warp-lang 1.5.0__py3-none-macosx_10_13_universal2.whl → 1.6.0__py3-none-macosx_10_13_universal2.whl

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Files changed (132) hide show
  1. warp/__init__.py +5 -0
  2. warp/autograd.py +414 -191
  3. warp/bin/libwarp-clang.dylib +0 -0
  4. warp/bin/libwarp.dylib +0 -0
  5. warp/build.py +40 -12
  6. warp/build_dll.py +13 -6
  7. warp/builtins.py +1124 -497
  8. warp/codegen.py +261 -136
  9. warp/config.py +1 -1
  10. warp/context.py +357 -119
  11. warp/examples/assets/square_cloth.usd +0 -0
  12. warp/examples/benchmarks/benchmark_gemm.py +27 -18
  13. warp/examples/benchmarks/benchmark_interop_paddle.py +3 -3
  14. warp/examples/benchmarks/benchmark_interop_torch.py +3 -3
  15. warp/examples/core/example_torch.py +18 -34
  16. warp/examples/fem/example_apic_fluid.py +1 -0
  17. warp/examples/fem/example_mixed_elasticity.py +1 -1
  18. warp/examples/optim/example_bounce.py +1 -1
  19. warp/examples/optim/example_cloth_throw.py +1 -1
  20. warp/examples/optim/example_diffray.py +4 -15
  21. warp/examples/optim/example_drone.py +1 -1
  22. warp/examples/optim/example_softbody_properties.py +392 -0
  23. warp/examples/optim/example_trajectory.py +1 -3
  24. warp/examples/optim/example_walker.py +5 -0
  25. warp/examples/sim/example_cartpole.py +0 -2
  26. warp/examples/sim/example_cloth.py +3 -1
  27. warp/examples/sim/example_cloth_self_contact.py +260 -0
  28. warp/examples/sim/example_granular_collision_sdf.py +4 -5
  29. warp/examples/sim/example_jacobian_ik.py +0 -2
  30. warp/examples/sim/example_quadruped.py +5 -2
  31. warp/examples/tile/example_tile_cholesky.py +79 -0
  32. warp/examples/tile/example_tile_convolution.py +2 -2
  33. warp/examples/tile/example_tile_fft.py +2 -2
  34. warp/examples/tile/example_tile_filtering.py +3 -3
  35. warp/examples/tile/example_tile_matmul.py +4 -4
  36. warp/examples/tile/example_tile_mlp.py +12 -12
  37. warp/examples/tile/example_tile_nbody.py +180 -0
  38. warp/examples/tile/example_tile_walker.py +319 -0
  39. warp/fem/geometry/geometry.py +0 -2
  40. warp/math.py +147 -0
  41. warp/native/array.h +12 -0
  42. warp/native/builtin.h +0 -1
  43. warp/native/bvh.cpp +149 -70
  44. warp/native/bvh.cu +287 -68
  45. warp/native/bvh.h +195 -85
  46. warp/native/clang/clang.cpp +5 -1
  47. warp/native/coloring.cpp +5 -1
  48. warp/native/cuda_util.cpp +91 -53
  49. warp/native/cuda_util.h +5 -0
  50. warp/native/exports.h +40 -40
  51. warp/native/intersect.h +17 -0
  52. warp/native/mat.h +41 -0
  53. warp/native/mathdx.cpp +19 -0
  54. warp/native/mesh.cpp +25 -8
  55. warp/native/mesh.cu +153 -101
  56. warp/native/mesh.h +482 -403
  57. warp/native/quat.h +40 -0
  58. warp/native/solid_angle.h +7 -0
  59. warp/native/sort.cpp +85 -0
  60. warp/native/sort.cu +34 -0
  61. warp/native/sort.h +3 -1
  62. warp/native/spatial.h +11 -0
  63. warp/native/tile.h +1187 -669
  64. warp/native/tile_reduce.h +8 -6
  65. warp/native/vec.h +41 -0
  66. warp/native/warp.cpp +8 -1
  67. warp/native/warp.cu +263 -40
  68. warp/native/warp.h +19 -5
  69. warp/optim/linear.py +22 -4
  70. warp/render/render_opengl.py +130 -64
  71. warp/sim/__init__.py +6 -1
  72. warp/sim/collide.py +270 -26
  73. warp/sim/import_urdf.py +8 -8
  74. warp/sim/integrator_euler.py +25 -7
  75. warp/sim/integrator_featherstone.py +154 -35
  76. warp/sim/integrator_vbd.py +842 -40
  77. warp/sim/model.py +134 -72
  78. warp/sparse.py +1 -1
  79. warp/stubs.py +265 -132
  80. warp/tape.py +28 -30
  81. warp/tests/aux_test_module_unload.py +15 -0
  82. warp/tests/{test_sim_grad.py → flaky_test_sim_grad.py} +104 -63
  83. warp/tests/test_array.py +74 -0
  84. warp/tests/test_assert.py +242 -0
  85. warp/tests/test_codegen.py +14 -61
  86. warp/tests/test_collision.py +2 -2
  87. warp/tests/test_coloring.py +12 -2
  88. warp/tests/test_examples.py +12 -1
  89. warp/tests/test_func.py +21 -4
  90. warp/tests/test_grad_debug.py +87 -2
  91. warp/tests/test_hash_grid.py +1 -1
  92. warp/tests/test_ipc.py +116 -0
  93. warp/tests/test_lerp.py +13 -87
  94. warp/tests/test_mat.py +138 -167
  95. warp/tests/test_math.py +47 -1
  96. warp/tests/test_matmul.py +17 -16
  97. warp/tests/test_matmul_lite.py +10 -15
  98. warp/tests/test_mesh.py +84 -60
