PyPI - warp-lang - Versions diffs - 1.9.0__py3-none-win_amd64.whl → 1.10.0rc2__py3-none-win_amd64.whl - Mend

warp-lang 1.9.0__py3-none-win_amd64.whl → 1.10.0rc2__py3-none-win_amd64.whl

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Files changed (350) hide show

warp/__init__.py +301 -287
warp/__init__.pyi +2220 -313
warp/_src/__init__.py +14 -0
warp/_src/autograd.py +1075 -0
warp/_src/build.py +618 -0
warp/_src/build_dll.py +640 -0
warp/{builtins.py → _src/builtins.py} +1497 -226
warp/_src/codegen.py +4359 -0
warp/{config.py → _src/config.py} +178 -169
warp/_src/constants.py +57 -0
warp/_src/context.py +8294 -0
warp/_src/dlpack.py +462 -0
warp/_src/fabric.py +355 -0
warp/_src/fem/__init__.py +14 -0
warp/_src/fem/adaptivity.py +508 -0
warp/_src/fem/cache.py +687 -0
warp/_src/fem/dirichlet.py +188 -0
warp/{fem → _src/fem}/domain.py +40 -30
warp/_src/fem/field/__init__.py +131 -0
warp/_src/fem/field/field.py +701 -0
warp/{fem → _src/fem}/field/nodal_field.py +30 -15
warp/{fem → _src/fem}/field/restriction.py +1 -1
warp/{fem → _src/fem}/field/virtual.py +53 -27
warp/_src/fem/geometry/__init__.py +32 -0
warp/{fem → _src/fem}/geometry/adaptive_nanogrid.py +77 -163
warp/_src/fem/geometry/closest_point.py +97 -0
warp/{fem → _src/fem}/geometry/deformed_geometry.py +14 -22
warp/{fem → _src/fem}/geometry/element.py +32 -10
warp/{fem → _src/fem}/geometry/geometry.py +48 -20
warp/{fem → _src/fem}/geometry/grid_2d.py +12 -23
warp/{fem → _src/fem}/geometry/grid_3d.py +12 -23
warp/{fem → _src/fem}/geometry/hexmesh.py +40 -63
warp/{fem → _src/fem}/geometry/nanogrid.py +255 -248
warp/{fem → _src/fem}/geometry/partition.py +121 -63
warp/{fem → _src/fem}/geometry/quadmesh.py +26 -45
warp/{fem → _src/fem}/geometry/tetmesh.py +40 -63
warp/{fem → _src/fem}/geometry/trimesh.py +26 -45
warp/{fem → _src/fem}/integrate.py +164 -158
warp/_src/fem/linalg.py +383 -0
warp/_src/fem/operator.py +396 -0
warp/_src/fem/polynomial.py +229 -0
warp/{fem → _src/fem}/quadrature/pic_quadrature.py +15 -20
warp/{fem → _src/fem}/quadrature/quadrature.py +95 -47
warp/_src/fem/space/__init__.py +248 -0
warp/{fem → _src/fem}/space/basis_function_space.py +20 -11
warp/_src/fem/space/basis_space.py +679 -0
warp/{fem → _src/fem}/space/dof_mapper.py +3 -3
warp/{fem → _src/fem}/space/function_space.py +14 -13
warp/{fem → _src/fem}/space/grid_2d_function_space.py +4 -7
warp/{fem → _src/fem}/space/grid_3d_function_space.py +4 -4
warp/{fem → _src/fem}/space/hexmesh_function_space.py +4 -10
warp/{fem → _src/fem}/space/nanogrid_function_space.py +3 -9
warp/{fem → _src/fem}/space/partition.py +117 -60
warp/{fem → _src/fem}/space/quadmesh_function_space.py +4 -10
warp/{fem → _src/fem}/space/restriction.py +66 -33
warp/_src/fem/space/shape/__init__.py +152 -0
warp/{fem → _src/fem}/space/shape/cube_shape_function.py +9 -9
warp/{fem → _src/fem}/space/shape/shape_function.py +8 -9
warp/{fem → _src/fem}/space/shape/square_shape_function.py +6 -6
warp/{fem → _src/fem}/space/shape/tet_shape_function.py +3 -3
warp/{fem → _src/fem}/space/shape/triangle_shape_function.py +3 -3
warp/{fem → _src/fem}/space/tetmesh_function_space.py +3 -9
warp/_src/fem/space/topology.py +459 -0
warp/{fem → _src/fem}/space/trimesh_function_space.py +3 -9
warp/_src/fem/types.py +112 -0
warp/_src/fem/utils.py +486 -0
warp/_src/jax.py +186 -0
warp/_src/jax_experimental/__init__.py +14 -0
warp/_src/jax_experimental/custom_call.py +387 -0
warp/_src/jax_experimental/ffi.py +1284 -0
warp/_src/jax_experimental/xla_ffi.py +656 -0
warp/_src/marching_cubes.py +708 -0
warp/_src/math.py +414 -0
warp/_src/optim/__init__.py +14 -0
warp/_src/optim/adam.py +163 -0
warp/_src/optim/linear.py +1606 -0
warp/_src/optim/sgd.py +112 -0
warp/_src/paddle.py +406 -0
warp/_src/render/__init__.py +14 -0
warp/_src/render/imgui_manager.py +289 -0
warp/_src/render/render_opengl.py +3636 -0
warp/_src/render/render_usd.py +937 -0
warp/_src/render/utils.py +160 -0
warp/_src/sparse.py +2716 -0
warp/_src/tape.py +1206 -0
warp/{thirdparty → _src/thirdparty}/unittest_parallel.py +9 -2
warp/_src/torch.py +391 -0
warp/_src/types.py +5870 -0
warp/_src/utils.py +1693 -0
warp/autograd.py +12 -1054
warp/bin/warp-clang.dll +0 -0
warp/bin/warp.dll +0 -0
warp/build.py +8 -588
warp/build_dll.py +6 -471
warp/codegen.py +6 -4246
warp/constants.py +6 -39
warp/context.py +12 -7851
warp/dlpack.py +6 -444
warp/examples/distributed/example_jacobi_mpi.py +4 -5
warp/examples/fem/example_adaptive_grid.py +1 -1
warp/examples/fem/example_apic_fluid.py +1 -1
