warp-lang 1.6.0__py3-none-macosx_10_13_universal2.whl → 1.6.2__py3-none-macosx_10_13_universal2.whl

warp/render/render_usd.py

@@ -1,9 +1,17 @@
-# Copyright (c) 2022 NVIDIA CORPORATION.  All rights reserved.
-# NVIDIA CORPORATION and its licensors retain all intellectual property
-# and proprietary rights in and to this software, related documentation
-# and any modifications thereto.  Any use, reproduction, disclosure or
-# distribution of this software and related documentation without an express
-# license agreement from NVIDIA CORPORATION is strictly prohibited.
+# SPDX-FileCopyrightText: Copyright (c) 2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
 
 import numpy as np
 
@@ -582,7 +590,12 @@ class UsdRenderer:
         mesh = UsdGeom.Mesh.Get(self.stage, mesh_path)
         if not mesh:
             mesh = UsdGeom.Mesh.Define(self.stage, mesh_path)
-            UsdGeom.Primvar(mesh.GetDisplayColorAttr()).SetInterpolation("vertex")
+            if colors is not None and len(colors) == 3:
+                color_interp = "constant"
+            else:
+                color_interp = "vertex"
+
+            UsdGeom.Primvar(mesh.GetDisplayColorAttr()).SetInterpolation(color_interp)
             _usd_add_xform(mesh)
 
             # force topology update on first frame
@@ -595,7 +608,10 @@ class UsdRenderer:
             mesh.GetFaceVertexIndicesAttr().Set(idxs, self.time)
             mesh.GetFaceVertexCountsAttr().Set([3] * len(idxs), self.time)
 
-        if colors:
+        if colors is not None:
+            if len(colors) == 3:
+                colors = (colors,)
+
             mesh.GetDisplayColorAttr().Set(colors, self.time)
 
         self._shape_constructors[name] = UsdGeom.Mesh

warp/render/utils.py

@@ -1,9 +1,17 @@
-# Copyright (c) 2022 NVIDIA CORPORATION.  All rights reserved.
-# NVIDIA CORPORATION and its licensors retain all intellectual property
-# and proprietary rights in and to this software, related documentation
-# and any modifications thereto.  Any use, reproduction, disclosure or
-# distribution of this software and related documentation without an express
-# license agreement from NVIDIA CORPORATION is strictly prohibited.
+# SPDX-FileCopyrightText: Copyright (c) 2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
 
 from typing import Union
 

warp/sim/__init__.py

@@ -1,10 +1,17 @@
-# Copyright (c) 2022 NVIDIA CORPORATION.  All rights reserved.
-# NVIDIA CORPORATION and its licensors retain all intellectual property
-# and proprietary rights in and to this software, related documentation
-# and any modifications thereto.  Any use, reproduction, disclosure or
-# distribution of this software and related documentation without an express
-# license agreement from NVIDIA CORPORATION is strictly prohibited.
-
+# SPDX-FileCopyrightText: Copyright (c) 2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
 
 from .articulation import eval_fk, eval_ik
 from .collide import collide

warp/sim/articulation.py

@@ -1,9 +1,17 @@
-# Copyright (c) 2022 NVIDIA CORPORATION.  All rights reserved.
-# NVIDIA CORPORATION and its licensors retain all intellectual property
-# and proprietary rights in and to this software, related documentation
-# and any modifications thereto.  Any use, reproduction, disclosure or
-# distribution of this software and related documentation without an express
-# license agreement from NVIDIA CORPORATION is strictly prohibited.
+# SPDX-FileCopyrightText: Copyright (c) 2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
 
 import warp as wp
 

warp/sim/collide.py

@@ -1,9 +1,17 @@
-# Copyright (c) 2022 NVIDIA CORPORATION.  All rights reserved.
-# NVIDIA CORPORATION and its licensors retain all intellectual property
-# and proprietary rights in and to this software, related documentation
-# and any modifications thereto.  Any use, reproduction, disclosure or
-# distribution of this software and related documentation without an express
-# license agreement from NVIDIA CORPORATION is strictly prohibited.
+# SPDX-FileCopyrightText: Copyright (c) 2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
 
