warp-lang 1.10.0__py3-none-macosx_11_0_arm64.whl

warp/tests/test_spatial.py

@@ -0,0 +1,2859 @@
+# SPDX-FileCopyrightText: Copyright (c) 2023 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+import unittest
+
+import numpy as np
+
+import warp as wp
+from warp.tests.unittest_utils import *
+
+np_float_types = [np.float32, np.float64, np.float16]
+
+kernel_cache = {}
+
+
+def getkernel(func, suffix=""):
+    key = func.__name__ + "_" + suffix
+    if key not in kernel_cache:
+        kernel_cache[key] = wp.Kernel(func=func, key=key)
+    return kernel_cache[key]
+
+
+def get_select_kernel(dtype):
+    def output_select_kernel_fn(
+        input: wp.array(dtype=dtype),
+        index: int,
+        out: wp.array(dtype=dtype),
+    ):
+        out[0] = input[index]
+
+    return getkernel(output_select_kernel_fn, suffix=dtype.__name__)
+
+
+############################################################
+
+
+def test_spatial_vector_constructors(test, device, dtype, register_kernels=False):
+    rng = np.random.default_rng(123)
+
+    tol = {
+        np.float16: 5.0e-3,
+        np.float32: 1.0e-6,
+        np.float64: 1.0e-8,
+    }.get(dtype, 0)
+
+    wptype = wp._src.types.np_dtype_to_warp_type[np.dtype(dtype)]
+    vec3 = wp._src.types.vector(length=3, dtype=wptype)
+    spatial_vector = wp._src.types.vector(length=6, dtype=wptype)
+
+    def check_spatial_vector_component_constructor(
+        input: wp.array(dtype=wptype),
+        out: wp.array(dtype=wptype),
+    ):
+        result = spatial_vector(input[0], input[1], input[2], input[3], input[4], input[5])
+
+        # multiply the output by 2 so we've got something to backpropagate:
+        out[0] = wptype(2) * result[0]
+        out[1] = wptype(2) * result[1]
+        out[2] = wptype(2) * result[2]
+        out[3] = wptype(2) * result[3]
+        out[4] = wptype(2) * result[4]
+        out[5] = wptype(2) * result[5]
+
+    def check_spatial_vector_vector_constructor(
+        input: wp.array(dtype=wptype),
+        out: wp.array(dtype=wptype),
+    ):
+        result = spatial_vector(vec3(input[0], input[1], input[2]), vec3(input[3], input[4], input[5]))
+
+        # multiply the output by 2 so we've got something to backpropagate:
+        out[0] = wptype(2) * result[0]
+        out[1] = wptype(2) * result[1]
+        out[2] = wptype(2) * result[2]
+        out[3] = wptype(2) * result[3]
+        out[4] = wptype(2) * result[4]
+        out[5] = wptype(2) * result[5]
+
+    kernel = getkernel(check_spatial_vector_component_constructor, suffix=dtype.__name__)
+    output_select_kernel = get_select_kernel(wptype)
+    vec_kernel = getkernel(check_spatial_vector_vector_constructor, suffix=dtype.__name__)
+
+    if register_kernels:
+        return
+
+    input = wp.array(rng.standard_normal(size=6).astype(dtype), requires_grad=True, device=device)
+    output = wp.zeros_like(input)
+    wp.launch(kernel, dim=1, inputs=[input], outputs=[output], device=device)
+
+    assert_np_equal(output.numpy(), 2 * input.numpy(), tol=tol)
+
+    for i in range(len(input)):
+        cmp = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+        tape = wp.Tape()
+        with tape:
+            wp.launch(kernel, dim=1, inputs=[input], outputs=[output], device=device)
+            wp.launch(output_select_kernel, dim=1, inputs=[output, i], outputs=[cmp], device=device)
+        tape.backward(loss=cmp)
+        expectedgrads = np.zeros(len(input))
+        expectedgrads[i] = 2
+        assert_np_equal(tape.gradients[input].numpy(), expectedgrads)
+        tape.zero()
+
+    input = wp.array(rng.standard_normal(size=6).astype(dtype), requires_grad=True, device=device)
+    output = wp.zeros_like(input)
+    wp.launch(vec_kernel, dim=1, inputs=[input], outputs=[output], device=device)
+
+    assert_np_equal(output.numpy(), 2 * input.numpy(), tol=tol)
+
+    for i in range(len(input)):
+        cmp = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+        tape = wp.Tape()
+        with tape:
+            wp.launch(kernel, dim=1, inputs=[input], outputs=[output], device=device)
+            wp.launch(output_select_kernel, dim=1, inputs=[output, i], outputs=[cmp], device=device)
+        tape.backward(loss=cmp)
+        expectedgrads = np.zeros(len(input))
+        expectedgrads[i] = 2
+        assert_np_equal(tape.gradients[input].numpy(), expectedgrads)
+        tape.zero()
+
+
+def test_spatial_vector_indexing(test, device, dtype, register_kernels=False):
+    rng = np.random.default_rng(123)
+
+    tol = {
+        np.float16: 5.0e-3,
+        np.float32: 1.0e-6,
+        np.float64: 1.0e-8,
+    }.get(dtype, 0)
+
+    wptype = wp._src.types.np_dtype_to_warp_type[np.dtype(dtype)]
+    spatial_vector = wp._src.types.vector(length=6, dtype=wptype)
+
+    def check_spatial_vector_indexing(
+        input: wp.array(dtype=spatial_vector),
+        out: wp.array(dtype=wptype),
+    ):
+        elem = input[0]
+
+        # multiply outputs by 2 so we've got something to backpropagate:
+        idx = 0
+        for i in range(6):
+            out[idx] = wptype(2) * elem[i]
+            idx = idx + 1
+
+    kernel = getkernel(check_spatial_vector_indexing, suffix=dtype.__name__)
+    output_select_kernel = get_select_kernel(wptype)
+
+    if register_kernels:
+        return
+
+    input = wp.array(
+        rng.standard_normal(size=(1, 6)).astype(dtype), dtype=spatial_vector, requires_grad=True, device=device
+    )
+    outcmps = wp.zeros(6, dtype=wptype, requires_grad=True, device=device)
+
+    wp.launch(kernel, dim=1, inputs=[input], outputs=[outcmps], device=device)
+
+    assert_np_equal(outcmps.numpy(), 2 * input.numpy().ravel(), tol=tol)
+
+    out = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    for i in range(6):
+        tape = wp.Tape()
+        with tape:
+            wp.launch(kernel, dim=1, inputs=[input], outputs=[outcmps], device=device)
+            wp.launch(output_select_kernel, dim=1, inputs=[outcmps, i], outputs=[out], device=device)
+        tape.backward(loss=out)
+        expectedresult = np.zeros(6, dtype=dtype)
+        expectedresult[i] = 2
+        assert_np_equal(tape.gradients[input].numpy()[0], expectedresult)
+        tape.zero()
+
+
+def test_spatial_vector_scalar_multiplication(test, device, dtype, register_kernels=False):
+    rng = np.random.default_rng(123)
+
+    tol = {
+        np.float16: 5.0e-3,
+        np.float32: 1.0e-6,
+        np.float64: 1.0e-8,
+    }.get(dtype, 0)
+
+    wptype = wp._src.types.np_dtype_to_warp_type[np.dtype(dtype)]
+    spatial_vector = wp._src.types.vector(length=6, dtype=wptype)
+
+    def check_spatial_vector_scalar_mul(
+        s: wp.array(dtype=wptype),
+        q: wp.array(dtype=spatial_vector),
+        outcmps_l: wp.array(dtype=wptype),
+        outcmps_r: wp.array(dtype=wptype),
+    ):
+        lresult = s[0] * q[0]
+        rresult = q[0] * s[0]
+
+        # multiply outputs by 2 so we've got something to backpropagate:
+        for i in range(6):
+            outcmps_l[i] = wptype(2) * lresult[i]
+            outcmps_r[i] = wptype(2) * rresult[i]
+
+    kernel = getkernel(check_spatial_vector_scalar_mul, suffix=dtype.__name__)
+    output_select_kernel = get_select_kernel(wptype)
+
+    if register_kernels:
+        return
+
+    s = wp.array(rng.standard_normal(size=1).astype(dtype), requires_grad=True, device=device)
+    q = wp.array(
+        rng.standard_normal(size=(1, 6)).astype(dtype), dtype=spatial_vector, requires_grad=True, device=device
+    )
+
+    outcmps_l = wp.zeros(6, dtype=wptype, requires_grad=True, device=device)
+    outcmps_r = wp.zeros(6, dtype=wptype, requires_grad=True, device=device)
+
+    wp.launch(
+        kernel,
+        dim=1,
+        inputs=[s, q],
+        outputs=[
+            outcmps_l,
+            outcmps_r,
+        ],
+        device=device,
+    )
+
+    assert_np_equal(outcmps_l.numpy(), 2 * s.numpy()[0] * q.numpy(), tol=tol)
+    assert_np_equal(outcmps_r.numpy(), 2 * s.numpy()[0] * q.numpy(), tol=tol)
+
+    out = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    for i in range(6):
+        # test left/right mul gradients:
+        for wrt in [outcmps_l, outcmps_r]:
+            tape = wp.Tape()
+            with tape:
+                wp.launch(kernel, dim=1, inputs=[s, q], outputs=[outcmps_l, outcmps_r], device=device)
+                wp.launch(output_select_kernel, dim=1, inputs=[wrt, i], outputs=[out], device=device)
+            tape.backward(loss=out)
+            expectedresult = np.zeros(6, dtype=dtype)
+            expectedresult[i] = 2 * s.numpy()[0]
+            assert_np_equal(tape.gradients[q].numpy()[0], expectedresult, tol=tol)
+            assert_np_equal(tape.gradients[s].numpy()[0], 2 * q.numpy()[0, i], tol=tol)
+            tape.zero()
+
+
+def test_spatial_vector_add_sub(test, device, dtype, register_kernels=False):
+    rng = np.random.default_rng(123)
+
+    tol = {
+        np.float16: 5.0e-3,
+        np.float32: 1.0e-6,
+        np.float64: 1.0e-8,
+    }.get(dtype, 0)
+
+    wptype = wp._src.types.np_dtype_to_warp_type[np.dtype(dtype)]
+    spatial_vector = wp._src.types.vector(length=6, dtype=wptype)
+
+    def check_spatial_vector_add_sub(
+        q: wp.array(dtype=spatial_vector),
+        v: wp.array(dtype=spatial_vector),
+        outputs_add: wp.array(dtype=wptype),
+        outputs_sub: wp.array(dtype=wptype),
+    ):
+        addresult = q[0] + v[0]
+        subresult = q[0] - v[0]
+        for i in range(6):
+            outputs_add[i] = wptype(2) * addresult[i]
+            outputs_sub[i] = wptype(2) * subresult[i]
+
+    kernel = getkernel(check_spatial_vector_add_sub, suffix=dtype.__name__)
+    output_select_kernel = get_select_kernel(wptype)
+    if register_kernels:
+        return
+
+    q = wp.array(rng.standard_normal(size=6).astype(dtype), dtype=spatial_vector, requires_grad=True, device=device)
+    v = wp.array(rng.standard_normal(size=6).astype(dtype), dtype=spatial_vector, requires_grad=True, device=device)
+
+    outputs_add = wp.zeros(6, dtype=wptype, requires_grad=True, device=device)
+    outputs_sub = wp.zeros(6, dtype=wptype, requires_grad=True, device=device)
+
+    wp.launch(
+        kernel,
+        dim=1,
+        inputs=[
+            q,
+            v,
+        ],
+        outputs=[outputs_add, outputs_sub],
+        device=device,
+    )
+
+    assert_np_equal(outputs_add.numpy(), 2 * (q.numpy() + v.numpy()), tol=tol)
+    assert_np_equal(outputs_sub.numpy(), 2 * (q.numpy() - v.numpy()), tol=tol)
+
+    out = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    for i in range(6):
+        # test add gradients:
+        tape = wp.Tape()
+        with tape:
+            wp.launch(kernel, dim=1, inputs=[q, v], outputs=[outputs_add, outputs_sub], device=device)
+            wp.launch(output_select_kernel, dim=1, inputs=[outputs_add, i], outputs=[out], device=device)
+        tape.backward(loss=out)
+        expectedresult = np.zeros(6, dtype=dtype)
+        expectedresult[i] = 2
+        assert_np_equal(tape.gradients[q].numpy()[0], expectedresult, tol=tol)
+        assert_np_equal(tape.gradients[v].numpy()[0], expectedresult, tol=tol)
+        tape.zero()
+
+        # test subtraction gradients:
+        tape = wp.Tape()
+        with tape:
+            wp.launch(kernel, dim=1, inputs=[q, v], outputs=[outputs_add, outputs_sub], device=device)
+            wp.launch(output_select_kernel, dim=1, inputs=[outputs_sub, i], outputs=[out], device=device)
+        tape.backward(loss=out)
+        expectedresult = np.zeros(6, dtype=dtype)
+        expectedresult[i] = 2
+        assert_np_equal(tape.gradients[q].numpy()[0], expectedresult, tol=tol)
+        assert_np_equal(tape.gradients[v].numpy()[0], -expectedresult, tol=tol)
+        tape.zero()
+
+
+def test_spatial_dot(test, device, dtype, register_kernels=False):
+    rng = np.random.default_rng(123)
+
+    tol = {
+        np.float16: 1.0e-2,
+        np.float32: 1.0e-6,
+        np.float64: 1.0e-8,
+    }.get(dtype, 0)
+
+    wptype = wp._src.types.np_dtype_to_warp_type[np.dtype(dtype)]
+    spatial_vector = wp._src.types.vector(length=6, dtype=wptype)
+
+    def check_spatial_dot(
+        s: wp.array(dtype=spatial_vector),
+        v: wp.array(dtype=spatial_vector),
+        dot: wp.array(dtype=wptype),
+    ):
+        dot[0] = wptype(2) * wp.spatial_dot(v[0], s[0])
+
+    kernel = getkernel(check_spatial_dot, suffix=dtype.__name__)
+    if register_kernels:
+        return
+
+    s = wp.array(rng.standard_normal(size=6).astype(dtype), dtype=spatial_vector, requires_grad=True, device=device)
+    v = wp.array(rng.standard_normal(size=6).astype(dtype), dtype=spatial_vector, requires_grad=True, device=device)
+    dot = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+
+    tape = wp.Tape()
+    with tape:
+        wp.launch(
+            kernel,
+            dim=1,
+            inputs=[
+                s,
+                v,
+            ],
+            outputs=[dot],
+            device=device,
+        )
+
+    assert_np_equal(dot.numpy()[0], 2.0 * (v.numpy() * s.numpy()).sum(), tol=tol)
+
+    tape.backward(loss=dot)
+    sgrads = tape.gradients[s].numpy()[0]
+    expected_grads = 2.0 * v.numpy()[0]
+    assert_np_equal(sgrads, expected_grads, tol=10 * tol)
+
+    vgrads = tape.gradients[v].numpy()[0]
+    expected_grads = 2.0 * s.numpy()[0]
+    assert_np_equal(vgrads, expected_grads, tol=tol)
+
+
+def test_spatial_cross(test, device, dtype, register_kernels=False):
+    rng = np.random.default_rng(123)
+
+    tol = {
+        np.float16: 5.0e-3,
+        np.float32: 1.0e-6,
+        np.float64: 1.0e-8,
+    }.get(dtype, 0)
+
+    wptype = wp._src.types.np_dtype_to_warp_type[np.dtype(dtype)]
+    spatial_vector = wp._src.types.vector(length=6, dtype=wptype)
+
+    def check_spatial_cross(
+        s: wp.array(dtype=spatial_vector),
+        v: wp.array(dtype=spatial_vector),
+        outputs: wp.array(dtype=wptype),
+        outputs_dual: wp.array(dtype=wptype),
+        outputs_wcrossw: wp.array(dtype=wptype),
+        outputs_vcrossw: wp.array(dtype=wptype),
+        outputs_wcrossv: wp.array(dtype=wptype),
+        outputs_vcrossv: wp.array(dtype=wptype),
+    ):
+        c = wp.spatial_cross(s[0], v[0])
+        d = wp.spatial_cross_dual(s[0], v[0])
+
+        # multiply outputs by 2 so we've got something to backpropagate:
+        for i in range(6):
+            outputs[i] = wptype(2) * c[i]
+            outputs_dual[i] = wptype(2) * d[i]
+
+        sw = wp.spatial_top(s[0])
+        sv = wp.spatial_bottom(s[0])
+        vw = wp.spatial_top(v[0])
+        vv = wp.spatial_bottom(v[0])
+
+        wcrossw = wp.cross(sw, vw)
+        vcrossw = wp.cross(sv, vw)
+        wcrossv = wp.cross(sw, vv)
+        vcrossv = wp.cross(sv, vv)
+
+        for i in range(3):
+            outputs_wcrossw[i] = wcrossw[i]
+            outputs_vcrossw[i] = vcrossw[i]
+            outputs_wcrossv[i] = wcrossv[i]
+            outputs_vcrossv[i] = vcrossv[i]
+
+    kernel = getkernel(check_spatial_cross, suffix=dtype.__name__)
+    output_select_kernel = get_select_kernel(wptype)
+
+    if register_kernels:
+        return
+
+    s = wp.array(rng.standard_normal(size=6).astype(dtype), dtype=spatial_vector, requires_grad=True, device=device)
+    v = wp.array(rng.standard_normal(size=6).astype(dtype), dtype=spatial_vector, requires_grad=True, device=device)
+    outputs = wp.zeros(6, dtype=wptype, requires_grad=True, device=device)
+    outputs_dual = wp.zeros(6, dtype=wptype, requires_grad=True, device=device)
+    outputs_wcrossw = wp.zeros(3, dtype=wptype, requires_grad=True, device=device)
+    outputs_vcrossw = wp.zeros(3, dtype=wptype, requires_grad=True, device=device)
+    outputs_wcrossv = wp.zeros(3, dtype=wptype, requires_grad=True, device=device)
+    outputs_vcrossv = wp.zeros(3, dtype=wptype, requires_grad=True, device=device)
+
+    wp.launch(
+        kernel,
+        dim=1,
+        inputs=[
+            s,
+            v,
+        ],
+        outputs=[outputs, outputs_dual, outputs_wcrossw, outputs_vcrossw, outputs_wcrossv, outputs_vcrossv],
+        device=device,
+    )
+
+    sw = s.numpy()[0, :3]
+    sv = s.numpy()[0, 3:]
+    vw = v.numpy()[0, :3]
+    vv = v.numpy()[0, 3:]
+
+    wcrossw = np.cross(sw, vw)
+    vcrossw = np.cross(sv, vw)
+    wcrossv = np.cross(sw, vv)
+    vcrossv = np.cross(sv, vv)
+
+    assert_np_equal(outputs.numpy()[:3], 2 * wcrossw, tol=tol)
+    assert_np_equal(outputs.numpy()[3:], 2 * (vcrossw + wcrossv), tol=tol)
+
+    assert_np_equal(outputs_dual.numpy()[:3], 2 * (wcrossw + vcrossv), tol=tol)
+    assert_np_equal(outputs_dual.numpy()[3:], 2 * wcrossv, tol=tol)
+
+    for i in range(3):
+        cmp_w = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+        cmp_v = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+        cmp_w_dual = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+        cmp_v_dual = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+        cmp_wcrossw = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+        cmp_vcrossw = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+        cmp_wcrossv = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+        cmp_vcrossv = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+        tape = wp.Tape()
+        with tape:
+            wp.launch(
+                kernel,
+                dim=1,
+                inputs=[
+                    s,
+                    v,
+                ],
+                outputs=[outputs, outputs_dual, outputs_wcrossw, outputs_vcrossw, outputs_wcrossv, outputs_vcrossv],
+                device=device,
+            )
+
+            # ith w and v vector components of spatial_cross:
+            wp.launch(output_select_kernel, dim=1, inputs=[outputs, i], outputs=[cmp_w], device=device)
+            wp.launch(output_select_kernel, dim=1, inputs=[outputs, i + 3], outputs=[cmp_v], device=device)
+
+            # ith w and v vector components of spatial_cross_dual:
+            wp.launch(output_select_kernel, dim=1, inputs=[outputs_dual, i], outputs=[cmp_w_dual], device=device)
+            wp.launch(output_select_kernel, dim=1, inputs=[outputs_dual, i + 3], outputs=[cmp_v_dual], device=device)
+
+            # ith vector components of some cross products:
+            wp.launch(output_select_kernel, dim=1, inputs=[outputs_wcrossw, i], outputs=[cmp_wcrossw], device=device)
+            wp.launch(output_select_kernel, dim=1, inputs=[outputs_vcrossw, i], outputs=[cmp_vcrossw], device=device)
+            wp.launch(output_select_kernel, dim=1, inputs=[outputs_wcrossv, i], outputs=[cmp_wcrossv], device=device)
+            wp.launch(output_select_kernel, dim=1, inputs=[outputs_vcrossv, i], outputs=[cmp_vcrossv], device=device)
+
+        def getgrads(cmp, tape=tape):
+            tape.backward(loss=cmp)
+            sgrads = 1.0 * tape.gradients[s].numpy()
+            vgrads = 1.0 * tape.gradients[v].numpy()
+            tape.zero()
+            return sgrads, vgrads
+
+        dcmp_w_ds, dcmp_w_dv = getgrads(cmp_w)
+        dcmp_v_ds, dcmp_v_dv = getgrads(cmp_v)
+        dcmp_w_dual_ds, dcmp_w_dual_dv = getgrads(cmp_w_dual)
+        dcmp_v_dual_ds, dcmp_v_dual_dv = getgrads(cmp_v_dual)
+
+        dcmp_wcrossw_ds, dcmp_wcrossw_dv = getgrads(cmp_wcrossw)
+        dcmp_vcrossw_ds, dcmp_vcrossw_dv = getgrads(cmp_vcrossw)
+        dcmp_wcrossv_ds, dcmp_wcrossv_dv = getgrads(cmp_wcrossv)
+        dcmp_vcrossv_ds, dcmp_vcrossv_dv = getgrads(cmp_vcrossv)
+
+        assert_np_equal(dcmp_w_ds, 2 * dcmp_wcrossw_ds, tol=tol)
+        assert_np_equal(dcmp_w_dv, 2 * dcmp_wcrossw_dv, tol=tol)
+
+        assert_np_equal(dcmp_v_ds, 2 * (dcmp_vcrossw_ds + dcmp_wcrossv_ds), tol=tol)
+        assert_np_equal(dcmp_v_dv, 2 * (dcmp_vcrossw_dv + dcmp_wcrossv_dv), tol=tol)
+
+        assert_np_equal(dcmp_w_dual_ds, 2 * (dcmp_wcrossw_ds + dcmp_vcrossv_ds), tol=tol)
+        assert_np_equal(dcmp_w_dual_dv, 2 * (dcmp_wcrossw_dv + dcmp_vcrossv_dv), tol=tol)
+
+        assert_np_equal(dcmp_v_dual_ds, 2 * dcmp_wcrossv_ds, tol=tol)
+        assert_np_equal(dcmp_v_dual_dv, 2 * dcmp_wcrossv_dv, tol=tol)
+
+
+def test_spatial_top_bottom(test, device, dtype, register_kernels=False):
+    rng = np.random.default_rng(123)
+
+    tol = {
+        np.float16: 1.0e-2,
+        np.float32: 1.0e-6,
+        np.float64: 1.0e-8,
+    }.get(dtype, 0)
+
+    wptype = wp._src.types.np_dtype_to_warp_type[np.dtype(dtype)]
+    spatial_vector = wp._src.types.vector(length=6, dtype=wptype)
+
+    def check_spatial_top_bottom(
+        s: wp.array(dtype=spatial_vector),
+        outputs: wp.array(dtype=wptype),
+    ):
+        top = wp.spatial_top(s[0])
+        bottom = wp.spatial_bottom(s[0])
+
+        outputs[0] = wptype(2) * top[0]
+        outputs[1] = wptype(2) * top[1]
+        outputs[2] = wptype(2) * top[2]
+
+        outputs[3] = wptype(2) * bottom[0]
+        outputs[4] = wptype(2) * bottom[1]
+        outputs[5] = wptype(2) * bottom[2]
+
+    kernel = getkernel(check_spatial_top_bottom, suffix=dtype.__name__)
+    output_select_kernel = get_select_kernel(wptype)
+
+    if register_kernels:
+        return
+
+    s = wp.array(rng.standard_normal(size=6).astype(dtype), dtype=spatial_vector, requires_grad=True, device=device)
+    outputs = wp.zeros(6, dtype=wptype, requires_grad=True, device=device)
+
+    wp.launch(
+        kernel,
+        dim=1,
+        inputs=[
+            s,
+        ],
+        outputs=[outputs],
+        device=device,
+    )
+
+    assert_np_equal(outputs.numpy(), 2.0 * s.numpy(), tol=tol)
+
+    for i in range(6):
+        cmp = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+        tape = wp.Tape()
+        with tape:
+            wp.launch(
+                kernel,
+                dim=1,
+                inputs=[
+                    s,
+                ],
+                outputs=[outputs],
+                device=device,
+            )
+            wp.launch(output_select_kernel, dim=1, inputs=[outputs, i], outputs=[cmp], device=device)
+        tape.backward(loss=cmp)
+        expectedgrads = np.zeros(6)
+        expectedgrads[i] = 2
+        assert_np_equal(tape.gradients[s].numpy(), expectedgrads.reshape((1, 6)))
+        tape.zero()
+
+
+def test_transform_constructors(test, device, dtype, register_kernels=False):
+    rng = np.random.default_rng(123)
+
+    tol = {
+        np.float16: 5.0e-3,
+        np.float32: 1.0e-6,
+        np.float64: 1.0e-8,
+    }.get(dtype, 0)
+
+    wptype = wp._src.types.np_dtype_to_warp_type[np.dtype(dtype)]
+    vec3 = wp._src.types.vector(length=3, dtype=wptype)
+    transform = wp._src.types.transformation(dtype=wptype)
+    quat = wp._src.types.quaternion(dtype=wptype)
+
+    def check_transform_constructor(
+        input: wp.array(dtype=wptype),
+        out: wp.array(dtype=wptype),
+    ):
+        a = transform(vec3(input[0], input[1], input[2]), quat(input[3], input[4], input[5], input[6]))
+        b = transform(input[0], input[1], input[2], input[3], input[4], input[5], input[6])
+
+        out[0] = a[0] + b[0]
+        out[1] = a[1] + b[1]
+        out[2] = a[2] + b[2]
+        out[3] = a[3] + b[3]
+        out[4] = a[4] + b[4]
+        out[5] = a[5] + b[5]
+        out[6] = a[6] + b[6]
+
+    kernel = getkernel(check_transform_constructor, suffix=dtype.__name__)
+    output_select_kernel = get_select_kernel(wptype)
+
+    if register_kernels:
+        return
+
+    p = rng.standard_normal(size=3).astype(dtype)
+    q = rng.standard_normal(size=4).astype(dtype)
+    q /= np.linalg.norm(q)
+
+    input = wp.array(np.concatenate((p, q)), requires_grad=True, device=device)
+    output = wp.zeros_like(input)
+
+    wp.launch(kernel, dim=1, inputs=[input], outputs=[output], device=device)
+
+    assert_np_equal(output.numpy(), 2 * input.numpy(), tol=tol)
+
+    for i in range(len(input)):
+        cmp = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+        tape = wp.Tape()
+        with tape:
+            wp.launch(kernel, dim=1, inputs=[input], outputs=[output], device=device)
+            wp.launch(output_select_kernel, dim=1, inputs=[output, i], outputs=[cmp], device=device)
+        tape.backward(loss=cmp)
+        expectedgrads = np.zeros(len(input))
+        expectedgrads[i] = 2
+        assert_np_equal(tape.gradients[input].numpy(), expectedgrads)
+        tape.zero()
+
+
+def test_transform_indexing(test, device, dtype, register_kernels=False):
+    rng = np.random.default_rng(123)
+
+    tol = {
+        np.float16: 5.0e-3,
+        np.float32: 1.0e-6,
+        np.float64: 1.0e-8,
+    }.get(dtype, 0)
+
+    wptype = wp._src.types.np_dtype_to_warp_type[np.dtype(dtype)]
+    transform = wp._src.types.transformation(dtype=wptype)
+
+    def check_transform_indexing(
+        input: wp.array(dtype=transform),
+        out: wp.array(dtype=wptype),
+    ):
+        elem = input[0]
+
+        # multiply outputs by 2 so we've got something to backpropagate:
+        idx = 0
+        for i in range(7):
+            out[idx] = wptype(2) * elem[i]
+            idx = idx + 1
+
+    kernel = getkernel(check_transform_indexing, suffix=dtype.__name__)
+    output_select_kernel = get_select_kernel(wptype)
+
+    if register_kernels:
+        return
+
+    input = wp.array(rng.standard_normal(size=(1, 7)).astype(dtype), dtype=transform, requires_grad=True, device=device)
+    outcmps = wp.zeros(7, dtype=wptype, requires_grad=True, device=device)
+
+    wp.launch(kernel, dim=1, inputs=[input], outputs=[outcmps], device=device)
+
+    assert_np_equal(outcmps.numpy(), 2 * input.numpy().ravel(), tol=tol)
+    out = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    for i in range(7):
+        tape = wp.Tape()
