sim/example_jacobian_ik.py,sha256=1APuWCuYLYGKlcmmmydVI1t26W62Vk8YswFEKT49cJc,7976
-warp/examples/sim/example_particle_chain.py,sha256=ckbsxjTQGLIBKiazBv6DFWmZVPIbmfcm8BGncQ8bkyk,3405
-warp/examples/sim/example_quadruped.py,sha256=-nvJzvr_YuiN2jk1NVNByTKnzR1udPnNskjNhmj-0uA,6123
-warp/examples/sim/example_rigid_chain.py,sha256=Cr5_SRmdN47FykIm8xdvKnXwm8BRi_2kEN7TCLHnmzs,6969
-warp/examples/sim/example_rigid_contact.py,sha256=n7izLERNuOQPn1hzvrp7fZHTronD-8n_gIdzcL48PrA,5841
-warp/examples/sim/example_rigid_force.py,sha256=6Vn2Yc_wGmr47OyUr6cVrxy6PI67A99nCDzS2yXbc2M,3998
+warp/examples/optim/example_spring_cage.py,sha256=DTQ_MHZ6FV_WbtuosRicJibobsLRtJZ0UKddq8NRdJ0,8084
+warp/examples/optim/example_trajectory.py,sha256=7ay5z0dil7dOF6WfULAWq8RLBtm2xwlRWK5cAYaK8cY,6606
+warp/examples/sim/example_cartpole.py,sha256=G-x7N9BM75B21VwOulfzlddHJ2rVrP01ZQq-J6iZRpA,4126
+warp/examples/sim/example_cloth.py,sha256=nrK-cUY_j6mm7sEpwwSyt06gMY_5vzDZ1LXCntSc9Ag,5887
+warp/examples/sim/example_granular.py,sha256=f8tQYpKW-wKYQ2Qv4zbp7J0G1anUzVK60wxWZxNK_94,3530
+warp/examples/sim/example_granular_collision_sdf.py,sha256=VxWSVAiGZUuaYnN60LpfGCpvw2Cjonir8gVNKoaWhjY,6331
+warp/examples/sim/example_jacobian_ik.py,sha256=YdP4WXoQ6hw81vnXSo96IcPGdMz63jVqEgmpU-kP9JU,7699
+warp/examples/sim/example_particle_chain.py,sha256=piusohVmN18E5UDSsP_Qb1F_cpujQMe_RdengqVCXiY,3398
+warp/examples/sim/example_quadruped.py,sha256=lgbgE1s4I6aes344jNrzEpwwsEiJ2tpCit16fzUXtrA,6445
+warp/examples/sim/example_rigid_chain.py,sha256=rRQXjwnytRZojS6M3c8cV-YlMkWzJLfLZy7Ehlxq8YQ,7078
+warp/examples/sim/example_rigid_contact.py,sha256=YFGqS--4mAaUa4NPzlvIVYO7FDahJz6ICkEsTvGjJWk,5851
+warp/examples/sim/example_rigid_force.py,sha256=VnrrP44rlwz-MjBiOFZd8kOeFneETpcbUzgOtgzSEBw,4009
 warp/examples/sim/example_rigid_gyroscopic.py,sha256=57xSKsRyh122YM8n2yr3oTjVo_NW3JpCieGgVRmli5o,2898
-warp/examples/sim/example_rigid_soft_contact.py,sha256=_ds102gWwYxUYQotVPPTyjE8L8rgMBRTowBO_AtZMcw,3923
-warp/examples/sim/example_soft_body.py,sha256=UNk77f8A-JoRyZHJ87zxjXfalvNXs9dgN_LN0JmlngA,5354
+warp/examples/sim/example_rigid_soft_contact.py,sha256=gzlJ75QkVvKWsbJ12vxaG81Sd1evwLJqTkByHU8nTC0,3921
+warp/examples/sim/example_soft_body.py,sha256=wXR1hqiyu_1A0Ma2BH3i6NbRttWcmMroeWzmXe3skh0,5372
 warp/fem/__init__.py,sha256=Ei9gXbYd83K-4dO5IzYXTE3Vs186gw0e25YCpAwYgck,1481
 warp/fem/cache.py,sha256=o-qp2MOB58sjCDI3_JFVH3123CYFFrFWPeF0m_N5Z9Q,13319
 warp/fem/dirichlet.py,sha256=8zr3fLWFkk19zAaodVv2esj6LTmGRM9CHB_eTjTFt_E,6217
