warp-lang 1.6.1__py3-none-macosx_10_13_universal2.whl → 1.7.0__py3-none-macosx_10_13_universal2.whl

warp/render/__init__.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 .render_opengl import OpenGLRenderer
 from .render_usd import UsdRenderer

warp/render/render_opengl.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 ctypes
 import sys

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
 

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
 
@@ -22,7 +30,7 @@ def compute_2d_rotational_dofs(
     """
     Computes the rotation quaternion and 3D angular velocity given the joint axes, coordinates and velocities.
     """
-    q_off = wp.quat_from_matrix(wp.mat33(axis_0, axis_1, wp.cross(axis_0, axis_1)))
+    q_off = wp.quat_from_matrix(wp.matrix_from_cols(axis_0, axis_1, wp.cross(axis_0, axis_1)))
 
     # body local axes
     local_0 = wp.quat_rotate(q_off, wp.vec3(1.0, 0.0, 0.0))
@@ -52,7 +60,7 @@ def invert_2d_rotational_dofs(
     """
     Computes generalized joint position and velocity coordinates for a 2D rotational joint given the joint axes, relative orientations and angular velocity differences between the two bodies the joint connects.
     """
-    q_off = wp.quat_from_matrix(wp.mat33(axis_0, axis_1, wp.cross(axis_0, axis_1)))
+    q_off = wp.quat_from_matrix(wp.matrix_from_cols(axis_0, axis_1, wp.cross(axis_0, axis_1)))
     q_pc = wp.quat_inverse(q_off) * wp.quat_inverse(q_p) * q_c * q_off
 
     # decompose to a compound rotation each axis
@@ -98,7 +106,7 @@ def compute_3d_rotational_dofs(
     """
     Computes the rotation quaternion and 3D angular velocity given the joint axes, coordinates and velocities.
     """
-    q_off = wp.quat_from_matrix(wp.mat33(axis_0, axis_1, axis_2))
+    q_off = wp.quat_from_matrix(wp.matrix_from_cols(axis_0, axis_1, axis_2))
 
     # body local axes
     local_0 = wp.quat_rotate(q_off, wp.vec3(1.0, 0.0, 0.0))
@@ -128,7 +136,7 @@ def invert_3d_rotational_dofs(
     """
     Computes generalized joint position and velocity coordinates for a 3D rotational joint given the joint axes, relative orientations and angular velocity differences between the two bodies the joint connects.
     """
-    q_off = wp.quat_from_matrix(wp.mat33(axis_0, axis_1, axis_2))
+    q_off = wp.quat_from_matrix(wp.matrix_from_cols(axis_0, axis_1, axis_2))
     q_pc = wp.quat_inverse(q_off) * wp.quat_inverse(q_p) * q_c * q_off
 
     # decompose to a compound rotation each axis

warp/sim/collide.py

@@ -1,18 +1,28 @@
-# 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.
 """
 
+from typing import Optional
+
 import numpy as np
 
 import warp as wp
-from warp.sim.model import Model
+from warp.sim.model import Model, State
 
 from .model import PARTICLE_FLAG_ACTIVE, ModelShapeGeometry
 
@@ -1548,17 +1558,23 @@ def handle_contact_pairs(
         contact_thickness[index] = thickness
 
 
-def collide(model, state, edge_sdf_iter: int = 10, iterate_mesh_vertices: bool = True, requires_grad: bool = None):
-    """
-    Generates contact points for the particles and rigid bodies in the model,
-    to be used in the contact dynamics kernel of the integrator.
+def collide(
+    model: Model,
+    state: State,
+    edge_sdf_iter: int = 10,
+    iterate_mesh_vertices: bool = True,
+    requires_grad: Optional[bool] = None,
+) -> None:
+    """Generate contact points for the particles and rigid bodies in the model for use in contact-dynamics kernels.
 
     Args:
-        model: the model to be simulated
-        state: the state of the model
-        edge_sdf_iter: number of search iterations for finding closest contact points between edges and SDF
-        iterate_mesh_vertices: whether to iterate over all vertices of a mesh for contact generation (used for capsule/box <> mesh collision)
-        requires_grad: whether to duplicate contact arrays for gradient computation (if None uses model.requires_grad)
+        model: The model to be simulated.
+        state: The state of the model.
+        edge_sdf_iter: Number of search iterations for finding closest contact points between edges and SDF.
+        iterate_mesh_vertices: Whether to iterate over all vertices of a mesh for contact generation
+            (used for capsule/box <> mesh collision).
+        requires_grad: Whether to duplicate contact arrays for gradient computation
+            (if ``None``, uses ``model.requires_grad``).
     """
 
     if requires_grad is None:
@@ -1677,13 +1693,16 @@ def collide(model, state, edge_sdf_iter: int = 10, iterate_mesh_vertices: bool =
                 model.rigid_contact_tids = wp.zeros_like(model.rigid_contact_tids)
                 model.rigid_contact_shape0 = wp.empty_like(model.rigid_contact_shape0)
                 model.rigid_contact_shape1 = wp.empty_like(model.rigid_contact_shape1)
+
                 if model.rigid_contact_pairwise_counter is not None:
                     model.rigid_contact_pairwise_counter = wp.zeros_like(model.rigid_contact_pairwise_counter)
             else:
                 model.rigid_contact_count.zero_()
                 model.rigid_contact_tids.zero_()
+
                 if model.rigid_contact_pairwise_counter is not None:
                     model.rigid_contact_pairwise_counter.zero_()
+
             model.rigid_contact_shape0.fill_(-1)
             model.rigid_contact_shape1.fill_(-1)
 

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