warp/examples/fem/example_burgers.py +8 -8
warp/examples/fem/example_diffusion.py +1 -1
warp/examples/fem/example_distortion_energy.py +1 -1
warp/examples/fem/example_mixed_elasticity.py +2 -2
warp/examples/fem/example_navier_stokes.py +1 -1
warp/examples/fem/example_nonconforming_contact.py +7 -7
warp/examples/fem/example_stokes.py +1 -1
warp/examples/fem/example_stokes_transfer.py +1 -1
warp/examples/fem/utils.py +2 -2
warp/examples/interop/example_jax_callable.py +1 -1
warp/examples/interop/example_jax_ffi_callback.py +1 -1
warp/examples/interop/example_jax_kernel.py +3 -2
warp/examples/tile/example_tile_mcgp.py +191 -0
warp/fabric.py +6 -337
warp/fem/__init__.py +159 -97
warp/fem/adaptivity.py +7 -489
warp/fem/cache.py +9 -648
warp/fem/dirichlet.py +6 -184
warp/fem/field/__init__.py +8 -109
warp/fem/field/field.py +7 -652
warp/fem/geometry/__init__.py +7 -18
warp/fem/geometry/closest_point.py +11 -77
warp/fem/linalg.py +18 -366
warp/fem/operator.py +11 -369
warp/fem/polynomial.py +9 -209
warp/fem/space/__init__.py +5 -211
warp/fem/space/basis_space.py +6 -662
warp/fem/space/shape/__init__.py +41 -118
warp/fem/space/topology.py +6 -437
warp/fem/types.py +6 -81
warp/fem/utils.py +11 -444
warp/jax.py +8 -165
warp/jax_experimental/__init__.py +14 -1
warp/jax_experimental/custom_call.py +8 -342
warp/jax_experimental/ffi.py +17 -853
warp/jax_experimental/xla_ffi.py +5 -596
warp/marching_cubes.py +5 -689
warp/math.py +16 -393
warp/native/array.h +385 -37
warp/native/builtin.h +316 -39
warp/native/bvh.cpp +43 -9
warp/native/bvh.cu +62 -27
warp/native/bvh.h +310 -309
warp/native/clang/clang.cpp +102 -97
warp/native/coloring.cpp +0 -1
warp/native/crt.h +208 -0
warp/native/exports.h +156 -0
warp/native/hashgrid.cu +2 -0
warp/native/intersect.h +24 -1
warp/native/intersect_tri.h +44 -35
warp/native/mat.h +1456 -276
warp/native/mesh.cpp +4 -4
warp/native/mesh.cu +4 -2
warp/native/mesh.h +176 -61
warp/native/quat.h +0 -52
warp/native/scan.cu +2 -0
warp/native/sort.cu +22 -13
warp/native/sort.h +2 -0
warp/native/sparse.cu +7 -3
warp/native/spatial.h +12 -0
warp/native/tile.h +837 -70
warp/native/tile_radix_sort.h +1 -1
warp/native/tile_reduce.h +394 -46
warp/native/tile_scan.h +4 -4
warp/native/vec.h +469 -53
warp/native/version.h +23 -0
warp/native/volume.cpp +1 -1
warp/native/volume.cu +1 -0
warp/native/volume.h +1 -1
warp/native/volume_builder.cu +2 -0
warp/native/warp.cpp +60 -32
warp/native/warp.cu +313 -201
warp/native/warp.h +14 -11
warp/optim/__init__.py +6 -3
warp/optim/adam.py +6 -145
warp/optim/linear.py +14 -1585
warp/optim/sgd.py +6 -94
warp/paddle.py +6 -388
warp/render/__init__.py +8 -4
warp/render/imgui_manager.py +7 -267
warp/render/render_opengl.py +6 -3616
warp/render/render_usd.py +6 -918
warp/render/utils.py +6 -142
warp/sparse.py +37 -2563
warp/tape.py +6 -1188
warp/tests/__main__.py +1 -1
warp/tests/cuda/test_async.py +4 -4
warp/tests/cuda/test_conditional_captures.py +1 -1
warp/tests/cuda/test_multigpu.py +1 -1
warp/tests/cuda/test_streams.py +58 -1
warp/tests/geometry/test_bvh.py +157 -22
warp/tests/geometry/test_hash_grid.py +38 -0
warp/tests/geometry/test_marching_cubes.py +0 -1
warp/tests/geometry/test_mesh.py +5 -3
warp/tests/geometry/test_mesh_query_aabb.py +5 -12
warp/tests/geometry/test_mesh_query_point.py +5 -2
warp/tests/geometry/test_mesh_query_ray.py +15 -3
warp/tests/geometry/test_volume_write.py +5 -5
warp/tests/interop/test_dlpack.py +14 -14
warp/tests/interop/test_jax.py +1382 -79
warp/tests/interop/test_paddle.py +1 -1
warp/tests/test_adam.py +0 -1
warp/tests/test_arithmetic.py +9 -9
warp/tests/test_array.py +529 -100
warp/tests/test_array_reduce.py +3 -3
warp/tests/test_atomic.py +12 -8
warp/tests/test_atomic_bitwise.py +209 -0
warp/tests/test_atomic_cas.py +4 -4
warp/tests/test_bool.py +2 -2
warp/tests/test_builtins_resolution.py +5 -571
warp/tests/test_codegen.py +34 -15
warp/tests/test_conditional.py +1 -1
warp/tests/test_context.py +6 -6
warp/tests/test_copy.py +242 -161
warp/tests/test_ctypes.py +3 -3
warp/tests/test_devices.py +24 -2
warp/tests/test_examples.py +16 -84
warp/tests/test_fabricarray.py +35 -35
warp/tests/test_fast_math.py +0 -2
warp/tests/test_fem.py +60 -14
warp/tests/test_fixedarray.py +3 -3
warp/tests/test_func.py +8 -5
warp/tests/test_generics.py +1 -1
warp/tests/test_indexedarray.py +24 -24
warp/tests/test_intersect.py +39 -9
warp/tests/test_large.py +1 -1
warp/tests/test_lerp.py +3 -1
warp/tests/test_linear_solvers.py +1 -1
warp/tests/test_map.py +49 -4
warp/tests/test_mat.py +52 -62