 """
 Collision handling functions and kernels.
@@ -837,6 +845,7 @@ def count_contact_points(
                 num_actual_contacts = 8 + 4
         else:
             num_contacts = 8
+            num_actual_contacts = 8
     elif actual_type_a == wp.sim.GEO_MESH:
         mesh_a = wp.mesh_get(geo.source[actual_shape_a])
         num_contacts_a = mesh_a.points.shape[0]
@@ -1744,7 +1753,7 @@ def compute_tri_aabbs(
     v2 = pos[tri_indices[t_id, 1]]
     v3 = pos[tri_indices[t_id, 2]]
 
-    upper, lower = compute_tri_aabb(v1, v2, v3)
+    lower, upper = compute_tri_aabb(v1, v2, v3)
 
     lower_bounds[t_id] = lower
     upper_bounds[t_id] = upper
@@ -1809,7 +1818,7 @@ def init_triangle_collision_data_kernel(
 @wp.kernel
 def vertex_triangle_collision_detection_kernel(
     query_radius: float,
-    mesh_id: wp.uint64,
+    bvh_id: wp.uint64,
     pos: wp.array(dtype=wp.vec3),
     tri_indices: wp.array(dtype=wp.int32, ndim=2),
     vertex_colliding_triangles_offsets: wp.array(dtype=wp.int32),
@@ -1840,7 +1849,7 @@ def vertex_triangle_collision_detection_kernel(
         and vertex_colliding_triangles_count.
 
     Attributes:
-        mesh_id (int): the mesh id you want to collide with
+        bvh_id (int): the bvh id you want to collide with
         query_radius (float): the contact radius. vertex-triangle pairs whose distance are less than this will get detected
         pos (array): positions of all the vertices that make up triangles
         vertex_colliding_triangles (array): flattened buffer of vertices' collision triangles
@@ -1862,12 +1871,12 @@ def vertex_triangle_collision_detection_kernel(
     lower = wp.vec3(v[0] - query_radius, v[1] - query_radius, v[2] - query_radius)
     upper = wp.vec3(v[0] + query_radius, v[1] + query_radius, v[2] + query_radius)
 
-    query = wp.mesh_query_aabb(mesh_id, lower, upper)
+    query = wp.bvh_query_aabb(bvh_id, lower, upper)
 
     tri_index = wp.int32(0)
     vertex_num_collisions = wp.int32(0)
     min_dis_to_tris = query_radius
-    while wp.mesh_query_aabb_next(query, tri_index):
+    while wp.bvh_query_next(query, tri_index):
         t1 = tri_indices[tri_index, 0]
         t2 = tri_indices[tri_index, 1]
         t3 = tri_indices[tri_index, 2]
@@ -1991,7 +2000,7 @@ def edge_colliding_edges_detection_kernel(
 
 @wp.kernel
 def triangle_triangle_collision_detection_kernel(
-    mesh_id: wp.uint64,
+    bvh_id: wp.uint64,
     pos: wp.array(dtype=wp.vec3),
     tri_indices: wp.array(dtype=wp.int32, ndim=2),
     triangle_intersecting_triangles_offsets: wp.array(dtype=wp.int32),
@@ -2014,10 +2023,10 @@ def triangle_triangle_collision_detection_kernel(
     buffer_offset = triangle_intersecting_triangles_offsets[tri_index]
     buffer_size = triangle_intersecting_triangles_offsets[tri_index + 1] - buffer_offset
 
