PyPI - warp-lang - Versions diffs - 1.9.1__py3-none-manylinux_2_34_aarch64.whl → 1.10.0rc2__py3-none-manylinux_2_34_aarch64.whl - Mend

warp-lang 1.9.1__py3-none-manylinux_2_34_aarch64.whl → 1.10.0rc2__py3-none-manylinux_2_34_aarch64.whl

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

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Files changed (346) hide show

warp/__init__.py +301 -287
warp/__init__.pyi +794 -305
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} +1382 -377
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.so +0 -0
warp/bin/warp.so +0 -0
warp/build.py +8 -588
warp/build_dll.py +6 -721
warp/codegen.py +6 -4251
warp/constants.py +6 -39
warp/context.py +12 -8062
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 +1 -1
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 -365
warp/jax_experimental/ffi.py +17 -873
warp/jax_experimental/xla_ffi.py +5 -605
warp/marching_cubes.py +5 -689
warp/math.py +16 -393
warp/native/array.h +385 -37
warp/native/builtin.h +314 -37
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/sparse.cu +7 -3
warp/native/spatial.h +12 -0
warp/native/tile.h +681 -89
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 -0
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 +57 -29
warp/native/warp.cu +253 -171
warp/native/warp.h +11 -8
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 -3618
warp/render/render_usd.py +6 -919
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_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 +772 -49
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 +527 -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 +33 -14
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 +56 -10
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 +35 -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_types.py +27 -15
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 +178 -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 -5764
warp/utils.py +10 -1659
{warp_lang-1.9.1.dist-info → warp_lang-1.10.0rc2.dist-info}/METADATA +46 -99
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-1.9.1.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-1.9.1.dist-info → warp_lang-1.10.0rc2.dist-info}/WHEEL +0 -0
{warp_lang-1.9.1.dist-info → warp_lang-1.10.0rc2.dist-info}/licenses/LICENSE.md +0 -0
{warp_lang-1.9.1.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"/>
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-        </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"/>
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-        </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>