PyPI - warp-lang - Versions diffs - 1.0.1__py3-none-win_amd64.whl → 1.1.0__py3-none-win_amd64.whl - Mend

warp-lang 1.0.1__py3-none-win_amd64.whl → 1.1.0__py3-none-win_amd64.whl

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Files changed (346) hide show

warp/__init__.py +108 -97
warp/__init__.pyi +1 -1
warp/bin/warp-clang.dll +0 -0
warp/bin/warp.dll +0 -0
warp/build.py +115 -113
warp/build_dll.py +383 -375
warp/builtins.py +3425 -3354
warp/codegen.py +2878 -2792
warp/config.py +40 -36
warp/constants.py +45 -45
warp/context.py +5194 -5102
warp/dlpack.py +442 -442
warp/examples/__init__.py +16 -16
warp/examples/assets/bear.usd +0 -0
warp/examples/assets/bunny.usd +0 -0
warp/examples/assets/cartpole.urdf +110 -110
warp/examples/assets/crazyflie.usd +0 -0
warp/examples/assets/cube.usd +0 -0
warp/examples/assets/nv_ant.xml +92 -92
warp/examples/assets/nv_humanoid.xml +183 -183
warp/examples/assets/quadruped.urdf +267 -267
warp/examples/assets/rocks.nvdb +0 -0
warp/examples/assets/rocks.usd +0 -0
warp/examples/assets/sphere.usd +0 -0
warp/examples/benchmarks/benchmark_api.py +383 -383
warp/examples/benchmarks/benchmark_cloth.py +278 -279
warp/examples/benchmarks/benchmark_cloth_cupy.py +88 -88
warp/examples/benchmarks/benchmark_cloth_jax.py +97 -100
warp/examples/benchmarks/benchmark_cloth_numba.py +146 -142
warp/examples/benchmarks/benchmark_cloth_numpy.py +77 -77
warp/examples/benchmarks/benchmark_cloth_pytorch.py +86 -86
warp/examples/benchmarks/benchmark_cloth_taichi.py +112 -112
warp/examples/benchmarks/benchmark_cloth_warp.py +146 -146
warp/examples/benchmarks/benchmark_launches.py +295 -295
warp/examples/browse.py +29 -28
warp/examples/core/example_dem.py +234 -221
warp/examples/core/example_fluid.py +293 -267
warp/examples/core/example_graph_capture.py +144 -129
warp/examples/core/example_marching_cubes.py +188 -176
warp/examples/core/example_mesh.py +174 -154
warp/examples/core/example_mesh_intersect.py +205 -193
warp/examples/core/example_nvdb.py +176 -169
warp/examples/core/example_raycast.py +105 -89
warp/examples/core/example_raymarch.py +199 -178
warp/examples/core/example_render_opengl.py +185 -141
warp/examples/core/example_sph.py +405 -389
warp/examples/core/example_torch.py +222 -181
warp/examples/core/example_wave.py +263 -249
warp/examples/fem/bsr_utils.py +378 -380
warp/examples/fem/example_apic_fluid.py +407 -391
warp/examples/fem/example_convection_diffusion.py +182 -168
warp/examples/fem/example_convection_diffusion_dg.py +219 -209
warp/examples/fem/example_convection_diffusion_dg0.py +204 -194
warp/examples/fem/example_deformed_geometry.py +177 -159
warp/examples/fem/example_diffusion.py +201 -173
warp/examples/fem/example_diffusion_3d.py +177 -152
warp/examples/fem/example_diffusion_mgpu.py +221 -214
warp/examples/fem/example_mixed_elasticity.py +244 -222
warp/examples/fem/example_navier_stokes.py +259 -243
warp/examples/fem/example_stokes.py +220 -192
warp/examples/fem/example_stokes_transfer.py +265 -249
warp/examples/fem/mesh_utils.py +133 -109
warp/examples/fem/plot_utils.py +292 -287
warp/examples/optim/example_bounce.py +260 -248
warp/examples/optim/example_cloth_throw.py +222 -210
warp/examples/optim/example_diffray.py +566 -535
warp/examples/optim/example_drone.py +864 -835
warp/examples/optim/example_inverse_kinematics.py +176 -169
warp/examples/optim/example_inverse_kinematics_torch.py +185 -170
warp/examples/optim/example_spring_cage.py +239 -234
warp/examples/optim/example_trajectory.py +223 -201
warp/examples/optim/example_walker.py +306 -292
warp/examples/sim/example_cartpole.py +139 -128
warp/examples/sim/example_cloth.py +196 -184
warp/examples/sim/example_granular.py +124 -113
warp/examples/sim/example_granular_collision_sdf.py +197 -185
warp/examples/sim/example_jacobian_ik.py +236 -213
warp/examples/sim/example_particle_chain.py +118 -106
warp/examples/sim/example_quadruped.py +193 -179
warp/examples/sim/example_rigid_chain.py +197 -189
warp/examples/sim/example_rigid_contact.py +189 -176
warp/examples/sim/example_rigid_force.py +127 -126
warp/examples/sim/example_rigid_gyroscopic.py +109 -97
warp/examples/sim/example_rigid_soft_contact.py +134 -124
warp/examples/sim/example_soft_body.py +190 -178
warp/fabric.py +337 -335
warp/fem/__init__.py +60 -27
warp/fem/cache.py +401 -388
warp/fem/dirichlet.py +178 -179
warp/fem/domain.py +262 -263
warp/fem/field/__init__.py +100 -101
warp/fem/field/field.py +148 -149
warp/fem/field/nodal_field.py +298 -299
warp/fem/field/restriction.py +22 -21
warp/fem/field/test.py +180 -181
warp/fem/field/trial.py +183 -183
warp/fem/geometry/__init__.py +15 -19
warp/fem/geometry/closest_point.py +69 -70
warp/fem/geometry/deformed_geometry.py +270 -271
warp/fem/geometry/element.py +744 -744
warp/fem/geometry/geometry.py +184 -186
warp/fem/geometry/grid_2d.py +380 -373
warp/fem/geometry/grid_3d.py +441 -435
warp/fem/geometry/hexmesh.py +953 -953
warp/fem/geometry/partition.py +374 -376
warp/fem/geometry/quadmesh_2d.py +532 -532
warp/fem/geometry/tetmesh.py +840 -840
warp/fem/geometry/trimesh_2d.py +577 -577
warp/fem/integrate.py +1630 -1615
warp/fem/operator.py +190 -191
warp/fem/polynomial.py +214 -213
warp/fem/quadrature/__init__.py +2 -2
warp/fem/quadrature/pic_quadrature.py +243 -245
warp/fem/quadrature/quadrature.py +295 -294
warp/fem/space/__init__.py +294 -292
warp/fem/space/basis_space.py +488 -489
warp/fem/space/collocated_function_space.py +100 -105
warp/fem/space/dof_mapper.py +236 -236
warp/fem/space/function_space.py +148 -145
warp/fem/space/grid_2d_function_space.py +267 -267
warp/fem/space/grid_3d_function_space.py +305 -306
warp/fem/space/hexmesh_function_space.py +350 -352
warp/fem/space/partition.py +350 -350
warp/fem/space/quadmesh_2d_function_space.py +368 -369
warp/fem/space/restriction.py +158 -160
warp/fem/space/shape/__init__.py +13 -15
warp/fem/space/shape/cube_shape_function.py +738 -738
warp/fem/space/shape/shape_function.py +102 -103
warp/fem/space/shape/square_shape_function.py +611 -611
warp/fem/space/shape/tet_shape_function.py +565 -567
warp/fem/space/shape/triangle_shape_function.py +429 -429
warp/fem/space/tetmesh_function_space.py +294 -292
warp/fem/space/topology.py +297 -295
warp/fem/space/trimesh_2d_function_space.py +223 -221
warp/fem/types.py +77 -77
warp/fem/utils.py +495 -495
warp/jax.py +166 -141
warp/jax_experimental.py +341 -339
warp/native/array.h +1072 -1025
warp/native/builtin.h +1560 -1560
warp/native/bvh.cpp +398 -398
warp/native/bvh.cu +525 -525
warp/native/bvh.h +429 -429
warp/native/clang/clang.cpp +495 -464
warp/native/crt.cpp +31 -31
warp/native/crt.h +334 -334
warp/native/cuda_crt.h +1049 -1049
warp/native/cuda_util.cpp +549 -540
warp/native/cuda_util.h +288 -203
warp/native/cutlass_gemm.cpp +34 -34
warp/native/cutlass_gemm.cu +372 -372
warp/native/error.cpp +66 -66
warp/native/error.h +27 -27
warp/native/fabric.h +228 -228
warp/native/hashgrid.cpp +301 -278
warp/native/hashgrid.cu +78 -77
warp/native/hashgrid.h +227 -227