  99. warp/tests/test_mesh_query_aabb.py +165 -0
  100. warp/tests/test_mesh_query_point.py +328 -286
  101. warp/tests/test_mesh_query_ray.py +134 -121
  102. warp/tests/test_mlp.py +2 -2
  103. warp/tests/test_operators.py +43 -0
  104. warp/tests/test_overwrite.py +47 -2
  105. warp/tests/test_quat.py +77 -0
  106. warp/tests/test_reload.py +29 -0
  107. warp/tests/test_sim_grad_bounce_linear.py +204 -0
  108. warp/tests/test_smoothstep.py +17 -83
  109. warp/tests/test_static.py +19 -3
  110. warp/tests/test_tape.py +25 -0
  111. warp/tests/test_tile.py +178 -191
  112. warp/tests/test_tile_load.py +356 -0
  113. warp/tests/test_tile_mathdx.py +61 -8
  114. warp/tests/test_tile_mlp.py +17 -17
  115. warp/tests/test_tile_reduce.py +24 -18
  116. warp/tests/test_tile_shared_memory.py +66 -17
  117. warp/tests/test_tile_view.py +165 -0
  118. warp/tests/test_torch.py +35 -0
  119. warp/tests/test_utils.py +36 -24
  120. warp/tests/test_vec.py +110 -0
  121. warp/tests/unittest_suites.py +29 -4
  122. warp/tests/unittest_utils.py +30 -13
  123. warp/thirdparty/unittest_parallel.py +2 -2
  124. warp/types.py +411 -101
  125. warp/utils.py +10 -7
  126. {warp_lang-1.5.0.dist-info → warp_lang-1.6.0.dist-info}/METADATA +92 -69
  127. {warp_lang-1.5.0.dist-info → warp_lang-1.6.0.dist-info}/RECORD +130 -119
  128. {warp_lang-1.5.0.dist-info → warp_lang-1.6.0.dist-info}/WHEEL +1 -1
  129. warp/examples/benchmarks/benchmark_tile.py +0 -179
  130. warp/native/tile_gemm.h +0 -341
  131. {warp_lang-1.5.0.dist-info → warp_lang-1.6.0.dist-info}/LICENSE.md +0 -0
  132. {warp_lang-1.5.0.dist-info → warp_lang-1.6.0.dist-info}/top_level.txt +0 -0
warp/utils.py CHANGED
@@ -39,8 +39,7 @@ def warp_showwarning(message, category, filename, lineno, file=None, line=None):
39
39
  # and the import machinery don't work anymore
40
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  line = None
41
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  linecache = None
42
- else:
43
- line = line
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+
44
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  if line:
45
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  line = line.strip()
46
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  s += " %s\n" % line
@@ -132,11 +131,15 @@ def radix_sort_pairs(keys, values, count: int):
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  if keys.device.is_cpu:
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132
  if keys.dtype == wp.int32 and values.dtype == wp.int32:
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  runtime.core.radix_sort_pairs_int_host(keys.ptr, values.ptr, count)
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+ elif keys.dtype == wp.float32 and values.dtype == wp.int32:
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+ runtime.core.radix_sort_pairs_float_host(keys.ptr, values.ptr, count)
135
136
  else:
136
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  raise RuntimeError("Unsupported data type")
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  elif keys.device.is_cuda:
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  if keys.dtype == wp.int32 and values.dtype == wp.int32:
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  runtime.core.radix_sort_pairs_int_device(keys.ptr, values.ptr, count)
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+ elif keys.dtype == wp.float32 and values.dtype == wp.int32:
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+ runtime.core.radix_sort_pairs_float_device(keys.ptr, values.ptr, count)
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  else:
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  raise RuntimeError("Unsupported data type")
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@@ -779,9 +782,9 @@ class ScopedTimer:
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  print()
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781
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  if self.extra_msg:
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- print(f"{indent}{self.name} took {self.elapsed :.2f} ms {self.extra_msg}")
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+ print(f"{indent}{self.name} took {self.elapsed:.2f} ms {self.extra_msg}")