@@ -267,24 +273,25 @@ warp/optim/adam.py,sha256=dIiGnuFO-XhMk3egU6PU-QHYvY_pw5W3Qzbbyy6xnKA,4359
 warp/optim/linear.py,sha256=PSmZVPTUE6O7JgB2W7Bivn_Mdv6YFXnAdaUtkR3ykKQ,30433
 warp/optim/sgd.py,sha256=XnP6tJ5sHc4zplrbHTjo0ynkKLdwQMAJlvRCHf_Sgd8,3119
 warp/render/__init__.py,sha256=VGLibelbTuGcxGhzIiCbGZr6CF-o6z42cr04Pf_WMUk,548
-warp/render/render_opengl.py,sha256=Y0-iXa0XpPBjMdD5VYjB_fBQmsLJyxikREK8fR_9HKM,119236
-warp/render/render_usd.py,sha256=MAB_J4yKd0jty25wv7KOk4La27aHNiaXsOkLbw-W6xE,26558
+warp/render/render_opengl.py,sha256=yTrAxdx1eaikkGssP4-5HVOhuK753Nje7FtzBjk6pc0,123008
+warp/render/render_usd.py,sha256=FKmgSF8dnA2EdKIzKlvcoiRxTNB07rZ_gdsckpTtKxo,27595
 warp/render/utils.py,sha256=Pu-DSAY5jFz7bmX1ZDUJM0TwLr6_lyjfTaW8M-5-mZ4,4446
-warp/sim/__init__.py,sha256=9x3EJ46IeqId6VefBHeonExGf0NHU8WcOZj5XZcRfLY,1716
-warp/sim/articulation.py,sha256=WJSL2-M51i7w1jdCLAr4VgkVKMsTF-11tX5C7G-YmNs,24228
-warp/sim/collide.py,sha256=hTGWd1k0BYkevW0xRHwlAhjYhdqkOHq_5IaNBE_2_vc,57274
-warp/sim/import_mjcf.py,sha256=43z2LfO09ylgAHisFhK8AKzM9PZuimcP0c5gZiAT7PM,20091
+warp/sim/__init__.py,sha256=0CVofZPVGGCT9oNlD5rEHYBiZA-VTnOCH7Ttwvej6rQ,1984
+warp/sim/articulation.py,sha256=a--ojJcGhc3GqaxXZi-PaZ-R6jS5TLIBnfl56unK2C4,24034
+warp/sim/collide.py,sha256=Wu6F-MJiZPorTuSXQ9hrtlZSBAxwbtm-LNiP6PB-XyQ,64467
+warp/sim/import_mjcf.py,sha256=k5DWY9c0Iz3lRgNd_GqedtNDRkE23KgDKQcWeZnmWaQ,19581
 warp/sim/import_snu.py,sha256=lzKknSNbGs_0KaOPH4CctpMsjhXAbijs1zbtflwUKmM,8564
-warp/sim/import_urdf.py,sha256=ci5eBZ2cqlQbkzji7X1efVt-YgWKwdCIS5lczLAYzNg,21089
-warp/sim/import_usd.py,sha256=q8jRdpAcUIqFxL8mnny6p7k628DnJe0O_BZMeo9x-GE,40517
-warp/sim/inertia.py,sha256=m9tagvIdR4uuKPTI4ZYdw-x0S_8PEQMHM7Eq5D_rCvM,9332
-warp/sim/integrator_euler.py,sha256=RCDqit04bCpnJjETkNuH__MrOAavrSzC76nhy4egrgY,61057
-warp/sim/integrator_xpbd.py,sha256=it2JjGkYoHgh5-x5d5t179i-9QCXU2taQyXjrRaXNvg,91871
-warp/sim/model.py,sha256=-C_UshLTB7txd5LBkGqtHhUsfDDoA_SP1KPTmUXuJxo,167552
-warp/sim/optimizer.py,sha256=eGovWgWDCeONGZE_MfqLu-JGXmSACMfKGOfqJ25k2_M,4040
-warp/sim/particles.py,sha256=e_kj6wjjXkj3KhsqepwWPmRc6NoWGqoJZthmnkKr_5A,3174
-warp/sim/render.py,sha256=cielt0vNI7PjYLfrVjGFM35gJrvmys6iV-HwC18y00U,17122
-warp/sim/utils.py,sha256=iDDh3Ug-eazYhzGnfIVtnulyxMZMWQoAQWY3UlH_IIU,5124
+warp/sim/import_urdf.py,sha256=9fXtyU9zohJfxUzSLKb0gjZQx_KKD2arUA38pstq_Fg,22335
+warp/sim/import_usd.py,sha256=-M9EwZYkEylRlo2wLEyk7TT6h2CJ_X0_URbI9oO1-cQ,41247
