Add support for older warp versions (<1.0.0)

2024-06-24 15:06:25 -07:00
parent 0c51dd2da8
commit ec527d77e9
14 changed files with 1101 additions and 512 deletions
--- a/src/curobo/rollout/cost/dist_cost.py
+++ b/src/curobo/rollout/cost/dist_cost.py
@@ -224,7 +224,9 @@ def make_l2_kernel(dof_template: int):
            for i in range(dof_template):
                out_grad_p[b_addrs + i] = g_p[i]

-    return wp.Kernel(forward_l2_loop_warp)
+    module = wp.get_module(forward_l2_loop_warp.__module__)
+    key = "forward_l2_loop" + str(dof_template)
+    return wp.Kernel(forward_l2_loop_warp, key=key, module=module)


 # create a bound cost tensor: