Merge remote-tracking branch 'upstream/main' into sensor_touch

Author: thowell

conftest.py

@@ -24,10 +24,13 @@ def pytest_addoption(parser):
     default=False,
     help="run tests with cuda error checking",
   )
+  parser.addoption("--lineinfo", action="store_true", default=False, help="add lineinfo to warp kernel")
 
 
 def pytest_configure(config):
   if config.getoption("--cpu"):
     wp.set_device("cpu")
   if config.getoption("--verify_cuda"):
     wp.config.verify_cuda = True
+  if config.getoption("--lineinfo"):
+    wp.config.lineinfo = True

contrib/kernel_analyzer/kernel_analyzer/ast_analyzer_test.py

@@ -136,8 +136,8 @@ def test_all_issues(
 @kernel
 def test_no_issues(
     # Model:
-    qpos0: wp.array(dtype=float),
-    geom_pos: wp.array(dtype=wp.vec3),
+    qpos0: wp.array2d(dtype=float),
+    geom_pos: wp.array2d(dtype=wp.vec3),
     # Data in:
     qpos_in: wp.array2d(dtype=float),
     qvel_in: wp.array2d(dtype=float),

mujoco_warp/_src/broadphase_test.py

@@ -85,7 +85,7 @@ def test_sap_broadphase(self):
       (6, 7),
     ]
 
-    _, _, m, d = test_util.fixture(xml=_SAP_MODEL)
+    _, _, m, d = test_util.fixture(xml=_SAP_MODEL, qpos0=True)
 
     mjwarp.sap_broadphase(m, d)