+        with tape:
+            wp.launch(kernel, dim=1, inputs=[input], outputs=[outcmps], device=device)
+            wp.launch(output_select_kernel, dim=1, inputs=[outcmps, i], outputs=[out], device=device)
+        tape.backward(loss=out)
+        expectedresult = np.zeros(7, dtype=dtype)
+        expectedresult[i] = 2
+        assert_np_equal(tape.gradients[input].numpy()[0], expectedresult)
+        tape.zero()
+
+
+def test_transform_scalar_multiplication(test, device, dtype, register_kernels=False):
+    rng = np.random.default_rng(123)
+
+    tol = {
+        np.float16: 5.0e-3,
+        np.float32: 1.0e-6,
+        np.float64: 1.0e-8,
+    }.get(dtype, 0)
+
+    wptype = wp._src.types.np_dtype_to_warp_type[np.dtype(dtype)]
+    transform = wp._src.types.transformation(dtype=wptype)
+
+    def check_transform_scalar_mul(
+        s: wp.array(dtype=wptype),
+        q: wp.array(dtype=transform),
+        outcmps_l: wp.array(dtype=wptype),
+        outcmps_r: wp.array(dtype=wptype),
+    ):
+        lresult = s[0] * q[0]
+        rresult = q[0] * s[0]
+
+        # multiply outputs by 2 so we've got something to backpropagate:
+        for i in range(7):
+            outcmps_l[i] = wptype(2) * lresult[i]
+            outcmps_r[i] = wptype(2) * rresult[i]
+
+    kernel = getkernel(check_transform_scalar_mul, suffix=dtype.__name__)
+    output_select_kernel = get_select_kernel(wptype)
+
+    if register_kernels:
+        return
+
+    s = wp.array(rng.standard_normal(size=1).astype(dtype), requires_grad=True, device=device)
+    q = wp.array(rng.standard_normal(size=(1, 7)).astype(dtype), dtype=transform, requires_grad=True, device=device)
+
+    outcmps_l = wp.zeros(7, dtype=wptype, requires_grad=True, device=device)
+    outcmps_r = wp.zeros(7, dtype=wptype, requires_grad=True, device=device)
+
+    wp.launch(
+        kernel,
+        dim=1,
+        inputs=[s, q],
+        outputs=[
+            outcmps_l,
+            outcmps_r,
+        ],
+        device=device,
+    )
+
+    assert_np_equal(outcmps_l.numpy(), 2 * s.numpy()[0] * q.numpy(), tol=tol)
+    assert_np_equal(outcmps_r.numpy(), 2 * s.numpy()[0] * q.numpy(), tol=tol)
+
+    out = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    for i in range(7):
+        # test left/right mul gradients:
+        for wrt in [outcmps_l, outcmps_r]:
+            tape = wp.Tape()
+            with tape:
+                wp.launch(kernel, dim=1, inputs=[s, q], outputs=[outcmps_l, outcmps_r], device=device)
+                wp.launch(output_select_kernel, dim=1, inputs=[wrt, i], outputs=[out], device=device)
+            tape.backward(loss=out)
+            expectedresult = np.zeros(7, dtype=dtype)
+            expectedresult[i] = 2 * s.numpy()[0]
+            assert_np_equal(tape.gradients[q].numpy()[0], expectedresult, tol=tol)
+            assert_np_equal(tape.gradients[s].numpy()[0], 2 * q.numpy()[0, i], tol=tol)
+            tape.zero()
+
+
+def test_transform_add_sub(test, device, dtype, register_kernels=False):
+    rng = np.random.default_rng(123)
+
+    tol = {
+        np.float16: 5.0e-3,
+        np.float32: 1.0e-6,
+        np.float64: 1.0e-8,
+    }.get(dtype, 0)
+
+    wptype = wp._src.types.np_dtype_to_warp_type[np.dtype(dtype)]
+    transform = wp._src.types.transformation(dtype=wptype)
+
+    def check_transform_add_sub(
+        q: wp.array(dtype=transform),
+        v: wp.array(dtype=transform),
+        outputs_add: wp.array(dtype=wptype),
+        outputs_sub: wp.array(dtype=wptype),
+    ):
+        addresult = q[0] + v[0]
+        subresult = q[0] - v[0]
+        for i in range(7):
+            outputs_add[i] = wptype(2) * addresult[i]
+            outputs_sub[i] = wptype(2) * subresult[i]
+
+    kernel = getkernel(check_transform_add_sub, suffix=dtype.__name__)
+    output_select_kernel = get_select_kernel(wptype)
+
+    if register_kernels:
+        return
+
+    q = wp.array(rng.standard_normal(size=7).astype(dtype), dtype=transform, requires_grad=True, device=device)
+    v = wp.array(rng.standard_normal(size=7).astype(dtype), dtype=transform, requires_grad=True, device=device)
+
+    outputs_add = wp.zeros(7, dtype=wptype, requires_grad=True, device=device)
+    outputs_sub = wp.zeros(7, dtype=wptype, requires_grad=True, device=device)
+
+    wp.launch(
+        kernel,
+        dim=1,
+        inputs=[
+            q,
+            v,
+        ],
+        outputs=[outputs_add, outputs_sub],
+        device=device,
+    )
+
+    assert_np_equal(outputs_add.numpy(), 2 * (q.numpy() + v.numpy()), tol=tol)
+    assert_np_equal(outputs_sub.numpy(), 2 * (q.numpy() - v.numpy()), tol=tol)
+
+    out = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    for i in range(7):
+        # test add gradients:
+        tape = wp.Tape()
+        with tape:
+            wp.launch(kernel, dim=1, inputs=[q, v], outputs=[outputs_add, outputs_sub], device=device)
+            wp.launch(output_select_kernel, dim=1, inputs=[outputs_add, i], outputs=[out], device=device)
+        tape.backward(loss=out)
+        expectedresult = np.zeros(7, dtype=dtype)
+        expectedresult[i] = 2
+        assert_np_equal(tape.gradients[q].numpy()[0], expectedresult, tol=tol)
+        assert_np_equal(tape.gradients[v].numpy()[0], expectedresult, tol=tol)
+        tape.zero()
+
+        # test subtraction gradients:
+        tape = wp.Tape()
+        with tape:
+            wp.launch(kernel, dim=1, inputs=[q, v], outputs=[outputs_add, outputs_sub], device=device)
+            wp.launch(output_select_kernel, dim=1, inputs=[outputs_sub, i], outputs=[out], device=device)
+        tape.backward(loss=out)
+        expectedresult = np.zeros(7, dtype=dtype)
+        expectedresult[i] = 2
+        assert_np_equal(tape.gradients[q].numpy()[0], expectedresult, tol=tol)
+        assert_np_equal(tape.gradients[v].numpy()[0], -expectedresult, tol=tol)
+        tape.zero()
+
+
+def test_transform_get_trans_rot(test, device, dtype, register_kernels=False):
+    rng = np.random.default_rng(123)
+
+    tol = {
+        np.float16: 1.0e-2,
+        np.float32: 1.0e-6,
+        np.float64: 1.0e-8,
+    }.get(dtype, 0)
+
+    wptype = wp._src.types.np_dtype_to_warp_type[np.dtype(dtype)]
+    transform = wp._src.types.transformation(dtype=wptype)
+
+    def check_transform_get_trans_rot(
+        s: wp.array(dtype=transform),
+        outputs: wp.array(dtype=wptype),
+    ):
+        trans = wp.transform_get_translation(s[0])
+        q = wp.transform_get_rotation(s[0])
+
+        outputs[0] = wptype(2) * trans[0]
+        outputs[1] = wptype(2) * trans[1]
+        outputs[2] = wptype(2) * trans[2]
+
+        outputs[3] = wptype(2) * q[0]
+        outputs[4] = wptype(2) * q[1]
+        outputs[5] = wptype(2) * q[2]
+        outputs[6] = wptype(2) * q[3]
+
+    kernel = getkernel(check_transform_get_trans_rot, suffix=dtype.__name__)
+    output_select_kernel = get_select_kernel(wptype)
+
+    if register_kernels:
+        return
+
+    s = wp.array(rng.standard_normal(size=7).astype(dtype), dtype=transform, requires_grad=True, device=device)
+    outputs = wp.zeros(7, dtype=wptype, requires_grad=True, device=device)
+
+    wp.launch(
+        kernel,
+        dim=1,
+        inputs=[
+            s,
+        ],
+        outputs=[outputs],
+        device=device,
+    )
+
+    assert_np_equal(outputs.numpy(), 2.0 * s.numpy(), tol=tol)
+
+    for i in range(7):
+        cmp = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+        tape = wp.Tape()
+        with tape:
+            wp.launch(
+                kernel,
+                dim=1,
+                inputs=[
+                    s,
+                ],
+                outputs=[outputs],
+                device=device,
+            )
+            wp.launch(output_select_kernel, dim=1, inputs=[outputs, i], outputs=[cmp], device=device)
+        tape.backward(loss=cmp)
+        expectedgrads = np.zeros(7)
+        expectedgrads[i] = 2
+        assert_np_equal(tape.gradients[s].numpy(), expectedgrads.reshape((1, 7)))
+        tape.zero()
+
+
+def test_transform_multiply(test, device, dtype, register_kernels=False):
+    rng = np.random.default_rng(123)
+
+    tol = {
+        np.float16: 1.0e-2,
+        np.float32: 1.0e-6,
+        np.float64: 1.0e-8,
+    }.get(dtype, 0)
+
+    wptype = wp._src.types.np_dtype_to_warp_type[np.dtype(dtype)]
+    transform = wp._src.types.transformation(dtype=wptype)
+
+    def check_transform_multiply(
+        a: wp.array(dtype=transform),
+        b: wp.array(dtype=transform),
+        outputs: wp.array(dtype=wptype),
+        outputs_fn: wp.array(dtype=wptype),
+        outputs_manual: wp.array(dtype=wptype),
+    ):
+        result = a[0] * b[0]
+        result_fn = wp.transform_multiply(a[0], b[0])
+
+        # let's just work out the transform multiplication manually
+        # and compare value/gradients with that:
+        atrans = wp.transform_get_translation(a[0])
+        arot = wp.transform_get_rotation(a[0])
+
+        btrans = wp.transform_get_translation(b[0])
+        brot = wp.transform_get_rotation(b[0])
+
+        trans = wp.quat_rotate(arot, btrans) + atrans
+        rot = arot * brot
+        result_manual = transform(trans, rot)
+
+        for i in range(7):
+            outputs[i] = wptype(2) * result[i]
+            outputs_fn[i] = wptype(2) * result_fn[i]
+            outputs_manual[i] = wptype(2) * result_manual[i]
+
+    kernel = getkernel(check_transform_multiply, suffix=dtype.__name__)
+    output_select_kernel = get_select_kernel(wptype)
+
+    if register_kernels:
+        return
+
+    q = rng.standard_normal(size=7)
+    s = rng.standard_normal(size=7)
+    q[3:] /= np.linalg.norm(q[3:])
+    s[3:] /= np.linalg.norm(s[3:])
+
+    q = wp.array(q.astype(dtype), dtype=transform, requires_grad=True, device=device)
+    s = wp.array(s.astype(dtype), dtype=transform, requires_grad=True, device=device)
+    outputs = wp.zeros(7, dtype=wptype, requires_grad=True, device=device)
+    outputs_fn = wp.zeros(7, dtype=wptype, requires_grad=True, device=device)
+    outputs_manual = wp.zeros(7, dtype=wptype, requires_grad=True, device=device)
+
+    wp.launch(
+        kernel,
+        dim=1,
+        inputs=[
+            q,
+            s,
+        ],
+        outputs=[outputs, outputs_fn, outputs_manual],
+        device=device,
+    )
+
+    assert_np_equal(outputs.numpy(), outputs_fn.numpy(), tol=tol)
+    assert_np_equal(outputs.numpy(), outputs_manual.numpy(), tol=tol)
+
+    for i in range(7):
+        cmp = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+        cmp_fn = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+        cmp_manual = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+        tape = wp.Tape()
+        with tape:
+            wp.launch(
+                kernel,
+                dim=1,
+                inputs=[
+                    q,
+                    s,
+                ],
+                outputs=[outputs, outputs_fn, outputs_manual],
+                device=device,
+            )
+            wp.launch(output_select_kernel, dim=1, inputs=[outputs, i], outputs=[cmp], device=device)
+            wp.launch(output_select_kernel, dim=1, inputs=[outputs_fn, i], outputs=[cmp_fn], device=device)
+            wp.launch(output_select_kernel, dim=1, inputs=[outputs_manual, i], outputs=[cmp_manual], device=device)
+        tape.backward(loss=cmp)
+        qgrads = 1.0 * tape.gradients[q].numpy()
+        sgrads = 1.0 * tape.gradients[s].numpy()
+        tape.zero()
+        tape.backward(loss=cmp_fn)
+        qgrads_fn = 1.0 * tape.gradients[q].numpy()
+        sgrads_fn = 1.0 * tape.gradients[s].numpy()
+        tape.zero()
+        tape.backward(loss=cmp_manual)
+        qgrads_manual = 1.0 * tape.gradients[q].numpy()
+        sgrads_manual = 1.0 * tape.gradients[s].numpy()
+        tape.zero()
+
+        assert_np_equal(qgrads, qgrads_fn, tol=tol)
+        assert_np_equal(sgrads, sgrads_fn, tol=tol)
+
+        assert_np_equal(qgrads, qgrads_manual, tol=tol)
+        assert_np_equal(sgrads, sgrads_manual, tol=tol)
+
+
+def test_transform_inverse(test, device, dtype, register_kernels=False):
+    rng = np.random.default_rng(123)
+
+    tol = {
+        np.float16: 1.0e-2,
+        np.float32: 1.0e-6,
+        np.float64: 1.0e-8,
+    }.get(dtype, 0)
+
+    wptype = wp._src.types.np_dtype_to_warp_type[np.dtype(dtype)]
+    transform = wp._src.types.transformation(dtype=wptype)
+
+    def check_transform_inverse(
+        a: wp.array(dtype=transform),
+        outputs: wp.array(dtype=wptype),
+        outputs_shouldbeidentity: wp.array(dtype=wptype),
+        outputs_manual: wp.array(dtype=wptype),
+    ):
+        result = wp.transform_inverse(a[0])
+        idt = result * a[0]
+
+        # let's just work out the transform inverse manually
+        # and compare value/gradients with that:
