Incompatibility with warp-lang>=1.15.0

[abhaybd]

warp-lang==1.15.0 seems to have introduced breaking changes which breaks the SimpleWarpKinematics implementation, causing the error RuntimeError: Incompatible array data types.

#129 pins warp-lang<1.15.0, but we should fix this incompatibility to be future-compatible.

[BlGene]

https://github.com/allenai/molmospaces/actions/runs/29121069141/job/86457614928

______________ TestSimpleWarpKinematicsFranka.test_ik_batch[cpu] _______________
mlspaces_tests/component_tests/test_kinematics.py:309: in test_ik_batch
    fk_result = franka_warp_kin.fk(franka_q0, np.eye(4))
                ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
molmo_spaces/kinematics/parallel/warp_kinematics.py:389: in fk
    wp.copy(data.qpos, wp.from_numpy(qpos_arr))
.venv/lib/python3.11/site-packages/warp/_src/context.py:12662: in copy
    raise RuntimeError("Incompatible array data types")
E   RuntimeError: Incompatible array data types
_____ TestSimpleWarpKinematicsFranka.test_ik_unreachable_returns_none[cpu] _____
mlspaces_tests/component_tests/test_kinematics.py:325: in test_ik_unreachable_returns_none
    result = franka_warp_kin.ik("gripper", target, ["arm"], franka_q0, np.eye(4), max_iter=50)
             ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
molmo_spaces/kinematics/parallel/warp_kinematics.py:606: in ik
    wp.copy(
.venv/lib/python3.11/site-packages/warp/_src/context.py:12662: in copy
    raise RuntimeError("Incompatible array data types")
E   RuntimeError: Incompatible array data types
__ TestSimpleWarpKinematicsFranka.test_ik_preserves_non_actuated_groups[cpu] ___
mlspaces_tests/component_tests/test_kinematics.py:329: in test_ik_preserves_non_actuated_groups
    fk_result = franka_warp_kin.fk(franka_q0, np.eye(4))
                ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
molmo_spaces/kinematics/parallel/warp_kinematics.py:389: in fk
    wp.copy(data.qpos, wp.from_numpy(qpos_arr))
.venv/lib/python3.11/site-packages/warp/_src/context.py:12662: in copy
    raise RuntimeError("Incompatible array data types")
E   RuntimeError: Incompatible array data types

How to debug it:
Add a quick check right before the failing copy:
pythonprint(dst_array.dtype, src_array.dtype)
print(dst_array.shape, src_array.shape)
Then either:

Explicitly cast one side to match (wp.array(data, dtype=wp.float32)), or
Fix the upstream code that created the array with the wrong dtype (e.g. ensure a NumPy/Torch array is cast to float32 before wrapping with wp.from_numpy/wp.from_torch).

If you paste the actual line where wp.copy(...) (or the array creation calls feeding into it) is called, I can pinpoint exactly which array has the wrong dtype.

[BlGene]

Fixed with #131