warp-lang 1.7.0__py3-none-manylinux_2_28_x86_64.whl

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  1. warp/__init__.py +139 -0
  2. warp/__init__.pyi +1 -0
  3. warp/autograd.py +1142 -0
  4. warp/bin/warp-clang.so +0 -0
  5. warp/bin/warp.so +0 -0
  6. warp/build.py +557 -0
  7. warp/build_dll.py +405 -0
  8. warp/builtins.py +6855 -0
  9. warp/codegen.py +3969 -0
  10. warp/config.py +158 -0
  11. warp/constants.py +57 -0
  12. warp/context.py +6812 -0
  13. warp/dlpack.py +462 -0
  14. warp/examples/__init__.py +24 -0
  15. warp/examples/assets/bear.usd +0 -0
  16. warp/examples/assets/bunny.usd +0 -0
  17. warp/examples/assets/cartpole.urdf +110 -0
  18. warp/examples/assets/crazyflie.usd +0 -0
  19. warp/examples/assets/cube.usd +0 -0
  20. warp/examples/assets/nonuniform.usd +0 -0
  21. warp/examples/assets/nv_ant.xml +92 -0
  22. warp/examples/assets/nv_humanoid.xml +183 -0
  23. warp/examples/assets/nvidia_logo.png +0 -0
  24. warp/examples/assets/pixel.jpg +0 -0
  25. warp/examples/assets/quadruped.urdf +268 -0
  26. warp/examples/assets/rocks.nvdb +0 -0
  27. warp/examples/assets/rocks.usd +0 -0
  28. warp/examples/assets/sphere.usd +0 -0
  29. warp/examples/assets/square_cloth.usd +0 -0
  30. warp/examples/benchmarks/benchmark_api.py +389 -0
  31. warp/examples/benchmarks/benchmark_cloth.py +296 -0
  32. warp/examples/benchmarks/benchmark_cloth_cupy.py +96 -0
  33. warp/examples/benchmarks/benchmark_cloth_jax.py +105 -0
  34. warp/examples/benchmarks/benchmark_cloth_numba.py +161 -0
  35. warp/examples/benchmarks/benchmark_cloth_numpy.py +85 -0
  36. warp/examples/benchmarks/benchmark_cloth_paddle.py +94 -0
  37. warp/examples/benchmarks/benchmark_cloth_pytorch.py +94 -0
  38. warp/examples/benchmarks/benchmark_cloth_taichi.py +120 -0
  39. warp/examples/benchmarks/benchmark_cloth_warp.py +153 -0
  40. warp/examples/benchmarks/benchmark_gemm.py +164 -0
  41. warp/examples/benchmarks/benchmark_interop_paddle.py +166 -0
  42. warp/examples/benchmarks/benchmark_interop_torch.py +166 -0
  43. warp/examples/benchmarks/benchmark_launches.py +301 -0
  44. warp/examples/benchmarks/benchmark_tile_load_store.py +103 -0
  45. warp/examples/browse.py +37 -0
  46. warp/examples/core/example_cupy.py +86 -0
  47. warp/examples/core/example_dem.py +241 -0
  48. warp/examples/core/example_fluid.py +299 -0
  49. warp/examples/core/example_graph_capture.py +150 -0
  50. warp/examples/core/example_marching_cubes.py +194 -0
  51. warp/examples/core/example_mesh.py +180 -0
  52. warp/examples/core/example_mesh_intersect.py +211 -0
  53. warp/examples/core/example_nvdb.py +182 -0
  54. warp/examples/core/example_raycast.py +111 -0
  55. warp/examples/core/example_raymarch.py +205 -0
  56. warp/examples/core/example_render_opengl.py +193 -0
  57. warp/examples/core/example_sample_mesh.py +300 -0
  58. warp/examples/core/example_sph.py +411 -0
  59. warp/examples/core/example_torch.py +211 -0
  60. warp/examples/core/example_wave.py +269 -0
  61. warp/examples/fem/example_adaptive_grid.py +286 -0
  62. warp/examples/fem/example_apic_fluid.py +423 -0
  63. warp/examples/fem/example_burgers.py +261 -0
  64. warp/examples/fem/example_convection_diffusion.py +178 -0
  65. warp/examples/fem/example_convection_diffusion_dg.py +204 -0
  66. warp/examples/fem/example_deformed_geometry.py +172 -0
  67. warp/examples/fem/example_diffusion.py +196 -0
  68. warp/examples/fem/example_diffusion_3d.py +225 -0
  69. warp/examples/fem/example_diffusion_mgpu.py +220 -0
  70. warp/examples/fem/example_distortion_energy.py +228 -0
  71. warp/examples/fem/example_magnetostatics.py +240 -0
  72. warp/examples/fem/example_mixed_elasticity.py +291 -0
  73. warp/examples/fem/example_navier_stokes.py +261 -0
  74. warp/examples/fem/example_nonconforming_contact.py +298 -0
  75. warp/examples/fem/example_stokes.py +213 -0
  76. warp/examples/fem/example_stokes_transfer.py +262 -0
  77. warp/examples/fem/example_streamlines.py +352 -0
  78. warp/examples/fem/utils.py +1000 -0
  79. warp/examples/interop/example_jax_callable.py +116 -0
  80. warp/examples/interop/example_jax_ffi_callback.py +132 -0
  81. warp/examples/interop/example_jax_kernel.py +205 -0
  82. warp/examples/optim/example_bounce.py +266 -0
  83. warp/examples/optim/example_cloth_throw.py +228 -0
  84. warp/examples/optim/example_diffray.py +561 -0
  85. warp/examples/optim/example_drone.py +870 -0
  86. warp/examples/optim/example_fluid_checkpoint.py +497 -0
  87. warp/examples/optim/example_inverse_kinematics.py +182 -0
  88. warp/examples/optim/example_inverse_kinematics_torch.py +191 -0
  89. warp/examples/optim/example_softbody_properties.py +400 -0