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  else:
784
- print(f"{indent}{self.name} took {self.elapsed :.2f} ms")
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+ print(f"{indent}{self.name} took {self.elapsed:.2f} ms")
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  ScopedTimer.indent -= 1
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790
 
@@ -1042,7 +1045,7 @@ def timing_print(results, indent=""):
1042
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  activity_agg.count += 1
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  activity_agg.elapsed += r.elapsed
1044
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1045
- print(f"{indent}{r.elapsed :12.6f} ms | {r.device.alias :7s} | {r.name}")
1048
+ print(f"{indent}{r.elapsed:12.6f} ms | {r.device.alias:7s} | {r.name}")
1046
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1047
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  print()
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  print(f"{indent}CUDA activity summary:")
@@ -1050,7 +1053,7 @@ def timing_print(results, indent=""):
1050
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  print(f"{indent}Total time | Count | Activity")
1051
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  print(f"{indent}----------------+---------+{activity_dashes}")
1052
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  for name, agg in activity_totals.items():
1053
- print(f"{indent}{agg.elapsed :12.6f} ms | {agg.count :7d} | {name}")
1056
+ print(f"{indent}{agg.elapsed:12.6f} ms | {agg.count:7d} | {name}")
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1057
 
1055
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  print()
1056
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  print(f"{indent}CUDA device summary:")
@@ -1058,4 +1061,4 @@ def timing_print(results, indent=""):
1058
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  print(f"{indent}Total time | Count | Device")
1059
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  print(f"{indent}----------------+---------+{activity_dashes}")
1060
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  for device, agg in device_totals.items():
1061
- print(f"{indent}{agg.elapsed :12.6f} ms | {agg.count :7d} | {device}")
1064
+ print(f"{indent}{agg.elapsed:12.6f} ms | {agg.count:7d} | {device}")
{warp_lang-1.5.0.dist-info → warp_lang-1.6.0.dist-info}/METADATA RENAMED
@@ -1,6 +1,6 @@
1
- Metadata-Version: 2.1
1
+ Metadata-Version: 2.2
2
2
  Name: warp-lang
3
- Version: 1.5.0
3
+ Version: 1.6.0
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4
  Summary: A Python framework for high-performance simulation and graphics programming
5
5
  Author-email: NVIDIA Corporation <mmacklin@nvidia.com>
6
6
  License: NVIDIA Software License
@@ -78,9 +78,9 @@ the `pip install` command, e.g.
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79
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  | Platform | Install Command |
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  | --------------- | ----------------------------------------------------------------------------------------------------------------------------- |
81
- | Linux aarch64 | `pip install https://github.com/NVIDIA/warp/releases/download/v1.5.0/warp_lang-1.5.0+cu11-py3-none-manylinux2014_aarch64.whl` |
82
- | Linux x86-64 | `pip install https://github.com/NVIDIA/warp/releases/download/v1.5.0/warp_lang-1.5.0+cu11-py3-none-manylinux2014_x86_64.whl` |
83
- | Windows x86-64 | `pip install https://github.com/NVIDIA/warp/releases/download/v1.5.0/warp_lang-1.5.0+cu11-py3-none-win_amd64.whl` |
81
+ | Linux aarch64 | `pip install https://github.com/NVIDIA/warp/releases/download/v1.6.0/warp_lang-1.6.0+cu11-py3-none-manylinux2014_aarch64.whl` |
82
+ | Linux x86-64 | `pip install https://github.com/NVIDIA/warp/releases/download/v1.6.0/warp_lang-1.6.0+cu11-py3-none-manylinux2014_x86_64.whl` |
83
+ | Windows x86-64 | `pip install https://github.com/NVIDIA/warp/releases/download/v1.6.0/warp_lang-1.6.0+cu11-py3-none-win_amd64.whl` |
84
84
 
85
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  The `--force-reinstall` option may need to be used to overwrite a previous installation.
