warp-lang 1.6.1__py3-none-win_amd64.whl → 1.7.0__py3-none-win_amd64.whl

warp/tests/{test_collision.py → sim/test_collision.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 unittest
 
@@ -587,8 +595,8 @@ class TestCollision(unittest.TestCase):
     pass
 
 
-add_function_test(TestCollision, "test_vertex_triangle_collision", test_vertex_triangle_collision, devices=devices)
-add_function_test(TestCollision, "test_edge_edge_collision", test_vertex_triangle_collision, devices=devices)
+# add_function_test(TestCollision, "test_vertex_triangle_collision", test_vertex_triangle_collision, devices=devices)
+# add_function_test(TestCollision, "test_edge_edge_collision", test_vertex_triangle_collision, devices=devices)
 add_function_test(TestCollision, "test_particle_collision", test_particle_collision, devices=devices)
 
 if __name__ == "__main__":

warp/tests/{test_coloring.py → sim/test_coloring.py}

@@ -1,10 +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 numpy as np
 

warp/tests/{test_model.py → sim/test_model.py}

@@ -1,10 +1,19 @@
-# 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 unittest
 
 import numpy as np
@@ -170,6 +179,45 @@ class TestModel(unittest.TestCase):
         assert builder2.articulation_count == 2 * builder.articulation_count
         assert builder2.articulation_start == [0, 1, 2, 3]
 
+    def test_add_builder_with_open_edges(self):
+        builder = wp.sim.ModelBuilder()
+
+        dim_x = 16
+        dim_y = 16
+
+        env_builder = wp.sim.ModelBuilder()
+        env_builder.add_cloth_grid(
+            pos=wp.vec3(0.0, 0.0, 0.0),
+            vel=wp.vec3(0.1, 0.1, 0.0),
+            rot=wp.quat_from_axis_angle(wp.vec3(1.0, 0.0, 0.0), -math.pi * 0.25),
+            dim_x=dim_x,
+            dim_y=dim_y,
+            cell_x=1.0 / dim_x,
+            cell_y=1.0 / dim_y,
+            mass=1.0,
+        )
+
+        num_envs = 2
+        env_offsets = np.array([[0.0, 0.0, 0.0], [0.0, 0.0, 0.0]])
+
+        builder_open_edge_count = np.sum(np.array(builder.edge_indices) == -1)
+        env_builder_open_edge_count = np.sum(np.array(env_builder.edge_indices) == -1)
+
+        for i in range(num_envs):
+            xform = wp.transform(env_offsets[i], wp.quat_identity())
+            builder.add_builder(
+                env_builder,
+                xform,
+                update_num_env_count=True,
+                separate_collision_group=True,
+            )
+
+        self.assertEqual(
+            np.sum(np.array(builder.edge_indices) == -1),
+            builder_open_edge_count + num_envs * env_builder_open_edge_count,
+            "builder does not have the expected number of open edges",
+        )
+
 
 if __name__ == "__main__":
     wp.clear_kernel_cache()

warp/tests/{test_sim_grad_bounce_linear.py → sim/test_sim_grad_bounce_linear.py}

@@ -1,9 +1,17 @@
-# Copyright (c) 2025 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) 2025 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/tests/{test_sim_kinematics.py → sim/test_sim_kinematics.py}

@@ -1,15 +1,24 @@
-# 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
 import unittest
 
 import warp as wp
+import warp.examples
 import warp.sim
 from warp.tests.unittest_utils import *
 
@@ -21,7 +30,7 @@ def test_fk_ik(test, device):
 
     for i in range(num_envs):
         wp.sim.parse_mjcf(
-            os.path.join(os.path.dirname(__file__), "../examples/assets/nv_ant.xml"),
+            os.path.join(warp.examples.get_asset_directory(), "nv_ant.xml"),
             builder,
             stiffness=0.0,
             damping=1.0,