  90. warp/examples/optim/example_spring_cage.py +245 -0
  91. warp/examples/optim/example_trajectory.py +227 -0
  92. warp/examples/sim/example_cartpole.py +143 -0
  93. warp/examples/sim/example_cloth.py +225 -0
  94. warp/examples/sim/example_cloth_self_contact.py +322 -0
  95. warp/examples/sim/example_granular.py +130 -0
  96. warp/examples/sim/example_granular_collision_sdf.py +202 -0
  97. warp/examples/sim/example_jacobian_ik.py +244 -0
  98. warp/examples/sim/example_particle_chain.py +124 -0
  99. warp/examples/sim/example_quadruped.py +203 -0
  100. warp/examples/sim/example_rigid_chain.py +203 -0
  101. warp/examples/sim/example_rigid_contact.py +195 -0
  102. warp/examples/sim/example_rigid_force.py +133 -0
  103. warp/examples/sim/example_rigid_gyroscopic.py +115 -0
  104. warp/examples/sim/example_rigid_soft_contact.py +140 -0
  105. warp/examples/sim/example_soft_body.py +196 -0
  106. warp/examples/tile/example_tile_cholesky.py +87 -0
  107. warp/examples/tile/example_tile_convolution.py +66 -0
  108. warp/examples/tile/example_tile_fft.py +55 -0
  109. warp/examples/tile/example_tile_filtering.py +113 -0
  110. warp/examples/tile/example_tile_matmul.py +85 -0
  111. warp/examples/tile/example_tile_mlp.py +383 -0
  112. warp/examples/tile/example_tile_nbody.py +199 -0
  113. warp/examples/tile/example_tile_walker.py +327 -0
  114. warp/fabric.py +355 -0
  115. warp/fem/__init__.py +106 -0
  116. warp/fem/adaptivity.py +508 -0
  117. warp/fem/cache.py +572 -0
  118. warp/fem/dirichlet.py +202 -0
  119. warp/fem/domain.py +411 -0
  120. warp/fem/field/__init__.py +125 -0
  121. warp/fem/field/field.py +619 -0
  122. warp/fem/field/nodal_field.py +326 -0
  123. warp/fem/field/restriction.py +37 -0
  124. warp/fem/field/virtual.py +848 -0
  125. warp/fem/geometry/__init__.py +32 -0
  126. warp/fem/geometry/adaptive_nanogrid.py +857 -0
  127. warp/fem/geometry/closest_point.py +84 -0
  128. warp/fem/geometry/deformed_geometry.py +221 -0
  129. warp/fem/geometry/element.py +776 -0
  130. warp/fem/geometry/geometry.py +362 -0
  131. warp/fem/geometry/grid_2d.py +392 -0
  132. warp/fem/geometry/grid_3d.py +452 -0
  133. warp/fem/geometry/hexmesh.py +911 -0
  134. warp/fem/geometry/nanogrid.py +571 -0
  135. warp/fem/geometry/partition.py +389 -0
  136. warp/fem/geometry/quadmesh.py +663 -0
  137. warp/fem/geometry/tetmesh.py +855 -0
  138. warp/fem/geometry/trimesh.py +806 -0
  139. warp/fem/integrate.py +2335 -0
  140. warp/fem/linalg.py +419 -0
  141. warp/fem/operator.py +293 -0
  142. warp/fem/polynomial.py +229 -0
  143. warp/fem/quadrature/__init__.py +17 -0
  144. warp/fem/quadrature/pic_quadrature.py +299 -0
  145. warp/fem/quadrature/quadrature.py +591 -0
  146. warp/fem/space/__init__.py +228 -0
  147. warp/fem/space/basis_function_space.py +468 -0
  148. warp/fem/space/basis_space.py +667 -0
  149. warp/fem/space/dof_mapper.py +251 -0
  150. warp/fem/space/function_space.py +309 -0
  151. warp/fem/space/grid_2d_function_space.py +177 -0
  152. warp/fem/space/grid_3d_function_space.py +227 -0
  153. warp/fem/space/hexmesh_function_space.py +257 -0
  154. warp/fem/space/nanogrid_function_space.py +201 -0
  155. warp/fem/space/partition.py +367 -0
  156. warp/fem/space/quadmesh_function_space.py +223 -0
  157. warp/fem/space/restriction.py +179 -0
  158. warp/fem/space/shape/__init__.py +143 -0
  159. warp/fem/space/shape/cube_shape_function.py +1105 -0
  160. warp/fem/space/shape/shape_function.py +133 -0
  161. warp/fem/space/shape/square_shape_function.py +926 -0
  162. warp/fem/space/shape/tet_shape_function.py +834 -0
  163. warp/fem/space/shape/triangle_shape_function.py +672 -0
  164. warp/fem/space/tetmesh_function_space.py +271 -0
  165. warp/fem/space/topology.py +424 -0
  166. warp/fem/space/trimesh_function_space.py +194 -0
  167. warp/fem/types.py +99 -0
  168. warp/fem/utils.py +420 -0
  169. warp/jax.py +187 -0
  170. warp/jax_experimental/__init__.py +16 -0
  171. warp/jax_experimental/custom_call.py +351 -0
  172. warp/jax_experimental/ffi.py +698 -0
  173. warp/jax_experimental/xla_ffi.py +602 -0
  174. warp/math.py +244 -0
  175. warp/native/array.h +1145 -0
  176. warp/native/builtin.h +1800 -0
  177. warp/native/bvh.cpp +492 -0
  178. warp/native/bvh.cu +791 -0
  179. warp/native/bvh.h +554 -0
  180. warp/native/clang/clang.cpp +536 -0
  181. warp/native/coloring.cpp +613 -0
  182. warp/native/crt.cpp +51 -0
  183. warp/native/crt.h +362 -0
  184. warp/native/cuda_crt.h +1058 -0
  185. warp/native/cuda_util.cpp +646 -0
  186. warp/native/cuda_util.h +307 -0
  187. warp/native/error.cpp +77 -0
