Merge branch 'ershi/release-1.7-final' into 'release-1.7'

shi-eric · shi-eric · commit 381fc8300373 · 2025-03-29T18:45:17.000-07:00
Update release-1.7 branch with final commits

See merge request omniverse/warp!1197
diff --git a/.gitlab-ci.yml b/.gitlab-ci.yml
@@ -512,6 +512,7 @@ linux-x86_64 asv:
       changes:
         - .gitlab-ci.yml
         - asv/**/*
+        - asv.conf.json
         - warp/**/*
         - pyproject.toml
         - deps/*
@@ -537,9 +538,8 @@ linux-x86_64 asv:
     - git checkout -f $CI_COMMIT_SHA
     - echo -e "\\e[0Ksection_end:`date +%s`:install_dependencies\\r\\e[0K"
   script:
-    - cd asv
     - asv machine --yes
-    - asv continuous --interleave-rounds --append-samples --no-only-changed -f 1.15 --bench '^(?!api)' $COMPARE_REF $CI_COMMIT_SHA
+    - asv continuous --interleave-rounds --append-samples --no-only-changed -f 1.10 --bench '^(?!api)' $COMPARE_REF $CI_COMMIT_SHA
   allow_failure: True # Can make success required after we have tested this job more
 
 # ==============================================================================
diff --git a/.pre-commit-config.yaml b/.pre-commit-config.yaml
@@ -13,7 +13,7 @@ ci:
 repos:
   - repo: https://github.com/astral-sh/ruff-pre-commit
     # Ruff version.
-    rev: v0.9.7
+    rev: v0.11.2
     hooks:
       # Run the linter.
       - id: ruff
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -1,6 +1,6 @@
 # Changelog
 
-## [1.7.0] - 2025-04-01
+## [1.7.0] - 2025-03-30
 
 ### Added
 
@@ -32,6 +32,8 @@
 - Add example demonstrating gradient checkpointing for fluid optimization in
   `warp/examples/optim/example_fluid_checkpoint.py`.
 - Add a hinge-angle-based bending force to `wp.sim.VBDIntegrator`.
+- Add an example to show mesh sampling using a CDF
+  ([GH-476](https://github.com/NVIDIA/warp/issues/476)).
 
 ### Changed
 
diff --git a/README.md b/README.md
@@ -224,16 +224,16 @@ python -m warp.tests
             <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>
-            <td></td>
         </tr>
         <tr>
+            <td align="center">sample mesh</td>
             <td align="center">sph</td>
             <td align="center">torch</td>
             <td align="center">wave</td>
-            <td align="center"></td>
         </tr>
     </tbody>
 </table>
diff --git a/VERSION.md b/VERSION.md
@@ -1 +1 @@
-1.7.0-rc.4
+1.7.0
diff --git a/asv.conf.json b/asv.conf.json
@@ -2,7 +2,7 @@
     "version": 1,
     "project": "warp-lang",
     "project_url": "https://github.com/NVIDIA/warp",
-    "repo": "..",
+    "repo": ".",
     "build_command": [
          "python -mpip install numpy",
          "python build_lib.py",
@@ -17,9 +17,9 @@
             "usd-core": [""]
         }
     },
-    "benchmark_dir": "benchmarks",
-    "env_dir": "env",
-    "results_dir": "results",
-    "html_dir": "html",
+    "benchmark_dir": "asv/benchmarks",
+    "env_dir": "asv/env",
+    "results_dir": "asv/results",
+    "html_dir": "asv/html",
     "build_cache_size": 20
 }
diff --git a/docs/faq.rst b/docs/faq.rst
@@ -32,9 +32,12 @@ individual threads.
 What are some examples of projects that use Warp?
 -------------------------------------------------
 
-* `NCLaw <https://github.com/PingchuanMa/NCLaw>`__: Implements a differentiable MPM simulator using Warp.
-* `XLB <https://github.com/Autodesk/XLB>`__: A lattice Boltzmann solver with a backend option using Warp.
-* `warp-mpm <https://github.com/zeshunzong/warp-mpm>`__: An MPM simulator using Warp and used in
+* `MuJoCo Warp <https://github.com/google-deepmind/mujoco_warp>`__: A GPU-optimized version of the MuJoCo physics simulator,
+  designed for NVIDIA hardware. Maintained by Google DeepMind and NVIDIA.
+* `Rewarped <https://github.com/rewarped/rewarped>`__: A platform for reinforcement learning in parallel differentiable multi-physics simulation.
+* `XLB (Accelerated Lattice Boltzmann) <https://github.com/Autodesk/XLB>`__: A lattice Boltzmann solver with a backend option using Warp.
+  Maintained by Autodesk.
+* `warp-mpm <https://github.com/zeshunzong/warp-mpm>`__: An MPM simulator used in projects like
   `Neural Stress Fields for Reduced-order Elastoplasticity and Fracture <https://zeshunzong.github.io/reduced-order-mpm/>`__
   and `PhysGaussian: Physics-Integrated 3D Gaussians for Generative Dynamics <https://xpandora.github.io/PhysGaussian/>`__.
 
