Merge branch 'ershi/release-1.5-stable' into 'release-1.5'

Changes for the stable 1.5.0 release

See merge request omniverse/warp!907

Author: shi-eric

CHANGELOG.md

@@ -8,7 +8,7 @@
   [documentation](https://nvidia.github.io/warp/modules/tiles.html) for details.
 - Expose a `reversed()` built-in for iterators ([GH-311](https://github.com/NVIDIA/warp/issues/311)).
 - Support for saving Volumes into `.nvdb` files with the `save_to_nvdb` method.
-- warp.fem: Add `Trimesh3D` and `Quadmesh3D` geometry types for 3D surfaces with new `example_distortion_energy` example.
+- warp.fem: Add `wp.fem.Trimesh3D` and `wp.fem.Quadmesh3D` geometry types for 3D surfaces with new `example_distortion_energy` example.
 - warp.fem: Add `"add"` option to `wp.fem.integrate()` for accumulating integration result to existing output.
 - warp.fem: Add `"assembly"` option to `wp.fem.integrate()` for selecting between more memory-efficient or more
   computationally efficient integration algorithms.
@@ -22,33 +22,35 @@
   hard-coded value of 0.01 ([GH-329](https://github.com/NVIDIA/warp/issues/329)).
 - Add a `particle_radius` parameter to `wp.sim.ModelBuilder.add_cloth_mesh()` and `wp.sim.ModelBuilder.add_cloth_grid()`
   to set a uniform radius for the added particles.
-- Document `array` attributes ([GH-364](https://github.com/NVIDIA/warp/issues/364)).
+- Document `wp.array` attributes ([GH-364](https://github.com/NVIDIA/warp/issues/364)).
 - Document time-to-compile tradeoffs when using vector component assignment statements in kernels.
+- Add introductory Jupyter notebooks to the `notebooks` directory.
 
 ### Changed
 
 - Drop support for Python 3.7; Python 3.8 is now the minimum-supported version.
 - Promote the `wp.Int`, `wp.Float`, and `wp.Scalar` generic annotation types to the public API.
 - warp.fem: Simplify querying neighboring cell quantities when integrating on sides using new
-  `warp.fem.cells()`, `warp.fem.to_inner_cell()`, `warp.fem.to_outer_cell()` operators.
+  `wp.fem.cells()`, `wp.fem.to_inner_cell()`, `wp.fem.to_outer_cell()` operators.
 - Show an error message when the type returned by a function differs from its annotation, which would have led to the compilation stage failing.
-- Clarify that `randn()` samples a normal distribution of mean 0 and variance 1.
-- Raise error when passing more than 32 variadic argument to the `wp.printf` built-in.
+- Clarify that `wp.randn()` samples a normal distribution of mean 0 and variance 1.
+- Raise error when passing more than 32 variadic argument to the `wp.printf()` built-in.
 
 ### Fixed
 
 - Fix `place` setting of paddle backend.
 - warp.fem: Fix tri-cubic shape functions on quadrilateral meshes.
 - warp.fem: Fix caching of integrand kernels when changing code-generation options.
 - Fix `wp.expect_neq()` overloads missing for scalar types.
-- Fix the OpenGL renderer's window not closing when clicking the X button.
-- Fix the OpenGL renderer's camera snapping to a different direction from the initial camera's orientation when first looking around.
-- Fix custom colors being ignored when rendering meshes in OpenGL ([GH-343](https://github.com/NVIDIA/warp/issues/343)).
 - Fix an error when a `wp.kernel` or a `wp.func` object is annotated to return a `None` value.
 - Fix error when reading multi-volume, BLOSC-compressed `.nvdb` files.
 - Fix `wp.printf()` erroring out when no variadic arguments are passed ([GH-333](https://github.com/NVIDIA/warp/issues/333)).
 - Fix memory access issues in soft-rigid contact collisions ([GH-362](https://github.com/NVIDIA/warp/issues/362)).
 - Fix gradient propagation for in-place addition/subtraction operations on custom vector-type arrays.
+- Fix the OpenGL renderer's window not closing when clicking the X button.
+- Fix the OpenGL renderer's camera snapping to a different direction from the initial camera's orientation when first looking around.
+- Fix custom colors being ignored when rendering meshes in OpenGL ([GH-343](https://github.com/NVIDIA/warp/issues/343)).
+- Fix topology updates not being supported by the the OpenGL renderer.
 
