warp-lang 1.5.1__py3-none-manylinux2014_aarch64.whl → 1.6.1__py3-none-manylinux2014_aarch64.whl

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Files changed (131) hide show
  1. warp/__init__.py +5 -0
  2. warp/autograd.py +414 -191
  3. warp/bin/warp-clang.so +0 -0
  4. warp/bin/warp.so +0 -0
  5. warp/build.py +40 -12
  6. warp/build_dll.py +13 -6
  7. warp/builtins.py +1077 -481
  8. warp/codegen.py +250 -122
  9. warp/config.py +65 -21
  10. warp/context.py +500 -149
  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_marching_cubes.py +1 -1
  16. warp/examples/core/example_mesh.py +1 -1
  17. warp/examples/core/example_torch.py +18 -34
  18. warp/examples/core/example_wave.py +1 -1
  19. warp/examples/fem/example_apic_fluid.py +1 -0
  20. warp/examples/fem/example_mixed_elasticity.py +1 -1
  21. warp/examples/optim/example_bounce.py +1 -1
  22. warp/examples/optim/example_cloth_throw.py +1 -1
  23. warp/examples/optim/example_diffray.py +4 -15
  24. warp/examples/optim/example_drone.py +1 -1
  25. warp/examples/optim/example_softbody_properties.py +392 -0
  26. warp/examples/optim/example_trajectory.py +1 -3
  27. warp/examples/optim/example_walker.py +5 -0
  28. warp/examples/sim/example_cartpole.py +0 -2
  29. warp/examples/sim/example_cloth_self_contact.py +314 -0
  30. warp/examples/sim/example_granular_collision_sdf.py +4 -5
  31. warp/examples/sim/example_jacobian_ik.py +0 -2
  32. warp/examples/sim/example_quadruped.py +5 -2
  33. warp/examples/tile/example_tile_cholesky.py +79 -0
  34. warp/examples/tile/example_tile_convolution.py +2 -2
  35. warp/examples/tile/example_tile_fft.py +2 -2
  36. warp/examples/tile/example_tile_filtering.py +3 -3
  37. warp/examples/tile/example_tile_matmul.py +4 -4
  38. warp/examples/tile/example_tile_mlp.py +12 -12
  39. warp/examples/tile/example_tile_nbody.py +191 -0
  40. warp/examples/tile/example_tile_walker.py +319 -0
  41. warp/math.py +147 -0
  42. warp/native/array.h +12 -0
  43. warp/native/builtin.h +0 -1
  44. warp/native/bvh.cpp +149 -70
  45. warp/native/bvh.cu +287 -68
  46. warp/native/bvh.h +195 -85
  47. warp/native/clang/clang.cpp +6 -2
  48. warp/native/crt.h +1 -0
  49. warp/native/cuda_util.cpp +35 -0
  50. warp/native/cuda_util.h +5 -0
  51. warp/native/exports.h +40 -40
  52. warp/native/intersect.h +17 -0
  53. warp/native/mat.h +57 -3
  54. warp/native/mathdx.cpp +19 -0
  55. warp/native/mesh.cpp +25 -8
  56. warp/native/mesh.cu +153 -101
  57. warp/native/mesh.h +482 -403
  58. warp/native/quat.h +40 -0
  59. warp/native/solid_angle.h +7 -0
  60. warp/native/sort.cpp +85 -0
  61. warp/native/sort.cu +34 -0
  62. warp/native/sort.h +3 -1
  63. warp/native/spatial.h +11 -0
  64. warp/native/tile.h +1189 -664
  65. warp/native/tile_reduce.h +8 -6
  66. warp/native/vec.h +41 -0
  67. warp/native/warp.cpp +8 -1
  68. warp/native/warp.cu +263 -40
  69. warp/native/warp.h +19 -5
  70. warp/optim/linear.py +22 -4
  71. warp/render/render_opengl.py +132 -59
  72. warp/render/render_usd.py +10 -2
  73. warp/sim/__init__.py +6 -1
  74. warp/sim/collide.py +289 -32
  75. warp/sim/import_urdf.py +20 -5
  76. warp/sim/integrator_euler.py +25 -7
  77. warp/sim/integrator_featherstone.py +147 -35
  78. warp/sim/integrator_vbd.py +842 -40
  79. warp/sim/model.py +173 -112
  80. warp/sim/render.py +2 -2
  81. warp/stubs.py +249 -116
  82. warp/tape.py +28 -30
  83. warp/tests/aux_test_module_unload.py +15 -0
  84. warp/tests/{test_sim_grad.py → flaky_test_sim_grad.py} +104 -63
  85. warp/tests/test_array.py +100 -0
  86. warp/tests/test_assert.py +242 -0
  87. warp/tests/test_codegen.py +14 -61
  88. warp/tests/test_collision.py +8 -8
  89. warp/tests/test_examples.py +16 -1
  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_launch.py +77 -26
  94. warp/tests/test_mat.py +213 -168
  95. warp/tests/test_math.py +47 -1
  96. warp/tests/test_matmul.py +11 -7
  97. warp/tests/test_matmul_lite.py +4 -4
  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 +6 -5
  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_static.py +16 -0
  109. warp/tests/test_tape.py +25 -0
  110. warp/tests/test_tile.py +134 -191
  111. warp/tests/test_tile_load.py +399 -0
  112. warp/tests/test_tile_mathdx.py +61 -8
  113. warp/tests/test_tile_mlp.py +17 -17
  114. warp/tests/test_tile_reduce.py +24 -18
  115. warp/tests/test_tile_shared_memory.py +66 -17
  116. warp/tests/test_tile_view.py +165 -0
  117. warp/tests/test_torch.py +35 -0
  118. warp/tests/test_utils.py +36 -24
  119. warp/tests/test_vec.py +110 -0
  120. warp/tests/unittest_suites.py +29 -4
  121. warp/tests/unittest_utils.py +30 -11
  122. warp/thirdparty/unittest_parallel.py +5 -2
  123. warp/types.py +419 -111
  124. warp/utils.py +9 -5
  125. {warp_lang-1.5.1.dist-info → warp_lang-1.6.1.dist-info}/METADATA +86 -45
  126. {warp_lang-1.5.1.dist-info → warp_lang-1.6.1.dist-info}/RECORD +129 -118
  127. {warp_lang-1.5.1.dist-info → warp_lang-1.6.1.dist-info}/WHEEL +1 -1
  128. warp/examples/benchmarks/benchmark_tile.py +0 -179
  129. warp/native/tile_gemm.h +0 -341
  130. {warp_lang-1.5.1.dist-info → warp_lang-1.6.1.dist-info}/LICENSE.md +0 -0
  131. {warp_lang-1.5.1.dist-info → warp_lang-1.6.1.dist-info}/top_level.txt +0 -0
warp/utils.py CHANGED
@@ -131,11 +131,15 @@ def radix_sort_pairs(keys, values, count: int):
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  if keys.device.is_cpu:
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  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)
134
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  else:
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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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@@ -778,9 +782,9 @@ class ScopedTimer:
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  print()
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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:
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- 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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@@ -1041,7 +1045,7 @@ def timing_print(results, indent=""):
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  activity_agg.count += 1
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  activity_agg.elapsed += r.elapsed
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- print(f"{indent}{r.elapsed :12.6f} ms | {r.device.alias :7s} | {r.name}")
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+ print(f"{indent}{r.elapsed:12.6f} ms | {r.device.alias:7s} | {r.name}")
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  print()
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  print(f"{indent}CUDA activity summary:")
@@ -1049,7 +1053,7 @@ def timing_print(results, indent=""):
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  print(f"{indent}Total time | Count | Activity")
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  print(f"{indent}----------------+---------+{activity_dashes}")
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  for name, agg in activity_totals.items():
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- print(f"{indent}{agg.elapsed :12.6f} ms | {agg.count :7d} | {name}")
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+ print(f"{indent}{agg.elapsed:12.6f} ms | {agg.count:7d} | {name}")
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  print()
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  print(f"{indent}CUDA device summary:")
@@ -1057,4 +1061,4 @@ def timing_print(results, indent=""):
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  print(f"{indent}Total time | Count | Device")
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  print(f"{indent}----------------+---------+{activity_dashes}")
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  for device, agg in device_totals.items():
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- print(f"{indent}{agg.elapsed :12.6f} ms | {agg.count :7d} | {device}")
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+ print(f"{indent}{agg.elapsed:12.6f} ms | {agg.count:7d} | {device}")
{warp_lang-1.5.1.dist-info → warp_lang-1.6.1.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: 1.5.1
3
+ Version: 1.6.1
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  Summary: A Python framework for high-performance simulation and graphics programming
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5
  Author-email: NVIDIA Corporation <mmacklin@nvidia.com>
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  License: NVIDIA Software License
@@ -78,12 +78,24 @@ the `pip install` command, e.g.
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78
 