warp/native/initializer_array.h +32 -32
warp/native/intersect.h +1204 -1204
warp/native/intersect_adj.h +365 -365
warp/native/intersect_tri.h +322 -322
warp/native/marching.cpp +2 -2
warp/native/marching.cu +497 -497
warp/native/marching.h +2 -2
warp/native/mat.h +1498 -1498
warp/native/matnn.h +333 -333
warp/native/mesh.cpp +203 -203
warp/native/mesh.cu +293 -293
warp/native/mesh.h +1887 -1887
warp/native/nanovdb/NanoVDB.h +4782 -4782
warp/native/nanovdb/PNanoVDB.h +2553 -2553
warp/native/nanovdb/PNanoVDBWrite.h +294 -294
warp/native/noise.h +850 -850
warp/native/quat.h +1084 -1084
warp/native/rand.h +299 -299
warp/native/range.h +108 -108
warp/native/reduce.cpp +156 -156
warp/native/reduce.cu +348 -348
warp/native/runlength_encode.cpp +61 -61
warp/native/runlength_encode.cu +46 -46
warp/native/scan.cpp +30 -30
warp/native/scan.cu +36 -36
warp/native/scan.h +7 -7
warp/native/solid_angle.h +442 -442
warp/native/sort.cpp +94 -94
warp/native/sort.cu +97 -97
warp/native/sort.h +14 -14
warp/native/sparse.cpp +337 -337
warp/native/sparse.cu +544 -544
warp/native/spatial.h +630 -630
warp/native/svd.h +562 -562
warp/native/temp_buffer.h +30 -30
warp/native/vec.h +1132 -1132
warp/native/volume.cpp +297 -297
warp/native/volume.cu +32 -32
warp/native/volume.h +538 -538
warp/native/volume_builder.cu +425 -425
warp/native/volume_builder.h +19 -19
warp/native/warp.cpp +1057 -1052
warp/native/warp.cu +2943 -2828
warp/native/warp.h +313 -305
warp/optim/__init__.py +9 -9
warp/optim/adam.py +120 -120
warp/optim/linear.py +1104 -939
warp/optim/sgd.py +104 -92
warp/render/__init__.py +10 -10
warp/render/render_opengl.py +3217 -3204
warp/render/render_usd.py +768 -749
warp/render/utils.py +152 -150
warp/sim/__init__.py +52 -59
warp/sim/articulation.py +685 -685
warp/sim/collide.py +1594 -1590
warp/sim/import_mjcf.py +489 -481
warp/sim/import_snu.py +220 -221
warp/sim/import_urdf.py +536 -516
warp/sim/import_usd.py +887 -881
warp/sim/inertia.py +316 -317
warp/sim/integrator.py +234 -233
warp/sim/integrator_euler.py +1956 -1956
warp/sim/integrator_featherstone.py +1910 -1991
warp/sim/integrator_xpbd.py +3294 -3312
warp/sim/model.py +4473 -4314
warp/sim/particles.py +113 -112
warp/sim/render.py +417 -403
warp/sim/utils.py +413 -410
warp/sparse.py +1227 -1227
warp/stubs.py +2109 -2469
warp/tape.py +1162 -225
warp/tests/__init__.py +1 -1
warp/tests/__main__.py +4 -4
warp/tests/assets/torus.usda +105 -105
warp/tests/aux_test_class_kernel.py +26 -26
warp/tests/aux_test_compile_consts_dummy.py +10 -10
warp/tests/aux_test_conditional_unequal_types_kernels.py +21 -21
warp/tests/aux_test_dependent.py +22 -22
warp/tests/aux_test_grad_customs.py +23 -23
warp/tests/aux_test_reference.py +11 -11
warp/tests/aux_test_reference_reference.py +10 -10
warp/tests/aux_test_square.py +17 -17
warp/tests/aux_test_unresolved_func.py +14 -14
warp/tests/aux_test_unresolved_symbol.py +14 -14
warp/tests/disabled_kinematics.py +239 -239
warp/tests/run_coverage_serial.py +31 -31
warp/tests/test_adam.py +157 -157
warp/tests/test_arithmetic.py +1124 -1124
warp/tests/test_array.py +2417 -2326
warp/tests/test_array_reduce.py +150 -150
warp/tests/test_async.py +668 -656
warp/tests/test_atomic.py +141 -141
warp/tests/test_bool.py +204 -149
warp/tests/test_builtins_resolution.py +1292 -1292
warp/tests/test_bvh.py +164 -171
warp/tests/test_closest_point_edge_edge.py +228 -228
warp/tests/test_codegen.py +566 -553
warp/tests/test_compile_consts.py +97 -101
warp/tests/test_conditional.py +246 -246