 ## [1.4.2] - 2024-11-13
 
@@ -1218,7 +1220,8 @@
 
 - Initial publish for alpha testing
 
-[Unreleased]: https://github.com/NVIDIA/warp/compare/v1.4.2...HEAD
+[Unreleased]: https://github.com/NVIDIA/warp/compare/v1.5.0...HEAD
+[1.5.0]: https://github.com/NVIDIA/warp/releases/tag/v1.5.0
 [1.4.2]: https://github.com/NVIDIA/warp/releases/tag/v1.4.2
 [1.4.1]: https://github.com/NVIDIA/warp/releases/tag/v1.4.1
 [1.4.0]: https://github.com/NVIDIA/warp/releases/tag/v1.4.0

README.md

@@ -45,9 +45,9 @@ the `pip install` command, e.g.
 
 | Platform        | Install Command                                                                                                               |
 | --------------- | ----------------------------------------------------------------------------------------------------------------------------- |
-| Linux aarch64   | `pip install https://github.com/NVIDIA/warp/releases/download/v1.4.2/warp_lang-1.4.2+cu11-py3-none-manylinux2014_aarch64.whl` |
-| Linux x86-64    | `pip install https://github.com/NVIDIA/warp/releases/download/v1.4.2/warp_lang-1.4.2+cu11-py3-none-manylinux2014_x86_64.whl`  |
-| Windows x86-64  | `pip install https://github.com/NVIDIA/warp/releases/download/v1.4.2/warp_lang-1.4.2+cu11-py3-none-win_amd64.whl`             |
+| Linux aarch64   | `pip install https://github.com/NVIDIA/warp/releases/download/v1.5.0/warp_lang-1.5.0+cu11-py3-none-manylinux2014_aarch64.whl` |
+| Linux x86-64    | `pip install https://github.com/NVIDIA/warp/releases/download/v1.5.0/warp_lang-1.5.0+cu11-py3-none-manylinux2014_x86_64.whl`  |
+| Windows x86-64  | `pip install https://github.com/NVIDIA/warp/releases/download/v1.5.0/warp_lang-1.5.0+cu11-py3-none-win_amd64.whl`             |
 
 The `--force-reinstall` option may need to be used to overwrite a previous installation.
 
@@ -297,6 +297,31 @@ python -m warp.tests
     </tbody>
 </table>
 
+## 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](https://github.com/NVIDIA/warp/tree/main/warp/notebooks/core_01_basics.ipynb) <a target="_blank" href="https://colab.research.google.com/github/NVIDIA/warp/blob/main/notebooks/core_01_basics.ipynb"><img src="https://colab.research.google.com/assets/colab-badge.svg" alt="Open In Colab"/></a>
+- [Warp Core Tutorial: Generics](https://github.com/NVIDIA/warp/tree/main/warp/notebooks/core_02_generics.ipynb) <a target="_blank" href="https://colab.research.google.com/github/NVIDIA/warp/blob/main/notebooks/notebooks/core_02_generics.ipynb"><img src="https://colab.research.google.com/assets/colab-badge.svg" alt="Open In Colab"/></a>
+- [Warp Core Tutorial: Points](https://github.com/NVIDIA/warp/tree/main/warp/notebooks/core_03_points.ipynb) <a target="_blank" href="https://colab.research.google.com/github/NVIDIA/warp/blob/main/notebooks/notebooks/core_03_points.ipynb"><img src="https://colab.research.google.com/assets/colab-badge.svg" alt="Open In Colab"/></a>
+- [Warp Core Tutorial: Meshes](https://github.com/NVIDIA/warp/tree/main/warp/notebooks/core_04_meshes.ipynb) <a target="_blank" href="https://colab.research.google.com/github/NVIDIA/warp/blob/main/notebooks/notebooks/core_04_meshes.ipynb"><img src="https://colab.research.google.com/assets/colab-badge.svg" alt="Open In Colab"/></a>
+- [Warp Core Tutorial: Volumes](https://github.com/NVIDIA/warp/tree/main/warp/notebooks/core_05_volumes.ipynb) <a target="_blank" href="https://colab.research.google.com/github/NVIDIA/warp/blob/main/notebooks/notebooks/core_05_volumes.ipynb"><img src="https://colab.research.google.com/assets/colab-badge.svg" alt="Open In Colab"/></a>
+
+
+
 ## Building
 
 For developers who want to build the library themselves, the following tools are required:

VERSION.md

@@ -1 +1 @@
-1.5.0-rc.2
+1.5.0

docs/modules/tiles.rst

@@ -3,9 +3,7 @@ Tiles
 
 .. warning:: Tile-based operations in Warp are under preview, APIs are subject to change.
 
