warp

warp copied to clipboard

Multiple Hashgrids

1

I am trying to use different hashgrids for spatially separated points but encountering strange values from the hash_grid_point_id function. I have created an MRE below that shows the issue. ```python...

steinraf

Importing mjcf

3

Hi! I am trying to import some robots from the mujoco menagrie. Eg. the shadow hand -> https://github.com/google-deepmind/mujoco_menagerie/blob/main/shadow_hand/right_hand.xml However, I keep getting errors: count_contact_points: unsupported geometry type combination 3 and...

robots4us

Autodiff is not supported on element-wise operations

1

To reproduce: ``` import warp as wp wp.init() @wp.kernel def test_grad(a: wp.array(dtype=wp.vec3), b: wp.array(dtype=wp.vec3)): tid = wp.tid() ai = a[tid] # not working tmp = wp.vec3(0., 0., 0.) tmp[0] +=...

xuan-li

[feature request] matrix to transform and back

4

It would be nice to have methods that convert between a 4x4 matrix to a transform and back. Currently, there a lot of intermediate steps that need to be done...

jc211

Periodic HashGrid and cylindrical grids

2

Hello, I would like to request two interrelated features for running physical simulations with Warp. - Periodic HashGrid: - Currently, it seems impossible to implement periodic boundary conditions with HashGrid...

kmarchais

Unstable simulation of joint limits for a hinge joint

2

I've been using warp for a few weeks and it's definitely a very impressive, well executed project! Currently, I am having trouble simulating a hinge joint using `warp.sim`. I set...

slecleach

Declare array or vector from pointer inside kernel

3

Hi! Is there a way that I can have a list of integers inside a kernel representing pointers to array data of known sizes? Curretly I am working with big...

BernardoCovas

[feature request] Cooperative groups

2

Thanks so much for providing such a great library. I found warp to be easily usable, easy to inject into existing pytorch code, and most of all it is quite...

sweeneychris

Material optimization

2

Hello! I'm trying to use Warp to do some material optimization experiments. Is there a way to make sure the material is uniform? Also, is there an example for optimizing...

honglin-c

According to "Parallel block Neo-Hookean XPBD using graph clustering", projecting tetrahedra constraints at once instead of first the deviatoric term and then the hidrostatic term may lead to a significant...

jjcasmar