warp/tests/test_copy.py +232 -215
warp/tests/test_ctypes.py +632 -632
warp/tests/test_dense.py +67 -67
warp/tests/test_devices.py +91 -98
warp/tests/test_dlpack.py +530 -529
warp/tests/test_examples.py +400 -378
warp/tests/test_fabricarray.py +955 -955
warp/tests/test_fast_math.py +62 -54
warp/tests/test_fem.py +1277 -1278
warp/tests/test_fp16.py +130 -130
warp/tests/test_func.py +338 -337
warp/tests/test_generics.py +571 -571
warp/tests/test_grad.py +746 -640
warp/tests/test_grad_customs.py +333 -336
warp/tests/test_hash_grid.py +210 -164
warp/tests/test_import.py +39 -39
warp/tests/test_indexedarray.py +1134 -1134
warp/tests/test_intersect.py +67 -67
warp/tests/test_jax.py +307 -307
warp/tests/test_large.py +167 -164
warp/tests/test_launch.py +354 -354
warp/tests/test_lerp.py +261 -261
warp/tests/test_linear_solvers.py +191 -171
warp/tests/test_lvalue.py +421 -493
warp/tests/test_marching_cubes.py +65 -65
warp/tests/test_mat.py +1801 -1827
warp/tests/test_mat_lite.py +115 -115
warp/tests/test_mat_scalar_ops.py +2907 -2889
warp/tests/test_math.py +126 -193
warp/tests/test_matmul.py +500 -499
warp/tests/test_matmul_lite.py +410 -410
warp/tests/test_mempool.py +188 -190
warp/tests/test_mesh.py +284 -324
warp/tests/test_mesh_query_aabb.py +228 -241
warp/tests/test_mesh_query_point.py +692 -702
warp/tests/test_mesh_query_ray.py +292 -303
warp/tests/test_mlp.py +276 -276
warp/tests/test_model.py +110 -110
warp/tests/test_modules_lite.py +39 -39
warp/tests/test_multigpu.py +163 -163
warp/tests/test_noise.py +248 -248
warp/tests/test_operators.py +250 -250
warp/tests/test_options.py +123 -125
warp/tests/test_peer.py +133 -137
warp/tests/test_pinned.py +78 -78
warp/tests/test_print.py +54 -54
warp/tests/test_quat.py +2086 -2086
warp/tests/test_rand.py +288 -288
warp/tests/test_reload.py +217 -217
warp/tests/test_rounding.py +179 -179
warp/tests/test_runlength_encode.py +190 -190
warp/tests/test_sim_grad.py +243 -0
warp/tests/test_sim_kinematics.py +91 -97
warp/tests/test_smoothstep.py +168 -168
warp/tests/test_snippet.py +305 -266
warp/tests/test_sparse.py +468 -460
warp/tests/test_spatial.py +2148 -2148
warp/tests/test_streams.py +486 -473
warp/tests/test_struct.py +710 -675
warp/tests/test_tape.py +173 -148
warp/tests/test_torch.py +743 -743
warp/tests/test_transient_module.py +87 -87
warp/tests/test_types.py +556 -659
warp/tests/test_utils.py +490 -499
warp/tests/test_vec.py +1264 -1268
warp/tests/test_vec_lite.py +73 -73
warp/tests/test_vec_scalar_ops.py +2099 -2099
warp/tests/test_verify_fp.py +94 -94
warp/tests/test_volume.py +737 -736
warp/tests/test_volume_write.py +255 -265
warp/tests/unittest_serial.py +37 -37
warp/tests/unittest_suites.py +363 -359
warp/tests/unittest_utils.py +603 -578
warp/tests/unused_test_misc.py +71 -71
warp/tests/walkthrough_debug.py +85 -85
warp/thirdparty/appdirs.py +598 -598
warp/thirdparty/dlpack.py +143 -143
warp/thirdparty/unittest_parallel.py +566 -561
warp/torch.py +321 -295
warp/types.py +4504 -4450
warp/utils.py +1008 -821
{warp_lang-1.0.1.dist-info → warp_lang-1.1.0.dist-info}/LICENSE.md +126 -126
{warp_lang-1.0.1.dist-info → warp_lang-1.1.0.dist-info}/METADATA +338 -400
warp_lang-1.1.0.dist-info/RECORD +352 -0
warp/examples/assets/cube.usda +0 -42
warp/examples/assets/sphere.usda +0 -56
warp/examples/assets/torus.usda +0 -105
warp_lang-1.0.1.dist-info/RECORD +0 -352
{warp_lang-1.0.1.dist-info → warp_lang-1.1.0.dist-info}/WHEEL +0 -0
{warp_lang-1.0.1.dist-info → warp_lang-1.1.0.dist-info}/top_level.txt +0 -0