  188. warp/native/error.h +36 -0
  189. warp/native/exports.h +1878 -0
  190. warp/native/fabric.h +245 -0
  191. warp/native/hashgrid.cpp +311 -0
  192. warp/native/hashgrid.cu +87 -0
  193. warp/native/hashgrid.h +240 -0
  194. warp/native/initializer_array.h +41 -0
  195. warp/native/intersect.h +1230 -0
  196. warp/native/intersect_adj.h +375 -0
  197. warp/native/intersect_tri.h +339 -0
  198. warp/native/marching.cpp +19 -0
  199. warp/native/marching.cu +514 -0
  200. warp/native/marching.h +19 -0
  201. warp/native/mat.h +2220 -0
  202. warp/native/mathdx.cpp +87 -0
  203. warp/native/matnn.h +343 -0
  204. warp/native/mesh.cpp +266 -0
  205. warp/native/mesh.cu +404 -0
  206. warp/native/mesh.h +1980 -0
  207. warp/native/nanovdb/GridHandle.h +366 -0
  208. warp/native/nanovdb/HostBuffer.h +590 -0
  209. warp/native/nanovdb/NanoVDB.h +6624 -0
  210. warp/native/nanovdb/PNanoVDB.h +3390 -0
  211. warp/native/noise.h +859 -0
  212. warp/native/quat.h +1371 -0
  213. warp/native/rand.h +342 -0
  214. warp/native/range.h +139 -0
  215. warp/native/reduce.cpp +174 -0
  216. warp/native/reduce.cu +364 -0
  217. warp/native/runlength_encode.cpp +79 -0
  218. warp/native/runlength_encode.cu +61 -0
  219. warp/native/scan.cpp +47 -0
  220. warp/native/scan.cu +53 -0
  221. warp/native/scan.h +23 -0
  222. warp/native/solid_angle.h +466 -0
  223. warp/native/sort.cpp +251 -0
  224. warp/native/sort.cu +277 -0
  225. warp/native/sort.h +33 -0
  226. warp/native/sparse.cpp +378 -0
  227. warp/native/sparse.cu +524 -0
  228. warp/native/spatial.h +657 -0
  229. warp/native/svd.h +702 -0
  230. warp/native/temp_buffer.h +46 -0
  231. warp/native/tile.h +2584 -0
  232. warp/native/tile_reduce.h +264 -0
  233. warp/native/vec.h +1426 -0
  234. warp/native/volume.cpp +501 -0
  235. warp/native/volume.cu +67 -0
  236. warp/native/volume.h +969 -0
  237. warp/native/volume_builder.cu +477 -0
  238. warp/native/volume_builder.h +52 -0
  239. warp/native/volume_impl.h +70 -0
  240. warp/native/warp.cpp +1082 -0
  241. warp/native/warp.cu +3636 -0
  242. warp/native/warp.h +381 -0
  243. warp/optim/__init__.py +17 -0
  244. warp/optim/adam.py +163 -0
  245. warp/optim/linear.py +1137 -0
  246. warp/optim/sgd.py +112 -0
  247. warp/paddle.py +407 -0
  248. warp/render/__init__.py +18 -0
  249. warp/render/render_opengl.py +3518 -0
  250. warp/render/render_usd.py +784 -0
  251. warp/render/utils.py +160 -0
  252. warp/sim/__init__.py +65 -0
  253. warp/sim/articulation.py +793 -0
  254. warp/sim/collide.py +2395 -0
  255. warp/sim/graph_coloring.py +300 -0
  256. warp/sim/import_mjcf.py +790 -0
  257. warp/sim/import_snu.py +227 -0
  258. warp/sim/import_urdf.py +579 -0
  259. warp/sim/import_usd.py +894 -0
  260. warp/sim/inertia.py +324 -0
  261. warp/sim/integrator.py +242 -0
  262. warp/sim/integrator_euler.py +1997 -0
  263. warp/sim/integrator_featherstone.py +2101 -0
  264. warp/sim/integrator_vbd.py +2048 -0
  265. warp/sim/integrator_xpbd.py +3292 -0
  266. warp/sim/model.py +4791 -0
  267. warp/sim/particles.py +121 -0
  268. warp/sim/render.py +427 -0
  269. warp/sim/utils.py +428 -0
  270. warp/sparse.py +2057 -0
  271. warp/stubs.py +3333 -0
  272. warp/tape.py +1203 -0
  273. warp/tests/__init__.py +1 -0
  274. warp/tests/__main__.py +4 -0
  275. warp/tests/assets/curlnoise_golden.npy +0 -0
  276. warp/tests/assets/mlp_golden.npy +0 -0
  277. warp/tests/assets/pixel.npy +0 -0
  278. warp/tests/assets/pnoise_golden.npy +0 -0
  279. warp/tests/assets/spiky.usd +0 -0
  280. warp/tests/assets/test_grid.nvdb +0 -0
  281. warp/tests/assets/test_index_grid.nvdb +0 -0
  282. warp/tests/assets/test_int32_grid.nvdb +0 -0
  283. warp/tests/assets/test_vec_grid.nvdb +0 -0
  284. warp/tests/assets/torus.nvdb +0 -0
  285. warp/tests/assets/torus.usda +105 -0
  286. warp/tests/aux_test_class_kernel.py +34 -0
  287. warp/tests/aux_test_compile_consts_dummy.py +18 -0
  288. warp/tests/aux_test_conditional_unequal_types_kernels.py +29 -0
  289. warp/tests/aux_test_dependent.py +29 -0
  290. warp/tests/aux_test_grad_customs.py +29 -0
  291. warp/tests/aux_test_instancing_gc.py +26 -0
  292. warp/tests/aux_test_module_unload.py +23 -0
  293. warp/tests/aux_test_name_clash1.py +40 -0
  294. warp/tests/aux_test_name_clash2.py +40 -0
  295. warp/tests/aux_test_reference.py +9 -0
  296. warp/tests/aux_test_reference_reference.py +8 -0
  297. warp/tests/aux_test_square.py +16 -0
  298. warp/tests/aux_test_unresolved_func.py +22 -0
  299. warp/tests/aux_test_unresolved_symbol.py +22 -0
  300. warp/tests/cuda/__init__.py +0 -0
  301. warp/tests/cuda/test_async.py +676 -0
  302. warp/tests/cuda/test_ipc.py +124 -0
  303. warp/tests/cuda/test_mempool.py +233 -0
  304. warp/tests/cuda/test_multigpu.py +169 -0
  305. warp/tests/cuda/test_peer.py +139 -0
  306. warp/tests/cuda/test_pinned.py +84 -0
  307. warp/tests/cuda/test_streams.py +634 -0
  308. warp/tests/geometry/__init__.py +0 -0
  309. warp/tests/geometry/test_bvh.py +200 -0
  310. warp/tests/geometry/test_hash_grid.py +221 -0
  311. warp/tests/geometry/test_marching_cubes.py +74 -0
  312. warp/tests/geometry/test_mesh.py +316 -0
  313. warp/tests/geometry/test_mesh_query_aabb.py +399 -0
  314. warp/tests/geometry/test_mesh_query_point.py +932 -0
  315. warp/tests/geometry/test_mesh_query_ray.py +311 -0
  316. warp/tests/geometry/test_volume.py +1103 -0
  317. warp/tests/geometry/test_volume_write.py +346 -0
  318. warp/tests/interop/__init__.py +0 -0
  319. warp/tests/interop/test_dlpack.py +729 -0
  320. warp/tests/interop/test_jax.py +371 -0
  321. warp/tests/interop/test_paddle.py +800 -0
  322. warp/tests/interop/test_torch.py +1001 -0
  323. warp/tests/run_coverage_serial.py +39 -0
  324. warp/tests/sim/__init__.py +0 -0
  325. warp/tests/sim/disabled_kinematics.py +244 -0
  326. warp/tests/sim/flaky_test_sim_grad.py +290 -0
  327. warp/tests/sim/test_collision.py +604 -0
  328. warp/tests/sim/test_coloring.py +258 -0
  329. warp/tests/sim/test_model.py +224 -0
  330. warp/tests/sim/test_sim_grad_bounce_linear.py +212 -0
  331. warp/tests/sim/test_sim_kinematics.py +98 -0
  332. warp/tests/sim/test_vbd.py +597 -0
  333. warp/tests/test_adam.py +163 -0
  334. warp/tests/test_arithmetic.py +1096 -0
  335. warp/tests/test_array.py +2972 -0
  336. warp/tests/test_array_reduce.py +156 -0
  337. warp/tests/test_assert.py +250 -0
  338. warp/tests/test_atomic.py +153 -0
  339. warp/tests/test_bool.py +220 -0
  340. warp/tests/test_builtins_resolution.py +1298 -0
  341. warp/tests/test_closest_point_edge_edge.py +327 -0
  342. warp/tests/test_codegen.py +810 -0
  343. warp/tests/test_codegen_instancing.py +1495 -0
  344. warp/tests/test_compile_consts.py +215 -0
  345. warp/tests/test_conditional.py +252 -0
  346. warp/tests/test_context.py +42 -0
  347. warp/tests/test_copy.py +238 -0
  348. warp/tests/test_ctypes.py +638 -0
  349. warp/tests/test_dense.py +73 -0
  350. warp/tests/test_devices.py +97 -0
  351. warp/tests/test_examples.py +482 -0
  352. warp/tests/test_fabricarray.py +996 -0
  353. warp/tests/test_fast_math.py +74 -0
  354. warp/tests/test_fem.py +2003 -0
  355. warp/tests/test_fp16.py +136 -0
  356. warp/tests/test_func.py +454 -0
  357. warp/tests/test_future_annotations.py +98 -0
  358. warp/tests/test_generics.py +656 -0
  359. warp/tests/test_grad.py +893 -0
  360. warp/tests/test_grad_customs.py +339 -0
  361. warp/tests/test_grad_debug.py +341 -0
  362. warp/tests/test_implicit_init.py +411 -0
  363. warp/tests/test_import.py +45 -0
  364. warp/tests/test_indexedarray.py +1140 -0
  365. warp/tests/test_intersect.py +73 -0
  366. warp/tests/test_iter.py +76 -0
  367. warp/tests/test_large.py +177 -0
  368. warp/tests/test_launch.py +411 -0
  369. warp/tests/test_lerp.py +151 -0
  370. warp/tests/test_linear_solvers.py +193 -0
  371. warp/tests/test_lvalue.py +427 -0
  372. warp/tests/test_mat.py +2089 -0
  373. warp/tests/test_mat_lite.py +122 -0
  374. warp/tests/test_mat_scalar_ops.py +2913 -0
  375. warp/tests/test_math.py +178 -0
  376. warp/tests/test_mlp.py +282 -0
  377. warp/tests/test_module_hashing.py +258 -0
  378. warp/tests/test_modules_lite.py +44 -0
  379. warp/tests/test_noise.py +252 -0
  380. warp/tests/test_operators.py +299 -0
  381. warp/tests/test_options.py +129 -0
  382. warp/tests/test_overwrite.py +551 -0
  383. warp/tests/test_print.py +339 -0
  384. warp/tests/test_quat.py +2315 -0
  385. warp/tests/test_rand.py +339 -0
  386. warp/tests/test_reload.py +302 -0
  387. warp/tests/test_rounding.py +185 -0
  388. warp/tests/test_runlength_encode.py +196 -0
  389. warp/tests/test_scalar_ops.py +105 -0
  390. warp/tests/test_smoothstep.py +108 -0
  391. warp/tests/test_snippet.py +318 -0
  392. warp/tests/test_sparse.py +582 -0
  393. warp/tests/test_spatial.py +2229 -0
  394. warp/tests/test_special_values.py +361 -0
  395. warp/tests/test_static.py +592 -0
  396. warp/tests/test_struct.py +734 -0
  397. warp/tests/test_tape.py +204 -0
  398. warp/tests/test_transient_module.py +93 -0
  399. warp/tests/test_triangle_closest_point.py +145 -0
  400. warp/tests/test_types.py +562 -0
  401. warp/tests/test_utils.py +588 -0
  402. warp/tests/test_vec.py +1487 -0
  403. warp/tests/test_vec_lite.py +80 -0
  404. warp/tests/test_vec_scalar_ops.py +2327 -0