+        atrans = wp.transform_get_translation(a[0])
+        arot = wp.transform_get_rotation(a[0])
+
+        rotinv = wp.quat_inverse(arot)
+        result_manual = transform(-wp.quat_rotate(rotinv, atrans), rotinv)
+
+        for i in range(7):
+            outputs[i] = wptype(2) * result[i]
+            outputs_shouldbeidentity[i] = wptype(2) * idt[i]
+            outputs_manual[i] = wptype(2) * result_manual[i]
+
+    kernel = getkernel(check_transform_inverse, suffix=dtype.__name__)
+    output_select_kernel = get_select_kernel(wptype)
+
+    if register_kernels:
+        return
+
+    q = rng.standard_normal(size=7)
+    s = rng.standard_normal(size=7)
+    q[3:] /= np.linalg.norm(q[3:])
+    s[3:] /= np.linalg.norm(s[3:])
+
+    q = wp.array(q.astype(dtype), dtype=transform, requires_grad=True, device=device)
+    outputs = wp.zeros(7, dtype=wptype, requires_grad=True, device=device)
+    outputs_shouldbeidentity = wp.zeros(7, dtype=wptype, requires_grad=True, device=device)
+    outputs_manual = wp.zeros(7, dtype=wptype, requires_grad=True, device=device)
+
+    wp.launch(
+        kernel,
+        dim=1,
+        inputs=[
+            q,
+        ],
+        outputs=[outputs, outputs_shouldbeidentity, outputs_manual],
+        device=device,
+    )
+
+    # check inverse:
+    assert_np_equal(outputs_shouldbeidentity.numpy(), np.array([0, 0, 0, 0, 0, 0, 2]), tol=tol)
+
+    # same as manual result:
+    assert_np_equal(outputs.numpy(), outputs_manual.numpy(), tol=tol)
+
+    for i in range(7):
+        cmp = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+        cmp_manual = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+        tape = wp.Tape()
+        with tape:
+            wp.launch(
+                kernel,
+                dim=1,
+                inputs=[
+                    q,
+                ],
+                outputs=[outputs, outputs_shouldbeidentity, outputs_manual],
+                device=device,
+            )
+            wp.launch(output_select_kernel, dim=1, inputs=[outputs, i], outputs=[cmp], device=device)
+            wp.launch(output_select_kernel, dim=1, inputs=[outputs_manual, i], outputs=[cmp_manual], device=device)
+        tape.backward(loss=cmp)
+        qgrads = 1.0 * tape.gradients[q].numpy()
+        tape.zero()
+        tape.backward(loss=cmp_manual)
+        qgrads_manual = 1.0 * tape.gradients[q].numpy()
+        tape.zero()
+
+        # check gradients against manual result:
+        assert_np_equal(qgrads, qgrads_manual, tol=tol)
+
+
+def test_transform_point_vector(test, device, dtype, register_kernels=False):
+    rng = np.random.default_rng(123)
+
+    tol = {
+        np.float16: 1.0e-2,
+        np.float32: 1.0e-6,
+        np.float64: 1.0e-8,
+    }.get(dtype, 0)
+
+    wptype = wp._src.types.np_dtype_to_warp_type[np.dtype(dtype)]
+    transform = wp._src.types.transformation(dtype=wptype)
+    vec3 = wp._src.types.vector(length=3, dtype=wptype)
+
+    def check_transform_point_vector(
+        t: wp.array(dtype=transform),
+        v: wp.array(dtype=vec3),
+        outputs_pt: wp.array(dtype=wptype),
+        outputs_pt_manual: wp.array(dtype=wptype),
+        outputs_vec: wp.array(dtype=wptype),
+        outputs_vec_manual: wp.array(dtype=wptype),
+    ):
+        result_pt = wp.transform_point(t[0], v[0])
+        result_pt_manual = wp.transform_get_translation(t[0]) + wp.quat_rotate(wp.transform_get_rotation(t[0]), v[0])
+
+        result_vec = wp.transform_vector(t[0], v[0])
+        result_vec_manual = wp.quat_rotate(wp.transform_get_rotation(t[0]), v[0])
+
+        for i in range(3):
+            outputs_pt[i] = wptype(2) * result_pt[i]
+            outputs_pt_manual[i] = wptype(2) * result_pt_manual[i]
+            outputs_vec[i] = wptype(2) * result_vec[i]
+            outputs_vec_manual[i] = wptype(2) * result_vec_manual[i]
+
+    kernel = getkernel(check_transform_point_vector, suffix=dtype.__name__)
+    output_select_kernel = get_select_kernel(wptype)
+
+    if register_kernels:
+        return
+
+    q = rng.standard_normal(size=7)
+    q[3:] /= np.linalg.norm(q[3:])
+
+    t = wp.array(q.astype(dtype), dtype=transform, requires_grad=True, device=device)
+    v = wp.array(rng.standard_normal(size=3), dtype=vec3, requires_grad=True, device=device)
+    outputs_pt = wp.zeros(3, dtype=wptype, requires_grad=True, device=device)
+    outputs_pt_manual = wp.zeros(3, dtype=wptype, requires_grad=True, device=device)
+    outputs_vec = wp.zeros(3, dtype=wptype, requires_grad=True, device=device)
+    outputs_vec_manual = wp.zeros(3, dtype=wptype, requires_grad=True, device=device)
+
+    wp.launch(
+        kernel,
+        dim=1,
+        inputs=[t, v],
+        outputs=[outputs_pt, outputs_pt_manual, outputs_vec, outputs_vec_manual],
+        device=device,
+    )
+
+    # same as manual results:
+    assert_np_equal(outputs_pt.numpy(), outputs_pt_manual.numpy(), tol=tol)
+    assert_np_equal(outputs_vec.numpy(), outputs_vec_manual.numpy(), tol=tol)
+
+    for i in range(3):
+        cmp_pt = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+        cmp_pt_manual = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+        cmp_vec = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+        cmp_vec_manual = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+
+        tape = wp.Tape()
+        with tape:
+            wp.launch(
+                kernel,
+                dim=1,
+                inputs=[t, v],
+                outputs=[outputs_pt, outputs_pt_manual, outputs_vec, outputs_vec_manual],
+                device=device,
+            )
+            wp.launch(output_select_kernel, dim=1, inputs=[outputs_pt, i], outputs=[cmp_pt], device=device)
+            wp.launch(
+                output_select_kernel, dim=1, inputs=[outputs_pt_manual, i], outputs=[cmp_pt_manual], device=device
+            )
+            wp.launch(output_select_kernel, dim=1, inputs=[outputs_vec, i], outputs=[cmp_vec], device=device)
+            wp.launch(
+                output_select_kernel, dim=1, inputs=[outputs_vec_manual, i], outputs=[cmp_vec_manual], device=device
+            )
+        tape.backward(loss=cmp_pt)
+        tgrads_pt = 1.0 * tape.gradients[t].numpy()
+        vgrads_pt = 1.0 * tape.gradients[v].numpy()
+        tape.zero()
+        tape.backward(loss=cmp_pt_manual)
+        tgrads_pt_manual = 1.0 * tape.gradients[t].numpy()
+        vgrads_pt_manual = 1.0 * tape.gradients[v].numpy()
+        tape.zero()
+        tape.backward(loss=cmp_vec)
+        tgrads_vec = 1.0 * tape.gradients[t].numpy()
+        vgrads_vec = 1.0 * tape.gradients[v].numpy()
+        tape.zero()
+        tape.backward(loss=cmp_vec_manual)
+        tgrads_vec_manual = 1.0 * tape.gradients[t].numpy()
+        vgrads_vec_manual = 1.0 * tape.gradients[v].numpy()
+        tape.zero()
+
+        # check gradients against manual result:
+        assert_np_equal(tgrads_pt, tgrads_pt_manual, tol=tol)
+        assert_np_equal(vgrads_pt, vgrads_pt_manual, tol=tol)
+        assert_np_equal(tgrads_vec, tgrads_vec_manual, tol=tol)
+        assert_np_equal(vgrads_vec, vgrads_vec_manual, tol=tol)
+
+
+def test_spatial_matrix_constructors(test, device, dtype, register_kernels=False):
+    rng = np.random.default_rng(123)
+
+    tol = {
+        np.float16: 5.0e-3,
+        np.float32: 1.0e-6,
+        np.float64: 1.0e-8,
+    }.get(dtype, 0)
+
+    wptype = wp._src.types.np_dtype_to_warp_type[np.dtype(dtype)]
+    spatial_matrix = wp._src.types.matrix(shape=(6, 6), dtype=wptype)
+
+    def check_spatial_matrix_constructor(
+        input: wp.array(dtype=wptype),
+        out: wp.array(dtype=wptype),
+    ):
+        # multiply the output by 2 so we've got something to backpropagate:
+        result0 = spatial_matrix(
+            input[0],
+            input[1],
+            input[2],
+            input[3],
+            input[4],
+            input[5],
+            input[6],
+            input[7],
+            input[8],
+            input[9],
+            input[10],
+            input[11],
+            input[12],
+            input[13],
+            input[14],
+            input[15],
+            input[16],
+            input[17],
+            input[18],
+            input[19],
+            input[20],
+            input[21],
+            input[22],
+            input[23],
+            input[24],
+            input[25],
+            input[26],
+            input[27],
+            input[28],
+            input[29],
+            input[30],
+            input[31],
+            input[32],
+            input[33],
+            input[34],
+            input[35],
+        )
+        result1 = spatial_matrix()
+
+        idx = 0
+        for i in range(6):
+            for j in range(6):
+                out[idx] = wptype(2) * result0[i, j]
+                idx = idx + 1
+
+        for i in range(6):
+            for j in range(6):
+                out[idx] = result1[i, j]
+                idx = idx + 1
+
+    kernel = getkernel(check_spatial_matrix_constructor, suffix=dtype.__name__)
+    output_select_kernel = get_select_kernel(wptype)
+
+    if register_kernels:
+        return
+
+    input = wp.array(rng.standard_normal(size=6 * 6).astype(dtype), requires_grad=True, device=device)
+    output = wp.zeros(2 * 6 * 6, dtype=wptype, requires_grad=True, device=device)
+
+    wp.launch(kernel, dim=1, inputs=[input], outputs=[output], device=device)
+
+    assert_np_equal(output.numpy()[: 6 * 6], 2 * input.numpy(), tol=tol)
+    assert_np_equal(output.numpy()[6 * 6 :], np.zeros_like(input.numpy()), tol=tol)
+
+    for i in range(len(input)):
+        cmp = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+        tape = wp.Tape()
+        with tape:
+            wp.launch(kernel, dim=1, inputs=[input], outputs=[output], device=device)
+            wp.launch(output_select_kernel, dim=1, inputs=[output, i], outputs=[cmp], device=device)
+        tape.backward(loss=cmp)
+        expectedgrads = np.zeros(len(input))
+        expectedgrads[i] = 2
+        assert_np_equal(tape.gradients[input].numpy(), expectedgrads)
+        tape.zero()
+        break
+
+
+def test_spatial_matrix_indexing(test, device, dtype, register_kernels=False):
+    rng = np.random.default_rng(123)
+
+    tol = {
+        np.float16: 5.0e-3,
+        np.float32: 1.0e-6,
+        np.float64: 1.0e-8,
+    }.get(dtype, 0)
+
+    wptype = wp._src.types.np_dtype_to_warp_type[np.dtype(dtype)]
+    spatial_matrix = wp._src.types.matrix(shape=(6, 6), dtype=wptype)
+
+    def check_spatial_matrix_indexing(
+        input: wp.array(dtype=spatial_matrix),
+        out: wp.array(dtype=wptype),
+    ):
+        elem = input[0]
+
+        # multiply outputs by 2 so we've got something to backpropagate:
+        idx = 0
+        for i in range(6):
+            for j in range(6):
+                out[idx] = wptype(2) * elem[i, j]
+                idx = idx + 1
+
+    kernel = getkernel(check_spatial_matrix_indexing, suffix=dtype.__name__)
+    output_select_kernel = get_select_kernel(wptype)
+
+    if register_kernels:
+        return
+
+    input = wp.array(
+        rng.standard_normal(size=(1, 6, 6)).astype(dtype), dtype=spatial_matrix, requires_grad=True, device=device
+    )
+    outcmps = wp.zeros(6 * 6, dtype=wptype, requires_grad=True, device=device)
+
+    wp.launch(kernel, dim=1, inputs=[input], outputs=[outcmps], device=device)
+
+    assert_np_equal(outcmps.numpy(), 2 * input.numpy().ravel(), tol=tol)
+    idx = 0
+    out = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    for i in range(6):
+        for j in range(6):
+            tape = wp.Tape()
+            with tape:
+                wp.launch(kernel, dim=1, inputs=[input], outputs=[outcmps], device=device)
+                wp.launch(output_select_kernel, dim=1, inputs=[outcmps, idx], outputs=[out], device=device)
+            tape.backward(loss=out)
+            expectedresult = np.zeros((6, 6), dtype=dtype)
+            expectedresult[i, j] = 2
+            assert_np_equal(tape.gradients[input].numpy()[0], expectedresult)
+            tape.zero()
+            idx = idx + 1
+
+
+def test_spatial_matrix_scalar_multiplication(test, device, dtype, register_kernels=False):
+    rng = np.random.default_rng(123)
+
+    tol = {
+        np.float16: 5.0e-3,
+        np.float32: 1.0e-6,
+        np.float64: 1.0e-8,
+    }.get(dtype, 0)
+
+    wptype = wp._src.types.np_dtype_to_warp_type[np.dtype(dtype)]
+    spatial_matrix = wp._src.types.matrix(shape=(6, 6), dtype=wptype)
+
+    def check_spatial_matrix_scalar_mul(
+        s: wp.array(dtype=wptype),
+        q: wp.array(dtype=spatial_matrix),
+        outcmps_l: wp.array(dtype=wptype),
+        outcmps_r: wp.array(dtype=wptype),
+    ):
+        lresult = s[0] * q[0]
+        rresult = q[0] * s[0]
+
