Merge branch 'gradcheck-kernel' into 'main'

Add gradcheck utilities for kernels See merge request omniverse/warp!548
NVIDIA · Jul 7, 2024 · ad9286a · ad9286a
2 parents 6bb8a6c + 5a0708b
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -4,6 +4,9 @@
 
 - Improve memory usage and performance for rigid body contact handling when `self.rigid_mesh_contact_max` is zero (default behavior)
 - The `mask` argument to `wp.sim.eval_fk` now accepts both integer and boolean arrays.
+- The `mask` argument to `wp.sim.eval_fk` now accepts both integer and bool arrays
+- Support for NumPy >= 2.0
+- Add `warp.autograd` module with utility functions `gradcheck`, `jacobian`, and `jacobian_fd` for debugging kernel Jacobians
 - Fix hashing of replay functions and snippets.
 - Add additional code comments for random number sampling functions in `rand.h`
 - Add information to the module load printouts to indicate whether a module was