warp-lang 1.5.1__py3-none-win_amd64.whl → 1.6.0__py3-none-win_amd64.whl

This diff represents the content of publicly available package versions that have been released to one of the supported registries. The information contained in this diff is provided for informational purposes only and reflects changes between package versions as they appear in their respective public registries.

Potentially problematic release.

This version of warp-lang might be problematic. Click here for more details.

Files changed (123) hide show
  1. warp/__init__.py +5 -0
  2. warp/autograd.py +414 -191
  3. warp/bin/warp-clang.dll +0 -0
  4. warp/bin/warp.dll +0 -0
  5. warp/build.py +40 -12
  6. warp/build_dll.py +13 -6
  7. warp/builtins.py +1076 -480
  8. warp/codegen.py +240 -119
  9. warp/config.py +1 -1
  10. warp/context.py +298 -84
  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_self_contact.py +260 -0
  27. warp/examples/sim/example_granular_collision_sdf.py +4 -5
  28. warp/examples/sim/example_jacobian_ik.py +0 -2
  29. warp/examples/sim/example_quadruped.py +5 -2
  30. warp/examples/tile/example_tile_cholesky.py +79 -0
  31. warp/examples/tile/example_tile_convolution.py +2 -2
  32. warp/examples/tile/example_tile_fft.py +2 -2
  33. warp/examples/tile/example_tile_filtering.py +3 -3
  34. warp/examples/tile/example_tile_matmul.py +4 -4
  35. warp/examples/tile/example_tile_mlp.py +12 -12
  36. warp/examples/tile/example_tile_nbody.py +180 -0
  37. warp/examples/tile/example_tile_walker.py +319 -0
  38. warp/math.py +147 -0
  39. warp/native/array.h +12 -0
  40. warp/native/builtin.h +0 -1
  41. warp/native/bvh.cpp +149 -70
  42. warp/native/bvh.cu +287 -68
  43. warp/native/bvh.h +195 -85
  44. warp/native/clang/clang.cpp +5 -1
  45. warp/native/cuda_util.cpp +35 -0
  46. warp/native/cuda_util.h +5 -0
  47. warp/native/exports.h +40 -40
  48. warp/native/intersect.h +17 -0
  49. warp/native/mat.h +41 -0
  50. warp/native/mathdx.cpp +19 -0
  51. warp/native/mesh.cpp +25 -8
  52. warp/native/mesh.cu +153 -101
  53. warp/native/mesh.h +482 -403
  54. warp/native/quat.h +40 -0
  55. warp/native/solid_angle.h +7 -0
  56. warp/native/sort.cpp +85 -0
  57. warp/native/sort.cu +34 -0
  58. warp/native/sort.h +3 -1
  59. warp/native/spatial.h +11 -0
  60. warp/native/tile.h +1185 -664
  61. warp/native/tile_reduce.h +8 -6
  62. warp/native/vec.h +41 -0
  63. warp/native/warp.cpp +8 -1
  64. warp/native/warp.cu +263 -40
  65. warp/native/warp.h +19 -5
  66. warp/optim/linear.py +22 -4
  67. warp/render/render_opengl.py +124 -59
  68. warp/sim/__init__.py +6 -1
  69. warp/sim/collide.py +270 -26
  70. warp/sim/integrator_euler.py +25 -7
  71. warp/sim/integrator_featherstone.py +154 -35
  72. warp/sim/integrator_vbd.py +842 -40
  73. warp/sim/model.py +111 -53
  74. warp/stubs.py +248 -115
  75. warp/tape.py +28 -30
  76. warp/tests/aux_test_module_unload.py +15 -0
  77. warp/tests/{test_sim_grad.py → flaky_test_sim_grad.py} +104 -63
  78. warp/tests/test_array.py +74 -0
  79. warp/tests/test_assert.py +242 -0
  80. warp/tests/test_codegen.py +14 -61
  81. warp/tests/test_collision.py +2 -2
  82. warp/tests/test_examples.py +9 -0
  83. warp/tests/test_grad_debug.py +87 -2
  84. warp/tests/test_hash_grid.py +1 -1
  85. warp/tests/test_ipc.py +116 -0
  86. warp/tests/test_mat.py +138 -167
  87. warp/tests/test_math.py +47 -1
  88. warp/tests/test_matmul.py +11 -7
  89. warp/tests/test_matmul_lite.py +4 -4
  90. warp/tests/test_mesh.py +84 -60
  91. warp/tests/test_mesh_query_aabb.py +165 -0
  92. warp/tests/test_mesh_query_point.py +328 -286
  93. warp/tests/test_mesh_query_ray.py +134 -121
  94. warp/tests/test_mlp.py +2 -2
  95. warp/tests/test_operators.py +43 -0
  96. warp/tests/test_overwrite.py +2 -2
  97. warp/tests/test_quat.py +77 -0
  98. warp/tests/test_reload.py +29 -0
  99. warp/tests/test_sim_grad_bounce_linear.py +204 -0
  100. warp/tests/test_static.py +16 -0
  101. warp/tests/test_tape.py +25 -0
  102. warp/tests/test_tile.py +134 -191
  103. warp/tests/test_tile_load.py +356 -0
  104. warp/tests/test_tile_mathdx.py +61 -8
  105. warp/tests/test_tile_mlp.py +17 -17
  106. warp/tests/test_tile_reduce.py +24 -18
  107. warp/tests/test_tile_shared_memory.py +66 -17
  108. warp/tests/test_tile_view.py +165 -0
  109. warp/tests/test_torch.py +35 -0
  110. warp/tests/test_utils.py +36 -24
  111. warp/tests/test_vec.py +110 -0
  112. warp/tests/unittest_suites.py +29 -4
  113. warp/tests/unittest_utils.py +30 -11
  114. warp/thirdparty/unittest_parallel.py +2 -2
  115. warp/types.py +409 -99
  116. warp/utils.py +9 -5
  117. {warp_lang-1.5.1.dist-info → warp_lang-1.6.0.dist-info}/METADATA +68 -44
  118. {warp_lang-1.5.1.dist-info → warp_lang-1.6.0.dist-info}/RECORD +121 -110
  119. {warp_lang-1.5.1.dist-info → warp_lang-1.6.0.dist-info}/WHEEL +1 -1
  120. warp/examples/benchmarks/benchmark_tile.py +0 -179
  121. warp/native/tile_gemm.h +0 -341
  122. {warp_lang-1.5.1.dist-info → warp_lang-1.6.0.dist-info}/LICENSE.md +0 -0
  123. {warp_lang-1.5.1.dist-info → warp_lang-1.6.0.dist-info}/top_level.txt +0 -0
warp/utils.py CHANGED
@@ -131,11 +131,15 @@ def radix_sort_pairs(keys, values, count: int):
131
131
  if keys.device.is_cpu:
132
132
  if keys.dtype == wp.int32 and values.dtype == wp.int32:
133
133
  runtime.core.radix_sort_pairs_int_host(keys.ptr, values.ptr, count)
134
+ elif keys.dtype == wp.float32 and values.dtype == wp.int32:
135
+ runtime.core.radix_sort_pairs_float_host(keys.ptr, values.ptr, count)
134
136
  else:
135
137
  raise RuntimeError("Unsupported data type")
136
138
  elif keys.device.is_cuda:
137
139
  if keys.dtype == wp.int32 and values.dtype == wp.int32:
138
140
  runtime.core.radix_sort_pairs_int_device(keys.ptr, values.ptr, count)
141
+ elif keys.dtype == wp.float32 and values.dtype == wp.int32:
142
+ runtime.core.radix_sort_pairs_float_device(keys.ptr, values.ptr, count)
139
143
  else:
140
144
  raise RuntimeError("Unsupported data type")
141
145
 
