warp-lang 1.7.0__py3-none-manylinux_2_34_aarch64.whl

warp_lang-1.7.0.dist-info/METADATA

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+Metadata-Version: 2.4
+Name: warp-lang
+Version: 1.7.0
+Summary: A Python framework for high-performance simulation and graphics programming
+Author-email: NVIDIA Corporation <warp-python@nvidia.com>
+License: Apache-2.0
+Project-URL: GitHub, https://github.com/NVIDIA/warp
+Project-URL: Documentation, https://nvidia.github.io/warp
+Project-URL: Changelog, https://github.com/NVIDIA/warp/blob/main/CHANGELOG.md
+Classifier: Programming Language :: Python :: 3.8
+Classifier: Programming Language :: Python :: 3.9
+Classifier: Programming Language :: Python :: 3.10
+Classifier: Programming Language :: Python :: 3.11
+Classifier: Programming Language :: Python :: 3.12
+Classifier: Programming Language :: Python :: 3.13
+Classifier: Programming Language :: Python :: 3 :: Only
+Classifier: License :: OSI Approved :: Apache Software License
+Classifier: Operating System :: OS Independent
+Requires-Python: >=3.8
+Description-Content-Type: text/markdown
+License-File: LICENSE.md
+Requires-Dist: numpy
+Provides-Extra: dev
+Requires-Dist: pre-commit; extra == "dev"
+Requires-Dist: ruff; extra == "dev"
+Requires-Dist: nvtx; extra == "dev"
+Requires-Dist: nvidia-sphinx-theme; python_version >= "3.9" and extra == "dev"
+Requires-Dist: sphinx-copybutton; extra == "dev"
+Requires-Dist: coverage[toml]; extra == "dev"
+Provides-Extra: extras
+Requires-Dist: usd-core; extra == "extras"
+Requires-Dist: matplotlib; extra == "extras"
+Requires-Dist: pillow; extra == "extras"
+Requires-Dist: pyglet; extra == "extras"
+Dynamic: license-file
+
+[![PyPI version](https://badge.fury.io/py/warp-lang.svg)](https://badge.fury.io/py/warp-lang)
+[![License](https://img.shields.io/badge/License-Apache_2.0-blue.svg)](https://opensource.org/licenses/Apache-2.0)
+![GitHub commit activity](https://img.shields.io/github/commit-activity/m/NVIDIA/warp?link=https%3A%2F%2Fgithub.com%2FNVIDIA%2Fwarp%2Fcommits%2Fmain)
+[![Downloads](https://static.pepy.tech/badge/warp-lang/month)](https://pepy.tech/project/warp-lang)
+[![codecov](https://codecov.io/github/NVIDIA/warp/graph/badge.svg?token=7O1KSM79FG)](https://codecov.io/github/NVIDIA/warp)
+![GitHub - CI](https://github.com/NVIDIA/warp/actions/workflows/ci.yml/badge.svg)
+[![Discord](https://img.shields.io/badge/Discord-%235865F2.svg?logo=discord&logoColor=white)](https://discord.com/invite/nvidiaomniverse)
+
+# NVIDIA Warp
+
+Warp is a Python framework for writing high-performance simulation and graphics code. Warp takes
+regular Python functions and JIT compiles them to efficient kernel code that can run on the CPU or GPU.
+
+Warp is designed for [spatial computing](https://en.wikipedia.org/wiki/Spatial_computing)
+and comes with a rich set of primitives that make it easy to write
+programs for physics simulation, perception, robotics, and geometry processing. In addition, Warp kernels
+are differentiable and can be used as part of machine-learning pipelines with frameworks such as PyTorch, JAX and Paddle.
+
+Please refer to the project [Documentation](https://nvidia.github.io/warp/) for API and language reference and [CHANGELOG.md](./CHANGELOG.md) for release history.
+
+<div align="center">
+    <img src="https://github.com/NVIDIA/warp/raw/main/docs/img/header.jpg">
+    <p><i>A selection of physical simulations computed with Warp</i></p>
+</div>
+
+## Installing
+
+Python version 3.9 or newer is recommended. Warp can run on x86-64 and ARMv8 CPUs on Windows, Linux, and macOS.
+GPU support requires a CUDA-capable NVIDIA GPU and driver (minimum GeForce GTX 9xx).
