warp-lang 1.0.0b2__py3-none-manylinux2014_x86_64.whl → 1.0.0b6__py3-none-manylinux2014_x86_64.whl

docs/conf.py

@@ -12,16 +12,19 @@
 #
 import os
 import sys
+from datetime import date
 
-sys.path.insert(0, os.path.abspath(".."))
+sys.path.insert(0, os.path.join(os.path.dirname(__file__), ".."))
+import warp as wp  # noqa: E402
 
 # -- Project information -----------------------------------------------------
 
 project = "Warp"
-copyright = "2023, NVIDIA"
+copyright = f"2022-{date.today().year}, NVIDIA"
 author = "NVIDIA"
 
-version = "1.0.0-beta.2"
+version = wp.__version__
+release = version
 
 # -- General configuration ---------------------------------------------------
 
@@ -34,9 +37,10 @@ extensions = [
     "sphinx.ext.intersphinx",
     "sphinx.ext.autosummary",
     "sphinx.ext.todo",
+    "sphinx.ext.extlinks",  # Markup to shorten external links
     # Third-party extensions:
+    "sphinx_copybutton"
     # 'sphinx_tabs.tabs',
-    # 'sphinx_copybutton'
     #    'autodocsumm'
 ]
 
@@ -55,7 +59,11 @@ todo_emit_warnings = True
 
 intersphinx_mapping = {
     "python": ("https://docs.python.org/3", None),
-    "numpy": ("http://docs.scipy.org/doc/numpy/", None),
+    "numpy": ("https://numpy.org/doc/stable", None),
+}
+
+extlinks = {
+    "github": ("https://github.com/NVIDIA/warp/blob/main/%s", "%s"),
 }
 
 # List of patterns, relative to source directory, that match files and
@@ -63,6 +71,10 @@ intersphinx_mapping = {
 # This pattern also affects html_static_path and html_extra_path.
 exclude_patterns = ["_build", "Thumbs.db", ".DS_Store"]
 
+# sphinx_copybutton settings
+copybutton_prompt_text = r">>> |\.\.\. |\$ "
+copybutton_prompt_is_regexp = True
+
 # -- Options for HTML output -------------------------------------------------
 
 # The theme to use for HTML and HTML Help pages.  See the documentation for

examples/env/env_ant.py

@@ -54,7 +54,7 @@ class AntEnvironment(Environment):
             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((1.0, 0.0, 0.0), -math.pi * 0.5)]
+        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__":

examples/env/env_cartpole.py

@@ -39,7 +39,7 @@ class CartpoleEnvironment(Environment):
         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((1.0, 0.0, 0.0), -math.pi * 0.5)),
+            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,

examples/env/env_humanoid.py

@@ -58,7 +58,7 @@ class HumanoidEnvironment(Environment):
             up_axis="y",
         )
 
-        builder.joint_q[:7] = [0.0, 1.7, 0.0, *wp.quat_from_axis_angle((1.0, 0.0, 0.0), -math.pi * 0.5)]
+        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__":

examples/env/env_usd.py

@@ -44,8 +44,11 @@ class UsdEnvironment(Environment):
     plot_body_coords = False
 
     def create_articulation(self, builder):
-        settings = wp.sim.parse_usd(
+        usd_filename = wp.sim.resolve_usd_from_url(
             "http://omniverse-content-staging.s3-us-west-2.amazonaws.com/Assets/Isaac/2022.2.1/Isaac/Robots/Franka/franka_instanceable.usd",
+            target_folder_name=".panda_usd_files")
+        settings = wp.sim.parse_usd(
+            usd_filename,
             builder,
             default_thickness=0.01,
             # ignore collision meshes from Franka robot

examples/env/environment.py

@@ -5,16 +5,17 @@
 # distribution of this software and related documentation without an express
 # license agreement from NVIDIA CORPORATION is strictly prohibited.
 
