NVIDIA Warp

Documentation | Changelog

Warp is a Python framework for writing high-performance simulation and graphics code. Warp takes regular Python functions and JIT compiles them to efficient kernel code that can run on the CPU or GPU.

Warp is designed for spatial computing and comes with a rich set of primitives that make it easy to write programs for physics simulation, perception, robotics, and geometry processing. In addition, Warp kernels are differentiable and can be used as part of machine-learning pipelines with frameworks such as PyTorch, JAX and Paddle.

A selection of physical simulations computed with Warp

Installing

Python version 3.9 or newer is required. Warp can run on x86-64 and ARMv8 CPUs on Windows and Linux, and on Apple Silicon (ARMv8) on macOS. GPU support requires a CUDA-capable NVIDIA GPU and driver (minimum GeForce GTX 9xx).

The easiest way to install Warp is from PyPI:

pip install warp-lang

You can also use pip install warp-lang[examples] to install additional dependencies for running examples and USD-related features.

For nightly builds, conda, CUDA 13 builds, building from source, and CUDA driver requirements, see the Installation Guide.

Tutorial Notebooks

The NVIDIA Accelerated Computing Hub contains the current, actively maintained set of Warp tutorials:

Notebook	Colab Link
Introduction to NVIDIA Warp
GPU-Accelerated Ising Model Simulation in NVIDIA Warp

Additionally, several notebooks in the notebooks directory provide additional examples and cover key Warp features:

Notebook	Colab Link
Warp Core Tutorial: Basics
Warp Core Tutorial: Generics
Warp Core Tutorial: Points
Warp Core Tutorial: Meshes
Warp Core Tutorial: Volumes
Warp PyTorch Tutorial: Basics
Warp PyTorch Tutorial: Custom Operators

Running Examples

The warp/examples directory contains a number of scripts categorized under subdirectories that show how to implement various simulation methods using the Warp API. Most examples will generate USD files containing time-sampled animations in the current working directory. Before running examples, install the optional example dependencies using:

pip install warp-lang[examples]

On Linux aarch64 systems (e.g., NVIDIA DGX Spark), the [examples] extra automatically installs usd-exchange instead of usd-core as a drop-in replacement, since usd-core wheels are not available for that platform.

Examples can be run from the command-line as follows:

python -m warp.examples.<example_subdir>.<example>

To browse the example source code, you can open the directory where the files are located like this:

python -m warp.examples.browse

Most examples can be run on either the CPU or a CUDA-capable device, but a handful require a CUDA-capable device. These are marked at the top of the example script.

USD files can be viewed or rendered inside NVIDIA Omniverse, Pixar's UsdView, and Blender. Note that Preview in macOS is not recommended as it has limited support for time-sampled animations.

Built-in unit tests can be run from the command-line as follows:

python -m warp.tests

warp/examples/core

dem	fluid	graph capture	marching cubes
mesh	nvdb	raycast	raymarch
sample mesh	sph	torch	wave
2-D incompressible turbulence in a periodic box

warp/examples/fem

diffusion 3d	mixed elasticity	apic fluid	streamlines
distortion energy	navier stokes	burgers	magnetostatics
adaptive grid	nonconforming contact	darcy level-set optimization	elastic shape optimization

warp/examples/optim

diffray	fluid checkpoint	particle repulsion

warp/examples/tile

mlp	nbody	mcgp

Learn More

Please see the following resources for additional background on Warp:

• Product Page
• SIGGRAPH 2024 Course Slides
• GTC 2024 Presentation
• GTC 2022 Presentation
• GTC 2021 Presentation
• SIGGRAPH Asia 2021 Differentiable Simulation Course

Support

See the FAQ for common questions.

Problems, questions, and feature requests can be opened on GitHub Issues.

For inquiries not suited for GitHub Issues, please email warp-python@nvidia.com.

Contributing

Contributions and pull requests from the community are welcome. Please see the Contribution Guide for more information on contributing to the development of Warp.

License

Warp is provided under the Apache License, Version 2.0. Please see LICENSE.md for full license text.

This project will download and install additional third-party open source software projects. Review the license terms of these open source projects before use.

Publications & Citation

Research Using Warp

Our PUBLICATIONS.md file lists academic and research publications that leverage the capabilities of Warp. We encourage you to add your own published work using Warp to this list.

Citing Warp

If you use Warp in your research, please use the "Cite this repository" button on the GitHub repository page or refer to the CITATION.cff file for citation information.