-Block-based programming models such as those in OpenAI Triton have proved to be effective ways of expressing high-performance kernels that can leverage cooperative operations on modern GPUs.
-
-Warp 1.5.0 introduces tile extensions that expose a block-based programming to Warp kernels. 
+Block-based programming models such as those in OpenAI Triton have proved to be effective ways of expressing high-performance kernels that can leverage cooperative operations on modern GPUs. With Warp 1.5.0 developers now have access to new tile-based programming primitives in Warp kernels. Leveraging cuBLASDx and cuFFTDx, these new tools provide developers with efficient matrix multiplication and Fourier transforms for accelerated simulation and scientific computing. 
 
 Requirements
 ------------
@@ -35,7 +33,7 @@ In the following example, we launch a grid of threads where each block is respon
 
         # load a row from global memory
         t = wp.tile_load(array[i], i, TILE_SIZE)
-        s = wp.sum(t)
+        s = wp.tile_sum(t)
         ...
 
     wp.launch_tiled(compute, dim=[a.shape[0]], inputs=[a], block_dim=TILE_THREADS)
@@ -62,7 +60,7 @@ In Warp, tile objects are 2D arrays of data where the tile elements may be scala
 
         # load a 2d tile from global memory
         t = wp.tile_load(array, i, j, m=TILE_M, n=TILE_N)
-        s = wp.sum(t)
+        s = wp.tile_sum(t)
         ...
 
     wp.launch_tiled(compute, dim=[a.shape[0]/TILE_M, a.shape[1]/TILE_N], inputs=[a], block_dim=TILE_THREADS)
@@ -193,8 +191,8 @@ Maps/Reductions
 * :func:`warp.tile_min`
 * :func:`warp.tile_max`
 
-MathDx
-^^^^^^
+Linear Algebra
+^^^^^^^^^^^^^^
 
 * :func:`warp.tile_matmul`
 * :func:`warp.tile_transpose`
@@ -241,7 +239,7 @@ Please see the :ref:`differentiability` section for more details.
 Building with MathDx
 --------------------
 
-The tile operations described in `MathDx`_ require Warp to be built with the MathDx library.
+The tile operations described in `Linear Algebra`_ require Warp to be built with the MathDx library.
 Starting with Warp 1.5.0, PyPI distributions will come with out-of-the-box support for tile operations
 leveraging MathDx APIs.
 

exts/omni.warp.core/config/extension.toml

@@ -1,6 +1,6 @@
 [package]
 # Semantic Versioning is used: https://semver.org/
-version = "1.5.0-rc.2"
+version = "1.5.0"
 authors = ["NVIDIA"]
 title = "Warp Core"
 description="The core Warp Python module"

exts/omni.warp.core/docs/CHANGELOG.md

@@ -1,14 +1,14 @@
 # CHANGELOG
 
-## [1.5.0-rc.2] - 2024-12-02
+## [1.5.0] - 2024-12-02
 
 ### Added
 
 - Support for cooperative tile-based primitives using cuBLASDx and cuFFTDx, please see the tile
   [documentation](https://nvidia.github.io/warp/modules/tiles.html) for details.
 - Expose a `reversed()` built-in for iterators ([GH-311](https://github.com/NVIDIA/warp/issues/311)).
 - Support for saving Volumes into `.nvdb` files with the `save_to_nvdb` method.
-- warp.fem: Add `Trimesh3D` and `Quadmesh3D` geometry types for 3D surfaces with new `example_distortion_energy` example.
+- warp.fem: Add `wp.fem.Trimesh3D` and `wp.fem.Quadmesh3D` geometry types for 3D surfaces with new `example_distortion_energy` example.
 - warp.fem: Add `"add"` option to `wp.fem.integrate()` for accumulating integration result to existing output.
 - warp.fem: Add `"assembly"` option to `wp.fem.integrate()` for selecting between more memory-efficient or more
   computationally efficient integration algorithms.
@@ -22,33 +22,35 @@
   hard-coded value of 0.01 ([GH-329](https://github.com/NVIDIA/warp/issues/329)).
 - Add a `particle_radius` parameter to `wp.sim.ModelBuilder.add_cloth_mesh()` and `wp.sim.ModelBuilder.add_cloth_grid()`
   to set a uniform radius for the added particles.
-- Document `array` attributes ([GH-364](https://github.com/NVIDIA/warp/issues/364)).
+- Document `wp.array` attributes ([GH-364](https://github.com/NVIDIA/warp/issues/364)).
 - Document time-to-compile tradeoffs when using vector component assignment statements in kernels.
+- Add introductory Jupyter notebooks to the `notebooks` directory.
 