86
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@@ -143,6 +143,30 @@ wp.launch(kernel=length,
143
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  print(lengths)
144
144
  ```
145
145
 
146
+ ## Running Notebooks
147
+
148
+ A few notebooks are available in the [notebooks](./notebooks/) directory to provide an overview over the key features available in Warp.
149
+
150
+ To run these notebooks, ``jupyterlab`` is required to be installed using:
151
+
152
+ ```text
153
+ pip install jupyterlab
154
+ ```
155
+
156
+ From there, opening the notebooks can be done with the following command:
157
+
158
+ ```text
159
+ jupyter lab ./notebooks
160
+ ```
161
+
162
+ * [Warp Core Tutorial: Basics](./notebooks/core_01_basics.ipynb) [![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/NVIDIA/warp/blob/main/notebooks/core_01_basics.ipynb)
163
+ * [Warp Core Tutorial: Generics](./notebooks/core_02_generics.ipynb) [![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/NVIDIA/warp/blob/main/notebooks/core_02_generics.ipynb)
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+ * [Warp Core Tutorial: Points](./notebooks/core_03_points.ipynb) [![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/NVIDIA/warp/blob/main/notebooks/core_03_points.ipynb)
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+ * [Warp Core Tutorial: Meshes](./notebooks/core_04_meshes.ipynb) [![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/NVIDIA/warp/blob/main/notebooks/core_04_meshes.ipynb)
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+ * [Warp Core Tutorial: Volumes](./notebooks/core_05_volumes.ipynb) [![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/NVIDIA/warp/blob/main/notebooks/core_05_volumes.ipynb)
167
+ * [Warp PyTorch Tutorial: Basics](./notebooks/pytorch_01_basics.ipynb) [![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/NVIDIA/warp/blob/main/notebooks/pytorch_01_basics.ipynb)
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+ * [Warp PyTorch Tutorial: Custom Operators](./notebooks/pytorch_02_custom_operators.ipynb) [![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/NVIDIA/warp/blob/main/notebooks/pytorch_02_custom_operators.ipynb)
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+
146
170
  ## Running Examples
147
171
 
148
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  The [warp/examples](./warp/examples/) directory contains a number of scripts categorized under subdirectories
@@ -187,10 +211,10 @@ python -m warp.tests
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211
  <table>
188
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  <tbody>
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  <tr>
190
- <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/core/example_dem.py"><img src="https://github.com/NVIDIA/warp/raw/main/docs/img/examples/core_dem.png"></a></td>
191
- <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/core/example_fluid.py"><img src="https://github.com/NVIDIA/warp/raw/main/docs/img/examples/core_fluid.png"></a></td>
192
- <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/core/example_graph_capture.py"><img src="https://github.com/NVIDIA/warp/raw/main/docs/img/examples/core_graph_capture.png"></a></td>
193
- <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/core/example_marching_cubes.py"><img src="https://github.com/NVIDIA/warp/raw/main/docs/img/examples/core_marching_cubes.png"></a></td>
214
+ <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/core/example_dem.py"><img src="https://media.githubusercontent.com/media/NVIDIA/warp/refs/heads/main/docs/img/examples/core_dem.png"></a></td>
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+ <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/core/example_fluid.py"><img src="https://media.githubusercontent.com/media/NVIDIA/warp/refs/heads/main/docs/img/examples/core_fluid.png"></a></td>
216
+ <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/core/example_graph_capture.py"><img src="https://media.githubusercontent.com/media/NVIDIA/warp/refs/heads/main/docs/img/examples/core_graph_capture.png"></a></td>
217
+ <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/core/example_marching_cubes.py"><img src="https://media.githubusercontent.com/media/NVIDIA/warp/refs/heads/main/docs/img/examples/core_marching_cubes.png"></a></td>
194
218
  </tr>
195
219
  <tr>
196
220
  <td align="center">dem</td>
@@ -199,10 +223,10 @@ python -m warp.tests
199
223
  <td align="center">marching cubes</td>
200
224
  </tr>
201
225
  <tr>
202
- <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/core/example_mesh.py"><img src="https://github.com/NVIDIA/warp/raw/main/docs/img/examples/core_mesh.png"></a></td>
203
- <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/core/example_nvdb.py"><img src="https://github.com/NVIDIA/warp/raw/main/docs/img/examples/core_nvdb.png"></a></td>
204
- <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/core/example_raycast.py"><img src="https://github.com/NVIDIA/warp/raw/main/docs/img/examples/core_raycast.png"></a></td>
205
- <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/core/example_raymarch.py"><img src="https://github.com/NVIDIA/warp/raw/main/docs/img/examples/core_raymarch.png"></a></td>
226
+ <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/core/example_mesh.py"><img src="https://media.githubusercontent.com/media/NVIDIA/warp/refs/heads/main/docs/img/examples/core_mesh.png"></a></td>
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+ <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/core/example_nvdb.py"><img src="https://media.githubusercontent.com/media/NVIDIA/warp/refs/heads/main/docs/img/examples/core_nvdb.png"></a></td>