+
+The easiest way to install Warp is from [PyPI](https://pypi.org/project/warp-lang/):
+
+```text
+pip install warp-lang
+```
+
+You can also use `pip install warp-lang[extras]` to install additional dependencies for running examples and USD-related features.
+
+The binaries hosted on PyPI are currently built with the CUDA 12 runtime and therefore
+require a minimum version of the CUDA driver of 525.60.13 (Linux x86-64) or 528.33 (Windows x86-64).
+
+If you require GPU support on a system with an older CUDA driver, you can build Warp from source or
+install wheels built with the CUDA 11.8 runtime from the [GitHub Releases](https://github.com/NVIDIA/warp/releases) page.
+Copy the URL of the appropriate wheel file (`warp-lang-{ver}+cu12-py3-none-{platform}.whl`) and pass it to
+the `pip install` command, e.g.
+
+| Platform        | Install Command                                                                                                               |
+| --------------- | ----------------------------------------------------------------------------------------------------------------------------- |
+| Linux aarch64   | `pip install https://github.com/NVIDIA/warp/releases/download/v1.7.0/warp_lang-1.7.0+cu11-py3-none-manylinux2014_aarch64.whl` |
+| Linux x86-64    | `pip install https://github.com/NVIDIA/warp/releases/download/v1.7.0/warp_lang-1.7.0+cu11-py3-none-manylinux2014_x86_64.whl`  |
+| Windows x86-64  | `pip install https://github.com/NVIDIA/warp/releases/download/v1.7.0/warp_lang-1.7.0+cu11-py3-none-win_amd64.whl`             |
+
+The `--force-reinstall` option may need to be used to overwrite a previous installation.
+
+### Nightly Builds
+
+Nightly builds of Warp from the `main` branch are available on the [NVIDIA Package Index](https://pypi.nvidia.com/warp-lang/).
+
+To install the latest nightly build, use the following command:
+
+```text
+pip install -U --pre warp-lang --extra-index-url=https://pypi.nvidia.com/
+```
+
+Note that the nightly builds are built with the CUDA 12 runtime and are not published for macOS.
+
+If you plan to install nightly builds regularly, you can simplify future installations by adding NVIDIA's package
+repository as an extra index via the `PIP_EXTRA_INDEX_URL` environment variable. For example:
+
+```text
+export PIP_EXTRA_INDEX_URL="https://pypi.nvidia.com"
+```
+
+This ensures the index is automatically used for `pip` commands, avoiding the need to specify it explicitly.
+
+### CUDA Requirements
+
+* Warp packages built with CUDA Toolkit 11.x require NVIDIA driver 470 or newer.
+* Warp packages built with CUDA Toolkit 12.x require NVIDIA driver 525 or newer.
+
+This applies to pre-built packages distributed on PyPI and GitHub and also when building Warp from source.
+
+Note that building Warp with the `--quick` flag changes the driver requirements.  The quick build skips CUDA backward compatibility, so the minimum required driver is determined by the CUDA Toolkit version.  Refer to the [latest CUDA Toolkit release notes](https://docs.nvidia.com/cuda/cuda-toolkit-release-notes/index.html) to find the minimum required driver for different CUDA Toolkit versions (e.g., [this table from CUDA Toolkit 12.6](https://docs.nvidia.com/cuda/archive/12.6.0/cuda-toolkit-release-notes/index.html#id5)).
+
+Warp checks the installed driver during initialization and will report a warning if the driver is not suitable, e.g.:
+
+```text
+Warp UserWarning:
+   Insufficient CUDA driver version.
+   The minimum required CUDA driver version is 12.0, but the installed CUDA driver version is 11.8.
+   Visit https://github.com/NVIDIA/warp/blob/main/README.md#installing for guidance.
+```
+
+This will make CUDA devices unavailable, but the CPU can still be used.
+
+To remedy the situation there are a few options:
+
+* Update the driver.
+* Install a compatible pre-built Warp package.
+* Build Warp from source using a CUDA Toolkit that's compatible with the installed driver.