 ### Changed
 
 - Drop support for Python 3.7; Python 3.8 is now the minimum-supported version.
 - Promote the `wp.Int`, `wp.Float`, and `wp.Scalar` generic annotation types to the public API.
 - warp.fem: Simplify querying neighboring cell quantities when integrating on sides using new
-  `warp.fem.cells()`, `warp.fem.to_inner_cell()`, `warp.fem.to_outer_cell()` operators.
+  `wp.fem.cells()`, `wp.fem.to_inner_cell()`, `wp.fem.to_outer_cell()` operators.
 - Show an error message when the type returned by a function differs from its annotation, which would have led to the compilation stage failing.
-- Clarify that `randn()` samples a normal distribution of mean 0 and variance 1.
-- Raise error when passing more than 32 variadic argument to the `wp.printf` built-in.
+- Clarify that `wp.randn()` samples a normal distribution of mean 0 and variance 1.
+- Raise error when passing more than 32 variadic argument to the `wp.printf()` built-in.
 
 ### Fixed
 
 - Fix `place` setting of paddle backend.
 - warp.fem: Fix tri-cubic shape functions on quadrilateral meshes.
 - warp.fem: Fix caching of integrand kernels when changing code-generation options.
 - Fix `wp.expect_neq()` overloads missing for scalar types.
-- Fix the OpenGL renderer's window not closing when clicking the X button.
-- Fix the OpenGL renderer's camera snapping to a different direction from the initial camera's orientation when first looking around.
-- Fix custom colors being ignored when rendering meshes in OpenGL ([GH-343](https://github.com/NVIDIA/warp/issues/343)).
 - Fix an error when a `wp.kernel` or a `wp.func` object is annotated to return a `None` value.
 - Fix error when reading multi-volume, BLOSC-compressed `.nvdb` files.
 - Fix `wp.printf()` erroring out when no variadic arguments are passed ([GH-333](https://github.com/NVIDIA/warp/issues/333)).
 - Fix memory access issues in soft-rigid contact collisions ([GH-362](https://github.com/NVIDIA/warp/issues/362)).
 - Fix gradient propagation for in-place addition/subtraction operations on custom vector-type arrays.
+- Fix the OpenGL renderer's window not closing when clicking the X button.
+- Fix the OpenGL renderer's camera snapping to a different direction from the initial camera's orientation when first looking around.
+- Fix custom colors being ignored when rendering meshes in OpenGL ([GH-343](https://github.com/NVIDIA/warp/issues/343)).
+- Fix topology updates not being supported by the the OpenGL renderer.
 
 ## [1.4.2] - 2024-11-13
 

exts/omni.warp/config/extension.toml

@@ -1,6 +1,6 @@
 [package]
 # Semantic Versioning is used: https://semver.org/
-version = "1.5.0-rc.2"
+version = "1.5.0"
 authors = ["NVIDIA"]
 title = "Warp"
 description="Warp OmniGraph Nodes and Sample Scenes"
@@ -35,7 +35,7 @@ exclude = ["Ogn*Database.py", "*/ogn*"]
 "omni.timeline" = {}
 "omni.ui" = {optional = true}
 "omni.usd" = {}
-"omni.warp.core" = {version = "1.5.0-rc.2", exact = true}
+"omni.warp.core" = {version = "1.5.0", exact = true}
 