+warp/sim/inertia.py,sha256=QOujk96NkvoEaTbne_UO4aSPirn8ipKuf9RUCHSQRvQ,9390
+warp/sim/integrator.py,sha256=FqHpRrB--zczWKf3Gkn6gYirf52slrutaZ_6LViT8N8,6884
+warp/sim/integrator_euler.py,sha256=EASBG1LEkHjRnuLgarb6d2MCLw3om74E7BcpA3S3mbA,61308
+warp/sim/integrator_featherstone.py,sha256=5pJ9NbM-cZLXavik62mrFRwFswd2K8JnB35Dpo5YmYI,69224
+warp/sim/integrator_xpbd.py,sha256=QdidnYEXjJ9Od9qd2LEkwv_hkHkF2WT1mLxX2x1kM2E,118839
+warp/sim/model.py,sha256=gjNBejaxae-cHZRgDM8la7dKw5qV5w6XGKFkFy9-CkI,184680
+warp/sim/particles.py,sha256=HahiePfgGbVCDvpALbzqMsDbET_SseYa4QSrl__VZ3w,3276
+warp/sim/render.py,sha256=BcqgrJz_9siV7eAMq07OG8ZDuZnovzrrRp2hJbt3LXw,17830
+warp/sim/utils.py,sha256=4B5luqoFj4WK7lYJAMOVMW_0bUQVvWeIaiS8PDobStg,12602
 warp/tests/__init__.py,sha256=frcCV1k9oG9oKj3dpUqdJg1PxRT2RSN_XKdLCPjaYaY,2
 warp/tests/__main__.py,sha256=Dg7dxwx_tD2ORJK4ctN-nmXJ2ilcoba-iLN8fg-tLgE,94
 warp/tests/aux_test_class_kernel.py,sha256=KPjFlrvuVObuGpH5xBf8WwGHP0xg1MM2-Zf0PYmHqHk,1053
@@ -317,7 +324,7 @@ warp/tests/test_ctypes.py,sha256=HnWUCfkSfEbCR0xaiDCiUSy03WJRrz1HD79I1KZjxEg,252
 warp/tests/test_dense.py,sha256=WjBUhrtLyKFCnp3AdBuVeVYZyC3B6AxbUqQhavP5k_I,1913
 warp/tests/test_devices.py,sha256=6n5SAvWPIZTw7KMgQg8-9owUNEPvf9p_9oe6ulDZFO8,3291
 warp/tests/test_dlpack.py,sha256=_-05Q-pGXZJ3nPTrAmT8Hjc5NsdOszwaQZjNXPUq9rI,18368
-warp/tests/test_examples.py,sha256=jXh5Pg-ZtyJR3Oqqoz4ckTrC1ShyD1QGo9rR33RPXOk,11344
+warp/tests/test_examples.py,sha256=2Z4Hlo-nNpWjGDkr6qyKIbjmIGNXMRvy2CEl8zuZeX4,12077
 warp/tests/test_fabricarray.py,sha256=TSKjECqjwltsBkAAnTMhesh-6M47BnXxSphRtwm1WrE,33105
 warp/tests/test_fast_math.py,sha256=vCRlv8XwtQZeZmRmiJlFILKFV64_kNKGUlbsXpJq9c4,1618
 warp/tests/test_fem.py,sha256=VH6p-MhNbkXKXy5h243RftvYAcwplLoQJKr3HWmTSxM,52908
@@ -325,11 +332,12 @@ warp/tests/test_fp16.py,sha256=kIR0SP62vsVLQi1dSezCscn1n3R74l2fxSym6M3Trss,3963
 warp/tests/test_func.py,sha256=c8QVFvetnw0vqi7aMh-vnIs7N99ZPMe3O-WpM5VM9Gg,11071
 warp/tests/test_generics.py,sha256=3lHeYhf2Pvhuw7ewZXOWDd7aNoAWfEXqpYPbBPn_7Jw,20142
 warp/tests/test_grad.py,sha256=fuoA059qhyPHCY5ueI66pegh1XU3onCpNbutyOsgkz0,21086
-warp/tests/test_grad_customs.py,sha256=GHbKMpc_PKPTnGIXO9LHAPC6OcSlX-gHXw66qt6BdXg,7682
+warp/tests/test_grad_customs.py,sha256=EAZu57A24DRKMa5sxD_TZz1PAQ4qXJF04AEtlWlhs_E,11657
 warp/tests/test_hash_grid.py,sha256=B8n_iYaTfY08YuqKHm5_lq5zTbUnYGhOV9UzGzWVPCk,5073
 warp/tests/test_import.py,sha256=2T8g-EU1xeEz70pGtKFvFvWGC7znaB2Yn_nvLIgfjTs,1077