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+ <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/core/example_raycast.py"><img src="https://media.githubusercontent.com/media/NVIDIA/warp/refs/heads/main/docs/img/examples/core_raycast.png"></a></td>
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+ <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/core/example_raymarch.py"><img src="https://media.githubusercontent.com/media/NVIDIA/warp/refs/heads/main/docs/img/examples/core_raymarch.png"></a></td>
206
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  </tr>
207
231
  <tr>
208
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  <td align="center">mesh</td>
@@ -211,9 +235,9 @@ python -m warp.tests
211
235
  <td align="center">raymarch</td>
212
236
  </tr>
213
237
  <tr>
214
- <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/core/example_sph.py"><img src="https://github.com/NVIDIA/warp/raw/main/docs/img/examples/core_sph.png"></a></td>
215
- <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/core/example_torch.py"><img src="https://github.com/NVIDIA/warp/raw/main/docs/img/examples/core_torch.png"></a></td>
216
- <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/core/example_wave.py"><img src="https://github.com/NVIDIA/warp/raw/main/docs/img/examples/core_wave.png"></a></td>
238
+ <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/core/example_sph.py"><img src="https://media.githubusercontent.com/media/NVIDIA/warp/refs/heads/main/docs/img/examples/core_sph.png"></a></td>
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+ <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/core/example_torch.py"><img src="https://media.githubusercontent.com/media/NVIDIA/warp/refs/heads/main/docs/img/examples/core_torch.png"></a></td>
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+ <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/core/example_wave.py"><img src="https://media.githubusercontent.com/media/NVIDIA/warp/refs/heads/main/docs/img/examples/core_wave.png"></a></td>
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  <td></td>
218
242
  </tr>
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  <tr>
@@ -230,10 +254,10 @@ python -m warp.tests
230
254
  <table>
231
255
  <tbody>
232
256
  <tr>
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- <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/fem/example_diffusion_3d.py"><img src="https://github.com/NVIDIA/warp/raw/main/docs/img/examples/fem_diffusion_3d.png"></a></td>
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- <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/fem/example_mixed_elasticity.py"><img src="https://github.com/NVIDIA/warp/raw/main/docs/img/examples/fem_mixed_elasticity.png"></a></td>
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- <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/fem/example_apic_fluid.py"><img src="https://github.com/NVIDIA/warp/raw/main/docs/img/examples/fem_apic_fluid.png"></a></td>
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- <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/fem/example_streamlines.py"><img src="https://github.com/NVIDIA/warp/raw/main/docs/img/examples/fem_streamlines.png"></a></td>
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+ <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/fem/example_diffusion_3d.py"><img src="https://media.githubusercontent.com/media/NVIDIA/warp/refs/heads/main/docs/img/examples/fem_diffusion_3d.png"></a></td>
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+ <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/fem/example_mixed_elasticity.py"><img src="https://media.githubusercontent.com/media/NVIDIA/warp/refs/heads/main/docs/img/examples/fem_mixed_elasticity.png"></a></td>
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+ <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/fem/example_apic_fluid.py"><img src="https://media.githubusercontent.com/media/NVIDIA/warp/refs/heads/main/docs/img/examples/fem_apic_fluid.png"></a></td>
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+ <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/fem/example_streamlines.py"><img src="https://media.githubusercontent.com/media/NVIDIA/warp/refs/heads/main/docs/img/examples/fem_streamlines.png"></a></td>
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@@ -242,10 +266,10 @@ python -m warp.tests
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- <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/fem/example_convection_diffusion.py"><img src="https://github.com/NVIDIA/warp/raw/main/docs/img/examples/fem_convection_diffusion.png"></a></td>
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- <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/fem/example_navier_stokes.py"><img src="https://github.com/NVIDIA/warp/raw/main/docs/img/examples/fem_navier_stokes.png"></a></td>
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- <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/fem/example_burgers.py"><img src="https://github.com/NVIDIA/warp/raw/main/docs/img/examples/fem_burgers.png"></a></td>
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- <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/fem/example_magnetostatics.py"><img src="https://github.com/NVIDIA/warp/raw/main/docs/img/examples/fem_magnetostatics.png"></a></td>
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+ <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/fem/example_convection_diffusion.py"><img src="https://media.githubusercontent.com/media/NVIDIA/warp/refs/heads/main/docs/img/examples/fem_convection_diffusion.png"></a></td>