warp/tests/test_mat_constructors.py +4 -5
warp/tests/test_mat_lite.py +1 -1
warp/tests/test_mat_scalar_ops.py +121 -121
warp/tests/test_math.py +34 -0
warp/tests/test_module_aot.py +4 -4
warp/tests/test_modules_lite.py +28 -2
warp/tests/test_print.py +11 -11
warp/tests/test_quat.py +93 -58
warp/tests/test_runlength_encode.py +1 -1
warp/tests/test_scalar_ops.py +38 -10
warp/tests/test_smoothstep.py +1 -1
warp/tests/test_sparse.py +126 -15
warp/tests/test_spatial.py +105 -87
warp/tests/test_special_values.py +6 -6
warp/tests/test_static.py +7 -7
warp/tests/test_struct.py +13 -2
warp/tests/test_triangle_closest_point.py +48 -1
warp/tests/test_tuple.py +96 -0
warp/tests/test_types.py +82 -9
warp/tests/test_utils.py +52 -52
warp/tests/test_vec.py +29 -29
warp/tests/test_vec_constructors.py +5 -5
warp/tests/test_vec_scalar_ops.py +97 -97
warp/tests/test_version.py +75 -0
warp/tests/tile/test_tile.py +239 -0
warp/tests/tile/test_tile_atomic_bitwise.py +403 -0
warp/tests/tile/test_tile_cholesky.py +7 -4
warp/tests/tile/test_tile_load.py +26 -2
warp/tests/tile/test_tile_mathdx.py +3 -3
warp/tests/tile/test_tile_matmul.py +1 -1
warp/tests/tile/test_tile_mlp.py +2 -4
warp/tests/tile/test_tile_reduce.py +214 -13
warp/tests/unittest_suites.py +6 -14
warp/tests/unittest_utils.py +10 -9
warp/tests/walkthrough_debug.py +3 -1
warp/torch.py +6 -373
warp/types.py +29 -5750
warp/utils.py +10 -1659
{warp_lang-1.9.0.dist-info → warp_lang-1.10.0rc2.dist-info}/METADATA +47 -103
warp_lang-1.10.0rc2.dist-info/RECORD +468 -0
warp_lang-1.10.0rc2.dist-info/licenses/licenses/Gaia-LICENSE.txt +6 -0
warp_lang-1.10.0rc2.dist-info/licenses/licenses/appdirs-LICENSE.txt +22 -0
warp_lang-1.10.0rc2.dist-info/licenses/licenses/asset_pixel_jpg-LICENSE.txt +3 -0
warp_lang-1.10.0rc2.dist-info/licenses/licenses/cuda-LICENSE.txt +1582 -0
warp_lang-1.10.0rc2.dist-info/licenses/licenses/dlpack-LICENSE.txt +201 -0
warp_lang-1.10.0rc2.dist-info/licenses/licenses/fp16-LICENSE.txt +28 -0
warp_lang-1.10.0rc2.dist-info/licenses/licenses/libmathdx-LICENSE.txt +220 -0
warp_lang-1.10.0rc2.dist-info/licenses/licenses/llvm-LICENSE.txt +279 -0
warp_lang-1.10.0rc2.dist-info/licenses/licenses/moller-LICENSE.txt +16 -0
warp_lang-1.10.0rc2.dist-info/licenses/licenses/nanovdb-LICENSE.txt +2 -0
warp_lang-1.10.0rc2.dist-info/licenses/licenses/nvrtc-LICENSE.txt +1592 -0
warp_lang-1.10.0rc2.dist-info/licenses/licenses/svd-LICENSE.txt +23 -0
warp_lang-1.10.0rc2.dist-info/licenses/licenses/unittest_parallel-LICENSE.txt +21 -0
warp_lang-1.10.0rc2.dist-info/licenses/licenses/usd-LICENSE.txt +213 -0
warp_lang-1.10.0rc2.dist-info/licenses/licenses/windingnumber-LICENSE.txt +21 -0
warp/examples/assets/cartpole.urdf +0 -110
warp/examples/assets/crazyflie.usd +0 -0
warp/examples/assets/nv_ant.xml +0 -92
warp/examples/assets/nv_humanoid.xml +0 -183
warp/examples/assets/quadruped.urdf +0 -268
warp/examples/optim/example_bounce.py +0 -266
warp/examples/optim/example_cloth_throw.py +0 -228
warp/examples/optim/example_drone.py +0 -870
warp/examples/optim/example_inverse_kinematics.py +0 -182
warp/examples/optim/example_inverse_kinematics_torch.py +0 -191
warp/examples/optim/example_softbody_properties.py +0 -400
warp/examples/optim/example_spring_cage.py +0 -245
warp/examples/optim/example_trajectory.py +0 -227
warp/examples/sim/example_cartpole.py +0 -143
warp/examples/sim/example_cloth.py +0 -225
warp/examples/sim/example_cloth_self_contact.py +0 -316
warp/examples/sim/example_granular.py +0 -130
warp/examples/sim/example_granular_collision_sdf.py +0 -202
warp/examples/sim/example_jacobian_ik.py +0 -244
warp/examples/sim/example_particle_chain.py +0 -124
warp/examples/sim/example_quadruped.py +0 -203
warp/examples/sim/example_rigid_chain.py +0 -203
warp/examples/sim/example_rigid_contact.py +0 -195
warp/examples/sim/example_rigid_force.py +0 -133
warp/examples/sim/example_rigid_gyroscopic.py +0 -115
warp/examples/sim/example_rigid_soft_contact.py +0 -140
warp/examples/sim/example_soft_body.py +0 -196
warp/examples/tile/example_tile_walker.py +0 -327
warp/sim/__init__.py +0 -74
warp/sim/articulation.py +0 -793
warp/sim/collide.py +0 -2570
warp/sim/graph_coloring.py +0 -307
warp/sim/import_mjcf.py +0 -791
warp/sim/import_snu.py +0 -227
warp/sim/import_urdf.py +0 -579
warp/sim/import_usd.py +0 -898
warp/sim/inertia.py +0 -357
warp/sim/integrator.py +0 -245
warp/sim/integrator_euler.py +0 -2000
warp/sim/integrator_featherstone.py +0 -2101
warp/sim/integrator_vbd.py +0 -2487
warp/sim/integrator_xpbd.py +0 -3295
warp/sim/model.py +0 -4821