warp/examples/__init__.py CHANGED Viewed

@@ -1,16 +1,16 @@
-# 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 os
-def get_source_directory():
-    return os.path.realpath(os.path.dirname(__file__))
-def get_output_directory():
-    return os.getcwd()
+# 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 os
+def get_source_directory():
+    return os.path.realpath(os.path.dirname(__file__))
+def get_asset_directory():
+    return os.path.join(get_source_directory(), "assets")

warp/examples/assets/bear.usd CHANGED Viewed

Binary file

warp/examples/assets/bunny.usd CHANGED Viewed

Binary file

warp/examples/assets/cartpole.urdf CHANGED Viewed

@@ -1,110 +1,110 @@
-<?xml version="1.0"?>
-<robot name="cartpole">
-  <link name="slider">
-    <visual>
-      <geometry>
-        <box size="0.03 8 0.03"/>
-      </geometry>
-      <material name="slider_mat">
-        <color rgba="0.9 0.6 0.2 1"/>
-      </material>
-    </visual>
-    <collision>
-      <geometry>
-        <box size="0.03 8 0.03"/>
-      </geometry>
-    </collision>
-  </link>
-  <joint name="slider_to_cart" type="prismatic">
-    <axis xyz="0 1 0"/>
-    <origin xyz="0 0 0"/>
-    <parent link="slider"/>
-    <child link="cart"/>
-    <limit effort="1000.0" lower="-4" upper="4" velocity="100"/>
-  </joint>
-  <link name="cart">
-    <visual>
-      <geometry>
-        <box size="0.2 0.25 0.2"/>
-      </geometry>
-      <material name="cart_mat">
-        <color rgba="0.3 0.5 0.7 1"/>
-      </material>
-    </visual>
-    <collision>
-      <geometry>
-          <box size="0.2 0.25 0.2"/>
-      </geometry>
-    </collision>
-    <inertial>
-      <mass value="1"/>
-      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1"/>
-    </inertial>
-  </link>
-  <joint name="cart_to_pole1" type="continuous">
-    <axis xyz="1 0 0"/>
-    <origin xyz="0.12 0 0"/>
-    <parent link="cart"/>
-    <child link="pole1"/>
-    <limit effort="1000.0" velocity="8"/>
-  </joint>
-  <link name="pole1">
-    <visual>
-      <geometry>
-        <box size="0.04 0.06 1.0"/>
-      </geometry>
-      <origin xyz="0 0 0.47"/>
-      <material name="pole_mat">
-        <color rgba="0.1 0.1 0.3 1"/>
-      </material>
-    </visual>
-    <collision>
-      <geometry>
-        <box size="0.04 0.06 1.0"/>
-      </geometry>
-      <origin xyz="0 0 0.47"/>
-    </collision>
-    <inertial>
-      <origin xyz="0 0 0.47"/>
-      <mass value="0.25"/>
-      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1"/>
-    </inertial>
-  </link>
-  <link name="pole2">
-    <visual>
-      <geometry>
-        <box size="0.04 0.06 1.0"/>
-      </geometry>
-      <origin xyz="0 0 0.47"/>
-      <material name="pole_mat">
-        <color rgba="0.1 0.1 0.3 1"/>
-      </material>
-    </visual>
-    <collision>
-      <geometry>
-        <box size="0.04 0.06 1.0"/>
-      </geometry>
-      <origin xyz="0 0 0.47"/>
-    </collision>
