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<li class="toctree-l1"><a class="reference internal" href="concepts.html">Concepts</a></li>
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<article role="main" id="furo-main-content">
<section id="current-progress">
<h1>Current Progress<a class="headerlink" href="#current-progress" title="Link to this heading">¶</a></h1>
<section id="known-issues">
<h2>Known Issues<a class="headerlink" href="#known-issues" title="Link to this heading">¶</a></h2>
<p>Several known issues will be fixed or optimized in the following work or releases.</p>
<section id="missing-features">
<h3>Missing Features<a class="headerlink" href="#missing-features" title="Link to this heading">¶</a></h3>
<ul class="simple">
<li><p>The soft bodies must be added after affine bodies when building up the scene. More flexible scene setup will be introduced.</p></li>
<li><p>The renderer can only visualize the entires scene as a single mesh.</p></li>
<li><p>Currently <code class="docutils literal notranslate"><span class="pre">warp.sim.Control</span></code> is not supported. Control APIs are exposed in the <code class="docutils literal notranslate"><span class="pre">ASRModel</span></code> class.</p></li>
</ul>
</section>
<section id="force-loading-modules-and-kernels-from-cache">
<h3>Force Loading Modules and Kernels from Cache<a class="headerlink" href="#force-loading-modules-and-kernels-from-cache" title="Link to this heading">¶</a></h3>
<p>Currently, some kernels and modules are not open-sourced. We release the compiled PTX files, and our fork of NVIDIA Warp will load the PTX files from <code class="docutils literal notranslate"><span class="pre">ptx/</span></code>. This is how this is implemented:</p>
<p>In <code class="docutils literal notranslate"><span class="pre">warp/context.py</span></code>, we have hash disabled if its name (for modules) / key (for kernels) starts with a certain strings. The strings are specified by the <code class="docutils literal notranslate"><span class="pre">WARP_DISABLE_HASH_PREFIX</span></code> environment variable (separated by comma <code class="docutils literal notranslate"><span class="pre">,</span></code>), and is <code class="docutils literal notranslate"><span class="pre">["warp_ipc"]</span></code> by default to disable hashing for our abd kernels and modules. <code class="docutils literal notranslate"><span class="pre">warp</span></code> kernels and modules will not be effected.</p>
<p>The modification is done by the following liness for <code class="docutils literal notranslate"><span class="pre">Module</span></code> (and similarly for <code class="docutils literal notranslate"><span class="pre">Kernel</span></code>):</p>
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="k">class</span><span class="w"> </span><span class="nc">Module</span><span class="p">:</span>
<span class="n">disable_hash</span><span class="p">:</span> <span class="nb">bool</span> <span class="o">=</span> <span class="kc">False</span>
<span class="k">def</span><span class="w"> </span><span class="fm">__init__</span><span class="p">(</span><span class="bp">self</span><span class="p">,</span> <span class="n">name</span><span class="p">:</span> <span class="n">Optional</span><span class="p">[</span><span class="nb">str</span><span class="p">],</span> <span class="n">loader</span><span class="o">=</span><span class="kc">None</span><span class="p">):</span>
<span class="c1"># ...</span>
<span class="k">for</span> <span class="n">prefix</span> <span class="ow">in</span> <span class="p">[</span><span class="n">m</span><span class="o">.</span><span class="n">strip</span><span class="p">()</span> <span class="k">for</span> <span class="n">m</span> <span class="ow">in</span> <span class="n">os</span><span class="o">.</span><span class="n">environ</span><span class="o">.</span><span class="n">get</span><span class="p">(</span><span class="s2">"WARP_DISABLE_HASH_PREFIX"</span><span class="p">,</span> <span class="s2">"warp_ipc"</span><span class="p">)</span><span class="o">.</span><span class="n">split</span><span class="p">(</span><span class="s2">","</span><span class="p">)]:</span>
<span class="k">if</span> <span class="bp">self</span><span class="o">.</span><span class="n">name</span><span class="o">.</span><span class="n">startswith</span><span class="p">(</span><span class="n">prefix</span><span class="p">):</span>
<span class="bp">self</span><span class="o">.</span><span class="n">disable_hash</span> <span class="o">=</span> <span class="kc">True</span>
<span class="nb">print</span><span class="p">(</span><span class="sa">f</span><span class="s2">"Prefix </span><span class="si">{</span><span class="n">prefix</span><span class="si">}</span><span class="s2"> hit. Disabling hashing for module </span><span class="si">{</span><span class="bp">self</span><span class="o">.</span><span class="n">name</span><span class="si">}</span><span class="s2">"</span><span class="p">)</span>
<span class="k">break</span>
<span class="c1"># ...</span>
</pre></div>
</div>
<p>We are actively working to have the directly loading-from-PTX supported natively by NVIDIA warp. Stay tuned!</p>
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