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+ <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/fem/example_navier_stokes.py"><img src="https://media.githubusercontent.com/media/NVIDIA/warp/refs/heads/main/docs/img/examples/fem_navier_stokes.png"></a></td>
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+ <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/fem/example_burgers.py"><img src="https://media.githubusercontent.com/media/NVIDIA/warp/refs/heads/main/docs/img/examples/fem_burgers.png"></a></td>
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+ <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/fem/example_magnetostatics.py"><img src="https://media.githubusercontent.com/media/NVIDIA/warp/refs/heads/main/docs/img/examples/fem_magnetostatics.png"></a></td>
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  <td align="center">convection diffusion</td>
@@ -261,10 +285,10 @@ python -m warp.tests
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- <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/optim/example_bounce.py"><img src="https://github.com/NVIDIA/warp/raw/main/docs/img/examples/optim_bounce.png"></a></td>
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- <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/optim/example_cloth_throw.py"><img src="https://github.com/NVIDIA/warp/raw/main/docs/img/examples/optim_cloth_throw.png"></a></td>
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- <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/optim/example_diffray.py"><img src="https://github.com/NVIDIA/warp/raw/main/docs/img/examples/optim_diffray.png"></a></td>
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- <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/optim/example_drone.py"><img src="https://github.com/NVIDIA/warp/raw/main/docs/img/examples/optim_drone.png"></a></td>
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+ <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/optim/example_bounce.py"><img src="https://media.githubusercontent.com/media/NVIDIA/warp/refs/heads/main/docs/img/examples/optim_bounce.png"></a></td>
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+ <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/optim/example_cloth_throw.py"><img src="https://media.githubusercontent.com/media/NVIDIA/warp/refs/heads/main/docs/img/examples/optim_cloth_throw.png"></a></td>
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+ <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/optim/example_diffray.py"><img src="https://media.githubusercontent.com/media/NVIDIA/warp/refs/heads/main/docs/img/examples/optim_diffray.png"></a></td>
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+ <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/optim/example_drone.py"><img src="https://media.githubusercontent.com/media/NVIDIA/warp/refs/heads/main/docs/img/examples/optim_drone.png"></a></td>
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  <td align="center">bounce</td>
@@ -273,10 +297,10 @@ python -m warp.tests
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  </tr>
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- <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/optim/example_inverse_kinematics.py"><img src="https://github.com/NVIDIA/warp/raw/main/docs/img/examples/optim_inverse_kinematics.png"></a></td>
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- <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/optim/example_spring_cage.py"><img src="https://github.com/NVIDIA/warp/raw/main/docs/img/examples/optim_spring_cage.png"></a></td>
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- <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/optim/example_trajectory.py"><img src="https://github.com/NVIDIA/warp/raw/main/docs/img/examples/optim_trajectory.png"></a></td>
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- <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/optim/example_walker.py"><img src="https://github.com/NVIDIA/warp/raw/main/docs/img/examples/optim_walker.png"></a></td>
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+ <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/optim/example_inverse_kinematics.py"><img src="https://media.githubusercontent.com/media/NVIDIA/warp/refs/heads/main/docs/img/examples/optim_inverse_kinematics.png"></a></td>
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+ <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/optim/example_spring_cage.py"><img src="https://media.githubusercontent.com/media/NVIDIA/warp/refs/heads/main/docs/img/examples/optim_spring_cage.png"></a></td>
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+ <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/optim/example_trajectory.py"><img src="https://media.githubusercontent.com/media/NVIDIA/warp/refs/heads/main/docs/img/examples/optim_trajectory.png"></a></td>
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+ <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/optim/example_walker.py"><img src="https://media.githubusercontent.com/media/NVIDIA/warp/refs/heads/main/docs/img/examples/optim_walker.png"></a></td>
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  <td align="center">inverse kinematics</td>
@@ -284,6 +308,18 @@ python -m warp.tests
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  <td align="center">trajectory</td>
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  <td align="center">walker</td>
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  </tr>
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+ <tr>