warp/sim/particles.py +0 -121
warp/sim/render.py +0 -431
warp/sim/utils.py +0 -431
warp/tests/sim/disabled_kinematics.py +0 -244
warp/tests/sim/test_cloth.py +0 -863
warp/tests/sim/test_collision.py +0 -743
warp/tests/sim/test_coloring.py +0 -347
warp/tests/sim/test_inertia.py +0 -161
warp/tests/sim/test_model.py +0 -226
warp/tests/sim/test_sim_grad.py +0 -287
warp/tests/sim/test_sim_grad_bounce_linear.py +0 -212
warp/tests/sim/test_sim_kinematics.py +0 -98
warp/thirdparty/__init__.py +0 -0
warp_lang-1.9.0.dist-info/RECORD +0 -456
/warp/{fem → _src/fem}/quadrature/__init__.py +0 -0
/warp/{tests/sim → _src/thirdparty}/__init__.py +0 -0
/warp/{thirdparty → _src/thirdparty}/appdirs.py +0 -0
/warp/{thirdparty → _src/thirdparty}/dlpack.py +0 -0
{warp_lang-1.9.0.dist-info → warp_lang-1.10.0rc2.dist-info}/WHEEL +0 -0
{warp_lang-1.9.0.dist-info → warp_lang-1.10.0rc2.dist-info}/licenses/LICENSE.md +0 -0
{warp_lang-1.9.0.dist-info → warp_lang-1.10.0rc2.dist-info}/top_level.txt +0 -0

warp/examples/assets/nv_humanoid.xml DELETED Viewed

@@ -1,183 +0,0 @@
-<mujoco model="humanoid">
-  <statistic extent="2" center="0 0 1"/>
-  <option timestep="0.00555"/>
-  <default>
-    <motor ctrlrange="-1 1" ctrllimited="true"/>
-    <default class="body">
-      <geom  type="capsule" condim="1" friction="1.0 0.05 0.05" solimp=".9 .99 .003" solref=".015 1" material="self"/>
-      <joint limited="true" type="hinge" damping="0.1" stiffness="5" armature=".007" solimplimit="0 .99 .01"/>
-      <site size=".04" group="3"/>
-      <default class="force-torque">
-        <site type="box" size=".01 .01 .02" rgba="1 0 0 1" />
-      </default>
-      <default class="touch">
-        <site type="capsule" rgba="0 0 1 .3"/>
-      </default>
-    </default>
-  </default>
-  <worldbody>
-    <geom name="floor" type="plane" conaffinity="1" size="100 100 .2" material="grid"/>
-    <body name="torso" pos="0 0 0" childclass="body">
-      <light name="top" pos="0 0 2" mode="trackcom"/>
-      <camera name="back" pos="-3 0 1" xyaxes="0 -1 0 1 0 2" mode="trackcom"/>
-      <camera name="side" pos="0 -3 1" xyaxes="1 0 0 0 1 2" mode="trackcom"/>
-      <joint armature="0" damping="0" limited="false" margin="0.01" name="root" pos="0 0 0" type="free"/>
-      <site name="root" class="force-torque"/>
-      <geom name="torso" type="capsule" fromto="0 -.07 0 0 .07 0" size=".07"/>
-      <geom name="upper_waist" type="capsule" fromto="-.01 -.06 -.12 -.01 .06 -.12" size=".06"/>
-      <site name="torso" class="touch" type="box" pos="0 0 -.05" size=".075 .14 .13"/>
-      <geom name="head" type="sphere" size=".09" pos="0 0 .19"/>
-      <body name="lower_waist" pos="-.01 0 -.260" quat="1.000 0 -.002 0">
-        <geom name="lower_waist" type="capsule" fromto="0 -.06 0 0 .06 0" size=".06"/>
-        <site name="lower_waist" class="touch" size=".061 .06" zaxis="0 1 0"/>
-        <joint limited="true" name="abdomen_z" pos="0 0 .065" axis="0 0 1" range="-45 45" damping="5" stiffness="20" armature=".02"/>
-        <joint limited="true" name="abdomen_y" pos="0 0 .065" axis="0 1 0" range="-75 30" damping="5" stiffness="20" armature=".01"/>
-        <body name="pelvis" pos="0 0 -.165" quat="1.000 0 -.002 0">
-          <joint limited="true" name="abdomen_x" pos="0 0 .1" axis="1 0 0" range="-35 35" damping="5" stiffness="10" armature=".01"/>
-          <geom name="butt" type="capsule" fromto="-.02 -.07 0 -.02 .07 0" size=".09"/>
-          <site name="butt" class="touch" size=".091 .07" pos="-.02 0 0" zaxis="0 1 0"/>
-          <body name="right_thigh" pos="0 -.1 -.04">
-            <site name="right_hip" class="force-torque"/>
-            <joint limited="true" name="right_hip_x" axis="1 0 0" range="-25 5" damping="5" stiffness="10" armature=".01"/>
-            <joint limited="true" name="right_hip_z" axis="0 0 1" range="-60 35" damping="5" stiffness="10" armature=".01"/>
-            <joint limited="true" name="right_hip_y" axis="0 1 0" range="-80 20" damping="5" stiffness="20" armature=".01"/>
-            <geom name="right_thigh" type="capsule" fromto="0 0 0 0 .01 -.34" size=".06"/>
-            <site name="right_thigh" class="touch" pos="0 .005 -.17" size=".061 .17" zaxis="0 -1 34"/>
-            <body name="right_shin" pos="0 .01 -.403">
-              <site name="right_knee" class="force-torque" pos="0 0 .02"/>
-              <joint limited="true" name="right_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="right_shin" type="capsule" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <site name="right_shin" class="touch" pos="0 0 -.15" size=".05 .15"/>