-    <inertial>
-      <origin xyz="0 0 0.47"/>
-      <mass value="0.25"/>
-      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1"/>
-    </inertial>
-  </link>
-  <joint name="pole1_to_pole2" type="continuous">
-    <axis xyz="1 0 0"/>
-    <origin xyz="0.0 0 1.0"/>
-    <parent link="pole1"/>
-    <child link="pole2"/>
-    <limit effort="1000.0" velocity="8"/>
-  </joint>
-</robot>
+<?xml version="1.0"?>
+<robot name="cartpole">
+  <link name="slider">
+    <visual>
+      <geometry>
+        <box size="0.03 8 0.03"/>
+      </geometry>
+      <material name="slider_mat">
+        <color rgba="0.9 0.6 0.2 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.03 8 0.03"/>
+      </geometry>
+    </collision>
+  </link>
+  <joint name="slider_to_cart" type="prismatic">
+    <axis xyz="0 1 0"/>
+    <origin xyz="0 0 0"/>
+    <parent link="slider"/>
+    <child link="cart"/>
+    <limit effort="1000.0" lower="-4" upper="4" velocity="100"/>
+  </joint>
+  <link name="cart">
+    <visual>
+      <geometry>
+        <box size="0.2 0.25 0.2"/>
+      </geometry>
+      <material name="cart_mat">
+        <color rgba="0.3 0.5 0.7 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+          <box size="0.2 0.25 0.2"/>
+      </geometry>
+    </collision>
+    <inertial>
+      <mass value="1"/>
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1"/>
+    </inertial>
+  </link>
+  <joint name="cart_to_pole1" type="continuous">
+    <axis xyz="1 0 0"/>
+    <origin xyz="0.12 0 0"/>
+    <parent link="cart"/>
+    <child link="pole1"/>
+    <limit effort="1000.0" velocity="8"/>
+  </joint>
+  <link name="pole1">
+    <visual>
+      <geometry>
+        <box size="0.04 0.06 1.0"/>
+      </geometry>
+      <origin xyz="0 0 0.47"/>
+      <material name="pole_mat">
+        <color rgba="0.1 0.1 0.3 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.04 0.06 1.0"/>
+      </geometry>
+      <origin xyz="0 0 0.47"/>
+    </collision>
+    <inertial>
+      <origin xyz="0 0 0.47"/>
+      <mass value="0.25"/>
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1"/>
+    </inertial>
+  </link>
+  <link name="pole2">
+    <visual>
+      <geometry>
+        <box size="0.04 0.06 1.0"/>
+      </geometry>
+      <origin xyz="0 0 0.47"/>
+      <material name="pole_mat">
+        <color rgba="0.1 0.1 0.3 1"/>
+      </material>
+    </visual>
+    <collision>
+      <geometry>
+        <box size="0.04 0.06 1.0"/>
+      </geometry>
+      <origin xyz="0 0 0.47"/>
+    </collision>
+    <inertial>
+      <origin xyz="0 0 0.47"/>
+      <mass value="0.25"/>
+      <inertia ixx="0.1" ixy="0.0" ixz="0.0" iyy="0.1" iyz="0.0" izz="0.1"/>
+    </inertial>
+  </link>
+  <joint name="pole1_to_pole2" type="continuous">
+    <axis xyz="1 0 0"/>
+    <origin xyz="0.0 0 1.0"/>
+    <parent link="pole1"/>
+    <child link="pole2"/>
+    <limit effort="1000.0" velocity="8"/>
+  </joint>
+</robot>

