warp-lang 1.5.1__py3-none-win_amd64.whl → 1.6.1__py3-none-win_amd64.whl
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- warp/__init__.py +5 -0
- warp/autograd.py +414 -191
- warp/bin/warp-clang.dll +0 -0
- warp/bin/warp.dll +0 -0
- warp/build.py +40 -12
- warp/build_dll.py +13 -6
- warp/builtins.py +1077 -481
- warp/codegen.py +250 -122
- warp/config.py +65 -21
- warp/context.py +500 -149
- warp/examples/assets/square_cloth.usd +0 -0
- warp/examples/benchmarks/benchmark_gemm.py +27 -18
- warp/examples/benchmarks/benchmark_interop_paddle.py +3 -3
- warp/examples/benchmarks/benchmark_interop_torch.py +3 -3
- warp/examples/core/example_marching_cubes.py +1 -1
- warp/examples/core/example_mesh.py +1 -1
- warp/examples/core/example_torch.py +18 -34
- warp/examples/core/example_wave.py +1 -1
- warp/examples/fem/example_apic_fluid.py +1 -0
- warp/examples/fem/example_mixed_elasticity.py +1 -1
- warp/examples/optim/example_bounce.py +1 -1
- warp/examples/optim/example_cloth_throw.py +1 -1
- warp/examples/optim/example_diffray.py +4 -15
- warp/examples/optim/example_drone.py +1 -1
- warp/examples/optim/example_softbody_properties.py +392 -0
- warp/examples/optim/example_trajectory.py +1 -3
- warp/examples/optim/example_walker.py +5 -0
- warp/examples/sim/example_cartpole.py +0 -2
- warp/examples/sim/example_cloth_self_contact.py +314 -0
- warp/examples/sim/example_granular_collision_sdf.py +4 -5
- warp/examples/sim/example_jacobian_ik.py +0 -2
- warp/examples/sim/example_quadruped.py +5 -2
- warp/examples/tile/example_tile_cholesky.py +79 -0
- warp/examples/tile/example_tile_convolution.py +2 -2
- warp/examples/tile/example_tile_fft.py +2 -2
- warp/examples/tile/example_tile_filtering.py +3 -3
- warp/examples/tile/example_tile_matmul.py +4 -4
- warp/examples/tile/example_tile_mlp.py +12 -12
- warp/examples/tile/example_tile_nbody.py +191 -0
- warp/examples/tile/example_tile_walker.py +319 -0
- warp/math.py +147 -0
- warp/native/array.h +12 -0
- warp/native/builtin.h +0 -1
- warp/native/bvh.cpp +149 -70
- warp/native/bvh.cu +287 -68
- warp/native/bvh.h +195 -85
- warp/native/clang/clang.cpp +6 -2
- warp/native/crt.h +1 -0
- warp/native/cuda_util.cpp +35 -0
- warp/native/cuda_util.h +5 -0
- warp/native/exports.h +40 -40
- warp/native/intersect.h +17 -0
- warp/native/mat.h +57 -3
- warp/native/mathdx.cpp +19 -0
- warp/native/mesh.cpp +25 -8
- warp/native/mesh.cu +153 -101
- warp/native/mesh.h +482 -403
- warp/native/quat.h +40 -0
- warp/native/solid_angle.h +7 -0
- warp/native/sort.cpp +85 -0
- warp/native/sort.cu +34 -0
- warp/native/sort.h +3 -1
- warp/native/spatial.h +11 -0
- warp/native/tile.h +1189 -664
- warp/native/tile_reduce.h +8 -6
- warp/native/vec.h +41 -0
- warp/native/warp.cpp +8 -1
- warp/native/warp.cu +263 -40
- warp/native/warp.h +19 -5
- warp/optim/linear.py +22 -4
- warp/render/render_opengl.py +132 -59
- warp/render/render_usd.py +10 -2
- warp/sim/__init__.py +6 -1
- warp/sim/collide.py +289 -32
- warp/sim/import_urdf.py +20 -5
- warp/sim/integrator_euler.py +25 -7
- warp/sim/integrator_featherstone.py +147 -35
- warp/sim/integrator_vbd.py +842 -40
- warp/sim/model.py +173 -112
- warp/sim/render.py +2 -2
- warp/stubs.py +249 -116
- warp/tape.py +28 -30
- warp/tests/aux_test_module_unload.py +15 -0
- warp/tests/{test_sim_grad.py → flaky_test_sim_grad.py} +104 -63
- warp/tests/test_array.py +100 -0
- warp/tests/test_assert.py +242 -0
- warp/tests/test_codegen.py +14 -61
- warp/tests/test_collision.py +8 -8
- warp/tests/test_examples.py +16 -1
- warp/tests/test_grad_debug.py +87 -2
- warp/tests/test_hash_grid.py +1 -1
- warp/tests/test_ipc.py +116 -0
- warp/tests/test_launch.py +77 -26
- warp/tests/test_mat.py +213 -168
- warp/tests/test_math.py +47 -1
- warp/tests/test_matmul.py +11 -7
- warp/tests/test_matmul_lite.py +4 -4
- warp/tests/test_mesh.py +84 -60
- warp/tests/test_mesh_query_aabb.py +165 -0
- warp/tests/test_mesh_query_point.py +328 -286
- warp/tests/test_mesh_query_ray.py +134 -121
- warp/tests/test_mlp.py +2 -2
- warp/tests/test_operators.py +43 -0
- warp/tests/test_overwrite.py +6 -5
- warp/tests/test_quat.py +77 -0
- warp/tests/test_reload.py +29 -0
- warp/tests/test_sim_grad_bounce_linear.py +204 -0
- warp/tests/test_static.py +16 -0
- warp/tests/test_tape.py +25 -0
- warp/tests/test_tile.py +134 -191
- warp/tests/test_tile_load.py +399 -0
- warp/tests/test_tile_mathdx.py +61 -8
- warp/tests/test_tile_mlp.py +17 -17
- warp/tests/test_tile_reduce.py +24 -18
- warp/tests/test_tile_shared_memory.py +66 -17
- warp/tests/test_tile_view.py +165 -0
- warp/tests/test_torch.py +35 -0
- warp/tests/test_utils.py +36 -24
- warp/tests/test_vec.py +110 -0
- warp/tests/unittest_suites.py +29 -4
- warp/tests/unittest_utils.py +30 -11
- warp/thirdparty/unittest_parallel.py +5 -2
- warp/types.py +419 -111
- warp/utils.py +9 -5
- {warp_lang-1.5.1.dist-info → warp_lang-1.6.1.dist-info}/METADATA +86 -45
- {warp_lang-1.5.1.dist-info → warp_lang-1.6.1.dist-info}/RECORD +129 -118
- {warp_lang-1.5.1.dist-info → warp_lang-1.6.1.dist-info}/WHEEL +1 -1
- warp/examples/benchmarks/benchmark_tile.py +0 -179
- warp/native/tile_gemm.h +0 -341
- {warp_lang-1.5.1.dist-info → warp_lang-1.6.1.dist-info}/LICENSE.md +0 -0
- {warp_lang-1.5.1.dist-info → warp_lang-1.6.1.dist-info}/top_level.txt +0 -0
warp/config.py
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from typing import Optional
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version: str = "1.
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version: str = "1.6.1"
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"""Warp version string"""
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verify_fp: bool = False