@@ -778,9 +782,9 @@ class ScopedTimer:
778
782
  print()
779
783
 
780
784
  if self.extra_msg:
781
- print(f"{indent}{self.name} took {self.elapsed :.2f} ms {self.extra_msg}")
785
+ print(f"{indent}{self.name} took {self.elapsed:.2f} ms {self.extra_msg}")
782
786
  else:
783
- print(f"{indent}{self.name} took {self.elapsed :.2f} ms")
787
+ print(f"{indent}{self.name} took {self.elapsed:.2f} ms")
784
788
 
785
789
  ScopedTimer.indent -= 1
786
790
 
@@ -1041,7 +1045,7 @@ def timing_print(results, indent=""):
1041
1045
  activity_agg.count += 1
1042
1046
  activity_agg.elapsed += r.elapsed
1043
1047
 
1044
- 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}")
1045
1049
 
1046
1050
  print()
1047
1051
  print(f"{indent}CUDA activity summary:")
@@ -1049,7 +1053,7 @@ def timing_print(results, indent=""):
1049
1053
  print(f"{indent}Total time | Count | Activity")
1050
1054
  print(f"{indent}----------------+---------+{activity_dashes}")
1051
1055
  for name, agg in activity_totals.items():
1052
- 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}")
1053
1057
 
1054
1058
  print()
1055
1059
  print(f"{indent}CUDA device summary:")
@@ -1057,4 +1061,4 @@ def timing_print(results, indent=""):
1057
1061
  print(f"{indent}Total time | Count | Device")
1058
1062
  print(f"{indent}----------------+---------+{activity_dashes}")
1059
1063
  for device, agg in device_totals.items():
1060
- 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-1.5.1.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: 1.5.1
3
+ Version: 1.6.0
4
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.
78
78
 
79
79
  | Platform | Install Command |
80
80
  | --------------- | ----------------------------------------------------------------------------------------------------------------------------- |
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/v1.6.0/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
85
  The `--force-reinstall` option may need to be used to overwrite a previous installation.
86
86
 