warp/examples/assets/crazyflie.usd CHANGED Viewed

Binary file

warp/examples/assets/cube.usd ADDED Viewed

Binary file

warp/examples/assets/nv_ant.xml CHANGED Viewed

@@ -1,92 +1,92 @@
-<mujoco model="ant">
-  <custom>
-    <numeric data="0.0 0.0 0.55 1.0 0.0 0.0 0.0 0.0 1.0 0.0 -1.0 0.0 -1.0 0.0 1.0" name="init_qpos"/>
-  </custom>
-  <default>
-    <joint armature="0.01" damping="0.1" limited="true"/>
-    <geom condim="3" density="5.0" friction="1.5 0.1 0.1" margin="0.01" rgba="0.97 0.38 0.06 1"/>
-  </default>
-  <compiler inertiafromgeom="true" angle="degree"/>
-  <option timestep="0.016" iterations="50" tolerance="1e-10" solver="Newton" jacobian="dense" cone="pyramidal"/>
-  <size nconmax="50" njmax="200" nstack="10000"/>
-  <visual>
-      <map force="0.1" zfar="30"/>
-      <rgba haze="0.15 0.25 0.35 1"/>
-      <quality shadowsize="2048"/>
-      <global offwidth="800" offheight="800"/>
-  </visual>
-  <asset>
-      <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
-      <texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
-      <texture name="texgeom" type="cube" builtin="flat" mark="cross" width="127" height="1278"
-          rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>
-      <material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
-      <material name="matgeom" texture="texgeom" texuniform="true" rgba="0.8 0.6 .4 1"/>
-  </asset>
-  <worldbody>
-    <geom name="floor" pos="0 0 0" size="0 0 .25" type="plane" material="matplane" condim="3"/>
-    <light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1" castshadow="false"/>
-    <light mode="targetbodycom" target="torso" directional="false" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="0 0 4.0" dir="0 0 -1"/>
-    <body name="torso" pos="0 0 0.75">
-      <geom name="torso_geom" pos="0 0 0" size="0.25" type="sphere"/>
-      <geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="aux_1_geom" size="0.08" type="capsule" rgba=".999 .2 .1 1"/>
-      <geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="aux_2_geom" size="0.08" type="capsule"/>
-      <geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="aux_3_geom" size="0.08" type="capsule"/>
-      <geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="aux_4_geom" size="0.08" type="capsule" rgba=".999 .2 .02 1"/>
-      <joint armature="0" damping="0" limited="false" margin="0.01" name="root" pos="0 0 0" type="free"/>
-      <body name="front_left_leg" pos="0.2 0.2 0">
-        <joint axis="0 0 1" name="hip_1" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
-        <geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="left_leg_geom" size="0.08" type="capsule" rgba=".999 .2 .1 1"/>
-        <body pos="0.2 0.2 0" name="front_left_foot">
-          <joint axis="-1 1 0" name="ankle_1" pos="0.0 0.0 0.0" range="30 100" type="hinge"/>
-          <geom fromto="0.0 0.0 0.0 0.4 0.4 0.0" name="left_ankle_geom" size="0.08" type="capsule" rgba=".999 .2 .1 1"/>
-        </body>
-      </body>
-      <body name="front_right_leg" pos="-0.2 0.2 0">
-        <joint axis="0 0 1" name="hip_2" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
-        <geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="right_leg_geom" size="0.08" type="capsule"/>
-        <body pos="-0.2 0.2 0" name="front_right_foot">
-          <joint axis="1 1 0" name="ankle_2" pos="0.0 0.0 0.0" range="-100 -30" type="hinge"/>
-          <geom fromto="0.0 0.0 0.0 -0.4 0.4 0.0" name="right_ankle_geom" size="0.08" type="capsule"/>
-        </body>
-      </body>
-      <body name="left_back_leg" pos="-0.2 -0.2 0">
-        <joint axis="0 0 1" name="hip_3" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
-        <geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="back_leg_geom" size="0.08" type="capsule"/>
-        <body pos="-0.2 -0.2 0" name="left_back_foot">
-          <joint axis="-1 1 0" name="ankle_3" pos="0.0 0.0 0.0" range="-100 -30" type="hinge"/>
-          <geom fromto="0.0 0.0 0.0 -0.4 -0.4 0.0" name="third_ankle_geom" size="0.08" type="capsule"/>
-        </body>
-      </body>
-      <body name="right_back_leg" pos="0.2 -0.2 0">
-        <joint axis="0 0 1" name="hip_4" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
-        <geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="rightback_leg_geom" size="0.08" type="capsule" rgba=".999 .2 .1 1"/>
-        <body pos="0.2 -0.2 0" name="right_back_foot">
-          <joint axis="1 1 0" name="ankle_4" pos="0.0 0.0 0.0" range="30 100" type="hinge"/>
-          <geom fromto="0.0 0.0 0.0 0.4 -0.4 0.0" name="fourth_ankle_geom" size="0.08" type="capsule" rgba=".999 .2 .1 1"/>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-  <actuator>
-    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_4" gear="15"/>
-    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_4" gear="15"/>
-    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_1" gear="15"/>
-    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_1" gear="15"/>
-    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_2" gear="15"/>
-    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_2" gear="15"/>
-    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_3" gear="15"/>
