Lower maxdepth for manual table of contents

docs/_build/html/_sources/index.rst.txt

@@ -2,7 +2,7 @@ NVIDIA Warp Documentation
 =========================
 
 .. toctree::
-   :maxdepth: 3
+   :maxdepth: 2
    :caption: Contents:
 
    modules/introduction

docs/_build/html/modules/runtime.html

@@ -1465,15 +1465,17 @@ <h2>Graphs<a class="headerlink" href="#graphs" title="Permalink to this heading"
 <p>Note that only launch calls are recorded in the graph, any Python executed outside of the kernel code will not be recorded. Typically it only makes sense to use CUDA graphs when the graph will be reused / launched multiple times.</p>
 <dl class="py function">
 <dt class="sig sig-object py" id="warp.capture_begin">
-<span class="sig-prename descclassname"><span class="pre">warp.</span></span><span class="sig-name descname"><span class="pre">capture_begin</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">device</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">stream</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#warp.capture_begin" title="Permalink to this definition">¶</a></dt>
+<span class="sig-prename descclassname"><span class="pre">warp.</span></span><span class="sig-name descname"><span class="pre">capture_begin</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">device</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">stream</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">force_module_load</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">True</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#warp.capture_begin" title="Permalink to this definition">¶</a></dt>
 <dd><p>Begin capture of a CUDA graph</p>
 <p>Captures all subsequent kernel launches and memory operations on CUDA devices.
 This can be used to record large numbers of kernels and replay them with low-overhead.</p>
-<p>Note that all kernels required during graph capture must be loaded first. See <cite>wp.load_module()</cite>
-for more information.</p>
 <dl class="field-list simple">
 <dt class="field-odd">Parameters</dt>
-<dd class="field-odd"><p><strong>device</strong> (<a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Optional" title="(in Python v3.11)"><em>Optional</em></a><em>[</em><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Union" title="(in Python v3.11)"><em>Union</em></a><em>[</em><em>Device</em><em>, </em><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.11)"><em>str</em></a><em>]</em><em>]</em>) – </p>
+<dd class="field-odd"><ul class="simple">
+<li><p><strong>device</strong> (<a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Optional" title="(in Python v3.11)"><em>Optional</em></a><em>[</em><a class="reference external" href="https://docs.python.org/3/library/typing.html#typing.Union" title="(in Python v3.11)"><em>Union</em></a><em>[</em><em>Device</em><em>, </em><a class="reference external" href="https://docs.python.org/3/library/stdtypes.html#str" title="(in Python v3.11)"><em>str</em></a><em>]</em><em>]</em>) – The device to capture on, if None the current CUDA device will be used</p></li>
+<li><p><strong>stream</strong> – The CUDA stream to capture on</p></li>
+<li><p><strong>force_module_load</strong> – Whether or not to force loading of all kernels before capture, in general it is better to use <code class="xref py py-func docutils literal notranslate"><span class="pre">load_module()</span></code> to selectively load kernels.</p></li>
+</ul>
 </dd>
 </dl>
 </dd></dl>

docs/_build/html/modules/sim.html

@@ -1263,7 +1263,7 @@ <h2>Model<a class="headerlink" href="#model" title="Permalink to this heading">
 
 <dl class="py method">
 <dt class="sig sig-object py" id="warp.sim.ModelBuilder.set_ground_plane">
-<span class="sig-name descname"><span class="pre">set_ground_plane</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">normal</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">offset</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">0.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">ke</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">100000.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">kd</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">1000.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">kf</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">1000.0</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">mu</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">0.5</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">restitution</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">0.0</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#warp.sim.ModelBuilder.set_ground_plane" title="Permalink to this definition">¶</a></dt>
+<span class="sig-name descname"><span class="pre">set_ground_plane</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#warp.sim.ModelBuilder.set_ground_plane" title="Permalink to this definition">¶</a></dt>
 <dd><p>Creates a ground plane for the world. If the normal is not specified,
 the up_vector of the ModelBuilder is used.</p>
 <dl class="field-list simple">
@@ -1281,7 +1281,7 @@ <h2>Model<a class="headerlink" href="#model" title="Permalink to this heading">
 
 <dl class="py method">
 <dt class="sig sig-object py" id="warp.sim.ModelBuilder.finalize">
-<span class="sig-name descname"><span class="pre">finalize</span></span><span class="sig-paren">(</span><em class="sig-param"><span class="n"><span class="pre">device</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">None</span></span></em>, <em class="sig-param"><span class="n"><span class="pre">requires_grad</span></span><span class="o"><span class="pre">=</span></span><span class="default_value"><span class="pre">False</span></span></em><span class="sig-paren">)</span><a class="headerlink" href="#warp.sim.ModelBuilder.finalize" title="Permalink to this definition">¶</a></dt>
+<span class="sig-name descname"><span class="pre">finalize</span></span><span class="sig-paren">(</span><span class="sig-paren">)</span><a class="headerlink" href="#warp.sim.ModelBuilder.finalize" title="Permalink to this definition">¶</a></dt>
 <dd><p>Convert this builder object to a concrete model for simulation.</p>
 <p>After building simulation elements this method should be called to transfer
 all data to device memory ready for simulation.</p>

docs/index.rst

@@ -2,7 +2,7 @@ NVIDIA Warp Documentation
 =========================
 
 .. toctree::
-   :maxdepth: 3
+   :maxdepth: 2
    :caption: Contents:
 
    modules/introduction