-              <body name="right_foot" pos="0 0 -.39">
-                <site name="right_ankle" class="force-torque"/>
-                <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"/>
-                <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"/>
-                <geom name="right_right_foot" type="capsule" fromto="-.07 -.02 0 .14 -.04 0" size=".027"/>
-                <geom name="left_right_foot" type="capsule" fromto="-.07 0 0 .14  .02 0" size=".027"/>
-                <site name="right_right_foot" class="touch" pos=".035 -.03 0" size=".03 .11" zaxis="21 -2 0"/>
-                <site name="left_right_foot" class="touch" pos=".035 .01 0" size=".03 .11" zaxis="21 2 0"/>
-              </body>
-            </body>
-          </body>
-          <body name="left_thigh" pos="0 .1 -.04">
-            <site name="left_hip" class="force-torque"/>
-            <joint limited="true" name="left_hip_x" axis="-1 0 0" range="-25 5" damping="5" stiffness="10" armature=".01"/>
-            <joint limited="true" name="left_hip_z" axis="0 0 -1" range="-60 35" damping="5" stiffness="10" armature=".01"/>
-            <joint limited="true" name="left_hip_y" axis="0 1 0" range="-80 20" damping="5" stiffness="20" armature=".01"/>
-            <geom name="left_thigh" type="capsule" fromto="0 0 0 0 -.01 -.34" size=".06"/>
-            <site name="left_thigh" class="touch" pos="0 -.005 -.17" size=".061 .17" zaxis="0 1 34"/>
-            <body name="left_shin" pos="0 -.01 -.403">
-              <site name="left_knee" class="force-torque" pos="0 0 .02"/>
-              <joint limited="true" name="left_knee" pos="0 0 .02" axis="0 -1 0" range="-160 2"/>
-              <geom name="left_shin" type="capsule" fromto="0 0 0 0 0 -.3"  size=".049"/>
-              <site name="left_shin" class="touch"  pos="0 0 -.15" size=".05 .15"/>
-              <body name="left_foot" pos="0 0 -.39">
-                <site name="left_ankle" class="force-torque"/>
-                <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"/>
-                <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"/>
-                <geom name="left_left_foot" type="capsule" fromto="-.07 .02 0 .14 .04 0" size=".027"/>
-                <geom name="right_left_foot" type="capsule" fromto="-.07 0 0 .14  -.02 0" size=".027"/>
-                <site name="right_left_foot" class="touch" pos=".035 -.01 0" size=".03 .11" zaxis="21 -2 0"/>
-                <site name="left_left_foot" class="touch" pos=".035 .03 0" size=".03 .11" zaxis="21 2 0"/>
-              </body>
-            </body>
-          </body>
-        </body>
-      </body>
-      <body name="right_upper_arm" pos="0 -.17 .06">
-        <joint limited="true" name="right_shoulder1" axis="2 1 1"  range="-60 60" damping="5" stiffness="10" armature=".01"/>
-        <joint limited="true" name="right_shoulder2" axis="0 -1 1" range="-60 60" damping="5" stiffness="10" armature=".01"/>
-        <geom name="right_upper_arm" type="capsule" fromto="0 0 0 .16 -.16 -.16" size=".04 .16"/>
-        <site name="right_upper_arm" class="touch" pos=".08 -.08 -.08" size=".041 .14" zaxis="1 -1 -1"/>
-        <body name="right_lower_arm" pos=".18 -.18 -.18">
-          <joint limited="true" name="right_elbow" axis="0 -1 1" range="-90 50" damping="1.0" stiffness="2" armature=".006"/>
-          <geom name="right_lower_arm" type="capsule" fromto=".01 .01 .01 .17 .17 .17" size=".031"/>
-          <site name="right_lower_arm" class="touch" pos=".09 .09 .09" size=".032 .14" zaxis="1 1 1"/>
-          <geom name="right_hand" type="sphere" size=".04" pos=".18 .18 .18"/>
-        </body>
-      </body>
-      <body name="left_upper_arm" pos="0 .17 .06">
-        <joint limited="true" name="left_shoulder1" axis="-2 1 -1" range="-60 60" damping="5" stiffness="10" armature=".01"/>
-        <joint limited="true" name="left_shoulder2" axis="0 -1 -1" range="-60 60" damping="5" stiffness="10" armature=".01"/>
-        <geom name="left_upper_arm" type="capsule" fromto="0 0 0 .16 .16 -.16" size=".04 .16"/>
-        <site name="left_upper_arm" class="touch" pos=".08 .08 -.08" size=".041 .14" zaxis="1 1 -1"/>
-        <body name="left_lower_arm" pos=".18 .18 -.18">
-          <joint limited="true" name="left_elbow" axis="0 -1 -1" range="-90 50" damping="1.0" stiffness="2" armature=".006"/>
-          <geom name="left_lower_arm" type="capsule" fromto=".01 -.01 .01 .17 -.17 .17" size=".031"/>