+        # multiply outputs by 2 so we've got something to backpropagate:
+        idx = 0
+        for i in range(6):
+            for j in range(6):
+                outcmps_l[idx] = wptype(2) * lresult[i, j]
+                outcmps_r[idx] = wptype(2) * rresult[i, j]
+                idx = idx + 1
+
+    kernel = getkernel(check_spatial_matrix_scalar_mul, suffix=dtype.__name__)
+    output_select_kernel = get_select_kernel(wptype)
+
+    if register_kernels:
+        return
+
+    s = wp.array(rng.standard_normal(size=1).astype(dtype), requires_grad=True, device=device)
+    q = wp.array(
+        rng.standard_normal(size=(1, 6, 6)).astype(dtype), dtype=spatial_matrix, requires_grad=True, device=device
+    )
+
+    outcmps_l = wp.zeros(6 * 6, dtype=wptype, requires_grad=True, device=device)
+    outcmps_r = wp.zeros(6 * 6, dtype=wptype, requires_grad=True, device=device)
+
+    wp.launch(
+        kernel,
+        dim=1,
+        inputs=[s, q],
+        outputs=[
+            outcmps_l,
+            outcmps_r,
+        ],
+        device=device,
+    )
+
+    assert_np_equal(outcmps_l.numpy(), 2 * s.numpy()[0] * q.numpy(), tol=tol)
+    assert_np_equal(outcmps_r.numpy(), 2 * s.numpy()[0] * q.numpy(), tol=tol)
+
+    out = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    idx = 0
+    for i in range(6):
+        for j in range(6):
+            # test left/right mul gradients:
+            for wrt in [outcmps_l, outcmps_r]:
+                tape = wp.Tape()
+                with tape:
+                    wp.launch(kernel, dim=1, inputs=[s, q], outputs=[outcmps_l, outcmps_r], device=device)
+                    wp.launch(output_select_kernel, dim=1, inputs=[wrt, idx], outputs=[out], device=device)
+                tape.backward(loss=out)
+                expectedresult = np.zeros((6, 6), dtype=dtype)
+                expectedresult[i, j] = 2 * s.numpy()[0]
+                assert_np_equal(tape.gradients[q].numpy()[0], expectedresult, tol=tol)
+                assert_np_equal(tape.gradients[s].numpy()[0], 2 * q.numpy()[0, i, j], tol=tol)
+                tape.zero()
+            idx = idx + 1
+
+
+def test_spatial_matrix_add_sub(test, device, dtype, register_kernels=False):
+    rng = np.random.default_rng(123)
+
+    tol = {
+        np.float16: 5.0e-3,
+        np.float32: 1.0e-6,
+        np.float64: 1.0e-8,
+    }.get(dtype, 0)
+
+    wptype = wp._src.types.np_dtype_to_warp_type[np.dtype(dtype)]
+    spatial_matrix = wp._src.types.matrix(shape=(6, 6), dtype=wptype)
+
+    def check_spatial_matrix_add_sub(
+        q: wp.array(dtype=spatial_matrix),
+        v: wp.array(dtype=spatial_matrix),
+        outputs_add: wp.array(dtype=wptype),
+        outputs_sub: wp.array(dtype=wptype),
+    ):
+        addresult = q[0] + v[0]
+        subresult = q[0] - v[0]
+        idx = 0
+        for i in range(6):
+            for j in range(6):
+                outputs_add[idx] = wptype(2) * addresult[i, j]
+                outputs_sub[idx] = wptype(2) * subresult[i, j]
+                idx = idx + 1
+
+    kernel = getkernel(check_spatial_matrix_add_sub, suffix=dtype.__name__)
+    output_select_kernel = get_select_kernel(wptype)
+
+    if register_kernels:
+        return
+
+    q = wp.array(
+        rng.standard_normal(size=(1, 6, 6)).astype(dtype), dtype=spatial_matrix, requires_grad=True, device=device
+    )
+    v = wp.array(
+        rng.standard_normal(size=(1, 6, 6)).astype(dtype), dtype=spatial_matrix, requires_grad=True, device=device
+    )
+
+    outputs_add = wp.zeros(6 * 6, dtype=wptype, requires_grad=True, device=device)
+    outputs_sub = wp.zeros(6 * 6, dtype=wptype, requires_grad=True, device=device)
+
+    wp.launch(
+        kernel,
+        dim=1,
+        inputs=[
+            q,
+            v,
+        ],
+        outputs=[outputs_add, outputs_sub],
+        device=device,
+    )
+
+    assert_np_equal(outputs_add.numpy(), 2 * (q.numpy() + v.numpy()), tol=tol)
+    assert_np_equal(outputs_sub.numpy(), 2 * (q.numpy() - v.numpy()), tol=tol)
+
+    out = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    idx = 0
+    for i in range(6):
+        for j in range(6):
+            # test add gradients:
+            tape = wp.Tape()
+            with tape:
+                wp.launch(kernel, dim=1, inputs=[q, v], outputs=[outputs_add, outputs_sub], device=device)
+                wp.launch(output_select_kernel, dim=1, inputs=[outputs_add, idx], outputs=[out], device=device)
+            tape.backward(loss=out)
+            expectedresult = np.zeros((6, 6), dtype=dtype)
+            expectedresult[i, j] = 2
+            assert_np_equal(tape.gradients[q].numpy()[0], expectedresult, tol=tol)
+            assert_np_equal(tape.gradients[v].numpy()[0], expectedresult, tol=tol)
+            tape.zero()
+
+            # test subtraction gradients:
+            tape = wp.Tape()
+            with tape:
+                wp.launch(kernel, dim=1, inputs=[q, v], outputs=[outputs_add, outputs_sub], device=device)
+                wp.launch(output_select_kernel, dim=1, inputs=[outputs_sub, idx], outputs=[out], device=device)
+            tape.backward(loss=out)
+            expectedresult = np.zeros((6, 6), dtype=dtype)
+            expectedresult[i, j] = 2
+            assert_np_equal(tape.gradients[q].numpy()[0], expectedresult, tol=tol)
+            assert_np_equal(tape.gradients[v].numpy()[0], -expectedresult, tol=tol)
+            tape.zero()
+
+            idx = idx + 1
+
+
+def test_spatial_matvec_multiplication(test, device, dtype, register_kernels=False):
+    rng = np.random.default_rng(123)
+
+    tol = {
+        np.float16: 2.0e-2,
+        np.float32: 5.0e-6,
+        np.float64: 1.0e-8,
+    }.get(dtype, 0)
+
+    wptype = wp._src.types.np_dtype_to_warp_type[np.dtype(dtype)]
+    spatial_matrix = wp._src.types.matrix(shape=(6, 6), dtype=wptype)
+    spatial_vector = wp._src.types.vector(length=6, dtype=wptype)
+
+    output_select_kernel = get_select_kernel(wptype)
+
+    def check_spatial_mat_vec_mul(
+        v: wp.array(dtype=spatial_vector),
+        m: wp.array(dtype=spatial_matrix),
+        outcomponents: wp.array(dtype=wptype),
+    ):
+        result = m[0] * v[0]
+
+        # multiply outputs by 2 so we've got something to backpropagate:
+        idx = 0
+        for i in range(6):
+            outcomponents[idx] = wptype(2) * result[i]
+            idx = idx + 1
+
+    kernel = getkernel(check_spatial_mat_vec_mul, suffix=dtype.__name__)
+
+    if register_kernels:
+        return
+
+    v = wp.array(
+        rng.standard_normal(size=(1, 6)).astype(dtype), dtype=spatial_vector, requires_grad=True, device=device
+    )
+    m = wp.array(
+        rng.standard_normal(size=(1, 6, 6)).astype(dtype), dtype=spatial_matrix, requires_grad=True, device=device
+    )
+    outcomponents = wp.zeros(6, dtype=wptype, requires_grad=True, device=device)
+
+    wp.launch(kernel, dim=1, inputs=[v, m], outputs=[outcomponents], device=device)
+
+    assert_np_equal(outcomponents.numpy(), 2 * np.matmul(m.numpy()[0], v.numpy()[0]), tol=tol)
+
+    out = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    for i in range(6):
+        tape = wp.Tape()
+        with tape:
+            wp.launch(kernel, dim=1, inputs=[v, m], outputs=[outcomponents], device=device)
+            wp.launch(output_select_kernel, dim=1, inputs=[outcomponents, i], outputs=[out], device=device)
+        tape.backward(loss=out)
+
+        assert_np_equal(tape.gradients[v].numpy()[0], 2 * m.numpy()[0, i, :], tol=tol)
+        expectedresult = np.zeros((6, 6), dtype=dtype)
+        expectedresult[i, :] = 2 * v.numpy()[0]
+        assert_np_equal(tape.gradients[m].numpy()[0], expectedresult, tol=tol)
+
+        tape.zero()
+
+
+def test_spatial_matmat_multiplication(test, device, dtype, register_kernels=False):
+    rng = np.random.default_rng(123)
+
+    tol = {
+        np.float16: 2.0e-2,
+        np.float32: 5.0e-6,
+        np.float64: 5.0e-7,
+    }.get(dtype, 0)
+
+    wptype = wp._src.types.np_dtype_to_warp_type[np.dtype(dtype)]
+    spatial_matrix = wp._src.types.matrix(shape=(6, 6), dtype=wptype)
+
+    output_select_kernel = get_select_kernel(wptype)
+
+    def check_mat_mat_mul(
+        v: wp.array(dtype=spatial_matrix),
+        m: wp.array(dtype=spatial_matrix),
+        outcomponents: wp.array(dtype=wptype),
+    ):
+        result = m[0] * v[0]
+
+        # multiply outputs by 2 so we've got something to backpropagate:
+        idx = 0
+        for i in range(6):
+            for j in range(6):
+                outcomponents[idx] = wptype(2) * result[i, j]
+                idx = idx + 1
+
+    kernel = getkernel(check_mat_mat_mul, suffix=dtype.__name__)
+
+    if register_kernels:
+        return
+
+    v = wp.array(
+        rng.standard_normal(size=(1, 6, 6)).astype(dtype), dtype=spatial_matrix, requires_grad=True, device=device
+    )
+    m = wp.array(
+        rng.standard_normal(size=(1, 6, 6)).astype(dtype), dtype=spatial_matrix, requires_grad=True, device=device
+    )
+    outcomponents = wp.zeros(6 * 6, dtype=wptype, requires_grad=True, device=device)
+
+    wp.launch(kernel, dim=1, inputs=[v, m], outputs=[outcomponents], device=device)
+
+    assert_np_equal(outcomponents.numpy(), 2 * np.matmul(m.numpy()[0], v.numpy()[0]), tol=tol)
+
+    out = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    idx = 0
+    for i in range(6):
+        for j in range(6):
+            tape = wp.Tape()
+            with tape:
+                wp.launch(kernel, dim=1, inputs=[v, m], outputs=[outcomponents], device=device)
+                wp.launch(output_select_kernel, dim=1, inputs=[outcomponents, idx], outputs=[out], device=device)
+            tape.backward(loss=out)
+
+            expected = np.zeros((6, 6), dtype=dtype)
+            expected[:, j] = 2 * m.numpy()[0, i, :]
+            assert_np_equal(tape.gradients[v].numpy()[0], expected, tol=10 * tol)
+
+            expected = np.zeros((6, 6), dtype=dtype)
+            expected[i, :] = 2 * v.numpy()[0, :, j]
+            assert_np_equal(tape.gradients[m].numpy()[0], expected, tol=10 * tol)
+
+            tape.zero()
+            idx = idx + 1
+
+
+def test_spatial_mat_transpose(test, device, dtype, register_kernels=False):
+    rng = np.random.default_rng(123)
+
+    tol = {
+        np.float16: 1.0e-2,
+        np.float32: 1.0e-6,
+        np.float64: 1.0e-8,
+    }.get(dtype, 0)
+
+    wptype = wp._src.types.np_dtype_to_warp_type[np.dtype(dtype)]
+    spatial_matrix = wp._src.types.matrix(shape=(6, 6), dtype=wptype)
+
+    output_select_kernel = get_select_kernel(wptype)
+
+    def check_spatial_mat_transpose(
+        m: wp.array(dtype=spatial_matrix),
+        outcomponents: wp.array(dtype=wptype),
+    ):
+        # multiply outputs by 2 so we've got something to backpropagate:
+        mat = wptype(2) * wp.transpose(m[0])
+
+        idx = 0
+        for i in range(6):
+            for j in range(6):
+                outcomponents[idx] = mat[i, j]
+                idx = idx + 1
+
+    kernel = getkernel(check_spatial_mat_transpose, suffix=dtype.__name__)
+
+    if register_kernels:
+        return
+
+    m = wp.array(
+        rng.standard_normal(size=(1, 6, 6)).astype(dtype), dtype=spatial_matrix, requires_grad=True, device=device
+    )
+    outcomponents = wp.zeros(6 * 6, dtype=wptype, requires_grad=True, device=device)
+
+    wp.launch(kernel, dim=1, inputs=[m], outputs=[outcomponents], device=device)
+
+    assert_np_equal(outcomponents.numpy(), 2 * m.numpy()[0].T, tol=tol)
+
+    idx = 0
+    out = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    for i in range(6):
+        for j in range(6):
+            tape = wp.Tape()
+            with tape:
+                wp.launch(kernel, dim=1, inputs=[m], outputs=[outcomponents], device=device)
+                wp.launch(output_select_kernel, dim=1, inputs=[outcomponents, idx], outputs=[out], device=device)
+            tape.backward(loss=out)
+            expectedresult = np.zeros((6, 6), dtype=dtype)
+            expectedresult[j, i] = 2
+            assert_np_equal(tape.gradients[m].numpy()[0], expectedresult)
+            tape.zero()
+            idx = idx + 1
+
+
+def test_spatial_outer_product(test, device, dtype, register_kernels=False):
+    rng = np.random.default_rng(123)
+
+    tol = {
+        np.float16: 5.0e-3,
+        np.float32: 1.0e-6,
+        np.float64: 1.0e-8,
+    }.get(dtype, 0)
+
+    wptype = wp._src.types.np_dtype_to_warp_type[np.dtype(dtype)]
+    spatial_vector = wp._src.types.vector(length=6, dtype=wptype)
+
+    output_select_kernel = get_select_kernel(wptype)
+
+    def check_spatial_outer_product(
+        s: wp.array(dtype=spatial_vector),
+        v: wp.array(dtype=spatial_vector),
+        outcomponents: wp.array(dtype=wptype),
+    ):
+        mresult = wptype(2) * wp.outer(s[0], v[0])
+
+        # multiply outputs by 2 so we've got something to backpropagate:
+        idx = 0
+        for i in range(6):
+            for j in range(6):
+                outcomponents[idx] = mresult[i, j]
+                idx = idx + 1
+
+    kernel = getkernel(check_spatial_outer_product, suffix=dtype.__name__)
+
+    if register_kernels:
+        return
+
+    s = wp.array(
+        rng.standard_normal(size=(1, 6)).astype(dtype), dtype=spatial_vector, requires_grad=True, device=device
+    )
+    v = wp.array(
+        rng.standard_normal(size=(1, 6)).astype(dtype), dtype=spatial_vector, requires_grad=True, device=device
+    )
+    outcomponents = wp.zeros(6 * 6, dtype=wptype, requires_grad=True, device=device)
+
+    wp.launch(kernel, dim=1, inputs=[s, v], outputs=[outcomponents], device=device)
+
+    assert_np_equal(outcomponents.numpy(), 2 * s.numpy()[0, :, None] * v.numpy()[0, None, :], tol=tol)
+
+    idx = 0
+    out = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+
+    for i in range(6):
+        for j in range(6):
+            tape = wp.Tape()
+            with tape:
+                wp.launch(
+                    kernel,
+                    dim=1,
+                    inputs=[
+                        s,
+                        v,
+                    ],
+                    outputs=[outcomponents],
+                    device=device,
+                )
+                wp.launch(output_select_kernel, dim=1, inputs=[outcomponents, idx], outputs=[out], device=device)
+            tape.backward(loss=out)
+
+            # this component's gonna be s_i * v_j, so its s gradient is gonna be nozero
+            # at the ith component and its v gradient will be nonzero at the jth component:
+
+            expectedresult = np.zeros((6), dtype=dtype)
+            expectedresult[i] = 2 * v.numpy()[0, j]
+            assert_np_equal(tape.gradients[s].numpy()[0], expectedresult, tol=10 * tol)
+
+            expectedresult = np.zeros((6), dtype=dtype)
+            expectedresult[j] = 2 * s.numpy()[0, i]
+            assert_np_equal(tape.gradients[v].numpy()[0], expectedresult, tol=10 * tol)
+            tape.zero()
+
+            idx = idx + 1
+
+
+def test_spatial_adjoint(test, device, dtype, register_kernels=False):
+    rng = np.random.default_rng(123)
+
+    tol = {
+        np.float16: 5.0e-3,
+        np.float32: 1.0e-6,
+        np.float64: 1.0e-8,
+    }.get(dtype, 0)
+
+    wptype = wp._src.types.np_dtype_to_warp_type[np.dtype(dtype)]
+    mat3 = wp._src.types.matrix(shape=(3, 3), dtype=wptype)
+
+    output_select_kernel = get_select_kernel(wptype)
+
+    def check_spatial_adjoint(
+        R: wp.array(dtype=mat3),
+        S: wp.array(dtype=mat3),
+        outcomponents: wp.array(dtype=wptype),
+    ):
+        mresult = wptype(2) * wp.spatial_adjoint(R[0], S[0])
+
+        # multiply outputs by 2 so we've got something to backpropagate:
+        idx = 0
+        for i in range(6):
+            for j in range(6):
+                outcomponents[idx] = mresult[i, j]
+                idx = idx + 1
+
+    kernel = getkernel(check_spatial_adjoint, suffix=dtype.__name__)
+
+    if register_kernels:
+        return
+
+    R = wp.array(rng.standard_normal(size=(1, 3, 3)).astype(dtype), dtype=mat3, requires_grad=True, device=device)
+    S = wp.array(rng.standard_normal(size=(1, 3, 3)).astype(dtype), dtype=mat3, requires_grad=True, device=device)
+    outcomponents = wp.zeros(6 * 6, dtype=wptype, requires_grad=True, device=device)
+
+    wp.launch(kernel, dim=1, inputs=[R, S], outputs=[outcomponents], device=device)
+
+    result = outcomponents.numpy().reshape(6, 6)
+    expected = np.zeros_like(result)
+    expected[:3, :3] = R.numpy()
+    expected[3:, 3:] = R.numpy()
+    expected[3:, :3] = S.numpy()
+
+    assert_np_equal(result, 2 * expected, tol=tol)
+
+    idx = 0
+    out = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+    for i in range(6):
+        for j in range(6):
+            tape = wp.Tape()
+            with tape:
+                wp.launch(
+                    kernel,
+                    dim=1,
+                    inputs=[
+                        R,
+                        S,
+                    ],
+                    outputs=[outcomponents],
+                    device=device,
+                )
+                wp.launch(output_select_kernel, dim=1, inputs=[outcomponents, idx], outputs=[out], device=device)
+            tape.backward(loss=out)
+
+            # this component's gonna be s_i * v_j, so its s gradient is gonna be nozero
+            # at the ith component and its v gradient will be nonzero at the jth component:
+
+            expectedresult = np.zeros((3, 3), dtype=dtype)
+            if (i // 3 == 0 and j // 3 == 0) or (i // 3 == 1 and j // 3 == 1):
+                expectedresult[i % 3, j % 3] = 2
+            assert_np_equal(tape.gradients[R].numpy()[0], expectedresult, tol=10 * tol)
+
+            expectedresult = np.zeros((3, 3), dtype=dtype)
+            if i // 3 == 1 and j // 3 == 0:
+                expectedresult[i % 3, j % 3] = 2
+            assert_np_equal(tape.gradients[S].numpy()[0], expectedresult, tol=10 * tol)
+            tape.zero()
+
+            idx = idx + 1
+
+
+def test_transform_identity(test, device, dtype, register_kernels=False):
+    wptype = wp._src.types.np_dtype_to_warp_type[np.dtype(dtype)]
+
+    def transform_identity_test(output: wp.array(dtype=wptype)):
+        t = wp.transform_identity(dtype=wptype)
+        for i in range(7):
+            output[i] = t[i]
+
+    def transform_identity_test_default(output: wp.array(dtype=wp.float32)):
+        t = wp.transform_identity()
+        for i in range(7):
+            output[i] = t[i]
+
+    quat_identity_kernel = getkernel(transform_identity_test, suffix=dtype.__name__)
+    quat_identity_default_kernel = getkernel(transform_identity_test_default, suffix=np.float32.__name__)
+
+    if register_kernels:
+        return
+
+    output = wp.zeros(7, dtype=wptype, device=device)
+    wp.launch(quat_identity_kernel, dim=1, inputs=[], outputs=[output], device=device)
+    expected = np.zeros_like(output.numpy())
+    expected[-1] = 1
+    assert_np_equal(output.numpy(), expected)
+
+    # let's just test that it defaults to float32:
+    output = wp.zeros(7, dtype=wp.float32, device=device)
+    wp.launch(quat_identity_default_kernel, dim=1, inputs=[], outputs=[output], device=device)
+    expected = np.zeros_like(output.numpy())
+    expected[-1] = 1
+    assert_np_equal(output.numpy(), expected)
+
+
+def test_transform_anon_type_instance(test, device, dtype, register_kernels=False):
+    rng = np.random.default_rng(123)
+
+    wptype = wp._src.types.np_dtype_to_warp_type[np.dtype(dtype)]
+
+    def transform_create_test(input: wp.array(dtype=wptype), output: wp.array(dtype=wptype)):
+        t = wp.transformation(
+            wp.vector(input[0], input[1], input[2]), wp.quaternion(input[3], input[4], input[5], input[6])
+        )
+        for i in range(7):
+            output[i] = wptype(2) * t[i]
+
+    transform_create_kernel = getkernel(transform_create_test, suffix=dtype.__name__)
+    output_select_kernel = get_select_kernel(wptype)
+
+    if register_kernels:
+        return
+
+    input = wp.array(rng.standard_normal(size=7).astype(dtype), requires_grad=True, device=device)
+    output = wp.zeros(7, dtype=wptype, requires_grad=True, device=device)
+    wp.launch(transform_create_kernel, dim=1, inputs=[input], outputs=[output], device=device)
+    assert_np_equal(output.numpy(), 2 * input.numpy())
+
+    for i in range(len(input)):
+        cmp = wp.zeros(1, dtype=wptype, requires_grad=True, device=device)
+        tape = wp.Tape()
+        with tape:
+            wp.launch(transform_create_kernel, dim=1, inputs=[input], outputs=[output], device=device)
+            wp.launch(output_select_kernel, dim=1, inputs=[output, i], outputs=[cmp], device=device)
+        tape.backward(loss=cmp)
+        expectedgrads = np.zeros(len(input))
+        expectedgrads[i] = 2
+        assert_np_equal(tape.gradients[input].numpy(), expectedgrads)
+        tape.zero()
+
+
+def test_transform_from_matrix(test, device, dtype, register_kernels=False):
+    wptype = wp._src.types.np_dtype_to_warp_type[np.dtype(dtype)]
+    mat44 = wp._src.types.matrix((4, 4), wptype)
+    vec3 = wp._src.types.vector(3, wptype)
+    quat = wp._src.types.quaternion(wptype)
+
+    def transform_from_matrix_kernel():
+        # fmt: off
+        m = mat44(
+            wptype(0.6), wptype(0.48), wptype(0.64), wptype(1.0),
+            wptype(-0.8), wptype(0.36), wptype(0.48), wptype(2.0),
+            wptype(0.0), wptype(-0.8), wptype(0.6), wptype(3.0),
+            wptype(0.0), wptype(0.0), wptype(0.0), wptype(1.0),
+        )
+        # fmt: on
+        t = wp.transform_from_matrix(m)
+        p = wp.transform_get_translation(t)
+        q = wp.transform_get_rotation(t)
+        wp.expect_near(p, vec3(wptype(1.0), wptype(2.0), wptype(3.0)), tolerance=wptype(1e-3))
+        wp.expect_near(q, quat(wptype(-0.4), wptype(0.2), wptype(-0.4), wptype(0.8)), tolerance=wptype(1e-3))
+
+    kernel = getkernel(transform_from_matrix_kernel, suffix=dtype.__name__)
+
+    if register_kernels:
+        return
+
+    wp.launch(kernel, dim=1, device=device)
+
+
+def test_transform_to_matrix(test, device, dtype, register_kernels=False):
+    wptype = wp._src.types.np_dtype_to_warp_type[np.dtype(dtype)]
+    mat44 = wp._src.types.matrix((4, 4), wptype)
+    vec3 = wp._src.types.vector(3, wptype)
+    quat = wp._src.types.quaternion(wptype)
+
+    def transform_to_matrix_kernel():
+        p = vec3(wptype(1.0), wptype(2.0), wptype(3.0))
+        q = quat(wptype(-0.4), wptype(0.2), wptype(-0.4), wptype(0.8))
+        t = wp.transformation(p, q)
+        m = wp.transform_to_matrix(t)
+        # fmt: off
+        wp.expect_near(
+            m,
+            mat44(
+                wptype(0.6), wptype(0.48), wptype(0.64), wptype(1.0),
+                wptype(-0.8), wptype(0.36), wptype(0.48), wptype(2.0),
+                wptype(0.0), wptype(-0.8), wptype(0.6), wptype(3.0),
+                wptype(0.0), wptype(0.0), wptype(0.0), wptype(1.0),
+            ),
+            tolerance=wptype(1e-3),
+        )
+        # fmt: on
+
+    kernel = getkernel(transform_to_matrix_kernel, suffix=dtype.__name__)
+
+    if register_kernels:
+        return
+
+    wp.launch(kernel, dim=1, device=device)
+
+
+def test_transform_compose(test, device, dtype, register_kernels=False):
+    wptype = wp._src.types.np_dtype_to_warp_type[np.dtype(dtype)]
+    mat44 = wp._src.types.matrix((4, 4), wptype)
+    vec3 = wp._src.types.vector(3, wptype)
+    quat = wp._src.types.quaternion(wptype)
+
+    def transform_compose_kernel():
+        p = vec3(wptype(1.0), wptype(2.0), wptype(3.0))
+        q = quat(wptype(-0.4), wptype(0.2), wptype(-0.4), wptype(0.8))
+        s = vec3(wptype(4.0), wptype(5.0), wptype(6.0))
+        m = wp.transform_compose(p, q, s)
+        # fmt: off
+        wp.expect_near(
+            m,
+            mat44(
+                wptype(0.6 * 4.0), wptype(0.48 * 5.0), wptype(0.64 * 6.0), wptype(1.0),
+                wptype(-0.8 * 4.0), wptype(0.36 * 5.0), wptype(0.48 * 6.0), wptype(2.0),
+                wptype(0.0 * 4.0), wptype(-0.8 * 5.0), wptype(0.6 * 6.0), wptype(3.0),
+                wptype(0.0), wptype(0.0), wptype(0.0), wptype(1.0),
+            ),
+            tolerance=wptype(1e-2),
+        )
+        # fmt: on
+
+    kernel = getkernel(transform_compose_kernel, suffix=dtype.__name__)
+
+    if register_kernels:
+        return
+
+    wp.launch(kernel, dim=1, device=device)
+
+
+def test_transform_decompose(test, device, dtype, register_kernels=False):
+    wptype = wp._src.types.np_dtype_to_warp_type[np.dtype(dtype)]
+    mat44 = wp._src.types.matrix((4, 4), wptype)
+    vec3 = wp._src.types.vector(3, wptype)
+    quat = wp._src.types.quaternion(wptype)
+
+    def transform_decompose_kernel():
+        # fmt: off
+        m = mat44(
+            wptype(0.6 * 4.0), wptype(0.48 * 5.0), wptype(0.64 * 6.0), wptype(1.0),
+            wptype(-0.8 * 4.0), wptype(0.36 * 5.0), wptype(0.48 * 6.0), wptype(2.0),
+            wptype(0.0 * 4.0), wptype(-0.8 * 5.0), wptype(0.6 * 6.0), wptype(3.0),
+            wptype(0.0), wptype(0.0), wptype(0.0), wptype(1.0),
+        )
+        # fmt: on
+        p, q, s = wp.transform_decompose(m)
+        wp.expect_near(p, vec3(wptype(1.0), wptype(2.0), wptype(3.0)), tolerance=wptype(1e-2))
+        wp.expect_near(q, quat(wptype(-0.4), wptype(0.2), wptype(-0.4), wptype(0.8)), tolerance=wptype(1e-2))
+        wp.expect_near(s, vec3(wptype(4.0), wptype(5.0), wptype(6.0)), tolerance=wptype(1e-2))
+
+    kernel = getkernel(transform_decompose_kernel, suffix=dtype.__name__)
+
+    if register_kernels:
+        return
+
+    wp.launch(kernel, dim=1, device=device)
+
+
+def test_transform_getter_setter(test, device):