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"""Enable floating-point verification for inputs and outputs.
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When enabled, checks if all values are finite before and after operations.
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Note: Enabling this flag impacts performance.
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"""
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verify_cuda: bool = False
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"""Enable CUDA error checking after kernel launches.
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This setting cannot be used during graph capture
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Note: Enabling this flag impacts performance
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"""
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print_launches: bool = False
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"""Enable detailed kernel launch logging.
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Prints information about each kernel launch including:
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- Launch dimensions
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- Input/output parameters
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- Target device
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Note: Enabling this flag impacts performance.
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"""
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mode: str = "release"
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"""Compilation mode for Warp kernels.
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Args:
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mode: Either ``"release"`` or ``"debug"``.
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Note: Debug mode may impact performance.
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"""
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verbose: bool = False
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"""Enable detailed logging during code generation and compilation."""
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verbose_warnings: bool = False
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"""Enable extended warning messages with source location information."""
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quiet: bool = False
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"""Disable Warp module initialization messages.
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Error messages and warnings remain unaffected.
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"""
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verify_autograd_array_access: bool = False
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"""
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"""Enable warnings for array overwrites that may affect gradient computation."""
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enable_vector_component_overwrites: bool = False
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"""Allow multiple writes to vector/matrix/quaternion components.
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Note: Enabling this may significantly increase kernel compilation time.
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"""
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cache_kernels: bool = True
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"""Enable kernel caching between application launches."""
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"""Directory path for storing compiled kernel cache.
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1. ``WARP_CACHE_PATH`` environment variable.
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2. System's user cache directory (via ``appdirs.user_cache_directory``).
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Note: Subdirectories prefixed with ``wp_`` will be created in this location.
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"""
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cuda_output: Optional[str] = None
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"""Preferred CUDA output format for kernel compilation.
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cuda_output: One of {``None``, ``"ptx"``, ``"cubin"``}. If ``None``, format is auto-determined.
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"""
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ptx_target_arch: int = 75
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"""Target architecture version for PTX generation.
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Defaults to minimum architecture version supporting all Warp features.
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enable_backward: bool = True
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"""Enable compilation of kernel backward passes."""
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"""Use Clang/LLVM compiler instead of NVRTC for CUDA compilation."""
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enable_graph_capture_module_load_by_default: bool = True
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"""Enable automatic module loading before graph capture.
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enable_mempools_at_init: bool = True
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"""Enable CUDA memory pools during device initialization when supported."""
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max_unroll: int = 16
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"""Maximum unroll factor for loops."""
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