-          <site name="left_lower_arm" class="touch" pos=".09 -.09 .09" size=".032 .14" zaxis="1 -1 1"/>
-          <geom name="left_hand" type="sphere" size=".04" pos=".18 -.18 .18"/>
-        </body>
-      </body>
-    </body>
-  </worldbody>
-  <actuator>
-    <motor name='abdomen_y'       gear='67.5' joint='abdomen_y'/>
-    <motor name='abdomen_z'       gear='67.5' joint='abdomen_z'/>
-    <motor name='abdomen_x'       gear='67.5' joint='abdomen_x'/>
-    <motor name='right_hip_x'     gear='45.0' joint='right_hip_x'/>
-    <motor name='right_hip_z'     gear='45.0' joint='right_hip_z'/>
-    <motor name='right_hip_y'     gear='135.0' joint='right_hip_y'/>
-    <motor name='right_knee'      gear='90.0' joint='right_knee'/>
-    <motor name='right_ankle_x'   gear='22.5' joint='right_ankle_x'/>
-    <motor name='right_ankle_y'   gear='22.5' joint='right_ankle_y'/>
-    <motor name='left_hip_x'      gear='45.0' joint='left_hip_x'/>
-    <motor name='left_hip_z'      gear='45.0' joint='left_hip_z'/>
-    <motor name='left_hip_y'      gear='135.0' joint='left_hip_y'/>
-    <motor name='left_knee'       gear='90.0' joint='left_knee'/>
-    <motor name='left_ankle_x'    gear='22.5' joint='left_ankle_x'/>
-    <motor name='left_ankle_y'    gear='22.5' joint='left_ankle_y'/>
-    <motor name='right_shoulder1' gear='67.5' joint='right_shoulder1'/>
-    <motor name='right_shoulder2' gear='67.5' joint='right_shoulder2'/>
-    <motor name='right_elbow'     gear='45.0' joint='right_elbow'/>
-    <motor name='left_shoulder1'  gear='67.5' joint='left_shoulder1'/>
-    <motor name='left_shoulder2'  gear='67.5' joint='left_shoulder2'/>
-    <motor name='left_elbow'      gear='45.0' joint='left_elbow'/>
-  </actuator>
-  <sensor>
-    <subtreelinvel name="torso_subtreelinvel" body="torso"/>
-    <accelerometer name="torso_accel"    site="root"/>
-    <velocimeter name="torso_vel"        site="root"/>
-    <gyro name="torso_gyro"              site="root"/>
-    <force name="left_ankle_force"       site="left_ankle"/>
-    <force name="right_ankle_force"      site="right_ankle"/>
-    <force name="left_knee_force"        site="left_knee"/>
-    <force name="right_knee_force"       site="right_knee"/>
-    <force name="left_hip_force"         site="left_hip"/>
-    <force name="right_hip_force"        site="right_hip"/>
-    <torque name="left_ankle_torque"     site="left_ankle"/>
-    <torque name="right_ankle_torque"    site="right_ankle"/>
-    <torque name="left_knee_torque"      site="left_knee"/>
-    <torque name="right_knee_torque"     site="right_knee"/>
-    <torque name="left_hip_torque"       site="left_hip"/>
-    <torque name="right_hip_torque"      site="right_hip"/>
-    <touch name="torso_touch"            site="torso"/>
-    <touch name="head_touch"             site="head"/>
-    <touch name="lower_waist_touch"      site="lower_waist"/>
-    <touch name="butt_touch"             site="butt"/>
-    <touch name="right_thigh_touch"      site="right_thigh"/>
-    <touch name="right_shin_touch"       site="right_shin"/>
-    <touch name="right_right_foot_touch" site="right_right_foot"/>
-    <touch name="left_right_foot_touch"  site="left_right_foot"/>
-    <touch name="left_thigh_touch"       site="left_thigh"/>
-    <touch name="left_shin_touch"        site="left_shin"/>
-    <touch name="right_left_foot_touch"  site="right_left_foot"/>
-    <touch name="left_left_foot_touch"   site="left_left_foot"/>
-    <touch name="right_upper_arm_touch"  site="right_upper_arm"/>
-    <touch name="right_lower_arm_touch"  site="right_lower_arm"/>
-    <touch name="right_hand_touch"       site="right_hand"/>
-    <touch name="left_upper_arm_touch"   site="left_upper_arm"/>
-    <touch name="left_lower_arm_touch"   site="left_lower_arm"/>
-    <touch name="left_hand_touch"        site="left_hand"/>
-  </sensor>
-</mujoco>

warp/examples/assets/quadruped.urdf DELETED Viewed

@@ -1,268 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<robot name="quadruped">
-    <link name="base">
-        <collision>
-            <origin rpy="0 1.57079632679 0" xyz="0 0 0"/>
-            <geometry>
-                <cylinder length="0.75" radius="0.1"/>
-            </geometry>
-        </collision>
-        <inertial>
-            <origin rpy="0 0 0" xyz="0 0 0.024"/>
-            <mass value="6.222"/>
-            <inertia ixx="0.017938806" ixy="0.00387963" ixz="0.001500772" iyy="0.370887745" iyz="6.8963e-05" izz="0.372497653"/>
-        </inertial>