+    t = wp.transform()
+
+    a = wp.vec3(1.0, 2.0, 3.0)
+    b = wp.quat(0.0, 0.0, 0.0, 1.0)
+
+    t.p = a
+    t.q = b
+
+    c = t.p
+    d = t.q
+
+    test.assertEqual(c, a)
+    test.assertEqual(d, b)
+
+
+@wp.kernel
+def transform_extract_subscript(x: wp.array(dtype=wp.transform), y: wp.array(dtype=float)):
+    tid = wp.tid()
+
+    a = x[tid]
+    b = a[0] + 2.0 * a[1] + 3.0 * a[2] + 4.0 * a[3] + 5.0 * a[4] + 6.0 * a[5] + 7.0 * a[6]
+    y[tid] = b
+
+
+@wp.kernel
+def transform_extract_attribute(
+    x: wp.array(dtype=wp.transform), y: wp.array(dtype=wp.vec3), z: wp.array(dtype=wp.quat)
+):
+    tid = wp.tid()
+
+    a = x[tid]
+    p = a.p
+    q = a.q
+
+    y[tid] = p
+    z[tid] = q
+
+
+def test_transform_extract(test, device):
+    x = wp.ones(1, dtype=wp.transform, requires_grad=True, device=device)
+    y = wp.zeros(1, dtype=float, requires_grad=True, device=device)
+
+    tape = wp.Tape()
+    with tape:
+        wp.launch(transform_extract_subscript, 1, inputs=[x], outputs=[y], device=device)
+
+    y.grad = wp.ones_like(y)
+
+    tape.backward()
+
+    assert_np_equal(y.numpy(), np.array([28.0], dtype=float))
+    assert_np_equal(x.grad.numpy(), np.array([[1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0]], dtype=float))
+
+    x = wp.ones(1, dtype=wp.transform, requires_grad=True, device=device)
+    y = wp.zeros(1, dtype=wp.vec3, requires_grad=True, device=device)
+    z = wp.zeros(1, dtype=wp.quat, requires_grad=True, device=device)
+
+    tape = wp.Tape()
+    with tape:
+        wp.launch(transform_extract_attribute, 1, inputs=[x], outputs=[y, z], device=device)
+
+    y.grad = wp.ones_like(y)
+    z.grad = wp.ones_like(z)
+
+    tape.backward()
+
+    assert_np_equal(y.numpy(), np.array([[1.0, 1.0, 1.0]], dtype=float))
+    assert_np_equal(z.numpy(), np.array([[1.0, 1.0, 1.0, 1.0]], dtype=float))
+    assert_np_equal(x.grad.numpy(), np.array([[1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]], dtype=float))
+
+
+@wp.kernel
+def transform_assign_subscript(x: wp.array(dtype=float), y: wp.array(dtype=wp.transform)):
+    i = wp.tid()
+
+    a = wp.transform()
+    a[0] = 1.0 * x[i]
+    a[1] = 2.0 * x[i]
+    a[2] = 3.0 * x[i]
+    a[3] = 4.0 * x[i]
+    a[4] = 5.0 * x[i]
+    a[5] = 6.0 * x[i]
+    a[6] = 7.0 * x[i]
+    y[i] = a
+
+
+@wp.kernel
+def transform_assign_attribute(x: wp.array(dtype=wp.vec3), y: wp.array(dtype=wp.quat), z: wp.array(dtype=wp.transform)):
+    i = wp.tid()
+
+    a = wp.transform()
+    a.p = x[i]
+    a.q = y[i]
+    z[i] = a
+
+
+def test_transform_assign(test, device):
+    x = wp.ones(1, dtype=float, requires_grad=True, device=device)
+    y = wp.zeros(1, dtype=wp.transform, requires_grad=True, device=device)
+
+    tape = wp.Tape()
+    with tape:
+        wp.launch(transform_assign_subscript, 1, inputs=[x], outputs=[y], device=device)
+
+    y.grad = wp.ones_like(y)
+    tape.backward()
+
+    assert_np_equal(y.numpy(), np.array([[1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0]], dtype=float))
+    assert_np_equal(x.grad.numpy(), np.array([28.0], dtype=float))
+
+    x = wp.ones(1, dtype=wp.vec3, requires_grad=True, device=device)
+    y = wp.ones(1, dtype=wp.quat, requires_grad=True, device=device)
+    z = wp.zeros(1, dtype=wp.transform, requires_grad=True, device=device)
+
+    tape = wp.Tape()
+    with tape:
+        wp.launch(transform_assign_attribute, 1, inputs=[x, y], outputs=[z], device=device)
+
+    z.grad = wp.ones_like(z)
+    tape.backward()
+
+    assert_np_equal(z.numpy(), np.array([[1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]], dtype=float))
+    assert_np_equal(x.grad.numpy(), np.array([[1.0, 1.0, 1.0]], dtype=float))
+    assert_np_equal(y.grad.numpy(), np.array([[1.0, 1.0, 1.0, 1.0]], dtype=float))
+
+
+@wp.kernel
+def transform_array_extract_subscript(x: wp.array2d(dtype=wp.transform), y: wp.array2d(dtype=float)):
+    i, j = wp.tid()
+    a = x[i, j][0]
+    b = x[i, j][1]
+    c = x[i, j][2]
+    d = x[i, j][3]
+    e = x[i, j][4]
+    f = x[i, j][5]
+    g = x[i, j][6]
+    y[i, j] = 1.0 * a + 2.0 * b + 3.0 * c + 4.0 * d + 5.0 * e + 6.0 * f + 7.0 * g
+
+
+@wp.kernel
+def transform_array_extract_attribute(
+    x: wp.array2d(dtype=wp.transform), y: wp.array2d(dtype=wp.vec3), z: wp.array2d(dtype=wp.quat)
+):
+    i, j = wp.tid()
+    a = x[i, j].p
+    b = x[i, j].q
+    y[i, j] = a
+    z[i, j] = b
+
+
+def test_transform_array_extract(test, device):
+    x = wp.ones((1, 1), dtype=wp.transform, requires_grad=True, device=device)
+    y = wp.zeros((1, 1), dtype=float, requires_grad=True, device=device)
+
+    tape = wp.Tape()
+    with tape:
+        wp.launch(transform_array_extract_subscript, (1, 1), inputs=[x], outputs=[y], device=device)
+
+    y.grad = wp.ones_like(y)
+    tape.backward()
+
+    assert_np_equal(y.numpy(), np.array([[28.0]], dtype=float))
+    assert_np_equal(x.grad.numpy(), np.array([[[1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0]]], dtype=float))
+
+    x = wp.ones((1, 1), dtype=wp.transform, requires_grad=True, device=device)
+    y = wp.zeros((1, 1), dtype=wp.vec3, requires_grad=True, device=device)
+    z = wp.zeros((1, 1), dtype=wp.quat, requires_grad=True, device=device)
+
+    tape = wp.Tape()
+    with tape:
+        wp.launch(transform_array_extract_attribute, (1, 1), inputs=[x], outputs=[y, z], device=device)
+
+    y.grad = wp.ones_like(y)
+    z.grad = wp.ones_like(z)
+    tape.backward()
+
+    assert_np_equal(y.numpy(), np.array([[[1.0, 1.0, 1.0]]], dtype=float))
+    assert_np_equal(z.numpy(), np.array([[[1.0, 1.0, 1.0, 1.0]]], dtype=float))
+    assert_np_equal(x.grad.numpy(), np.array([[[1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]]], dtype=float))
+
+
+@wp.kernel
+def transform_array_assign_subscript(x: wp.array2d(dtype=float), y: wp.array2d(dtype=wp.transform)):
+    i, j = wp.tid()
+
+    y[i, j][0] = 1.0 * x[i, j]
+    y[i, j][1] = 2.0 * x[i, j]
+    y[i, j][2] = 3.0 * x[i, j]
+    y[i, j][3] = 4.0 * x[i, j]
+    y[i, j][4] = 5.0 * x[i, j]
+    y[i, j][5] = 6.0 * x[i, j]
+    y[i, j][6] = 7.0 * x[i, j]
+
+
+# @wp.kernel
+# def transform_array_assign_attribute(x: wp.array2d(dtype=wp.vec3), y: wp.array2d(dtype=wp.quat), z: wp.array2d(dtype=wp.transform)):
+#     i, j = wp.tid()
+
+#     z[i, j].p = x[i, j]
+#     z[i, j].q = y[i, j]
+
+
+def test_transform_array_assign(test, device):
+    x = wp.ones((1, 1), dtype=float, requires_grad=True, device=device)
+    y = wp.zeros((1, 1), dtype=wp.transform, requires_grad=True, device=device)
+
+    tape = wp.Tape()
+    with tape:
+        wp.launch(transform_array_assign_subscript, (1, 1), inputs=[x], outputs=[y], device=device)
+
+    assert_np_equal(y.numpy(), np.array([[[1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0]]], dtype=float))
+    # TODO: gradient propagation for in-place array assignment
+
+    x = wp.ones((1, 1), dtype=wp.vec3, requires_grad=True, device=device)
+    y = wp.ones((1, 1), dtype=wp.quat, requires_grad=True, device=device)
+    z = wp.zeros((1, 1), dtype=wp.transform, requires_grad=True, device=device)
+
+    # TODO: transform_array_assign_attribute
+    # tape = wp.Tape()
+    # with tape:
+    #     wp.launch(transform_array_assign_attribute, (1, 1), inputs=[x, y], outputs=[z], device=device)
+
+    # assert_np_equal(z.numpy(), np.array([[[1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]]], dtype=float))
+    # TODO: gradient propagation for in-place array assignment
+
+
+@wp.kernel
+def transform_add_inplace_subscript(x: wp.array(dtype=wp.transform), y: wp.array(dtype=wp.transform)):
+    i = wp.tid()
+
+    a = wp.transform()
+    b = x[i]
+
+    a[0] += 1.0 * b[0]
+    a[1] += 2.0 * b[1]
+    a[2] += 3.0 * b[2]
+    a[3] += 4.0 * b[3]
+    a[4] += 5.0 * b[4]
+    a[5] += 6.0 * b[5]
+    a[6] += 7.0 * b[6]
+
+    y[i] = a
+
+
+@wp.kernel
+def transform_add_inplace_attribute(x: wp.array(dtype=wp.transform), y: wp.array(dtype=wp.transform)):
+    i = wp.tid()
+
+    a = wp.transform()
+    b = x[i]
+
+    a.p += b.p
+
+    y[i] = a
+
+
+def test_transform_add_inplace(test, device):
+    x = wp.ones(1, dtype=wp.transform, requires_grad=True, device=device)
+    y = wp.zeros(1, dtype=wp.transform, requires_grad=True, device=device)
+
+    tape = wp.Tape()
+    with tape:
+        wp.launch(transform_add_inplace_subscript, 1, inputs=[x], outputs=[y], device=device)
+
+    y.grad = wp.ones_like(y)
+    tape.backward()
+
+    assert_np_equal(y.numpy(), np.array([[1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0]], dtype=float))
+    assert_np_equal(x.grad.numpy(), np.array([[1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0]], dtype=float))
+
+    x = wp.ones(1, dtype=wp.transform, requires_grad=True, device=device)
+    y = wp.zeros(1, dtype=wp.transform, requires_grad=True, device=device)
+
+    tape = wp.Tape()
+    with tape:
+        wp.launch(transform_add_inplace_attribute, 1, inputs=[x], outputs=[y], device=device)
+
+    y.grad = wp.ones_like(y)
+    tape.backward()
+
+    assert_np_equal(y.numpy(), np.array([[1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0]], dtype=float))
+    assert_np_equal(x.grad.numpy(), np.array([[1.0, 1.0, 1.0, 0.0, 0.0, 0.0, 0.0]], dtype=float))
+
+
+@wp.kernel
+def transform_sub_inplace_subscript(x: wp.array(dtype=wp.transform), y: wp.array(dtype=wp.transform)):
+    i = wp.tid()
+
+    a = wp.transform()
+    b = x[i]
+
+    a[0] -= 1.0 * b[0]
+    a[1] -= 2.0 * b[1]
+    a[2] -= 3.0 * b[2]
+    a[3] -= 4.0 * b[3]
+    a[4] -= 5.0 * b[4]
+    a[5] -= 6.0 * b[5]
+    a[6] -= 7.0 * b[6]
+
+    y[i] = a
+
+
+@wp.kernel
+def transform_sub_inplace_attribute(x: wp.array(dtype=wp.transform), y: wp.array(dtype=wp.transform)):
+    i = wp.tid()
+
+    a = wp.transform()
+    b = x[i]
+
+    a.p -= b.p
+
+    y[i] = a
+
+
+def test_transform_sub_inplace(test, device):
+    x = wp.ones(1, dtype=wp.transform, requires_grad=True, device=device)
+    y = wp.zeros(1, dtype=wp.transform, requires_grad=True, device=device)
+
+    tape = wp.Tape()
+    with tape:
+        wp.launch(transform_sub_inplace_subscript, 1, inputs=[x], outputs=[y], device=device)
+
+    y.grad = wp.ones_like(y)
+    tape.backward()
+
+    assert_np_equal(y.numpy(), np.array([[-1.0, -2.0, -3.0, -4.0, -5.0, -6.0, -7.0]], dtype=float))
+    assert_np_equal(x.grad.numpy(), np.array([[-1.0, -2.0, -3.0, -4.0, -5.0, -6.0, -7.0]], dtype=float))
+
+    x = wp.ones(1, dtype=wp.transform, requires_grad=True, device=device)
+    y = wp.zeros(1, dtype=wp.transform, requires_grad=True, device=device)
+
+    tape = wp.Tape()
+    with tape:
+        wp.launch(transform_sub_inplace_attribute, 1, inputs=[x], outputs=[y], device=device)
+
+    y.grad = wp.ones_like(y)
+    tape.backward()
+
+    assert_np_equal(y.numpy(), np.array([[-1.0, -1.0, -1.0, 0.0, 0.0, 0.0, 0.0]], dtype=float))
+    assert_np_equal(x.grad.numpy(), np.array([[-1.0, -1.0, -1.0, 0.0, 0.0, 0.0, 0.0]], dtype=float))
+
+
+@wp.kernel
+def transform_array_add_inplace(x: wp.array(dtype=wp.transform), y: wp.array(dtype=wp.transform)):
+    i = wp.tid()
+
+    y[i] += x[i]
+
+
+def test_transform_array_add_inplace(test, device):
+    x = wp.ones(1, dtype=wp.transform, requires_grad=True, device=device)
+    y = wp.zeros(1, dtype=wp.transform, requires_grad=True, device=device)
+
+    tape = wp.Tape()
+    with tape:
+        wp.launch(transform_array_add_inplace, 1, inputs=[x], outputs=[y], device=device)
+
+    y.grad = wp.ones_like(y)
+    tape.backward()
+
+    assert_np_equal(y.numpy(), np.array([[1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]], dtype=float))
+    assert_np_equal(x.grad.numpy(), np.array([[1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0]], dtype=float))
+
+
+@wp.kernel
+def transform_array_sub_inplace(x: wp.array(dtype=wp.transform), y: wp.array(dtype=wp.transform)):
+    i = wp.tid()
+
+    y[i] -= x[i]
+
+
+def test_transform_array_sub_inplace(test, device):
+    x = wp.ones(1, dtype=wp.transform, requires_grad=True, device=device)
+    y = wp.zeros(1, dtype=wp.transform, requires_grad=True, device=device)
+
+    tape = wp.Tape()
+    with tape:
+        wp.launch(transform_array_sub_inplace, 1, inputs=[x], outputs=[y], device=device)
+
+    y.grad = wp.ones_like(y)
+    tape.backward()
+
+    assert_np_equal(y.numpy(), np.array([[-1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0]], dtype=float))
+    assert_np_equal(x.grad.numpy(), np.array([[-1.0, -1.0, -1.0, -1.0, -1.0, -1.0, -1.0]], dtype=float))
+
+
+def test_transform_indexing_assign(test, device):
+    @wp.func
+    def fn():
+        t = wp.transform(p=wp.vec3(1.0, 2.0, 3.0), q=wp.quat(4.0, 5.0, 6.0, 7.0))
+
+        t[0] = 123.0
+        t[3] *= 2.0
+
+        wp.expect_eq(t[0], 123.0)
+        wp.expect_eq(t[1], 2.0)
+        wp.expect_eq(t[2], 3.0)
+        wp.expect_eq(t[3], 8.0)