diff --git a/docs/img/examples/core_sample_mesh.png b/docs/img/examples/core_sample_mesh.png
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74c8ca3b7b27b11caebebb8cb588fc3dd8940983040a5b4cf258d982799d2a44
+size 6278
diff --git a/docs/index.rst b/docs/index.rst
@@ -123,17 +123,18 @@ warp/examples/core
       - nvdb
       - raycast
       - raymarch
-    * - .. image:: ./img/examples/core_sph.png
+    * - .. image:: ./img/examples/core_sample_mesh.png
+           :target: https://github.com/NVIDIA/warp/tree/main/warp/examples/core/example_sample_mesh.py
+      - .. image:: ./img/examples/core_sph.png
            :target: https://github.com/NVIDIA/warp/tree/main/warp/examples/core/example_sph.py
       - .. image:: ./img/examples/core_torch.png
            :target: https://github.com/NVIDIA/warp/tree/main/warp/examples/core/example_torch.py
       - .. image:: ./img/examples/core_wave.png
            :target: https://github.com/NVIDIA/warp/tree/main/warp/examples/core/example_wave.py
-      -
-    * - sph
+    * - sample_mesh
+      - sph
       - torch
       - wave
-      -
 
 warp/examples/fem
 ^^^^^^^^^^^^^^^^^
diff --git a/docs/modules/functions.rst b/docs/modules/functions.rst
@@ -661,13 +661,17 @@ Quaternion Math
 
     Construct a quaternion from a 3x3 matrix.
 
+    If the matrix is not a pure rotation, but for example includes scaling or skewing, the result is undefined.
+
 
 .. py:function:: quat_from_matrix(mat: Matrix[4,4,Float]) -> Quaternion[Float]
     :noindex:
     :nocontentsentry:
 
     Construct a quaternion from a 4x4 matrix.
 
+    If the top-left 3x3 block of the matrix is not a pure rotation, but for example includes scaling or skewing, the result is undefined.
+
 
 .. py:function:: quat_rpy(roll: Float, pitch: Float, yaw: Float) -> Quaternion[Float]
 
diff --git a/docs/modules/sim.rst b/docs/modules/sim.rst
@@ -5,7 +5,8 @@ warp.sim
 
 .. currentmodule:: warp.sim
 
-Warp includes a simulation module ``warp.sim`` that includes many common physical simulation models and integrators for explicit and implicit time-stepping.
+Warp includes a simulation module ``warp.sim`` that includes many common physical simulation models and integrators
+for explicit and implicit time-stepping.
 
 Model
 -----
@@ -101,13 +102,13 @@ By default, it behaves as a direct force application via :data:`JOINT_MODE_FORCE
         \tau = k_e (\mathbf{\dot{q}}_{\text{target}} - \mathbf{\dot{q}})
 
 State
---------------
+-----
 
 .. autoclass:: State
     :members:
 
 Control
---------------
+-------
 
 .. autoclass:: Control
     :members:
@@ -169,6 +170,11 @@ Integrators
 .. autoclass:: VBDIntegrator
     :members:
 
+Collisions
+----------
+
+.. autofunction:: collide
+
 Importers
 ---------
 
diff --git a/docs/requirements.txt b/docs/requirements.txt
@@ -1,6 +1,6 @@
-sphinx==8.0.2
+sphinx==8.2.3
 sphinx_copybutton==0.5.2
-numpy==2.1.1
-ruff==0.9.7
-myst-parser==4.0.0
-nvidia-sphinx-theme==0.0.5.post1
+numpy==2.2.4
+ruff==0.11.2
+myst-parser==4.0.1
+nvidia-sphinx-theme==0.0.8
diff --git a/exts/omni.warp.core/config/extension.toml b/exts/omni.warp.core/config/extension.toml
@@ -1,6 +1,6 @@
 [package]
 # Semantic Versioning is used: https://semver.org/
-version = "1.7.0-rc.4"
+version = "1.7.0"
 authors = ["NVIDIA"]
 title = "Warp Core"
 description="The core Warp Python module"
diff --git a/exts/omni.warp.core/docs/CHANGELOG.md b/exts/omni.warp.core/docs/CHANGELOG.md
@@ -1,6 +1,6 @@
 # CHANGELOG
 