 [[python.module]]
 name = "omni.warp._extension"

exts/omni.warp/docs/CHANGELOG.md

@@ -1,14 +1,14 @@
 # CHANGELOG
 
-## [1.5.0-rc.2] - 2024-12-02
+## [1.5.0] - 2024-12-02
 
 ### Added
 
 - Support for cooperative tile-based primitives using cuBLASDx and cuFFTDx, please see the tile
   [documentation](https://nvidia.github.io/warp/modules/tiles.html) for details.
 - Expose a `reversed()` built-in for iterators ([GH-311](https://github.com/NVIDIA/warp/issues/311)).
 - Support for saving Volumes into `.nvdb` files with the `save_to_nvdb` method.
-- warp.fem: Add `Trimesh3D` and `Quadmesh3D` geometry types for 3D surfaces with new `example_distortion_energy` example.
+- warp.fem: Add `wp.fem.Trimesh3D` and `wp.fem.Quadmesh3D` geometry types for 3D surfaces with new `example_distortion_energy` example.
 - warp.fem: Add `"add"` option to `wp.fem.integrate()` for accumulating integration result to existing output.
 - warp.fem: Add `"assembly"` option to `wp.fem.integrate()` for selecting between more memory-efficient or more
   computationally efficient integration algorithms.
@@ -22,33 +22,35 @@
   hard-coded value of 0.01 ([GH-329](https://github.com/NVIDIA/warp/issues/329)).
 - Add a `particle_radius` parameter to `wp.sim.ModelBuilder.add_cloth_mesh()` and `wp.sim.ModelBuilder.add_cloth_grid()`
   to set a uniform radius for the added particles.
-- Document `array` attributes ([GH-364](https://github.com/NVIDIA/warp/issues/364)).
+- Document `wp.array` attributes ([GH-364](https://github.com/NVIDIA/warp/issues/364)).
 - Document time-to-compile tradeoffs when using vector component assignment statements in kernels.
+- Add introductory Jupyter notebooks to the `notebooks` directory.
 
 ### Changed
 
 - Drop support for Python 3.7; Python 3.8 is now the minimum-supported version.
 - Promote the `wp.Int`, `wp.Float`, and `wp.Scalar` generic annotation types to the public API.
 - warp.fem: Simplify querying neighboring cell quantities when integrating on sides using new
-  `warp.fem.cells()`, `warp.fem.to_inner_cell()`, `warp.fem.to_outer_cell()` operators.
+  `wp.fem.cells()`, `wp.fem.to_inner_cell()`, `wp.fem.to_outer_cell()` operators.
 - Show an error message when the type returned by a function differs from its annotation, which would have led to the compilation stage failing.
-- Clarify that `randn()` samples a normal distribution of mean 0 and variance 1.
-- Raise error when passing more than 32 variadic argument to the `wp.printf` built-in.
+- Clarify that `wp.randn()` samples a normal distribution of mean 0 and variance 1.
+- Raise error when passing more than 32 variadic argument to the `wp.printf()` built-in.
 
 ### Fixed
 
 - Fix `place` setting of paddle backend.
 - warp.fem: Fix tri-cubic shape functions on quadrilateral meshes.
 - warp.fem: Fix caching of integrand kernels when changing code-generation options.
 - Fix `wp.expect_neq()` overloads missing for scalar types.
-- Fix the OpenGL renderer's window not closing when clicking the X button.
-- Fix the OpenGL renderer's camera snapping to a different direction from the initial camera's orientation when first looking around.
-- Fix custom colors being ignored when rendering meshes in OpenGL ([GH-343](https://github.com/NVIDIA/warp/issues/343)).
 - Fix an error when a `wp.kernel` or a `wp.func` object is annotated to return a `None` value.
 - Fix error when reading multi-volume, BLOSC-compressed `.nvdb` files.
 - Fix `wp.printf()` erroring out when no variadic arguments are passed ([GH-333](https://github.com/NVIDIA/warp/issues/333)).
 - Fix memory access issues in soft-rigid contact collisions ([GH-362](https://github.com/NVIDIA/warp/issues/362)).
 - Fix gradient propagation for in-place addition/subtraction operations on custom vector-type arrays.
+- Fix the OpenGL renderer's window not closing when clicking the X button.
+- Fix the OpenGL renderer's camera snapping to a different direction from the initial camera's orientation when first looking around.
+- Fix custom colors being ignored when rendering meshes in OpenGL ([GH-343](https://github.com/NVIDIA/warp/issues/343)).
+- Fix topology updates not being supported by the the OpenGL renderer.
 
 ## [1.4.2] - 2024-11-13