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+ <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/optim/example_softbody_properties.py"><img src="https://media.githubusercontent.com/media/NVIDIA/warp/refs/heads/main/docs/img/examples/optim_softbody_properties.png"></a></td>
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+ <td></td>
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+ <td></td>
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+ <td></td>
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+ </tr>
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+ <tr>
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+ <td align="center">soft body properties</td>
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+ <td align="center"></td>
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+ <td align="center"></td>
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+ <td align="center"></td>
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+ </tr>
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@@ -292,10 +328,10 @@ python -m warp.tests
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- <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/sim/example_cartpole.py"><img src="https://github.com/NVIDIA/warp/raw/main/docs/img/examples/sim_cartpole.png"></a></td>
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- <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/sim/example_cloth.py"><img src="https://github.com/NVIDIA/warp/raw/main/docs/img/examples/sim_cloth.png"></a></td>
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- <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/sim/example_granular.py"><img src="https://github.com/NVIDIA/warp/raw/main/docs/img/examples/sim_granular.png"></a></td>
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- <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/sim/example_granular_collision_sdf.py"><img src="https://github.com/NVIDIA/warp/raw/main/docs/img/examples/sim_granular_collision_sdf.png"></a></td>
331
+ <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/sim/example_cartpole.py"><img src="https://media.githubusercontent.com/media/NVIDIA/warp/refs/heads/main/docs/img/examples/sim_cartpole.png"></a></td>
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+ <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/sim/example_cloth.py"><img src="https://media.githubusercontent.com/media/NVIDIA/warp/refs/heads/main/docs/img/examples/sim_cloth.png"></a></td>
333
+ <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/sim/example_granular.py"><img src="https://media.githubusercontent.com/media/NVIDIA/warp/refs/heads/main/docs/img/examples/sim_granular.png"></a></td>
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+ <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/sim/example_granular_collision_sdf.py"><img src="https://media.githubusercontent.com/media/NVIDIA/warp/refs/heads/main/docs/img/examples/sim_granular_collision_sdf.png"></a></td>
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  <td align="center">cartpole</td>
@@ -304,10 +340,10 @@ python -m warp.tests
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  <td align="center">granular collision sdf</td>
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  </tr>
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  <tr>
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- <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/sim/example_jacobian_ik.py"><img src="https://github.com/NVIDIA/warp/raw/main/docs/img/examples/sim_jacobian_ik.png"></a></td>
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- <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/sim/example_quadruped.py"><img src="https://github.com/NVIDIA/warp/raw/main/docs/img/examples/sim_quadruped.png"></a></td>
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- <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/sim/example_rigid_chain.py"><img src="https://github.com/NVIDIA/warp/raw/main/docs/img/examples/sim_rigid_chain.png"></a></td>
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- <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/sim/example_rigid_contact.py"><img src="https://github.com/NVIDIA/warp/raw/main/docs/img/examples/sim_rigid_contact.png"></a></td>
343
+ <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/sim/example_jacobian_ik.py"><img src="https://media.githubusercontent.com/media/NVIDIA/warp/refs/heads/main/docs/img/examples/sim_jacobian_ik.png"></a></td>
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+ <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/sim/example_quadruped.py"><img src="https://media.githubusercontent.com/media/NVIDIA/warp/refs/heads/main/docs/img/examples/sim_quadruped.png"></a></td>
345
+ <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/sim/example_rigid_chain.py"><img src="https://media.githubusercontent.com/media/NVIDIA/warp/refs/heads/main/docs/img/examples/sim_rigid_chain.png"></a></td>
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+ <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/sim/example_rigid_contact.py"><img src="https://media.githubusercontent.com/media/NVIDIA/warp/refs/heads/main/docs/img/examples/sim_rigid_contact.png"></a></td>
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  <tr>
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  <td align="center">jacobian ik</td>
@@ -316,10 +352,10 @@ python -m warp.tests
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  <td align="center">rigid contact</td>
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  </tr>
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  <tr>
