Fix disabled_kinematics test

- DeprecationWarning: Support for built-in functions called with non-Warp array types

Author: etaoxing

warp/tests/sim/disabled_kinematics.py

@@ -26,8 +26,10 @@ def build_ant(num_envs):
         dof_start = i * dof_count
 
         # base
-        builder.joint_q[coord_start : coord_start + 3] = [i * 2.0, 0.70, 0.0]
-        builder.joint_q[coord_start + 3 : coord_start + 7] = wp.quat_from_axis_angle((1.0, 0.0, 0.0), -math.pi * 0.5)
+        p = [i * 2.0, 0.70, 0.0]
+        q = wp.quat_from_axis_angle(wp.vec3(1.0, 0.0, 0.0), -math.pi * 0.5)
+        builder.joint_q[coord_start : coord_start + 3] = p
+        builder.joint_q[coord_start + 3 : coord_start + 7] = q
 
         # joints
         builder.joint_q[coord_start + 7 : coord_start + coord_count] = [0.0, 1.0, 0.0, -1.0, 0.0, -1.0, 0.0, 1.0]
@@ -45,9 +47,9 @@ def build_complex_joint_mechanism(chain_length):
     ax1 = wp.normalize(wp.vec3(4.0, -1.0, 2.0))
     ax2 = wp.normalize(wp.vec3(-3.0, 4.0, -1.0))
     # declare some transforms with nonzero translation and orientation
-    tf0 = wp.transform(wp.vec3(1.0, 2.0, 3.0), wp.quat_from_axis_angle((1.0, 0.0, 0.0), math.pi * 0.25))
-    tf1 = wp.transform(wp.vec3(4.0, 5.0, 6.0), wp.quat_from_axis_angle((0.0, 1.0, 0.0), math.pi * 0.5))
-    tf2 = wp.transform(wp.vec3(7.0, 8.0, 9.0), wp.quat_from_axis_angle((0.0, 0.0, 1.0), math.pi * 0.75))
+    tf0 = wp.transform(wp.vec3(1.0, 2.0, 3.0), wp.quat_from_axis_angle(wp.vec3(1.0, 0.0, 0.0), math.pi * 0.25))
+    tf1 = wp.transform(wp.vec3(4.0, 5.0, 6.0), wp.quat_from_axis_angle(wp.vec3(0.0, 1.0, 0.0), math.pi * 0.5))
+    tf2 = wp.transform(wp.vec3(7.0, 8.0, 9.0), wp.quat_from_axis_angle(wp.vec3(0.0, 0.0, 1.0), math.pi * 0.75))
 
     parent = -1
     for _i in range(chain_length):