 warp/tests/test_indexedarray.py,sha256=5FEsvhOi92RPoq_14H01zmNWK1VcTTWBuuL_xwnoXtg,41945
 warp/tests/test_intersect.py,sha256=CQMPJWi63gu9MkRHvdaWa81yBn2jtX5tqizlChbCeGU,1933
+warp/tests/test_jax.py,sha256=rAd6AdiVXIa30GUmKrNsyefc-W5FAvZ9PX7vmIfkgoQ,7863
 warp/tests/test_large.py,sha256=2UqyzjDqWbxYXY3Hk7HPKq8VtdKw7QghuUR0MkNbtDI,5918
 warp/tests/test_launch.py,sha256=ZG8MuP0YvRfXfLF3iY_n86cmFG_V0i0q2vUkE15zJHY,9227
 warp/tests/test_lerp.py,sha256=vrezacbCx0u5sfMG9jWWxpwUexkh6oyF9Q7c0jeyy2I,7186
@@ -353,18 +361,18 @@ warp/tests/test_modules_lite.py,sha256=T9pJlkumgu2d-ulLm6GpHJm4Box-3MYY12SC3mDlG
 warp/tests/test_multigpu.py,sha256=6HO4T6UN87Ijrx6RGFiGdpHmPwnmEmRZjx7Nyqkb8F4,5421
 warp/tests/test_noise.py,sha256=jURxSeFnDeTcvdc89PEe14cLb9RvIK9g4IuYwOftLKA,7120
 warp/tests/test_operators.py,sha256=ZPM6dA0C9zdPxCqn6SSSCJ8yy0VkVu6Jj0e7QIBgN7Y,6233
-warp/tests/test_options.py,sha256=IMQJsUhqq_0PdQ-KYssMvfCg3AvN-81fmquO5_W26b8,4983
+warp/tests/test_options.py,sha256=jcuuULfv4j9ch91_NbRHorEbpWwVDdnOGD44943Gc0o,3669
 warp/tests/test_peer.py,sha256=s-zR1kP_zsi4z_ZBeWuK2r84mKegZ4mmCc8AMgWGM30,5033
 warp/tests/test_pinned.py,sha256=8rRaOtaMVcd7hosrarXYXziUSifhNNOtK6Rzs1UvJPI,2377
 warp/tests/test_print.py,sha256=hmrpXdkzfJ3fDIy0mk7hzREh8UcxP-GF_UweXvIq3tY,1690
-warp/tests/test_quat.py,sha256=RDV7ntaVdEmph7aHQzhL5vPRrlt9LLRj9Hqq9dQKKNs,74407
+warp/tests/test_quat.py,sha256=msRi2U4eHXhrDgQbDqnWDEN9nstn6-UL93DHwvcWtLM,75167
 warp/tests/test_rand.py,sha256=QDNVdr0l92DFHUIej4skt8fB7IwzB40IXAafPkAsjUc,10095
 warp/tests/test_reload.py,sha256=IC8RpzNFx13pSDsZ4VpMIyAKK1Z79OMOCIWVtUwTgnk,5889
 warp/tests/test_rounding.py,sha256=_TyimmIimTyKh5Alxw6utO5Dm9ttmN5DrJDqAbzsnrE,5974
 warp/tests/test_runlength_encode.py,sha256=TVHyYgH1PuiYLJEDk8nCHJLyrR_4NYWI1t7ymDGfWMQ,7155
 warp/tests/test_sim_kinematics.py,sha256=4Rd4H_DCSLYcvPH_AQ8lw9WeoWj0b62RJaAwIb2SMjo,2684
 warp/tests/test_smoothstep.py,sha256=mL68QQMtV1BsGby4Mywg9tiSx-2vjobTI7spEu-_nUY,4564
-warp/tests/test_snippet.py,sha256=jRVnf5cmApCqiWzgw87mX_pdPvg26fj4LfYz22UPV4o,8323
+warp/tests/test_snippet.py,sha256=6Gnjc0QOWQkQNtrFMj-GvqGhYgCnrlEsrh8kPNBhCZs,8471
 warp/tests/test_sparse.py,sha256=Rp6hb6wuBi3TJedy_QZ8znJC_DLTJPEUIN_Agsu17Ew,18333
 warp/tests/test_spatial.py,sha256=YJz7mHnycH8TYq8HTRIETS5jaFaBnOQTCepf6sw7UL4,78561
 warp/tests/test_streams.py,sha256=RjCNlXJIA-f4Q0QXLfWMgGtO8UJ8Uy-KXWbpDj5P7q0,16059
@@ -373,14 +381,15 @@ warp/tests/test_tape.py,sha256=NfLEzTkrXVOH1h_vAge-1byEkBZTS-qgTtX-eztUoA8,4717