-    </link>
-    <joint name="LF_HAA" type="revolute">
-        <parent link="base"/>
-        <child link="LF_HAA"/>
-        <axis xyz="1 0 0"/>
-        <limit effort="80.0" velocity="20." />
-        <origin rpy="0 0 0" xyz="0.2999 0.104 0.0"/>
-    </joint>
-    <link name="LF_HAA">
-        <collision>
-            <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
-            <geometry>
-                <cylinder length="0.05" radius="0.04"/>
-            </geometry>
-        </collision>
-        <inertial>
-            <origin rpy="0 0 0" xyz="0 0 0.00046"/>
-            <mass value="2.04"/>
-            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
-        </inertial>
-    </link>
-    <joint name="LF_HFE" type="revolute">
-        <parent link="LF_HAA"/>
-        <child link="LF_THIGH"/>
-        <origin rpy="0 0 1.57079632679" xyz="0 0.05 0"/>
-        <axis xyz="1 0 0"/>
-        <limit effort="80.0" velocity="20." />
-        <dynamics damping="0.0" friction="0.0"/>
-    </joint>
-    <link name="LF_THIGH">
-        <collision>
-            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
-            <geometry>
-                <cylinder length="0.25" radius="0.02"/>
-            </geometry>
-        </collision>
-        <inertial>
-            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
-            <mass value="2.04"/>
-            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
-        </inertial>
-    </link>
-    <joint name="LF_KFE" type="revolute">
-        <parent link="LF_THIGH"/>
-        <child link="LF_SHANK"/>
-        <origin rpy="0 0 0" xyz="0 0.0 -0.25"/>
-        <axis xyz="1 0 0"/>
-        <limit effort="80.0" velocity="20." />
-        <dynamics damping="0.0" friction="0.0"/>
-    </joint>
-    <link name="LF_SHANK">
-        <collision>
-            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
-            <geometry>
-                <cylinder length="0.25" radius="0.02"/>
-            </geometry>
-        </collision>
-        <inertial>
-            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
-            <mass value="2.04"/>
-            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
-        </inertial>
-    </link>
-    <joint name="RF_HAA" type="revolute">
-        <parent link="base"/>
-        <child link="RF_HAA"/>
-        <axis xyz="1 0 0"/>
-        <limit effort="80.0" velocity="20." />
-        <origin rpy="0 0 0" xyz="0.2999 -0.104 0.0"/>
-    </joint>
-    <link name="RF_HAA">
-        <collision>
-            <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
-            <geometry>
-                <cylinder length="0.05" radius="0.04"/>
-            </geometry>
-        </collision>
-        <inertial>
-            <origin rpy="0 0 0" xyz="0 0 0.00046"/>
-            <mass value="2.04"/>
-            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
-        </inertial>
-    </link>
-    <joint name="RF_HFE" type="revolute">
-        <parent link="RF_HAA"/>
-        <child link="RF_THIGH"/>
-        <origin rpy="0 0 -1.57079632679" xyz="0 -0.05 0"/>
-        <axis xyz="1 0 0"/>
-        <limit effort="80.0" velocity="20." />
-        <dynamics damping="0.0" friction="0.0"/>
-    </joint>
-    <link name="RF_THIGH">
-        <collision>
-            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
-            <geometry>
-                <cylinder length="0.25" radius="0.02"/>
-            </geometry>
-        </collision>
-        <inertial>
-            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
-            <mass value="2.04"/>
-            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
-        </inertial>
-    </link>
-    <joint name="RF_KFE" type="revolute">
-        <parent link="RF_THIGH"/>
-        <child link="RF_SHANK"/>
-        <origin rpy="0 0 0" xyz="0 0.0 -0.25"/>
-        <axis xyz="1 0 0"/>
-        <limit effort="80.0" velocity="20." />
-        <dynamics damping="0.0" friction="0.0"/>
-    </joint>
-    <link name="RF_SHANK">
-        <collision>
-            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
-            <geometry>
-                <cylinder length="0.25" radius="0.02"/>
-            </geometry>
-        </collision>
-        <inertial>
-            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
-            <mass value="2.04"/>
-            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
-        </inertial>
-    </link>