-## [1.7.0-rc.4] - 2025-04-01
+## [1.7.0] - 2025-03-30
 
 ### Added
 
@@ -32,6 +32,8 @@
 - Add example demonstrating gradient checkpointing for fluid optimization in
   `warp/examples/optim/example_fluid_checkpoint.py`.
 - Add a hinge-angle-based bending force to `wp.sim.VBDIntegrator`.
+- Add an example to show mesh sampling using a CDF
+  ([GH-476](https://github.com/NVIDIA/warp/issues/476)).
 
 ### Changed
 
diff --git a/exts/omni.warp/config/extension.toml b/exts/omni.warp/config/extension.toml
@@ -1,6 +1,6 @@
 [package]
 # Semantic Versioning is used: https://semver.org/
-version = "1.7.0-rc.4"
+version = "1.7.0"
 authors = ["NVIDIA"]
 title = "Warp"
 description="Warp OmniGraph Nodes and Sample Scenes"
@@ -36,7 +36,7 @@ exclude = ["Ogn*Database.py", "*/ogn*"]
 "omni.timeline" = {}
 "omni.ui" = {optional = true}
 "omni.usd" = {}
-"omni.warp.core" = {version = "1.7.0-rc.4", exact = true}
+"omni.warp.core" = {version = "1.7.0", exact = true}
 "usdrt.scenegraph" = {}
 
 [settings]
diff --git a/exts/omni.warp/docs/CHANGELOG.md b/exts/omni.warp/docs/CHANGELOG.md
@@ -1,6 +1,6 @@
 # CHANGELOG
 
-## [1.7.0-rc.4] - 2025-04-01
+## [1.7.0] - 2025-03-30
 
 ### Added
 
@@ -32,6 +32,8 @@
 - Add example demonstrating gradient checkpointing for fluid optimization in
   `warp/examples/optim/example_fluid_checkpoint.py`.
 - Add a hinge-angle-based bending force to `wp.sim.VBDIntegrator`.
+- Add an example to show mesh sampling using a CDF
+  ([GH-476](https://github.com/NVIDIA/warp/issues/476)).
 
 ### Changed
 
diff --git a/warp/builtins.py b/warp/builtins.py
@@ -1433,14 +1433,18 @@ def quat_identity_dispatch_func(input_types: Mapping[str, type], return_type: An
     input_types={"mat": matrix(shape=(3, 3), dtype=Float)},
     value_func=lambda arg_types, arg_values: quaternion(dtype=float_infer_type(arg_types)),
     group="Quaternion Math",
-    doc="Construct a quaternion from a 3x3 matrix.",
+    doc="""Construct a quaternion from a 3x3 matrix.
+
+    If the matrix is not a pure rotation, but for example includes scaling or skewing, the result is undefined.""",
 )
 add_builtin(
     "quat_from_matrix",
     input_types={"mat": matrix(shape=(4, 4), dtype=Float)},
     value_func=lambda arg_types, arg_values: quaternion(dtype=float_infer_type(arg_types)),
     group="Quaternion Math",
-    doc="Construct a quaternion from a 4x4 matrix.",
+    doc="""Construct a quaternion from a 4x4 matrix.
+
+    If the top-left 3x3 block of the matrix is not a pure rotation, but for example includes scaling or skewing, the result is undefined.""",
 )
 add_builtin(
     "quat_rpy",
diff --git a/warp/config.py b/warp/config.py
@@ -15,7 +15,7 @@
 
 from typing import Optional
 
-version: str = "1.7.0-rc.4"
+version: str = "1.7.0"
 """Warp version string"""
 
 verify_fp: bool = False
diff --git a/warp/examples/core/example_sample_mesh.py b/warp/examples/core/example_sample_mesh.py
diff --git a/warp/sim/collide.py b/warp/sim/collide.py
diff --git a/warp/sim/import_urdf.py b/warp/sim/import_urdf.py
diff --git a/warp/sim/integrator_vbd.py b/warp/sim/integrator_vbd.py
diff --git a/warp/stubs.py b/warp/stubs.py
diff --git a/warp/tests/sim/test_vbd.py b/warp/tests/sim/test_vbd.py
diff --git a/warp/tests/test_examples.py b/warp/tests/test_examples.py
diff --git a/warp/tests/test_static.py b/warp/tests/test_static.py