  405. warp/tests/test_verify_fp.py +100 -0
  406. warp/tests/tile/__init__.py +0 -0
  407. warp/tests/tile/test_tile.py +780 -0
  408. warp/tests/tile/test_tile_load.py +407 -0
  409. warp/tests/tile/test_tile_mathdx.py +208 -0
  410. warp/tests/tile/test_tile_mlp.py +402 -0
  411. warp/tests/tile/test_tile_reduce.py +447 -0
  412. warp/tests/tile/test_tile_shared_memory.py +247 -0
  413. warp/tests/tile/test_tile_view.py +173 -0
  414. warp/tests/unittest_serial.py +47 -0
  415. warp/tests/unittest_suites.py +427 -0
  416. warp/tests/unittest_utils.py +468 -0
  417. warp/tests/walkthrough_debug.py +93 -0
  418. warp/thirdparty/__init__.py +0 -0
  419. warp/thirdparty/appdirs.py +598 -0
  420. warp/thirdparty/dlpack.py +145 -0
  421. warp/thirdparty/unittest_parallel.py +570 -0
  422. warp/torch.py +391 -0
  423. warp/types.py +5230 -0
  424. warp/utils.py +1137 -0
  425. warp_lang-1.7.0.dist-info/METADATA +516 -0
  426. warp_lang-1.7.0.dist-info/RECORD +429 -0
  427. warp_lang-1.7.0.dist-info/WHEEL +5 -0
  428. warp_lang-1.7.0.dist-info/licenses/LICENSE.md +202 -0
  429. warp_lang-1.7.0.dist-info/top_level.txt +1 -0
warp/examples/assets/nv_ant.xml ADDED
@@ -0,0 +1,92 @@
1
+ <mujoco model="ant">
2
+ <custom>
3
+ <numeric data="0.0 0.0 0.55 1.0 0.0 0.0 0.0 0.0 1.0 0.0 -1.0 0.0 -1.0 0.0 1.0" name="init_qpos"/>
4
+ </custom>
5
+
6
+ <default>
7
+ <joint armature="0.01" damping="0.1" limited="true"/>
8
+ <geom condim="3" density="5.0" friction="1.5 0.1 0.1" margin="0.01" rgba="0.97 0.38 0.06 1"/>
9
+ </default>
10
+
11
+ <compiler inertiafromgeom="true" angle="degree"/>
12
+
13
+ <option timestep="0.016" iterations="50" tolerance="1e-10" solver="Newton" jacobian="dense" cone="pyramidal"/>
14
+
15
+ <size nconmax="50" njmax="200" nstack="10000"/>
16
+ <visual>
17
+ <map force="0.1" zfar="30"/>
18
+ <rgba haze="0.15 0.25 0.35 1"/>
19
+ <quality shadowsize="2048"/>
20
+ <global offwidth="800" offheight="800"/>
21
+ </visual>
22
+
23
+ <asset>
24
+ <texture type="skybox" builtin="gradient" rgb1="0.3 0.5 0.7" rgb2="0 0 0" width="512" height="512"/>
25
+ <texture name="texplane" type="2d" builtin="checker" rgb1=".2 .3 .4" rgb2=".1 0.15 0.2" width="512" height="512" mark="cross" markrgb=".8 .8 .8"/>
26
+ <texture name="texgeom" type="cube" builtin="flat" mark="cross" width="127" height="1278"
27
+ rgb1="0.8 0.6 0.4" rgb2="0.8 0.6 0.4" markrgb="1 1 1" random="0.01"/>
28
+
29
+ <material name="matplane" reflectance="0.3" texture="texplane" texrepeat="1 1" texuniform="true"/>
30
+ <material name="matgeom" texture="texgeom" texuniform="true" rgba="0.8 0.6 .4 1"/>
31
+ </asset>
32
+
33
+ <worldbody>
34
+ <geom name="floor" pos="0 0 0" size="0 0 .25" type="plane" material="matplane" condim="3"/>
35
+
36
+ <light directional="false" diffuse=".2 .2 .2" specular="0 0 0" pos="0 0 5" dir="0 0 -1" castshadow="false"/>
37
+ <light mode="targetbodycom" target="torso" directional="false" diffuse=".8 .8 .8" specular="0.3 0.3 0.3" pos="0 0 4.0" dir="0 0 -1"/>
38
+
39
+ <body name="torso" pos="0 0 0.75">
40
+ <geom name="torso_geom" pos="0 0 0" size="0.25" type="sphere"/>
41
+ <geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="aux_1_geom" size="0.08" type="capsule" rgba=".999 .2 .1 1"/>
42
+ <geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="aux_2_geom" size="0.08" type="capsule"/>
43
+ <geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="aux_3_geom" size="0.08" type="capsule"/>
44
+ <geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="aux_4_geom" size="0.08" type="capsule" rgba=".999 .2 .02 1"/>
45
+
46
+ <joint armature="0" damping="0" limited="false" margin="0.01" name="root" pos="0 0 0" type="free"/>
47
+ <body name="front_left_leg" pos="0.2 0.2 0">
48
+ <joint axis="0 0 1" name="hip_1" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
49
+ <geom fromto="0.0 0.0 0.0 0.2 0.2 0.0" name="left_leg_geom" size="0.08" type="capsule" rgba=".999 .2 .1 1"/>
50
+ <body pos="0.2 0.2 0" name="front_left_foot">
51
+ <joint axis="-1 1 0" name="ankle_1" pos="0.0 0.0 0.0" range="30 100" type="hinge"/>
52
+ <geom fromto="0.0 0.0 0.0 0.4 0.4 0.0" name="left_ankle_geom" size="0.08" type="capsule" rgba=".999 .2 .1 1"/>
53
+ </body>
54
+ </body>
55
+ <body name="front_right_leg" pos="-0.2 0.2 0">
56
+ <joint axis="0 0 1" name="hip_2" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
57
+ <geom fromto="0.0 0.0 0.0 -0.2 0.2 0.0" name="right_leg_geom" size="0.08" type="capsule"/>
58
+ <body pos="-0.2 0.2 0" name="front_right_foot">
59
+ <joint axis="1 1 0" name="ankle_2" pos="0.0 0.0 0.0" range="-100 -30" type="hinge"/>
60
+ <geom fromto="0.0 0.0 0.0 -0.4 0.4 0.0" name="right_ankle_geom" size="0.08" type="capsule"/>