+
+## Getting Started
+
+An example first program that computes the lengths of random 3D vectors is given below:
+
+```python
+import warp as wp
+import numpy as np
+
+num_points = 1024
+
+@wp.kernel
+def length(points: wp.array(dtype=wp.vec3),
+           lengths: wp.array(dtype=float)):
+
+    # thread index
+    tid = wp.tid()
+    
+    # compute distance of each point from origin
+    lengths[tid] = wp.length(points[tid])
+
+
+# allocate an array of 3d points
+points = wp.array(np.random.rand(num_points, 3), dtype=wp.vec3)
+lengths = wp.zeros(num_points, dtype=float)
+
+# launch kernel
+wp.launch(kernel=length,
+          dim=len(points),
+          inputs=[points, lengths])
+
+print(lengths)
+```
+
+## Running Notebooks
+
+A few notebooks are available in the [notebooks](./notebooks/) directory to provide an overview over the key features available in Warp.
+
+To run these notebooks, ``jupyterlab`` is required to be installed using:
+
+```text
+pip install jupyterlab
+```
+
+From there, opening the notebooks can be done with the following command:
+
+```text
+jupyter lab ./notebooks
+```
+
+* [Warp Core Tutorial: Basics](./notebooks/core_01_basics.ipynb) [![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/NVIDIA/warp/blob/main/notebooks/core_01_basics.ipynb)
+* [Warp Core Tutorial: Generics](./notebooks/core_02_generics.ipynb) [![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/NVIDIA/warp/blob/main/notebooks/core_02_generics.ipynb)
+* [Warp Core Tutorial: Points](./notebooks/core_03_points.ipynb) [![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/NVIDIA/warp/blob/main/notebooks/core_03_points.ipynb)
+* [Warp Core Tutorial: Meshes](./notebooks/core_04_meshes.ipynb) [![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/NVIDIA/warp/blob/main/notebooks/core_04_meshes.ipynb)
+* [Warp Core Tutorial: Volumes](./notebooks/core_05_volumes.ipynb) [![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/NVIDIA/warp/blob/main/notebooks/core_05_volumes.ipynb)
+* [Warp PyTorch Tutorial: Basics](./notebooks/pytorch_01_basics.ipynb) [![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/NVIDIA/warp/blob/main/notebooks/pytorch_01_basics.ipynb)
+* [Warp PyTorch Tutorial: Custom Operators](./notebooks/pytorch_02_custom_operators.ipynb) [![Open In Colab](https://colab.research.google.com/assets/colab-badge.svg)](https://colab.research.google.com/github/NVIDIA/warp/blob/main/notebooks/pytorch_02_custom_operators.ipynb)
+
+## Running Examples
+
+The [warp/examples](./warp/examples/) directory contains a number of scripts categorized under subdirectories
+that show how to implement various simulation methods using the Warp API.
+Most examples will generate USD files containing time-sampled animations in the current working directory.
+Before running examples, users should ensure that the ``usd-core``, ``matplotlib``, and ``pyglet`` packages are installed using:
+
+```text
+pip install warp-lang[extras]
+```
+
+These dependencies can also be manually installed using:
+
+```text
+pip install usd-core matplotlib pyglet
+```
+
+Examples can be run from the command-line as follows:
+
+```text
+python -m warp.examples.<example_subdir>.<example>
+```
+
+To browse the example source code, you can open the directory where the files are located like this:
+
+```text
+python -m warp.examples.browse
+```
+
+Most examples can be run on either the CPU or a CUDA-capable device, but a handful require a CUDA-capable device. These are marked at the top of the example script.
+
+USD files can be viewed or rendered inside [NVIDIA Omniverse](https://developer.nvidia.com/omniverse), Pixar's UsdView, and Blender. Note that Preview in macOS is not recommended as it has limited support for time-sampled animations.