-    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_3" gear="15"/>
-  </actuator>
-</mujoco>
+<mujoco model="ant">
+  <custom>
+    <numeric data="0.0 0.0 0.55 1.0 0.0 0.0 0.0 0.0 1.0 0.0 -1.0 0.0 -1.0 0.0 1.0" name="init_qpos"/>
+  </custom>
+  <default>
+    <joint armature="0.01" damping="0.1" limited="true"/>
+    <geom condim="3" density="5.0" friction="1.5 0.1 0.1" margin="0.01" rgba="0.97 0.38 0.06 1"/>
+  </default>
+  <compiler inertiafromgeom="true" angle="degree"/>
+  <option timestep="0.016" iterations="50" tolerance="1e-10" solver="Newton" jacobian="dense" cone="pyramidal"/>
+  <size nconmax="50" njmax="200" nstack="10000"/>
+  <visual>
+      <map force="0.1" zfar="30"/>
+      <rgba haze="0.15 0.25 0.35 1"/>
+      <quality shadowsize="2048"/>
+      <global offwidth="800" offheight="800"/>
+  </visual>
+  <asset>
+      <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
+      <texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
+      <texture name="texgeom" type="cube" builtin="flat" mark="cross" width="127" height="1278"
+          rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>
+      <material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
+      <material name="matgeom" texture="texgeom" texuniform="true" rgba="0.8 0.6 .4 1"/>
+  </asset>
+  <worldbody>
+    <geom name="floor" pos="0 0 0" size="0 0 .25" type="plane" material="matplane" condim="3"/>
+    <light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1" castshadow="false"/>
+    <light mode="targetbodycom" target="torso" directional="false" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="0 0 4.0" dir="0 0 -1"/>
+    <body name="torso" pos="0 0 0.75">
+      <geom name="torso_geom" pos="0 0 0" size="0.25" type="sphere"/>
+      <geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="aux_1_geom" size="0.08" type="capsule" rgba=".999 .2 .1 1"/>
+      <geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="aux_2_geom" size="0.08" type="capsule"/>
+      <geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="aux_3_geom" size="0.08" type="capsule"/>
+      <geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="aux_4_geom" size="0.08" type="capsule" rgba=".999 .2 .02 1"/>
+      <joint armature="0" damping="0" limited="false" margin="0.01" name="root" pos="0 0 0" type="free"/>
+      <body name="front_left_leg" pos="0.2 0.2 0">
+        <joint axis="0 0 1" name="hip_1" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
+        <geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="left_leg_geom" size="0.08" type="capsule" rgba=".999 .2 .1 1"/>
+        <body pos="0.2 0.2 0" name="front_left_foot">
+          <joint axis="-1 1 0" name="ankle_1" pos="0.0 0.0 0.0" range="30 100" type="hinge"/>
+          <geom fromto="0.0 0.0 0.0 0.4 0.4 0.0" name="left_ankle_geom" size="0.08" type="capsule" rgba=".999 .2 .1 1"/>
+        </body>
+      </body>
+      <body name="front_right_leg" pos="-0.2 0.2 0">
+        <joint axis="0 0 1" name="hip_2" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
+        <geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="right_leg_geom" size="0.08" type="capsule"/>
+        <body pos="-0.2 0.2 0" name="front_right_foot">
+          <joint axis="1 1 0" name="ankle_2" pos="0.0 0.0 0.0" range="-100 -30" type="hinge"/>
+          <geom fromto="0.0 0.0 0.0 -0.4 0.4 0.0" name="right_ankle_geom" size="0.08" type="capsule"/>
+        </body>
+      </body>
+      <body name="left_back_leg" pos="-0.2 -0.2 0">
+        <joint axis="0 0 1" name="hip_3" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
+        <geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="back_leg_geom" size="0.08" type="capsule"/>
+        <body pos="-0.2 -0.2 0" name="left_back_foot">
+          <joint axis="-1 1 0" name="ankle_3" pos="0.0 0.0 0.0" range="-100 -30" type="hinge"/>
+          <geom fromto="0.0 0.0 0.0 -0.4 -0.4 0.0" name="third_ankle_geom" size="0.08" type="capsule"/>
+        </body>
+      </body>
+      <body name="right_back_leg" pos="0.2 -0.2 0">
+        <joint axis="0 0 1" name="hip_4" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
+        <geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="rightback_leg_geom" size="0.08" type="capsule" rgba=".999 .2 .1 1"/>
+        <body pos="0.2 -0.2 0" name="right_back_foot">
+          <joint axis="1 1 0" name="ankle_4" pos="0.0 0.0 0.0" range="30 100" type="hinge"/>
+          <geom fromto="0.0 0.0 0.0 0.4 -0.4 0.0" name="fourth_ankle_geom" size="0.08" type="capsule" rgba=".999 .2 .1 1"/>
+        </body>
+      </body>
+    </body>
+  </worldbody>
+  <actuator>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_4" gear="15"/>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_4" gear="15"/>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_1" gear="15"/>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_1" gear="15"/>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_2" gear="15"/>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_2" gear="15"/>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_3" gear="15"/>
+    <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_3" gear="15"/>
+  </actuator>
+</mujoco>