61
+ </body>
62
+ </body>
63
+ <body name="left_back_leg" pos="-0.2 -0.2 0">
64
+ <joint axis="0 0 1" name="hip_3" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
65
+ <geom fromto="0.0 0.0 0.0 -0.2 -0.2 0.0" name="back_leg_geom" size="0.08" type="capsule"/>
66
+ <body pos="-0.2 -0.2 0" name="left_back_foot">
67
+ <joint axis="-1 1 0" name="ankle_3" pos="0.0 0.0 0.0" range="-100 -30" type="hinge"/>
68
+ <geom fromto="0.0 0.0 0.0 -0.4 -0.4 0.0" name="third_ankle_geom" size="0.08" type="capsule"/>
69
+ </body>
70
+ </body>
71
+ <body name="right_back_leg" pos="0.2 -0.2 0">
72
+ <joint axis="0 0 1" name="hip_4" pos="0.0 0.0 0.0" range="-40 40" type="hinge"/>
73
+ <geom fromto="0.0 0.0 0.0 0.2 -0.2 0.0" name="rightback_leg_geom" size="0.08" type="capsule" rgba=".999 .2 .1 1"/>
74
+ <body pos="0.2 -0.2 0" name="right_back_foot">
75
+ <joint axis="1 1 0" name="ankle_4" pos="0.0 0.0 0.0" range="30 100" type="hinge"/>
76
+ <geom fromto="0.0 0.0 0.0 0.4 -0.4 0.0" name="fourth_ankle_geom" size="0.08" type="capsule" rgba=".999 .2 .1 1"/>
77
+ </body>
78
+ </body>
79
+ </body>
80
+ </worldbody>
81
+
82
+ <actuator>
83
+ <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_4" gear="15"/>
84
+ <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_4" gear="15"/>
85
+ <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_1" gear="15"/>
86
+ <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_1" gear="15"/>
87
+ <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_2" gear="15"/>
88
+ <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_2" gear="15"/>
89
+ <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="hip_3" gear="15"/>
90
+ <motor ctrllimited="true" ctrlrange="-1.0 1.0" joint="ankle_3" gear="15"/>
91
+ </actuator>
92
+ </mujoco>
warp/examples/assets/nv_humanoid.xml ADDED
@@ -0,0 +1,183 @@
1
+ <mujoco model="humanoid">
2
+
3
+ <statistic extent="2" center="0 0 1"/>
4
+
5
+ <option timestep="0.00555"/>
6
+
7
+ <default>
8
+ <motor ctrlrange="-1 1" ctrllimited="true"/>
9
+ <default class="body">
10
+ <geom type="capsule" condim="1" friction="1.0 0.05 0.05" solimp=".9 .99 .003" solref=".015 1" material="self"/>
11
+ <joint limited="true" type="hinge" damping="0.1" stiffness="5" armature=".007" solimplimit="0 .99 .01"/>
12
+ <site size=".04" group="3"/>
13
+ <default class="force-torque">
14
+ <site type="box" size=".01 .01 .02" rgba="1 0 0 1" />
15
+ </default>
16
+ <default class="touch">
17
+ <site type="capsule" rgba="0 0 1 .3"/>
18
+ </default>
19
+ </default>
20
+ </default>
21
+
22
+ <worldbody>
23
+ <geom name="floor" type="plane" conaffinity="1" size="100 100 .2" material="grid"/>
24
+ <body name="torso" pos="0 0 0" childclass="body">
25
+ <light name="top" pos="0 0 2" mode="trackcom"/>
26
+ <camera name="back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
27
+ <camera name="side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
28
+ <joint armature="0" damping="0" limited="false" margin="0.01" name="root" pos="0 0 0" type="free"/>
29
+ <site name="root" class="force-torque"/>
30
+ <geom name="torso" type="capsule" fromto="0 -.07 0 0 .07 0" size=".07"/>
31
+ <geom name="upper_waist" type="capsule" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
32
+ <site name="torso" class="touch" type="box" pos="0 0 -.05" size=".075 .14 .13"/>
33
+ <geom name="head" type="sphere" size=".09" pos="0 0 .19"/>
34
+ <body name="lower_waist" pos="-.01 0 -.260" quat="1.000 0 -.002 0">
35
+ <geom name="lower_waist" type="capsule" fromto="0 -.06 0 0 .06 0" size=".06"/>
36
+ <site name="lower_waist" class="touch" size=".061 .06" zaxis="0 1 0"/>
37
+ <joint limited="true" name="abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" damping="5" stiffness="20" armature=".02"/>
38
+ <joint limited="true" name="abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" damping="5" stiffness="20" armature=".01"/>
39
+ <body name="pelvis" pos="0 0 -.165" quat="1.000 0 -.002 0">
40
+ <joint limited="true" name="abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" damping="5" stiffness="10" armature=".01"/>
41
+ <geom name="butt" type="capsule" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
42
+ <site name="butt" class="touch" size=".091 .07" pos="-.02 0 0" zaxis="0 1 0"/>
43
+ <body name="right_thigh" pos="0 -.1 -.04">
44
+ <site name="right_hip" class="force-torque"/>
45
+ <joint limited="true" name="right_hip_x" axis="1 0 0" range="-25 5" damping="5" stiffness="10" armature=".01"/>
46
+ <joint limited="true" name="right_hip_z" axis="0 0 1" range="-60 35" damping="5" stiffness="10" armature=".01"/>
47