 warp/tests/test_torch.py,sha256=crs64uYepz-Fd58mKKnKspDgmH1UNjnzFzSjxDNJUNY,23303
 warp/tests/test_transient_module.py,sha256=z9B78a4B58PRc9b7GtTwSySvQe5IqpmmcZe_STWzCq8,2310
 warp/tests/test_types.py,sha256=k-CqtOhq6SKsqKhfZbs1ts3TZYPFE6DoqFO2psWnlXc,22622
-warp/tests/test_utils.py,sha256=OozY6A-lHK2AWMADSpBnMDgjb7IkpGBPwgAVDEr-h3A,19442
+warp/tests/test_utils.py,sha256=LF_ufrsI6A14Ykb4Z6QA_sGtJ9dWb_e63P-MKydab78,19412
 warp/tests/test_vec.py,sha256=MQic0V_1hYoEz81p5uo_e0ajhp-2XYGV7S7uRbrusvs,43762
 warp/tests/test_vec_lite.py,sha256=etjM5nRzFxpYCTKtdpr3Qp_HTv4mZRSDQ8JW6ZgxxkA,2427
 warp/tests/test_vec_scalar_ops.py,sha256=z8EDboIPbfA55DoIOhiW4H_VZhXc21AL7xB-aRfP4eM,87005
+warp/tests/test_verify_fp.py,sha256=FgIRgW_EeYZABHhQarBBIVXXlgjHx5ATmE56hOg0weY,1599
 warp/tests/test_volume.py,sha256=hAiFGMvHpde2cE04e8R2V5_vPdhfOVBlGNcgtkXQ3WY,25709
 warp/tests/test_volume_write.py,sha256=A7f8M_djIX5jXIr_57l3HCvmIziuqX42S8qyyXgTC4I,9074
 warp/tests/unittest_serial.py,sha256=ThciVRjXCVp5_zcdgZxTduuGG7ZYLvsuf8uol0xNZoE,1158
-warp/tests/unittest_suites.py,sha256=Xqi4jUSykWTfaaPESUHz9WdB-FtNLZzGwcsye2D212g,13042
+warp/tests/unittest_suites.py,sha256=Oj5MNxsLVivJLmnSM_W9uxKsEV_DrsDMsXc96lTomSE,13184
 warp/tests/unittest_utils.py,sha256=gHLIngDyT4dKdpw3g6Ns0nT7NZMYGBmhRLR5Us8xo2g,20110
 warp/tests/unused_test_misc.py,sha256=fyfOY3VpF1hSdgu_6kTz2kRSukUBl7LQm-r3-4adJVE,1534
 warp/tests/walkthrough_debug.py,sha256=DsotsWkBvkK2hb-iWQRNbAOkK8KkgrdnmyofC5mPy8E,3136
@@ -397,8 +406,8 @@ warp/thirdparty/__init__.py,sha256=47DEQpj8HBSa-_TImW-5JCeuQeRkm5NMpJWZG3hSuFU,0
 warp/thirdparty/appdirs.py,sha256=6msNAwCSJ0eRTVmRVF98Uvd3trshrw5RRsVUM_hPPLE,24852
 warp/thirdparty/dlpack.py,sha256=Upx_8E-DR7TQTHUN0bNbfrilzFubRjxWvafV10ZXvqQ,4416
 warp/thirdparty/unittest_parallel.py,sha256=q3xAxXZlRPgrkCNrEFeuo9C1_Woe_1hRNukpq-JZ8eQ,21294
-warp_lang-0.15.0.dist-info/LICENSE.md,sha256=u2rc7QfpJDdfpFCupwbH_yOx8P9dUfLmwtI4WicG5DQ,19391
-warp_lang-0.15.0.dist-info/METADATA,sha256=ZYc6l06UofiTzDFdwcxX0fBZ8nwdWCupRjJkchAZINM,23089
-warp_lang-0.15.0.dist-info/WHEEL,sha256=5zIMuEcQBP51tQKLCGHvUIyt6WyXoCqqHwQqkDIOwdw,110
-warp_lang-0.15.0.dist-info/top_level.txt,sha256=8pupHORyKoiN_BYWlTmv5OFBWdhqpppiBYQV5KxgEvg,5
-warp_lang-0.15.0.dist-info/RECORD,,
+warp_lang-1.0.0.dist-info/LICENSE.md,sha256=u2rc7QfpJDdfpFCupwbH_yOx8P9dUfLmwtI4WicG5DQ,19391
+warp_lang-1.0.0.dist-info/METADATA,sha256=ZVdOuaRHEB5PDMWact5q_lYxsySnsNWmpSXMkryGzvc,23088