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  | Platform | Install Command |
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  | --------------- | ----------------------------------------------------------------------------------------------------------------------------- |
81
- | Linux aarch64 | `pip install https://github.com/NVIDIA/warp/releases/download/v1.5.1/warp_lang-1.5.1+cu11-py3-none-manylinux2014_aarch64.whl` |
82
- | Linux x86-64 | `pip install https://github.com/NVIDIA/warp/releases/download/v1.5.1/warp_lang-1.5.1+cu11-py3-none-manylinux2014_x86_64.whl` |
83
- | Windows x86-64 | `pip install https://github.com/NVIDIA/warp/releases/download/v1.5.1/warp_lang-1.5.1+cu11-py3-none-win_amd64.whl` |
81
+ | Linux aarch64 | `pip install https://github.com/NVIDIA/warp/releases/download/v1.6.1/warp_lang-1.6.1+cu11-py3-none-manylinux2014_aarch64.whl` |
82
+ | Linux x86-64 | `pip install https://github.com/NVIDIA/warp/releases/download/v1.6.1/warp_lang-1.6.1+cu11-py3-none-manylinux2014_x86_64.whl` |
83
+ | Windows x86-64 | `pip install https://github.com/NVIDIA/warp/releases/download/v1.6.1/warp_lang-1.6.1+cu11-py3-none-win_amd64.whl` |
84
84
 
85
85
  The `--force-reinstall` option may need to be used to overwrite a previous installation.
86
86
 
87
+ ### Nightly Builds
88
+
89
+ Nightly builds of Warp from the `main` branch are available on the [NVIDIA Package Index](https://pypi.nvidia.com/warp-lang/).
90
+
91
+ To install the latest nightly build, use the following command:
92
+
93
+ ```text
94
+ pip install -U --pre warp-lang --extra-index-url=https://pypi.nvidia.com/
95
+ ```
96
+
97
+ Note that the nightly builds are built with the CUDA 12 runtime and are not published for macOS.
98
+
87
99
  ### CUDA Requirements
88
100
 
89
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  * Warp packages built with CUDA Toolkit 11.x require NVIDIA driver 470 or newer.
@@ -211,10 +223,10 @@ python -m warp.tests
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  <table>
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  <tbody>
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  <tr>
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- <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>
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- <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>
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- <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>
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- <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>
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+ <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>
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+ <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>
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+ <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>
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  </tr>
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  <tr>
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  <td align="center">dem</td>
@@ -223,10 +235,10 @@ python -m warp.tests
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  <td align="center">marching cubes</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/core/example_mesh.py"><img src="https://github.com/NVIDIA/warp/raw/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://github.com/NVIDIA/warp/raw/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://github.com/NVIDIA/warp/raw/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://github.com/NVIDIA/warp/raw/main/docs/img/examples/core_raymarch.png"></a></td>
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+ <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>
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  </tr>
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  <tr>
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  <td align="center">mesh</td>
@@ -235,9 +247,9 @@ python -m warp.tests
235
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  <td align="center">raymarch</td>
236
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  </tr>
237
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  <tr>
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- <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>
239
- <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>
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- <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>
250
+ <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>
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  </tr>
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  <tr>
@@ -254,10 +266,10 @@ python -m warp.tests
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  <table>
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  <tbody>
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  <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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  </tr>
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  <tr>
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  <td align="center">diffusion 3d</td>
@@ -266,10 +278,10 @@ python -m warp.tests
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  <td align="center">streamlines</td>
267
279
  </tr>
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  <tr>
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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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@@ -285,10 +297,10 @@ 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>
@@ -297,16 +309,16 @@ python -m warp.tests
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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_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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  </tr>
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  <td align="center">inverse kinematics</td>
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  <td align="center">spring cage</td>
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  <td align="center">trajectory</td>
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- <td align="center">walker</td>
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+ <td align="center">soft body properties</td>
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  </tr>
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  </tbody>
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  </table>
@@ -316,10 +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>
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+ <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>
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+ <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>
@@ -328,10 +340,10 @@ python -m warp.tests
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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>
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+ <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>
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+ <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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  <td align="center">jacobian ik</td>
@@ -340,10 +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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- <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>
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+ <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>
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+ <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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  <tr>
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  <td align="center">rigid force</td>
@@ -351,6 +363,35 @@ python -m warp.tests
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  <td align="center">rigid soft contact</td>
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  <td align="center">soft body</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>
368
+ <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">cloth self contact</td>
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+ <td align="center"></td>
375
+ <td align="center"></td>
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+ <td align="center"></td>
377
+ </tr>
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+ </tbody>
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+ </table>
380
+
381
+ ### warp/examples/tile
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+
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+ <table>
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+ <tbody>
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+ <tr>
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+ <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/tile/example_tile_mlp.py"><img src="https://media.githubusercontent.com/media/NVIDIA/warp/refs/heads/main/docs/img/examples/tile_mlp.png"></a></td>
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+ <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/tile/example_tile_nbody.py"><img src="https://media.githubusercontent.com/media/NVIDIA/warp/refs/heads/main/docs/img/examples/tile_nbody.png"></a></td>
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+ <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/tile/example_tile_walker.py"><img src="https://media.githubusercontent.com/media/NVIDIA/warp/refs/heads/main/docs/img/examples/tile_walker.png"></a></td>
389
+ </tr>
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+ <tr>
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+ <td align="center">mlp</td>
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+ <td align="center">nbody</td>
393
+ <td align="center">walker</td>
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+ </tr>
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  </tbody>
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  </table>
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