-    <joint name="LH_HAA" type="revolute">
-        <parent link="base"/>
-        <child link="LH_HAA"/>
-        <axis xyz="1 0 0"/>
-        <limit effort="80.0" velocity="20." />
-        <origin rpy="0 0 3.1415" xyz="-0.2999 0.104 0.0"/>
-    </joint>
-    <link name="LH_HAA">
-        <collision>
-            <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
-            <geometry>
-                <cylinder length="0.05" radius="0.04"/>
-            </geometry>
-        </collision>
-        <inertial>
-            <origin rpy="0 0 0" xyz="0 0 0.00046"/>
-            <mass value="2.04"/>
-            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
-        </inertial>
-    </link>
-    <joint name="LH_HFE" type="revolute">
-        <parent link="LH_HAA"/>
-        <child link="LH_THIGH"/>
-        <origin rpy="0 0 1.57079632679" xyz="0 -0.05 0"/>
-        <axis xyz="1 0 0"/>
-        <limit effort="80.0" velocity="20." />
-        <dynamics damping="0.0" friction="0.0"/>
-    </joint>
-    <link name="LH_THIGH">
-        <collision>
-            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
-            <geometry>
-                <cylinder length="0.25" radius="0.02"/>
-            </geometry>
-        </collision>
-        <inertial>
-            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
-            <mass value="2.04"/>
-            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
-        </inertial>
-    </link>
-    <joint name="LH_KFE" type="revolute">
-        <parent link="LH_THIGH"/>
-        <child link="LH_SHANK"/>
-        <origin rpy="0 0 0" xyz="0 0.0 -0.25"/>
-        <axis xyz="1 0 0"/>
-        <limit effort="80.0" velocity="20." />
-        <dynamics damping="0.0" friction="0.0"/>
-    </joint>
-    <link name="LH_SHANK">
-        <collision>
-            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
-            <geometry>
-                <cylinder length="0.25" radius="0.02"/>
-            </geometry>
-        </collision>
-        <inertial>
-            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
-            <mass value="2.04"/>
-            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
-        </inertial>
-    </link>
-    <joint name="RH_HAA" type="revolute">
-        <parent link="base"/>
-        <child link="RH_HAA"/>
-        <axis xyz="1 0 0"/>
-        <limit effort="80.0" velocity="20." />
-        <origin rpy="0 0 3.1415" xyz="-0.2999 -0.104 0.0"/>
-    </joint>
-    <link name="RH_HAA">
-        <collision>
-            <origin rpy="1.57079632679 0 0" xyz="0 0 0"/>
-            <geometry>
-                <cylinder length="0.05" radius="0.04"/>
-            </geometry>
-        </collision>
-        <inertial>
-            <origin rpy="0 0 0" xyz="0 0 0.00046"/>
-            <mass value="2.04"/>
-            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
-        </inertial>
-    </link>
-    <joint name="RH_HFE" type="revolute">
-        <parent link="RH_HAA"/>
-        <child link="RH_THIGH"/>
-        <origin rpy="0 0 -1.57079632679" xyz="0 0.05 0"/>
-        <axis xyz="1 0 0"/>
-        <limit effort="80.0" velocity="20." />
-        <dynamics damping="0.0" friction="0.0"/>
-    </joint>
-    <link name="RH_THIGH">
-        <collision>
-            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
-            <geometry>
-                <cylinder length="0.25" radius="0.02"/>
-            </geometry>
-        </collision>
-        <inertial>
-            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
-            <mass value="2.04"/>
-            <inertia ixx="0.001053013" ixy="4.527e-05" ixz="8.855e-05" iyy="0.001805509" iyz="9.909e-05" izz="0.001765827"/>
-        </inertial>
-    </link>
-    <joint name="RH_KFE" type="revolute">
-        <parent link="RH_THIGH"/>
-        <child link="RH_SHANK"/>
-        <origin rpy="0 0 0" xyz="0 0.0 -0.25"/>
-        <axis xyz="1 0 0"/>
-        <limit effort="80.0" velocity="20." />
-        <dynamics damping="0.0" friction="0.0"/>
-    </joint>
-    <link name="RH_SHANK">
-        <collision>
-            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
-            <geometry>
-                <cylinder length="0.25" radius="0.02"/>
-            </geometry>
-        </collision>
-        <inertial>
-            <origin rpy="0 0 0" xyz="0 0 -0.125"/>
-            <mass value="2.04"/>
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-        </inertial>
-    </link>
-</robot>