+warp_lang-1.0.0.dist-info/WHEEL,sha256=5zIMuEcQBP51tQKLCGHvUIyt6WyXoCqqHwQqkDIOwdw,110
+warp_lang-1.0.0.dist-info/top_level.txt,sha256=8pupHORyKoiN_BYWlTmv5OFBWdhqpppiBYQV5KxgEvg,5
+warp_lang-1.0.0.dist-info/RECORD,,

warp/examples/env/env_ant.py

@@ -1,61 +0,0 @@
-# Copyright (c) 2022 NVIDIA CORPORATION.  All rights reserved.
-# NVIDIA CORPORATION and its licensors retain all intellectual property
-# and proprietary rights in and to this software, related documentation
-# and any modifications thereto.  Any use, reproduction, disclosure or
-# distribution of this software and related documentation without an express
-# license agreement from NVIDIA CORPORATION is strictly prohibited.
-
-###########################################################################
-# Ant environment
-#
-# Shows how to set up a simulation of a rigid-body Ant articulation based on
-# the OpenAI gym environment using the Environment class and MCJF
-# importer. Note this example does not include a trained policy.
-#
-###########################################################################
-
-import os
-import math
-
-import warp as wp
-import warp.sim
-
-from .environment import Environment, run_env
-
-
-class AntEnvironment(Environment):
-    sim_name = "env_ant"
-    env_offset = (2.5, 0.0, 2.5)
-    opengl_render_settings = dict(scaling=3.0)
-    usd_render_settings = dict(scaling=100.0)
-
-    sim_substeps_euler = 32
-    sim_substeps_xpbd = 3
-
-    joint_attach_ke: float = 100000.0
-    joint_attach_kd: float = 10.0
-
-    use_graph_capture = True
-
-    def create_articulation(self, builder):
-        wp.sim.parse_mjcf(
-            os.path.join(os.path.dirname(__file__), "../assets/nv_ant.xml"),
-            builder,
-            stiffness=0.0,
-            damping=1.0,
-            armature=0.1,
-            contact_ke=1.0e4,
-            contact_kd=1.0e2,
-            contact_kf=1.0e4,
-            contact_mu=1.0,
-            limit_ke=1.0e4,
-            limit_kd=1.0e1,
-            enable_self_collisions=False,
-            up_axis="y",
-        )
-        builder.joint_q[7:] = [0.0, 1.0, 0.0, -1.0, 0.0, -1.0, 0.0, 1.0]
-        builder.joint_q[:7] = [0.0, 0.7, 0.0, *wp.quat_from_axis_angle(wp.vec3(1.0, 0.0, 0.0), -math.pi * 0.5)]
-
-
-if __name__ == "__main__":
-    run_env(AntEnvironment)

warp/examples/env/env_cartpole.py

@@ -1,63 +0,0 @@
-# Copyright (c) 2022 NVIDIA CORPORATION.  All rights reserved.