+ <joint limited="true" name="right_hip_y" axis="0 1 0" range="-80 20" damping="5" stiffness="20" armature=".01"/>
48
+ <geom name="right_thigh" type="capsule" fromto="0 0 0 0 .01 -.34" size=".06"/>
49
+ <site name="right_thigh" class="touch" pos="0 .005 -.17" size=".061 .17" zaxis="0 -1 34"/>
50
+ <body name="right_shin" pos="0 .01 -.403">
51
+ <site name="right_knee" class="force-torque" pos="0 0 .02"/>
52
+ <joint limited="true" name="right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
53
+ <geom name="right_shin" type="capsule" fromto="0 0 0 0 0 -.3" size=".049"/>
54
+ <site name="right_shin" class="touch" pos="0 0 -.15" size=".05 .15"/>
55
+ <body name="right_foot" pos="0 0 -.39">
56
+ <site name="right_ankle" class="force-torque"/>
57
+ <joint limited="true" name="right_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" damping="1.0" stiffness="2" armature=".006"/>
58
+ <joint limited="true" name="right_ankle_x" pos="0 0 .08" axis="1 0 .5" range="-50 50" damping="1.0" stiffness="2" armature=".006"/>
59
+ <geom name="right_right_foot" type="capsule" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
60
+ <geom name="left_right_foot" type="capsule" fromto="-.07 0 0 .14 .02 0" size=".027"/>
61
+ <site name="right_right_foot" class="touch" pos=".035 -.03 0" size=".03 .11" zaxis="21 -2 0"/>
62
+ <site name="left_right_foot" class="touch" pos=".035 .01 0" size=".03 .11" zaxis="21 2 0"/>
63
+ </body>
64
+ </body>
65
+ </body>
66
+ <body name="left_thigh" pos="0 .1 -.04">
67
+ <site name="left_hip" class="force-torque"/>
68
+ <joint limited="true" name="left_hip_x" axis="-1 0 0" range="-25 5" damping="5" stiffness="10" armature=".01"/>
69
+ <joint limited="true" name="left_hip_z" axis="0 0 -1" range="-60 35" damping="5" stiffness="10" armature=".01"/>
70
+ <joint limited="true" name="left_hip_y" axis="0 1 0" range="-80 20" damping="5" stiffness="20" armature=".01"/>
71
+ <geom name="left_thigh" type="capsule" fromto="0 0 0 0 -.01 -.34" size=".06"/>
72
+ <site name="left_thigh" class="touch" pos="0 -.005 -.17" size=".061 .17" zaxis="0 1 34"/>
73
+ <body name="left_shin" pos="0 -.01 -.403">
74
+ <site name="left_knee" class="force-torque" pos="0 0 .02"/>
75
+ <joint limited="true" name="left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
76
+ <geom name="left_shin" type="capsule" fromto="0 0 0 0 0 -.3" size=".049"/>
77
+ <site name="left_shin" class="touch" pos="0 0 -.15" size=".05 .15"/>
78
+ <body name="left_foot" pos="0 0 -.39">
79
+ <site name="left_ankle" class="force-torque"/>
80
+ <joint limited="true" name="left_ankle_y" pos="0 0 .08" axis="0 1 0" range="-50 50" damping="1.0" stiffness="2" armature=".006"/>
81
+ <joint limited="true" name="left_ankle_x" pos="0 0 .08" axis="1 0 .5" range="-50 50" damping="1.0" stiffness="2" armature=".006"/>
82
+ <geom name="left_left_foot" type="capsule" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
83
+ <geom name="right_left_foot" type="capsule" fromto="-.07 0 0 .14 -.02 0" size=".027"/>
84
+ <site name="right_left_foot" class="touch" pos=".035 -.01 0" size=".03 .11" zaxis="21 -2 0"/>
85
+ <site name="left_left_foot" class="touch" pos=".035 .03 0" size=".03 .11" zaxis="21 2 0"/>
86
+ </body>
87
+ </body>
88
+ </body>
89
+ </body>
90
+ </body>
91
+ <body name="right_upper_arm" pos="0 -.17 .06">
92
+ <joint limited="true" name="right_shoulder1" axis="2 1 1" range="-60 60" damping="5" stiffness="10" armature=".01"/>
93
+ <joint limited="true" name="right_shoulder2" axis="0 -1 1" range="-60 60" damping="5" stiffness="10" armature=".01"/>
94
+ <geom name="right_upper_arm" type="capsule" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
95
+ <site name="right_upper_arm" class="touch" pos=".08 -.08 -.08" size=".041 .14" zaxis="1 -1 -1"/>
96
+ <body name="right_lower_arm" pos=".18 -.18 -.18">
97
+ <joint limited="true" name="right_elbow" axis="0 -1 1" range="-90 50" damping="1.0" stiffness="2" armature=".006"/>
98
+ <geom name="right_lower_arm" type="capsule" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
99
+ <site name="right_lower_arm" class="touch" pos=".09 .09 .09" size=".032 .14" zaxis="1 1 1"/>
100
+ <geom name="right_hand" type="sphere" size=".04" pos=".18 .18 .18"/>
101
+ </body>
102
+ </body>
103
+ <body name="left_upper_arm" pos="0 .17 .06">
104
+ <joint limited="true" name="left_shoulder1" axis="-2 1 -1" range="-60 60" damping="5" stiffness="10" armature=".01"/>
105
+ <joint limited="true" name="left_shoulder2" axis="0 -1 -1" range="-60 60" damping="5" stiffness="10" armature=".01"/>
106
+ <geom name="left_upper_arm" type="capsule" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
107