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- <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/sim/example_rigid_force.py"><img src="https://github.com/NVIDIA/warp/raw/main/docs/img/examples/sim_rigid_force.png"></a></td>
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- <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/sim/example_rigid_gyroscopic.py"><img src="https://github.com/NVIDIA/warp/raw/main/docs/img/examples/sim_rigid_gyroscopic.png"></a></td>
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- <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/sim/example_rigid_soft_contact.py"><img src="https://github.com/NVIDIA/warp/raw/main/docs/img/examples/sim_rigid_soft_contact.png"></a></td>
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- <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/sim/example_soft_body.py"><img src="https://github.com/NVIDIA/warp/raw/main/docs/img/examples/sim_soft_body.png"></a></td>
355
+ <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/sim/example_rigid_force.py"><img src="https://media.githubusercontent.com/media/NVIDIA/warp/refs/heads/main/docs/img/examples/sim_rigid_force.png"></a></td>
356
+ <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/sim/example_rigid_gyroscopic.py"><img src="https://media.githubusercontent.com/media/NVIDIA/warp/refs/heads/main/docs/img/examples/sim_rigid_gyroscopic.png"></a></td>
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+ <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/sim/example_rigid_soft_contact.py"><img src="https://media.githubusercontent.com/media/NVIDIA/warp/refs/heads/main/docs/img/examples/sim_rigid_soft_contact.png"></a></td>
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+ <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/sim/example_soft_body.py"><img src="https://media.githubusercontent.com/media/NVIDIA/warp/refs/heads/main/docs/img/examples/sim_soft_body.png"></a></td>
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  <td align="center">rigid force</td>
@@ -327,34 +363,21 @@ python -m warp.tests
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  <td align="center">rigid soft contact</td>
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  </tr>
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+ <tr>
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+ <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/sim/example_cloth_self_contact.py"><img src="https://media.githubusercontent.com/media/NVIDIA/warp/refs/heads/main/docs/img/examples/sim_example_cloth_self_contact.png"></a></td>
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+ <td></td>
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+ <td></td>
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+ <td></td>
371
+ </tr>
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+ <tr>
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+ <td align="center">cloth self contact</td>
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+ <td align="center"></td>
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+ <td align="center"></td>
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+ <td align="center"></td>
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+ </tr>
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  </tbody>
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  </table>
332
380
 
333
- ## Running Notebooks
334
-
335
- A few notebooks are available in the [notebooks](./notebooks/) directory to provide an overview over the key features available in Warp.
336
-
337
- To run these notebooks, ``jupyterlab`` is required to be installed using:
338
-
339
-
340
- ```text
341
- pip install jupyterlab
342
- ```
343
-
344
- From there, opening the notebooks can be done with the following command:
345
-
346
- ```text
347
- jupyter lab ./notebooks
348
- ```
349
-
350
- - [Warp Core Tutorial: Basics](https://github.com/NVIDIA/warp/tree/main/warp/notebooks/core_01_basics.ipynb) <a target="_blank" href="https://colab.research.google.com/github/NVIDIA/warp/blob/main/notebooks/core_01_basics.ipynb"><img src="https://colab.research.google.com/assets/colab-badge.svg" alt="Open In Colab"/></a>
351
- - [Warp Core Tutorial: Generics](https://github.com/NVIDIA/warp/tree/main/warp/notebooks/core_02_generics.ipynb) <a target="_blank" href="https://colab.research.google.com/github/NVIDIA/warp/blob/main/notebooks/notebooks/core_02_generics.ipynb"><img src="https://colab.research.google.com/assets/colab-badge.svg" alt="Open In Colab"/></a>
352
- - [Warp Core Tutorial: Points](https://github.com/NVIDIA/warp/tree/main/warp/notebooks/core_03_points.ipynb) <a target="_blank" href="https://colab.research.google.com/github/NVIDIA/warp/blob/main/notebooks/notebooks/core_03_points.ipynb"><img src="https://colab.research.google.com/assets/colab-badge.svg" alt="Open In Colab"/></a>
353
- - [Warp Core Tutorial: Meshes](https://github.com/NVIDIA/warp/tree/main/warp/notebooks/core_04_meshes.ipynb) <a target="_blank" href="https://colab.research.google.com/github/NVIDIA/warp/blob/main/notebooks/notebooks/core_04_meshes.ipynb"><img src="https://colab.research.google.com/assets/colab-badge.svg" alt="Open In Colab"/></a>
354
- - [Warp Core Tutorial: Volumes](https://github.com/NVIDIA/warp/tree/main/warp/notebooks/core_05_volumes.ipynb) <a target="_blank" href="https://colab.research.google.com/github/NVIDIA/warp/blob/main/notebooks/notebooks/core_05_volumes.ipynb"><img src="https://colab.research.google.com/assets/colab-badge.svg" alt="Open In Colab"/></a>
355
-
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-
357
-
358
381
  ## Building
359
382
 
360
383
  For developers who want to build the library themselves, the following tools are required: