warp-lang 1.6.0__py3-none-manylinux2014_x86_64.whl → 1.6.2__py3-none-manylinux2014_x86_64.whl

warp/sim/model.py

@@ -1,12 +1,22 @@
-# 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.
 
 """A module for building simulation models and state."""
 
+from __future__ import annotations
+
 import copy
 import math
 from typing import List, Optional, Tuple
@@ -262,47 +272,51 @@ class Mesh:
 
 
 class State:
-    """The State object holds all *time-varying* data for a model.
+    """Time-varying state data for a :class:`Model`.
 
-    Time-varying data includes particle positions, velocities, rigid body states, and
+    Time-varying state data includes particle positions, velocities, rigid body states, and
     anything that is output from the integrator as derived data, e.g.: forces.
 
     The exact attributes depend on the contents of the model. State objects should
     generally be created using the :func:`Model.state()` function.
+    """
 
-    Attributes:
+    def __init__(self):
+        self.particle_q: Optional[wp.array] = None
+        """Array of 3D particle positions with shape ``(particle_count,)`` and type :class:`vec3`."""
 
-        particle_q (array): Array of 3D particle positions, shape [particle_count], :class:`vec3`
-        particle_qd (array): Array of 3D particle velocities, shape [particle_count], :class:`vec3`
-        particle_f (array): Array of 3D particle forces, shape [particle_count], :class:`vec3`
+        self.particle_qd: Optional[wp.array] = None
+        """Array of 3D particle velocities with shape ``(particle_count,)`` and type :class:`vec3`."""
 
-        body_q (array): Array of body coordinates (7-dof transforms) in maximal coordinates, shape [body_count], :class:`transform`
-        body_qd (array): Array of body velocities in maximal coordinates (first 3 entries represent angular velocity, last 3 entries represent linear velocity), shape [body_count], :class:`spatial_vector`
-        body_f (array): Array of body forces in maximal coordinates (first 3 entries represent torque, last 3 entries represent linear force), shape [body_count], :class:`spatial_vector`
+        self.particle_f: Optional[wp.array] = None
+        """Array of 3D particle forces with shape ``(particle_count,)`` and type :class:`vec3`."""
 
-            Note:
+        self.body_q: Optional[wp.array] = None
+        """Array of body coordinates (7-dof transforms) in maximal coordinates with shape ``(body_count,)`` and type :class:`transform`."""
 
-                :attr:`body_f` represents external wrenches in world frame and denotes wrenches measured w.r.t. to the body's center of mass for all integrators except :class:`FeatherstoneIntegrator` which assumes the wrenches are measured w.r.t. world origin.
-
-        joint_q (array): Array of generalized joint coordinates, shape [joint_coord_count], float
-        joint_qd (array): Array of generalized joint velocities, shape [joint_dof_count], float
+        self.body_qd: Optional[wp.array] = None
+        """Array of body velocities in maximal coordinates (first three entries represent angular velocity,
+        last three entries represent linear velocity) with shape ``(body_count,)`` and type :class:`spatial_vector`.
+        """
 
-    """
+        self.body_f: Optional[wp.array] = None
+        """Array of body forces in maximal coordinates (first three entries represent torque, last three
+        entries represent linear force) with shape ``(body_count,)`` and type :class:`spatial_vector`.
 
-    def __init__(self):
-        self.particle_q = None
-        self.particle_qd = None
-        self.particle_f = None
+        .. note::
+            :attr:`body_f` represents external wrenches in world frame and denotes wrenches measured w.r.t.
+            to the body's center of mass for all integrators except :class:`FeatherstoneIntegrator`, which
+            assumes the wrenches are measured w.r.t. world origin.
+        """
 
-        self.body_q = None
-        self.body_qd = None
-        self.body_f = None
+        self.joint_q: Optional[wp.array] = None
+        """Array of generalized joint coordinates with shape ``(joint_coord_count,)`` and type ``float``."""
 
-        self.joint_q = None
-        self.joint_qd = None
+        self.joint_qd: Optional[wp.array] = None
+        """Array of generalized joint velocities with shape ``(joint_dof_count,)`` and type ``float``."""
 
-    def clear_forces(self):
-        """Clears all forces (for particles and bodies) in the state object."""
+    def clear_forces(self) -> None:
+        """Clear all forces (for particles and bodies) in the state object."""
         with wp.ScopedTimer("clear_forces", False):
             if self.particle_count:
                 self.particle_f.zero_()
@@ -311,7 +325,7 @@ class State:
                 self.body_f.zero_()
 
     @property
-    def requires_grad(self):
+    def requires_grad(self) -> bool:
         """Indicates whether the state arrays have gradient computation enabled."""
         if self.particle_q:
             return self.particle_q.requires_grad
@@ -320,28 +334,28 @@ class State:
         return False
 
     @property
-    def body_count(self):
+    def body_count(self) -> int:
         """The number of bodies represented in the state."""
         if self.body_q is None:
             return 0
         return len(self.body_q)
 
     @property
-    def particle_count(self):
+    def particle_count(self) -> int:
         """The number of particles represented in the state."""
         if self.particle_q is None:
             return 0
         return len(self.particle_q)
 
     @property
-    def joint_coord_count(self):
+    def joint_coord_count(self) -> int:
         """The number of generalized joint position coordinates represented in the state."""
         if self.joint_q is None:
             return 0
         return len(self.joint_q)
 
     @property
-    def joint_dof_count(self):
+    def joint_dof_count(self) -> int:
         """The number of generalized joint velocity coordinates represented in the state."""
         if self.joint_qd is None:
             return 0
@@ -349,37 +363,34 @@ class State:
 
 
 class Control:
+    """Time-varying control data for a :class:`Model`.
+
+    Time-varying control data includes joint control inputs, muscle activations,
+    and activation forces for triangle and tetrahedral elements.
+
+    The exact attributes depend on the contents of the model. Control objects
+    should generally be created using the :func:`Model.control()` function.
     """
-    The Control object holds all *time-varying* control data for a model.
 
-    Time-varying control data includes joint control inputs, muscle activations, and activation forces for triangle and tetrahedral elements.
+    def __init__(self, model: Model):
+        self.model: Model = model
+        """Model to use as a reference for the control inputs."""
 
-    The exact attributes depend on the contents of the model. Control objects should generally be created using the :func:`Model.control()` function.
+        self.joint_act: Optional[wp.array] = None
+        """Array of joint control inputs with shape ``(joint_axis_count,)`` and type ``float``."""
 
-    Attributes:
+        self.tri_activations: Optional[wp.array] = None
+        """Array of triangle element activations with shape ``(tri_count,)`` and type ``float``."""
 
-        joint_act (array): Array of joint control inputs, shape [joint_axis_count], float
-        tri_activations (array): Array of triangle element activations, shape [tri_count], float
-        tet_activations (array): Array of tetrahedral element activations, shape [tet_count], float
-        muscle_activations (array): Array of muscle activations, shape [muscle_count], float
+        self.tet_activations: Optional[wp.array] = None
+        """Array of tetrahedral element activations with shape with shape ``(tet_count,) and type ``float``."""
 
-    """
+        self.muscle_activations: Optional[wp.array] = None
+        """Array of muscle activations with shape ``(muscle_count,)`` and type ``float``."""
 
-    def __init__(self, model):
-        """
-        Args:
-            model (Model): The model to use as a reference for the control inputs
-        """
-        self.model = model
-        self.joint_act = None
-        self.tri_activations = None
-        self.tet_activations = None
-        self.muscle_activations = None
+    def reset(self) -> None:
+        """Reset the control inputs to their initial state defined in :attr:`model`."""
 
-    def reset(self):
-        """
-        Resets the control inputs to their initial state defined in :class:`Model`.
-        """
         if self.joint_act is not None:
             self.joint_act.assign(self.model.joint_act)
         if self.tri_activations is not None:
@@ -1396,6 +1407,8 @@ class ModelBuilder:
                 # apply offset transform to root bodies
                 if xform is not None:
                     self.shape_transform.append(xform * builder.shape_transform[s])
+                else:
+                    self.shape_transform.append(builder.shape_transform[s])
 
         for b, shapes in builder.body_shapes.items():
             self.body_shapes[b + start_body_idx] = [s + start_shape_idx for s in shapes]
@@ -1418,18 +1431,16 @@ class ModelBuilder:
 
             # offset the indices
             self.articulation_start.extend([a + self.joint_count for a in builder.articulation_start])
-            self.joint_parent.extend([p + self.joint_count if p != -1 else -1 for p in builder.joint_parent])
-            self.joint_child.extend([c + self.joint_count for c in builder.joint_child])
+            self.joint_parent.extend([p + self.body_count if p != -1 else -1 for p in builder.joint_parent])
+            self.joint_child.extend([c + self.body_count for c in builder.joint_child])
 
             self.joint_q_start.extend([c + self.joint_coord_count for c in builder.joint_q_start])
             self.joint_qd_start.extend([c + self.joint_dof_count for c in builder.joint_qd_start])
 
             self.joint_axis_start.extend([a + self.joint_axis_total_count for a in builder.joint_axis_start])
 
-        joint_children = set(builder.joint_child)
         for i in range(builder.body_count):
-            if xform is not None and i not in joint_children:
-                # rigid body is not attached to a joint, so apply input transform directly
+            if xform is not None:
                 self.body_q.append(xform * builder.body_q[i])
             else:
                 self.body_q.append(builder.body_q[i])

warp/sim/particles.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/render.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 collections import defaultdict
 
@@ -213,7 +221,7 @@ def CreateSimRenderer(renderer):
                                 pos=p,
                                 rot=q,
                                 scale=geo_scale,
-                                colors=[color],
+                                colors=color,
                                 parent_body=body,
                                 is_template=True,
                             )
@@ -328,7 +336,7 @@ def CreateSimRenderer(renderer):
                         "surface",
                         particle_q,
                         self.model.tri_indices.numpy().flatten(),
-                        colors=(((0.75, 0.25, 0.0),) * len(particle_q)),
+                        colors=(0.75, 0.25, 0.0),
                     )
 
                 # render springs

warp/sim/utils.py

@@ -1,3 +1,18 @@
+# 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 List, Tuple
 
 import numpy as np

warp/sparse.py

@@ -1,3 +1,18 @@
+# SPDX-FileCopyrightText: Copyright (c) 2023 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 ctypes
 from typing import Any, Generic, Optional, Tuple, TypeVar, Union
 

warp/stubs.py

@@ -1,3 +1,18 @@
+# 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.
+
 # Autogenerated file, do not edit, this file provides stubs for builtins autocomplete in VSCode, PyCharm, etc
 
 from typing import Any
@@ -1785,7 +1800,7 @@ def rand_init(seed: int32, offset: int32) -> uint32:
 
 @over
 def randi(state: uint32) -> int:
-    """Return a random integer in the range [0, 2^32)."""
+    """Return a random integer in the range [-2^31, 2^31)."""
     ...
 
 

warp/tape.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 collections import defaultdict, namedtuple
 from typing import Dict, List

warp/tests/__main__.py

@@ -1,3 +1,18 @@
+# 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 warp.thirdparty.unittest_parallel import main
 
 if __name__ == "__main__":

warp/tests/aux_test_class_kernel.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.
 
 """Dummy class used in test_reload.py"""
 

warp/tests/aux_test_compile_consts_dummy.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/tests/aux_test_conditional_unequal_types_kernels.py

@@ -1,9 +1,17 @@
-# Copyright (c) 2023 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) 2023 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 file defines a kernel that fails on codegen.py"""
 

warp/tests/aux_test_dependent.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 file is used to test reloading module references."""
 

warp/tests/aux_test_grad_customs.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.
 
 """This file is used to test importing a user-defined function with a custom gradient"""
 

warp/tests/aux_test_instancing_gc.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.
 
 """Helper module used in test_codegen_instancing.py"""
 

warp/tests/aux_test_module_unload.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.
 
 """Dummy module used in test_reload.py"""
 

warp/tests/aux_test_name_clash1.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.
 
 import warp as wp