@@ -211,10 +211,10 @@ python -m warp.tests
211
211
  <table>
212
212
  <tbody>
213
213
  <tr>
214
- <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>
215
- <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>
216
- <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>
217
- <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>
215
+ <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>
218
218
  </tr>
219
219
  <tr>
220
220
  <td align="center">dem</td>
@@ -223,10 +223,10 @@ python -m warp.tests
223
223
  <td align="center">marching cubes</td>
224
224
  </tr>
225
225
  <tr>
226
- <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>
227
- <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>
228
- <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>
229
- <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>
227
+ <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>
228
+ <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>
229
+ <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>
230
230
  </tr>
231
231
  <tr>
232
232
  <td align="center">mesh</td>
@@ -235,9 +235,9 @@ python -m warp.tests
235
235
  <td align="center">raymarch</td>
236
236
  </tr>
237
237
  <tr>
238
- <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>
240
- <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>
239
+ <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>
240
+ <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>
241
241
  <td></td>
242
242
  </tr>
243
243
  <tr>
@@ -254,10 +254,10 @@ python -m warp.tests
254
254
  <table>
255
255
  <tbody>
256
256
  <tr>
257
- <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>
258
- <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>
259
- <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>
260
- <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>
257
+ <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>
258
+ <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>
259
+ <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>
260
+ <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>
261
261
  </tr>
262
262
  <tr>
263
263
  <td align="center">diffusion 3d</td>
@@ -266,10 +266,10 @@ python -m warp.tests
266
266
  <td align="center">streamlines</td>
267
267
  </tr>
268
268
  <tr>
269
- <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>
270
- <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>
271
- <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>
272
- <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>
269
+ <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>
270
+ <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>
271
+ <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>
272
+ <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>
273
273
  </tr>
274
274
  <tr>
275
275
  <td align="center">convection diffusion</td>
@@ -285,10 +285,10 @@ python -m warp.tests
285
285
  <table>
286
286
  <tbody>
287
287
  <tr>
288
- <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>
289
- <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>
290
- <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>
291
- <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>
288
+ <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>
289
+ <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>
290
+ <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>
291
+ <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>
292
292
  </tr>
293
293
  <tr>
294
294
  <td align="center">bounce</td>
@@ -297,10 +297,10 @@ python -m warp.tests
297
297
  <td align="center">drone</td>
298
298
  </tr>
299
299
  <tr>
300
- <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>
301
- <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>
302
- <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>
303
- <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>
300
+ <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>
301
+ <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>
302
+ <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>
303
+ <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>
304
304
  </tr>
305
305
  <tr>
306
306
  <td align="center">inverse kinematics</td>
@@ -308,6 +308,18 @@ python -m warp.tests
308
308
  <td align="center">trajectory</td>
309
309
  <td align="center">walker</td>
310
310
  </tr>
311
+ <tr>
312
+ <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>
313
+ <td></td>
314
+ <td></td>
315
+ <td></td>
316
+ </tr>
317
+ <tr>
318
+ <td align="center">soft body properties</td>
319
+ <td align="center"></td>
320
+ <td align="center"></td>
321
+ <td align="center"></td>
322
+ </tr>
311
323
  </tbody>
312
324
  </table>
313
325
 
@@ -316,10 +328,10 @@ python -m warp.tests
316
328
  <table>
317
329
  <tbody>
318
330
  <tr>
319
- <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>
320
- <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>
321
- <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>
322
- <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>
332
+ <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>
334
+ <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>
323
335
  </tr>
324
336
  <tr>
325
337
  <td align="center">cartpole</td>
@@ -328,10 +340,10 @@ python -m warp.tests
328
340
  <td align="center">granular collision sdf</td>
329
341
  </tr>
330
342
  <tr>
331
- <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>
332
- <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>
333
- <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>
334
- <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>
344
+ <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>
346
+ <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>
335
347
  </tr>
336
348
  <tr>
337
349
  <td align="center">jacobian ik</td>
@@ -340,10 +352,10 @@ python -m warp.tests
340
352
  <td align="center">rigid contact</td>
341
353
  </tr>
342
354
  <tr>
343
- <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>
344
- <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>
345
- <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>
346
- <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>
357
+ <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>
358
+ <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>
347
359
  </tr>
348
360
  <tr>
349
361
  <td align="center">rigid force</td>
@@ -351,6 +363,18 @@ python -m warp.tests
351
363
  <td align="center">rigid soft contact</td>
352
364
  <td align="center">soft body</td>
353
365
  </tr>
366
+ <tr>
367
+ <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>
369
+ <td></td>
370
+ <td></td>
371
+ </tr>
372
+ <tr>
373
+ <td align="center">cloth self contact</td>
374
+ <td align="center"></td>
375
+ <td align="center"></td>
376
+ <td align="center"></td>
377
+ </tr>
354
378
  </tbody>
355
379
  </table>
356
380