v1.6.1

Changelog

[1.6.1] - 2025-03-03

Added

• Document wp.Launch objects (docs, #428).
• Document how overwriting previously computed results can lead to incorrect gradients (docs, #525).

Fixed

• Fix unaligned loads with offset 2D tiles in wp.tile_load().
• Fix FP64 accuracy of thread-level matrix-matrix multiplications (#489).
• Fix wp.array() not initializing from arrays defining a CUDA array interface when the target device is CPU (#523).
• Fix wp.Launch objects not storing and replaying adjoint kernel launches (#449).
• Fix wp.config.verify_autograd_array_access failing to detect overwrites in generic Warp functions (#493).
• Fix an error on Windows when closing an OpenGLRenderer app (#488).
• Fix per-vertex colors not being correctly written out to USD meshes when a constant color is being passed (#480).
• Fix an error in capturing the wp.sim.VBDIntegrator with CUDA graphs when handle_self_contact is enabled (#441).
• Fix an error of AABB computation in wp.collide.TriMeshCollisionDetector.
• Fix URDF-imported planar joints not being set with the intended target_ke, target_kd, and mode parameters (#454).
• Fix ModelBuilder.add_builder() to use correct offsets for ModelBuilder.joint_parent and ModelBuilder.joint_child (#432)
• Fix underallocation of contact points for box–sphere and box–capsule collisions.
• Fix wp.randi() documentation to show correct output range of [-2^31, 2^31).