-import warp as wp
-import warp.sim
-import warp.sim.render
-
 import argparse
 import os
-import numpy as np
 from enum import Enum
 from typing import Tuple
 
+import numpy as np
+
+import warp as wp
+import warp.sim
+import warp.sim.render
+
 wp.init()
 
 
@@ -225,7 +226,8 @@ class Environment:
                 show_rigid_contact_points=self.show_rigid_contact_points,
                 contact_points_radius=self.contact_points_radius,
                 show_joints=self.show_joints,
-                **self.opengl_render_settings)
+                **self.opengl_render_settings,
+            )
             if self.use_tiled_rendering and self.num_envs > 1:
                 floor_id = self.model.shape_count - 1
                 # all shapes except the floor
@@ -315,10 +317,7 @@ class Environment:
         if self.use_graph_capture:
             # create update graph
             wp.capture_begin()
-
-            # simulate
             self.update()
-
             graph = wp.capture_end()
 
         if self.plot_body_coords:

examples/example_dem.py

@@ -14,13 +14,13 @@
 #
 ###########################################################################
 
+import os
+
 import numpy as np
 
 import warp as wp
 import warp.render
 
-import os
-
 wp.init()
 
 
@@ -118,6 +118,8 @@ def integrate(
 
 class Example:
     def __init__(self, stage):
+        self.device = wp.get_device()
+
         self.frame_dt = 1.0 / 60
         self.frame_count = 400
 
@@ -150,32 +152,32 @@ class Example:
         self.use_graph = wp.get_device().is_cuda
 
         if self.use_graph:
-            wp.capture_begin()
-
-            for s in range(self.sim_substeps):
-                with wp.ScopedTimer("forces", active=False):
-                    wp.launch(
-                        kernel=apply_forces,
-                        dim=len(self.x),
-                        inputs=[
-                            self.grid.id,
-                            self.x,
-                            self.v,
-                            self.f,
-                            self.point_radius,
-                            self.k_contact,
-                            self.k_damp,
-                            self.k_friction,
-                            self.k_mu,
-                        ],
-                    )
-                    wp.launch(
-                        kernel=integrate,
-                        dim=len(self.x),
-                        inputs=[self.x, self.v, self.f, (0.0, -9.8, 0.0), self.sim_dt, self.inv_mass],
-                    )
-
-            self.graph = wp.capture_end()
+            wp.capture_begin(self.device)
+            try:
+                for _ in range(self.sim_substeps):
+                    with wp.ScopedTimer("forces", active=False):
+                        wp.launch(
+                            kernel=apply_forces,
+                            dim=len(self.x),
+                            inputs=[
+                                self.grid.id,
+                                self.x,
+                                self.v,
+                                self.f,
+                                self.point_radius,
+                                self.k_contact,
+                                self.k_damp,
+                                self.k_friction,
+                                self.k_mu,
+                            ],
+                        )
+                        wp.launch(
+                            kernel=integrate,
+                            dim=len(self.x),
+                            inputs=[self.x, self.v, self.f, (0.0, -9.8, 0.0), self.sim_dt, self.inv_mass],
+                        )
+            finally:
+                self.graph = wp.capture_end(self.device)
 
     def update(self):
         with wp.ScopedTimer("simulate", active=True):
@@ -186,12 +188,14 @@ class Example:
                 with wp.ScopedTimer("solve", active=False):
                     wp.capture_launch(self.graph)
 
+                self.sim_time += self.frame_dt
+
             else:
                 with wp.ScopedTimer("grid build", active=False):
                     self.grid.build(self.x, self.point_radius)
 
                 with wp.ScopedTimer("solve", active=False):
-                    for s in range(self.sim_substeps):
+                    for _ in range(self.sim_substeps):
                         wp.launch(
                             kernel=apply_forces,
                             dim=len(self.x),
@@ -212,8 +216,7 @@ class Example:
                             dim=len(self.x),
                             inputs=[self.x, self.v, self.f, (0.0, -9.8, 0.0), self.sim_dt, self.inv_mass],
                         )
-
-                wp.synchronize()
+                        self.sim_time += self.sim_dt
 
     def render(self, is_live=False):
         with wp.ScopedTimer("render", active=True):
@@ -223,8 +226,6 @@ class Example:
             self.renderer.render_points(points=self.x.numpy(), radius=self.point_radius, name="points")
             self.renderer.end_frame()
 
-        self.sim_time += self.frame_dt
-
     # creates a grid of particles
     def particle_grid(self, dim_x, dim_y, dim_z, lower, radius, jitter):
         points = np.meshgrid(np.linspace(0, dim_x, dim_x), np.linspace(0, dim_y, dim_y), np.linspace(0, dim_z, dim_z))