Kernel Analyzer checks warp kernels to ensure correctness and conformity. It comes with both a CLI (which can be used within github CI) and also a vscode plugin for automatic kernel issue highlighting.

python contrib/kernel_analyzer/kernel_analyzer/cli.py mujoco_warp/_src/*.py --types mujoco_warp/_src/types.py 

python contrib/kernel_analyzer/kernel_analyzer/cli.py mujoco_warp/_src/*.py --types mujoco_warp/_src/types.py --output=github

Enjoy kernel analysis directly within vscode.

1. Create a new python env (python3 -m venv env) or use your existing mjwarp env (source env/bin/activate).
2. Within the python env, install the kernel analyzer's python dependencies by pip installing MJWarp dev:

cd mujoco_warp
pip install -e .[dev]

3. Inside vscode, navigate to contrib/kernel_analyzer/
4. Right click on kernel-analyzer-{version}.vsix file
5. Select "Install Extension VSIX"
6. Open vscode settings and navigate to Extensions > Kernel Analyzer
7. Set Python Path to the bin/python of the env you set up in step 1, e.g. /home/$USER/work/mujoco_warp/env/bin/python
8. Set Types Path to the location of types.py in your checked out code, e.g. /home/$USER/work/mujoco_warp/mujoco_warp/_src/types.py

Create a debug configuration in .vscode/launch.json:

{
  "version": "0.2.0",
  "configurations": [
    {
      "args": [
        "--extensionDevelopmentPath=${workspaceFolder}/contrib/kernel_analyzer"
      ],
      "name": "Launch Extension",
      "outFiles": [
        "${workspaceFolder}/contrib/kernel_analyzer/out/**/*.js"
      ],
      "preLaunchTask": "${defaultBuildTask}",
      "request": "launch",
      "type": "extensionHost",
    }
  ]
}

npm run package