+
+Built-in unit tests can be run from the command-line as follows:
+
+```text
+python -m warp.tests
+```
+
+### warp/examples/core
+
+<table>
+    <tbody>
+        <tr>
+            <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>
+            <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>
+            <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>
+            <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>
+        </tr>
+        <tr>
+            <td align="center">dem</td>
+            <td align="center">fluid</td>
+            <td align="center">graph capture</td>
+            <td align="center">marching cubes</td>
+        </tr>
+        <tr>
+            <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>
+            <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>
+            <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>
+            <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>
+        </tr>
+        <tr>
+            <td align="center">mesh</td>
+            <td align="center">nvdb</td>
+            <td align="center">raycast</td>
+            <td align="center">raymarch</td>
+        </tr>
+        <tr>
+            <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/core/example_sample_mesh.py"><img src="https://media.githubusercontent.com/media/NVIDIA/warp/refs/heads/main/docs/img/examples/core_sample_mesh.png"></a></td>
+            <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>
+            <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>
+            <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>
+        </tr>
+        <tr>
+            <td align="center">sample mesh</td>
+            <td align="center">sph</td>
+            <td align="center">torch</td>
+            <td align="center">wave</td>
+        </tr>
+    </tbody>
+</table>
+
+### warp/examples/fem
+
+<table>
+    <tbody>
+        <tr>
+            <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>
+            <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>
+            <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>
+            <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>
+        </tr>
+        <tr>
+            <td align="center">diffusion 3d</td>
+            <td align="center">mixed elasticity</td>
+            <td align="center">apic fluid</td>
+            <td align="center">streamlines</td>
+        </tr>
+        <tr>
+            <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>
+            <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>
+            <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>
+            <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>
+        </tr>
+        <tr>
+            <td align="center">convection diffusion</td>
+            <td align="center">navier stokes</td>
+            <td align="center">burgers</td>
+            <td align="center">magnetostatics</td>
+        </tr>
+    </tbody>
+</table>
+
+### warp/examples/optim
+
+<table>
+    <tbody>
+        <tr>
+            <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>
+            <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>
+            <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>
+            <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>
+        </tr>
+        <tr>
+            <td align="center">bounce</td>
+            <td align="center">cloth throw</td>
+            <td align="center">diffray</td>
+            <td align="center">drone</td>
+        </tr>
+        <tr>
+            <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>
+            <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>
+            <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>
+            <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>
+        </tr>
+        <tr>
+            <td align="center">inverse kinematics</td>
+            <td align="center">spring cage</td>
+            <td align="center">trajectory</td>
+            <td align="center">soft body properties</td>
+        </tr>
+        <tr>
+            <td><a href="https://github.com/NVIDIA/warp/tree/main/warp/examples/optim/example_fluid_checkpoint.py"><img src="https://media.githubusercontent.com/media/NVIDIA/warp/refs/heads/main/docs/img/examples/optim_fluid_checkpoint.png"></a></td>
+            <td></td>
+            <td></td>
+            <td></td>
+        </tr>
+        <tr>
+            <td align="center">fluid checkpoint</td>
+            <td align="center"></td>
+            <td align="center"></td>
+            <td align="center"></td>
+        </tr>
+    </tbody>
+</table>
+
+### warp/examples/sim
+
+<table>
+    <tbody>
+        <tr>
+            <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>
+            <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>
+            <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>
+            <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>
+        </tr>
+        <tr>
+            <td align="center">cartpole</td>
+            <td align="center">cloth</td>
+            <td align="center">granular</td>
+            <td align="center">granular collision sdf</td>
+        </tr>
+        <tr>
+            <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>
+            <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>
+            <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>
+            <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>
+        </tr>
+        <tr>
+            <td align="center">jacobian ik</td>
+            <td align="center">quadruped</td>
+            <td align="center">rigid chain</td>
+            <td align="center">rigid contact</td>
+        </tr>
+        <tr>
+            <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>
+            <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>
+            <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>
+            <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>
+        </tr>
+        <tr>
+            <td align="center">rigid force</td>
+            <td align="center">rigid gyroscopic</td>
+            <td align="center">rigid soft contact</td>
+            <td align="center">soft body</td>
+        </tr>
+        <tr>
+            <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>
+            <td></td>
+            <td></td>
+            <td></td>
+        </tr>
+        <tr>
+            <td align="center">cloth self contact</td>
+            <td align="center"></td>
+            <td align="center"></td>
+            <td align="center"></td>
+        </tr>
+    </tbody>
+</table>
+
+### warp/examples/tile
+
+<table>
+    <tbody>
+        <tr>
+            <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>
+            <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>
+            <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>
+        </tr>
+        <tr>
+            <td align="center">mlp</td>
+            <td align="center">nbody</td>
+            <td align="center">walker</td>
+        </tr>
+    </tbody>
+</table>
+
+## Building
+
+For developers who want to build the library themselves, the following tools are required:
+
+* Microsoft Visual Studio 2019 upwards (Windows)
+* GCC 9.4 upwards (Linux)
+* CUDA Toolkit 11.5 or higher
+* [Git LFS](https://git-lfs.github.com/) installed
+
+After cloning the repository, users should run:
+
+```text
+python build_lib.py
+```
+
+Upon success, the script will output platform-specific binary files in `warp/bin/`.