+ <site name="left_upper_arm" class="touch" pos=".08 .08 -.08" size=".041 .14" zaxis="1 1 -1"/>
108
+ <body name="left_lower_arm" pos=".18 .18 -.18">
109
+ <joint limited="true" name="left_elbow" axis="0 -1 -1" range="-90 50" damping="1.0" stiffness="2" armature=".006"/>
110
+ <geom name="left_lower_arm" type="capsule" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
111
+ <site name="left_lower_arm" class="touch" pos=".09 -.09 .09" size=".032 .14" zaxis="1 -1 1"/>
112
+ <geom name="left_hand" type="sphere" size=".04" pos=".18 -.18 .18"/>
113
+ </body>
114
+ </body>
115
+ </body>
116
+ </worldbody>
117
+
118
+ <actuator>
119
+ <motor name='abdomen_y' gear='67.5' joint='abdomen_y'/>
120
+ <motor name='abdomen_z' gear='67.5' joint='abdomen_z'/>
121
+ <motor name='abdomen_x' gear='67.5' joint='abdomen_x'/>
122
+ <motor name='right_hip_x' gear='45.0' joint='right_hip_x'/>
123
+ <motor name='right_hip_z' gear='45.0' joint='right_hip_z'/>
124
+ <motor name='right_hip_y' gear='135.0' joint='right_hip_y'/>
125
+ <motor name='right_knee' gear='90.0' joint='right_knee'/>
126
+ <motor name='right_ankle_x' gear='22.5' joint='right_ankle_x'/>
127
+ <motor name='right_ankle_y' gear='22.5' joint='right_ankle_y'/>
128
+ <motor name='left_hip_x' gear='45.0' joint='left_hip_x'/>
129
+ <motor name='left_hip_z' gear='45.0' joint='left_hip_z'/>
130
+ <motor name='left_hip_y' gear='135.0' joint='left_hip_y'/>
131
+ <motor name='left_knee' gear='90.0' joint='left_knee'/>
132
+ <motor name='left_ankle_x' gear='22.5' joint='left_ankle_x'/>
133
+ <motor name='left_ankle_y' gear='22.5' joint='left_ankle_y'/>
134
+ <motor name='right_shoulder1' gear='67.5' joint='right_shoulder1'/>
135
+ <motor name='right_shoulder2' gear='67.5' joint='right_shoulder2'/>
136
+ <motor name='right_elbow' gear='45.0' joint='right_elbow'/>
137
+ <motor name='left_shoulder1' gear='67.5' joint='left_shoulder1'/>
138
+ <motor name='left_shoulder2' gear='67.5' joint='left_shoulder2'/>
139
+ <motor name='left_elbow' gear='45.0' joint='left_elbow'/>
140
+ </actuator>
141
+
142
+ <sensor>
143
+ <subtreelinvel name="torso_subtreelinvel" body="torso"/>
144
+ <accelerometer name="torso_accel" site="root"/>
145
+ <velocimeter name="torso_vel" site="root"/>
146
+ <gyro name="torso_gyro" site="root"/>
147
+
148
+ <force name="left_ankle_force" site="left_ankle"/>
149
+ <force name="right_ankle_force" site="right_ankle"/>
150
+ <force name="left_knee_force" site="left_knee"/>
151
+ <force name="right_knee_force" site="right_knee"/>
152
+ <force name="left_hip_force" site="left_hip"/>
153
+ <force name="right_hip_force" site="right_hip"/>
154
+
155
+ <torque name="left_ankle_torque" site="left_ankle"/>
156
+ <torque name="right_ankle_torque" site="right_ankle"/>
157
+ <torque name="left_knee_torque" site="left_knee"/>
158
+ <torque name="right_knee_torque" site="right_knee"/>
159
+ <torque name="left_hip_torque" site="left_hip"/>
160
+ <torque name="right_hip_torque" site="right_hip"/>
161
+
162
+ <touch name="torso_touch" site="torso"/>
163
+ <touch name="head_touch" site="head"/>
164
+ <touch name="lower_waist_touch" site="lower_waist"/>
165
+ <touch name="butt_touch" site="butt"/>
166
+ <touch name="right_thigh_touch" site="right_thigh"/>
167
+ <touch name="right_shin_touch" site="right_shin"/>
168
+ <touch name="right_right_foot_touch" site="right_right_foot"/>
169
+ <touch name="left_right_foot_touch" site="left_right_foot"/>
170
+ <touch name="left_thigh_touch" site="left_thigh"/>
171
+ <touch name="left_shin_touch" site="left_shin"/>
172
+ <touch name="right_left_foot_touch" site="right_left_foot"/>
173
+ <touch name="left_left_foot_touch" site="left_left_foot"/>
174
+ <touch name="right_upper_arm_touch" site="right_upper_arm"/>
175
+ <touch name="right_lower_arm_touch" site="right_lower_arm"/>
176
+ <touch name="right_hand_touch" site="right_hand"/>
177
+ <touch name="left_upper_arm_touch" site="left_upper_arm"/>
178
+ <touch name="left_lower_arm_touch" site="left_lower_arm"/>
179
+ <touch name="left_hand_touch" site="left_hand"/>
180
+ </sensor>
181
+
182
+ </mujoco>
183
+
warp/examples/assets/nvidia_logo.png ADDED
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warp/examples/assets/pixel.jpg ADDED
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warp/examples/assets/quadruped.urdf ADDED
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warp/examples/assets/rocks.nvdb ADDED
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warp/examples/assets/sphere.usd ADDED
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warp/examples/assets/square_cloth.usd ADDED
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