v1.7.1

Changelog

[1.7.1] - 2025-04-30

Added

• Add example of a distributed Jacobi solver using mpi4py in warp/examples/distributed/example_jacobi_mpi.py (#475).

Changed

• Improve repr() for Warp types, including adding repr() for wp.array.
• Change the USD renderer to use framesPerSecond for time sampling instead of timeCodesPerSecond to avoid playback speed issues in some viewers (#617).
• Model.rigid_contact_tids are now -1 at non-active contact indices which allows to retrieve the vertex index of a mesh collision, see test_collision.py (#623).
• Improve handling of deprecated JAX features (#613).

Fixed

• Fix a code generation bug involving return statements in Warp kernels, which could result in some threads in Warp being skipped when processed on the GPU (#594).
• Fix constructing DeformedGeometry from wp.fem.Trimesh3D geometries (#614).
• Fix lookup operator for wp.fem.Trimesh3D (#618).
• Include the block dimension in the LTO file hash for the Cholesky solver (#639).
• Fix tile loads for small tiles with aligned source memory (#622).
• Fix length/shape matching for vectors and matrices from the Python scope.
• Fix the dtype parameter missing for wp.quaternion().
• Fix invalid dtype comparison when using the wp.matrix()/wp.vector()/wp.quaternion() constructors with literal values and an explicit dtype argument (#651).
• Fix incorrect thread index lookup for the backward pass of wp.sim.collide() (#459).
• Fix a bug where wp.sim.ModelBuilder adds springs with -1 as vertex indices (#621).
• Fix center of mass, inertia computation for mesh shapes (#251).
• Fix computation of body center of mass to account for shape orientation (#648).
• Fix show_joints not working with wp.sim.render.SimRenderer set to render to USD (#510).
• Fix the jitter for the OgnParticlesFromMesh node not being computed correctly.
• Fix documentation of atol and rtol arguments to wp.autograd.gradcheck() and wp.autograd.gradcheck_tape() (#508).