-# NVIDIA CORPORATION and its licensors retain all intellectual property
-# and proprietary rights in and to this software, related documentation
-# and any modifications thereto.  Any use, reproduction, disclosure or
-# distribution of this software and related documentation without an express
-# license agreement from NVIDIA CORPORATION is strictly prohibited.
-
-###########################################################################
-# Cartpole environment
-#
-# Shows how to set up a simulation of a rigid-body cartpole articulation
-# from a URDF using the Environment class.
-# Note this example does not include a trained policy.
-#
-###########################################################################
-
-import os
-import math
-import warp as wp
-import warp.sim
-
-from .environment import Environment, run_env
-
-
-class CartpoleEnvironment(Environment):
-    sim_name = "env_cartpole"
-    env_offset = (2.0, 0.0, 2.0)
-    opengl_render_settings = dict(scaling=3.0)
-    usd_render_settings = dict(scaling=100.0)
-
-    sim_substeps_euler = 32
-    sim_substeps_xpbd = 5
-
-    activate_ground_plane = False
-
-    show_joints = True
-
-    def create_articulation(self, builder):
-        wp.sim.parse_urdf(
-            os.path.join(os.path.dirname(__file__), "../assets/cartpole.urdf"),
-            builder,
-            xform=wp.transform((0.0, 0.0, 0.0), wp.quat_from_axis_angle(wp.vec3(1.0, 0.0, 0.0), -math.pi * 0.5)),
-            floating=False,
-            armature=0.1,
-            stiffness=0.0,
-            damping=0.0,
-            shape_ke=1.0e4,
-            shape_kd=1.0e2,
-            shape_kf=1.0e2,
-            shape_mu=1.0,
-            limit_ke=1.0e4,
-            limit_kd=1.0e1,
-            enable_self_collisions=False,
-        )
-
-        # joint initial positions
-        builder.joint_q[-3:] = [0.0, 0.3, 0.0]
-
-        builder.joint_target[:3] = [0.0, 0.0, 0.0]
-
-
-if __name__ == "__main__":
-    run_env(CartpoleEnvironment)

warp/examples/env/env_humanoid.py

@@ -1,65 +0,0 @@
-# Copyright (c) 2022 NVIDIA CORPORATION.  All rights reserved.
-# NVIDIA CORPORATION and its licensors retain all intellectual property
-# and proprietary rights in and to this software, related documentation
-# and any modifications thereto.  Any use, reproduction, disclosure or
-# distribution of this software and related documentation without an express
-# license agreement from NVIDIA CORPORATION is strictly prohibited.
-
-###########################################################################
-# Humanoid environment
-#
-# Shows how to set up a simulation of a rigid-body Humanoid articulation based
-# on the OpenAI gym environment using the Environment class and MCJF
-# importer. Note this example does not include a trained policy.
-#
-###########################################################################
-
-import os
-import math
-import warp as wp
-import warp.sim
-
-from .environment import Environment, run_env
-
-
-class HumanoidEnvironment(Environment):
-    sim_name = "env_humanoid"
-    env_offset = (2.0, 0.0, 2.0)
-    opengl_render_settings = dict(scaling=1.0)
-    usd_render_settings = dict(scaling=100.0)
-
-    sim_substeps_euler = 32
-    sim_substeps_xpbd = 5
-
-    xpbd_settings = dict(
-        iterations=2,
-        joint_linear_relaxation=0.7,
-        joint_angular_relaxation=0.5,
-        rigid_contact_relaxation=1.0,
-        rigid_contact_con_weighting=True,
-    )
-
-    def create_articulation(self, builder):
-        wp.sim.parse_mjcf(
-            os.path.join(os.path.dirname(__file__), "../assets/nv_humanoid.xml"),
-            builder,
-            stiffness=0.0,
-            damping=0.1,
-            armature=0.007,
-            armature_scale=10.0,
-            contact_ke=1.0e4,
-            contact_kd=1.0e2,
-            contact_kf=1.0e2,
-            contact_mu=0.5,
-            contact_restitution=0.0,
-            limit_ke=1.0e2,
-            limit_kd=1.0e1,
-            enable_self_collisions=True,
-            up_axis="y",
-        )
-
-        builder.joint_q[:7] = [0.0, 1.7, 0.0, *wp.quat_from_axis_angle(wp.vec3(1.0, 0.0, 0.0), -math.pi * 0.5)]
-
-
-if __name__ == "__main__":
-    run_env(HumanoidEnvironment)