+The build script will look for the CUDA Toolkit in its default installation path.
+This path can be overridden by setting the `CUDA_PATH` environment variable. Alternatively,
+the path to the CUDA Toolkit can be passed to the build command as
+`--cuda_path="..."`. After building, the Warp package should be installed using:
+
+```text
+pip install -e .
+```
+
+This ensures that subsequent modifications to the library will be reflected in the Python package.
+
+## Learn More
+
+Please see the following resources for additional background on Warp:
+
+* [Product Page](https://developer.nvidia.com/warp-python)
+* [SIGGRAPH 2024 Course Slides](https://dl.acm.org/doi/10.1145/3664475.3664543)
+* [GTC 2024 Presentation](https://www.nvidia.com/en-us/on-demand/session/gtc24-s63345/)
+* [GTC 2022 Presentation](https://www.nvidia.com/en-us/on-demand/session/gtcspring22-s41599)
+* [GTC 2021 Presentation](https://www.nvidia.com/en-us/on-demand/session/gtcspring21-s31838)
+* [SIGGRAPH Asia 2021 Differentiable Simulation Course](https://dl.acm.org/doi/abs/10.1145/3476117.3483433)
+
+The underlying technology in Warp has been used in a number of research projects at NVIDIA including the following publications:
+
+* Accelerated Policy Learning with Parallel Differentiable Simulation - Xu, J., Makoviychuk, V., Narang, Y., Ramos, F., Matusik, W., Garg, A., & Macklin, M. [(2022)](https://short-horizon-actor-critic.github.io)
+* DiSECt: Differentiable Simulator for Robotic Cutting - Heiden, E., Macklin, M., Narang, Y., Fox, D., Garg, A., & Ramos, F [(2021)](https://github.com/NVlabs/DiSECt)
+* gradSim: Differentiable Simulation for System Identification and Visuomotor Control - Murthy, J. Krishna, Miles Macklin, Florian Golemo, Vikram Voleti, Linda Petrini, Martin Weiss, Breandan Considine et al. [(2021)](https://gradsim.github.io)
+
+## Frequently Asked Questions
+
+See the [FAQ](https://nvidia.github.io/warp/faq.html) in the Warp documentation.
+
+## Support
+
+Problems, questions, and feature requests can be opened on [GitHub Issues](https://github.com/NVIDIA/warp/issues).
+
+The Warp team also monitors the **#warp** forum on the public [Omniverse Discord](https://discord.com/invite/nvidiaomniverse) server, come chat with us!
+
+For inquiries not suited for GitHub Issues or Discord, please email warp-python@nvidia.com.
+
+## Versioning
+
+Versions take the format X.Y.Z, similar to [Python itself](https://devguide.python.org/developer-workflow/development-cycle/#devcycle):
+
+* Increments in X are reserved for major reworks of the project causing disruptive incompatibility (or reaching the 1.0 milestone).
+* Increments in Y are for regular releases with a new set of features.
+* Increments in Z are for bug fixes. In principle, there are no new features. Can be omitted if 0 or not relevant.
+
+This is similar to [Semantic Versioning](https://semver.org/) but is less strict regarding backward compatibility.
+Like with Python, some breaking changes can be present between minor versions if well-documented and gradually introduced.
+
+Note that prior to 0.11.0, this schema was not strictly adhered to.
+
+## License
+
+Warp is provided under the Apache License, Version 2.0. Please see [LICENSE.md](./LICENSE.md) for full license text.
+
+## Contributing
+
+Contributions and pull requests from the community are welcome and are taken under the
+terms described in the **Feedback** section of [LICENSE.md](LICENSE.md#9-feedback).
+Please see the [Contribution Guide](https://nvidia.github.io/warp/modules/contribution_guide.html) for more
+information on contributing to the development of Warp.
+
+## Citing
+
+If you use Warp in your research, please use the following citation:
+
+```bibtex
+@misc{warp2022,
+title= {Warp: A High-performance Python Framework for GPU Simulation and Graphics},
+author = {Miles Macklin},
+month = {March},
+year = {2022},
+note= {NVIDIA GPU Technology Conference (GTC)},
+howpublished = {\url{https://github.com/nvidia/warp}}
+}
+```