Walkthrough

The update changes how the inertia matrix for rigid bodies is assigned in the parse_usd function. Instead of storing the inertia as a NumPy array, the code now wraps it in a Warp 3x3 matrix type (wp.mat33) before assignment, ensuring explicit type consistency with Warp's matrix operations.

Changes

Sequence Diagram(s)

sequenceDiagram
    participant USDFile
    participant parse_usd
    participant builder

    USDFile->>parse_usd: Provide rigid body data (with PhysicsMassAPI)
    parse_usd->>parse_usd: Extract inertia as NumPy array
    parse_usd->>parse_usd: Wrap inertia in wp.mat33
    parse_usd->>builder: Assign body_inertia[body_id] = wp.mat33(inertia)
    parse_usd->>parse_usd: (If needed) Compute inverse inertia with wp.mat33
    parse_usd->>builder: Assign body_inv_inertia[body_id]

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