-    query = wp.mesh_query_aabb(mesh_id, lower, upper)
+    query = wp.bvh_query_aabb(bvh_id, lower, upper)
     tri_index_2 = wp.int32(0)
     intersection_count = wp.int32(0)
-    while wp.mesh_query_aabb_next(query, tri_index_2):
+    while wp.bvh_query_next(query, tri_index_2):
         t2_v1 = tri_indices[tri_index_2, 0]
         t2_v2 = tri_indices[tri_index_2, 1]
         t2_v3 = tri_indices[tri_index_2, 2]
@@ -2129,7 +2138,16 @@ class TriMeshCollisionDetector:
 
         self.edge_edge_parallel_epsilon = edge_edge_parallel_epsilon
 
-        self.mesh_tris = wp.Mesh(model.particle_q, model.tri_indices.flatten())
+        self.lower_bounds_tris = wp.array(shape=(model.tri_count,), dtype=wp.vec3, device=model.device)
+        self.upper_bounds_tris = wp.array(shape=(model.tri_count,), dtype=wp.vec3, device=model.device)
+        wp.launch(
+            kernel=compute_tri_aabbs,
+            inputs=[self.vertex_positions, model.tri_indices, self.lower_bounds_tris, self.upper_bounds_tris],
+            dim=model.tri_count,
+            device=model.device,
+        )
+
+        self.bvh_tris = wp.Bvh(self.lower_bounds_tris, self.upper_bounds_tris)
 
         # collision detections results
 
@@ -2244,15 +2262,18 @@ class TriMeshCollisionDetector:
     def refit(self, new_pos=None):
         if new_pos is not None:
             self.vertex_positions = new_pos
-            # this will automatically apply refit
-            self.mesh_tris.points = new_pos
-        else:
-            self.refit_triangles()
 
+        self.refit_triangles()
         self.refit_edges()
 
     def refit_triangles(self):
-        self.mesh_tris.refit()
+        wp.launch(
+            kernel=compute_tri_aabbs,
+            inputs=[self.vertex_positions, self.model.tri_indices, self.lower_bounds_tris, self.upper_bounds_tris],
+            dim=self.model.tri_count,
+            device=self.model.device,
+        )
+        self.bvh_tris.refit()
 
     def refit_edges(self):
         wp.launch(
@@ -2282,7 +2303,7 @@ class TriMeshCollisionDetector:
             kernel=vertex_triangle_collision_detection_kernel,
             inputs=[
                 query_radius,
-                self.mesh_tris.id,
+                self.bvh_tris.id,
                 self.vertex_positions,
                 self.model.tri_indices,
                 self.vertex_colliding_triangles_offsets,
@@ -2348,7 +2369,7 @@ class TriMeshCollisionDetector:
         wp.launch(
             kernel=triangle_triangle_collision_detection_kernel,
             inputs=[
-                self.mesh_tris.id,
+                self.bvh_tris.id,
                 self.vertex_positions,
                 self.model.tri_indices,
                 self.triangle_intersecting_triangles_offsets,

warp/sim/graph_coloring.py

@@ -1,9 +1,17 @@
-# Copyright (c) 2024 NVIDIA CORPORATION.  All rights reserved.
-# NVIDIA CORPORATION and its licensors retain all intellectual property
-# and proprietary rights in and to this software, related documentation
-# and any modifications thereto.  Any use, reproduction, disclosure or
-# distribution of this software and related documentation without an express
-# license agreement from NVIDIA CORPORATION is strictly prohibited.
+# SPDX-FileCopyrightText: Copyright (c) 2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
 
 from enum import Enum
 

warp/sim/import_mjcf.py

@@ -1,10 +1,17 @@
-# Copyright (c) 2022 NVIDIA CORPORATION.  All rights reserved.
-# NVIDIA CORPORATION and its licensors retain all intellectual property
-# and proprietary rights in and to this software, related documentation
-# and any modifications thereto.  Any use, reproduction, disclosure or
-# distribution of this software and related documentation without an express
-# license agreement from NVIDIA CORPORATION is strictly prohibited.
-
+# SPDX-FileCopyrightText: Copyright (c) 2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
 
 import math
 import os

warp/sim/import_snu.py

@@ -1,10 +1,17 @@
-# Copyright (c) 2022 NVIDIA CORPORATION.  All rights reserved.
-# NVIDIA CORPORATION and its licensors retain all intellectual property
-# and proprietary rights in and to this software, related documentation
-# and any modifications thereto.  Any use, reproduction, disclosure or
-# distribution of this software and related documentation without an express
-# license agreement from NVIDIA CORPORATION is strictly prohibited.
-
+# SPDX-FileCopyrightText: Copyright (c) 2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
 
 import os
 import xml.etree.ElementTree as ET

warp/sim/import_urdf.py

@@ -1,9 +1,17 @@
-# Copyright (c) 2022 NVIDIA CORPORATION.  All rights reserved.
-# NVIDIA CORPORATION and its licensors retain all intellectual property
-# and proprietary rights in and to this software, related documentation
-# and any modifications thereto.  Any use, reproduction, disclosure or
-# distribution of this software and related documentation without an express
-# license agreement from NVIDIA CORPORATION is strictly prohibited.
+# SPDX-FileCopyrightText: Copyright (c) 2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
 
 import os
 import xml.etree.ElementTree as ET
@@ -12,6 +20,7 @@ from typing import Union
 import numpy as np
 
 import warp as wp
+import warp.sim
 from warp.sim.model import Mesh
 
 
@@ -20,7 +29,7 @@ def parse_urdf(
     builder,
     xform=None,
     floating=False,
-    base_joint: Union[dict, str] = None,
+    base_joint: Union[dict, str, None] = None,
     density=1000.0,
     stiffness=100.0,
     damping=10.0,
@@ -511,11 +520,25 @@ def parse_urdf(
 
             builder.add_joint_d6(
                 linear_axes=[
-                    wp.sim.JointAxis(
-                        u, limit_lower=lower * scale, limit_upper=upper * scale, limit_ke=limit_ke, limit_kd=limit_kd
+                    warp.sim.JointAxis(
+                        u,
+                        limit_lower=lower * scale,
+                        limit_upper=upper * scale,
+                        limit_ke=limit_ke,
+                        limit_kd=limit_kd,
+                        target_ke=stiffness,
+                        target_kd=joint_damping,
+                        mode=joint_mode,
                     ),
-                    wp.sim.JointAxis(
-                        v, limit_lower=lower * scale, limit_upper=upper * scale, limit_ke=limit_ke, limit_kd=limit_kd
+                    warp.sim.JointAxis(
+                        v,
+                        limit_lower=lower * scale,
+                        limit_upper=upper * scale,
+                        limit_ke=limit_ke,
+                        limit_kd=limit_kd,
+                        target_ke=stiffness,
+                        target_kd=joint_damping,
+                        mode=joint_mode,
                     ),
                 ],
                 **joint_params,

warp/sim/import_usd.py

@@ -1,10 +1,17 @@
-# Copyright (c) 2022 NVIDIA CORPORATION.  All rights reserved.
-# NVIDIA CORPORATION and its licensors retain all intellectual property
-# and proprietary rights in and to this software, related documentation
-# and any modifications thereto.  Any use, reproduction, disclosure or
-# distribution of this software and related documentation without an express
-# license agreement from NVIDIA CORPORATION is strictly prohibited.
-
+# SPDX-FileCopyrightText: Copyright (c) 2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
 
 import re
 

warp/sim/inertia.py

@@ -1,9 +1,17 @@
-# Copyright (c) 2022 NVIDIA CORPORATION.  All rights reserved.
-# NVIDIA CORPORATION and its licensors retain all intellectual property
-# and proprietary rights in and to this software, related documentation
-# and any modifications thereto.  Any use, reproduction, disclosure or
-# distribution of this software and related documentation without an express
-# license agreement from NVIDIA CORPORATION is strictly prohibited.
+# SPDX-FileCopyrightText: Copyright (c) 2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
 
 """Helper functions for computing rigid body inertia properties."""
 

warp/sim/integrator.py

@@ -1,9 +1,17 @@
-# Copyright (c) 2022 NVIDIA CORPORATION.  All rights reserved.
-# NVIDIA CORPORATION and its licensors retain all intellectual property
-# and proprietary rights in and to this software, related documentation
-# and any modifications thereto.  Any use, reproduction, disclosure or
-# distribution of this software and related documentation without an express
-# license agreement from NVIDIA CORPORATION is strictly prohibited.
+# SPDX-FileCopyrightText: Copyright (c) 2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
 
 import warp as wp
 

warp/sim/integrator_euler.py

@@ -1,9 +1,17 @@
-# Copyright (c) 2022 NVIDIA CORPORATION.  All rights reserved.
-# NVIDIA CORPORATION and its licensors retain all intellectual property
-# and proprietary rights in and to this software, related documentation
-# and any modifications thereto.  Any use, reproduction, disclosure or
-# distribution of this software and related documentation without an express
-# license agreement from NVIDIA CORPORATION is strictly prohibited.
+# SPDX-FileCopyrightText: Copyright (c) 2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
 
 """This module contains time-integration objects for simulating
 models + state forward in time.

warp/sim/integrator_featherstone.py

@@ -1,9 +1,17 @@
-# Copyright (c) 2022 NVIDIA CORPORATION.  All rights reserved.
-# NVIDIA CORPORATION and its licensors retain all intellectual property
-# and proprietary rights in and to this software, related documentation
-# and any modifications thereto.  Any use, reproduction, disclosure or
-# distribution of this software and related documentation without an express
-# license agreement from NVIDIA CORPORATION is strictly prohibited.
+# SPDX-FileCopyrightText: Copyright (c) 2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
 
 import warp as wp
 
@@ -1177,14 +1185,7 @@ def create_inertia_matrix_kernel(num_joints, num_dofs):
             P_body = wp.tile_matmul(M_body, J_body)
 
             # assign to the P slice
-            wp.tile_assign(
-                P,
-                P_body,
-                offset=(
-                    i * 6,
-                    0,
-                ),
-            )
+            wp.tile_assign(P, P_body, offset=(i * 6, 0))
 
         # compute H = J^T*P
         H = wp.tile_matmul(wp.tile_transpose(J), P)
@@ -1205,9 +1206,9 @@ def create_batched_cholesky_kernel(num_dofs):
 
         a = wp.tile_load(A[articulation], shape=(num_dofs, num_dofs), storage="shared")
         r = wp.tile_load(R[articulation], shape=num_dofs, storage="shared")
-        wp.tile_diag_add(a, r)
-        wp.tile_cholesky(a)
-        wp.tile_store(L[articulation], wp.tile_transpose(a))
+        a_r = wp.tile_diag_add(a, r)
+        l = wp.tile_cholesky(a_r)
+        wp.tile_store(L[articulation], wp.tile_transpose(l))
 
     return eval_tiled_dense_cholesky_batched
 

warp/sim/integrator_vbd.py

@@ -1,9 +1,18 @@
-# Copyright (c) 2024 NVIDIA CORPORATION.  All rights reserved.
-# NVIDIA CORPORATION and its licensors retain all intellectual property
-# and proprietary rights in and to this software, related documentation
-# and any modifications thereto.  Any use, reproduction, disclosure or
-# distribution of this software and related documentation without an express
-# license agreement from NVIDIA CORPORATION is strictly prohibited.
+# SPDX-FileCopyrightText: Copyright (c) 2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
 import numpy as np
 
 import warp as wp

warp/sim/integrator_xpbd.py

@@ -1,9 +1,17 @@
-# Copyright (c) 2022 NVIDIA CORPORATION.  All rights reserved.
-# NVIDIA CORPORATION and its licensors retain all intellectual property
-# and proprietary rights in and to this software, related documentation
-# and any modifications thereto.  Any use, reproduction, disclosure or
-# distribution of this software and related documentation without an express
-# license agreement from NVIDIA CORPORATION is strictly prohibited.
+# SPDX-FileCopyrightText: Copyright (c) 2022 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
+# SPDX-License-Identifier: Apache-2.0
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+# http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
 
 import warp as wp