+        wp.expect_eq(t[4], 5.0)
+        wp.expect_eq(t[5], 6.0)
+        wp.expect_eq(t[6], 7.0)
+
+        t[-1] = 123.0
+        t[-5] *= 2.0
+
+        wp.expect_eq(t[0], 123.0)
+        wp.expect_eq(t[1], 2.0)
+        wp.expect_eq(t[2], 6.0)
+        wp.expect_eq(t[3], 8.0)
+        wp.expect_eq(t[4], 5.0)
+        wp.expect_eq(t[5], 6.0)
+        wp.expect_eq(t[6], 123.0)
+
+    @wp.kernel(module="unique")
+    def kernel():
+        fn()
+
+    wp.launch(kernel, 1, device=device)
+    wp.synchronize()
+    fn()
+
+
+def test_transform_slicing_assign(test, device):
+    vec0 = wp.vec(0, float)
+    vec1 = wp.vec(1, float)
+    vec2 = wp.vec(2, float)
+    vec3 = wp.vec(3, float)
+    vec4 = wp.vec(4, float)
+    vec6 = wp.vec(6, float)
+    vec7 = wp.vec(7, float)
+
+    @wp.func
+    def fn():
+        t = wp.transform(p=wp.vec3(1.0, 2.0, 3.0), q=wp.quat(4.0, 5.0, 6.0, 7.0))
+
+        wp.expect_eq(t[:] == vec7(1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0), True)
+        wp.expect_eq(t[-123:123] == vec7(1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0), True)
+        wp.expect_eq(t[123:] == vec0(), True)
+        wp.expect_eq(t[:-123] == vec0(), True)
+        wp.expect_eq(t[::123] == vec1(1.0), True)
+
+        wp.expect_eq(t[1:] == vec6(2.0, 3.0, 4.0, 5.0, 6.0, 7.0), True)
+        wp.expect_eq(t[-2:] == vec2(6.0, 7.0), True)
+        wp.expect_eq(t[:2] == vec2(1.0, 2.0), True)
+        wp.expect_eq(t[:-1] == vec6(1.0, 2.0, 3.0, 4.0, 5.0, 6.0), True)
+        wp.expect_eq(t[::2] == vec4(1.0, 3.0, 5.0, 7.0), True)
+        wp.expect_eq(t[1::2] == vec3(2.0, 4.0, 6.0), True)
+        wp.expect_eq(t[::-1] == vec7(7.0, 6.0, 5.0, 4.0, 3.0, 2.0, 1.0), True)
+        wp.expect_eq(t[::-2] == vec4(7.0, 5.0, 3.0, 1.0), True)
+        wp.expect_eq(t[1::-2] == vec1(2.0), True)
+
+        t[1:] = vec6(8.0, 9.0, 10.0, 11.0, 12.0, 13.0)
+        wp.expect_eq(t == wp.transform(p=wp.vec3(1.0, 8.0, 9.0), q=wp.quat(10.0, 11.0, 12.0, 13.0)), True)
+
+        t[-2:] = vec2(14.0, 15.0)
+        wp.expect_eq(t == wp.transform(p=wp.vec3(1.0, 8.0, 9.0), q=wp.quat(10.0, 11.0, 14.0, 15.0)), True)
+
+        t[:2] = vec2(16.0, 17.0)
+        wp.expect_eq(t == wp.transform(p=wp.vec3(16.0, 17.0, 9.0), q=wp.quat(10.0, 11.0, 14.0, 15.0)), True)
+
+        t[:-1] = vec6(18.0, 19.0, 20.0, 21.0, 22.0, 23.0)
+        wp.expect_eq(t == wp.transform(p=wp.vec3(18.0, 19.0, 20.0), q=wp.quat(21.0, 22.0, 23.0, 15.0)), True)
+
+        t[::2] = vec4(24.0, 25.0, 26.0, 27.0)
+        wp.expect_eq(t == wp.transform(p=wp.vec3(24.0, 19.0, 25.0), q=wp.quat(21.0, 26.0, 23.0, 27.0)), True)
+
+        t[1::2] = vec3(28.0, 29.0, 30.0)
+        wp.expect_eq(t == wp.transform(p=wp.vec3(24.0, 28.0, 25.0), q=wp.quat(29.0, 26.0, 30.0, 27.0)), True)
+
+        t[::-1] = vec7(31.0, 32.0, 33.0, 34.0, 35.0, 36.0, 37.0)
+        wp.expect_eq(t == wp.transform(p=wp.vec3(37.0, 36.0, 35.0), q=wp.quat(34.0, 33.0, 32.0, 31.0)), True)
+
+        t[::-2] = vec4(38.0, 39.0, 40.0, 41.0)
+        wp.expect_eq(t == wp.transform(p=wp.vec3(41.0, 36.0, 40.0), q=wp.quat(34.0, 39.0, 32.0, 38.0)), True)
+
+        t[1::-2] = vec1(42.0)
+        wp.expect_eq(t == wp.transform(p=wp.vec3(41.0, 42.0, 40.0), q=wp.quat(34.0, 39.0, 32.0, 38.0)), True)
+
+        t[1:] += vec6(43.0, 44.0, 45.0, 46.0, 47.0, 48.0)
+        wp.expect_eq(t == wp.transform(p=wp.vec3(41.0, 85.0, 84.0), q=wp.quat(79.0, 85.0, 79.0, 86.0)), True)
+
+        t[:-1] -= vec6(49.0, 50.0, 51.0, 52.0, 53.0, 54.0)
+        wp.expect_eq(t == wp.transform(p=wp.vec3(-8.0, 35.0, 33.0), q=wp.quat(27.0, 32.0, 25.0, 86.0)), True)
+
+    @wp.kernel(module="unique")
+    def kernel():
+        fn()
+
+    wp.launch(kernel, 1, device=device)
+    wp.synchronize()
+    fn()
+
+
+def test_transform_slicing_assign_backward(test, device):
+    @wp.kernel(module="unique")
+    def kernel(arr_x: wp.array(dtype=wp.vec2), arr_y: wp.array(dtype=wp.transform)):
+        i = wp.tid()
+
+        y = arr_y[i]
+
+        y[:2] = arr_x[i]
+        y[1:-4] += arr_x[i][:2]
+        y[3:1:-1] -= arr_x[i][0:]
+
+        arr_y[i] = y
+
+    x = wp.ones(1, dtype=wp.vec2, requires_grad=True, device=device)
+    y = wp.zeros(1, dtype=wp.transform, requires_grad=True, device=device)
+
+    tape = wp.Tape()
+    with tape:
+        wp.launch(kernel, 1, inputs=(x,), outputs=(y,), device=device)
+
+    y.grad = wp.ones_like(y)
+    tape.backward()
+
+    assert_np_equal(y.numpy(), np.array(((1.0, 2.0, 0.0, -1.0, 0.0, 0.0, 0.0),), dtype=float))
+    assert_np_equal(x.grad.numpy(), np.array(((1.0, 1.0),), dtype=float))
+
+
+def test_transform_default_q_arg(test, device):
+    vec7 = wp.vec(7, float)
+
+    @wp.func
+    def fn():
+        t = wp.transform(p=wp.vec3(1.0, 2.0, 3.0))
+
+        wp.expect_eq(t[:] == vec7(1.0, 2.0, 3.0, 0.0, 0.0, 0.0, 1.0), True)
+
+    @wp.kernel(module="unique")
+    def kernel():
+        fn()
+
+    wp.launch(kernel, 1, device=device)
+    wp.synchronize()
+    fn()
+
+
+devices = get_test_devices()
+
+
+class TestSpatial(unittest.TestCase):
+    pass
+
+
+for dtype in np_float_types:
+    add_function_test_register_kernel(
+        TestSpatial,
+        f"test_spatial_vector_constructors_{dtype.__name__}",
+        test_spatial_vector_constructors,
+        devices=devices,
+        dtype=dtype,
+    )
+    add_function_test_register_kernel(
+        TestSpatial,
+        f"test_spatial_vector_indexing_{dtype.__name__}",
+        test_spatial_vector_indexing,
+        devices=devices,
+        dtype=dtype,
+    )
+    add_function_test_register_kernel(
+        TestSpatial,
+        f"test_spatial_vector_scalar_multiplication_{dtype.__name__}",
+        test_spatial_vector_scalar_multiplication,
+        devices=devices,
+        dtype=dtype,
+    )
+    add_function_test_register_kernel(
+        TestSpatial,
+        f"test_spatial_vector_add_sub_{dtype.__name__}",
+        test_spatial_vector_add_sub,
+        devices=devices,
+        dtype=dtype,
+    )
+    add_function_test_register_kernel(
+        TestSpatial, f"test_spatial_dot_{dtype.__name__}", test_spatial_dot, devices=devices, dtype=dtype
+    )
+    add_function_test_register_kernel(
+        TestSpatial, f"test_spatial_cross_{dtype.__name__}", test_spatial_cross, devices=devices, dtype=dtype
+    )
+    add_function_test_register_kernel(
+        TestSpatial,
+        f"test_spatial_top_bottom_{dtype.__name__}",
+        test_spatial_top_bottom,
+        devices=devices,
+        dtype=dtype,
+    )
+
+    add_function_test_register_kernel(
+        TestSpatial,
+        f"test_transform_constructors_{dtype.__name__}",
+        test_transform_constructors,
+        devices=devices,
+        dtype=dtype,
+    )
+    add_function_test_register_kernel(
+        TestSpatial,
+        f"test_transform_anon_type_instance_{dtype.__name__}",
+        test_transform_anon_type_instance,
+        devices=devices,
+        dtype=dtype,
+    )
+    add_function_test_register_kernel(
+        TestSpatial,
+        f"test_transform_identity_{dtype.__name__}",
+        test_transform_identity,
+        devices=devices,
+        dtype=dtype,
+    )
+    add_function_test_register_kernel(
+        TestSpatial,
+        f"test_transform_indexing_{dtype.__name__}",
+        test_transform_indexing,
+        devices=devices,
+        dtype=dtype,
+    )
+    add_function_test_register_kernel(
+        TestSpatial,
+        f"test_transform_get_trans_rot_{dtype.__name__}",
+        test_transform_get_trans_rot,
+        devices=devices,
+        dtype=dtype,
+    )
+    add_function_test_register_kernel(
+        TestSpatial,
+        f"test_transform_multiply_{dtype.__name__}",
+        test_transform_multiply,
+        devices=devices,
+        dtype=dtype,
+    )
+    add_function_test_register_kernel(
+        TestSpatial,
+        f"test_transform_inverse_{dtype.__name__}",
+        test_transform_inverse,
+        devices=devices,
+        dtype=dtype,
+    )
+    add_function_test_register_kernel(
+        TestSpatial,
+        f"test_transform_point_vector_{dtype.__name__}",
+        test_transform_point_vector,
+        devices=devices,
+        dtype=dtype,
+    )
+
+    # are these two valid? They don't seem to be doing things you'd want to do,
+    # maybe they should be removed
+    add_function_test_register_kernel(
+        TestSpatial,
+        f"test_transform_scalar_multiplication_{dtype.__name__}",
+        test_transform_scalar_multiplication,
+        devices=devices,
+        dtype=dtype,
+    )
+    add_function_test_register_kernel(
+        TestSpatial,
+        f"test_transform_add_sub_{dtype.__name__}",
+        test_transform_add_sub,
+        devices=devices,
+        dtype=dtype,
+    )
+
+    add_function_test_register_kernel(
+        TestSpatial,
+        f"test_spatial_matrix_constructors_{dtype.__name__}",
+        test_spatial_matrix_constructors,
+        devices=devices,
+        dtype=dtype,
+    )
+    add_function_test_register_kernel(
+        TestSpatial,
+        f"test_spatial_matrix_indexing_{dtype.__name__}",
+        test_spatial_matrix_indexing,
+        devices=devices,
+        dtype=dtype,
+    )
+    add_function_test_register_kernel(
+        TestSpatial,
+        f"test_spatial_matrix_scalar_multiplication_{dtype.__name__}",
+        test_spatial_matrix_scalar_multiplication,
+        devices=devices,
+        dtype=dtype,
+    )
+    add_function_test_register_kernel(
+        TestSpatial,
+        f"test_spatial_matrix_add_sub_{dtype.__name__}",
+        test_spatial_matrix_add_sub,
+        devices=devices,
+        dtype=dtype,
+    )
+    add_function_test_register_kernel(
+        TestSpatial,
+        f"test_spatial_matvec_multiplication_{dtype.__name__}",
+        test_spatial_matvec_multiplication,
+        devices=devices,
+        dtype=dtype,
+    )
+    add_function_test_register_kernel(
+        TestSpatial,
+        f"test_spatial_matmat_multiplication_{dtype.__name__}",
+        test_spatial_matmat_multiplication,
+        devices=devices,
+        dtype=dtype,
+    )
+    add_function_test_register_kernel(
+        TestSpatial,
+        f"test_spatial_outer_product_{dtype.__name__}",
+        test_spatial_outer_product,
+        devices=devices,
+        dtype=dtype,
+    )
+    add_function_test_register_kernel(
+        TestSpatial, f"test_spatial_adjoint_{dtype.__name__}", test_spatial_adjoint, devices=devices, dtype=dtype
+    )
+    add_function_test_register_kernel(
+        TestSpatial,
+        f"test_transform_from_matrix_{dtype.__name__}",
+        test_transform_from_matrix,
+        devices=devices,
+        dtype=dtype,
+    )
+    add_function_test_register_kernel(
+        TestSpatial,
+        f"test_transform_to_matrix_{dtype.__name__}",
+        test_transform_to_matrix,
+        devices=devices,
+        dtype=dtype,
+    )
+    add_function_test_register_kernel(
+        TestSpatial,
+        f"test_transform_compose_{dtype.__name__}",
+        test_transform_compose,
+        devices=devices,
+        dtype=dtype,
+    )
+    add_function_test_register_kernel(
+        TestSpatial,
+        f"test_transform_decompose_{dtype.__name__}",
+        test_transform_decompose,
+        devices=devices,
+        dtype=dtype,
+    )
+    # \TODO: test spatial_mass and spatial_jacobian
+
+add_function_test(
+    TestSpatial, "test_transform_getter_setter", test_transform_getter_setter, devices=wp.get_device("cpu")
+)
+add_function_test(TestSpatial, "test_transform_extract", test_transform_extract, devices=devices)
+add_function_test(TestSpatial, "test_transform_assign", test_transform_assign, devices=devices)
+add_function_test(TestSpatial, "test_transform_array_extract", test_transform_array_extract, devices=devices)
+add_function_test(TestSpatial, "test_transform_array_assign", test_transform_array_assign, devices=devices)
+add_function_test(TestSpatial, "test_transform_add_inplace", test_transform_add_inplace, devices=devices)
+add_function_test(TestSpatial, "test_transform_sub_inplace", test_transform_sub_inplace, devices=devices)
+add_function_test(TestSpatial, "test_transform_array_add_inplace", test_transform_array_add_inplace, devices=devices)
+add_function_test(TestSpatial, "test_transform_array_sub_inplace", test_transform_array_sub_inplace, devices=devices)
+add_function_test(TestSpatial, "test_transform_indexing_assign", test_transform_indexing_assign, devices=devices)
+add_function_test(TestSpatial, "test_transform_slicing_assign", test_transform_slicing_assign, devices=devices)
+add_function_test(
+    TestSpatial, "test_transform_slicing_assign_backward", test_transform_slicing_assign_backward, devices=devices
+)
+add_function_test(TestSpatial, "test_transform_default_q_arg", test_transform_default_q_arg, devices=devices)
+
+
+if __name__ == "__main__":
+    wp.clear_kernel_cache()
+    unittest.main(verbosity=2)