move to per-module setting (#681)

Signed-off-by: Alain Denzler <adenzler@nvidia.com>

Author: adenzler-nvidia

mujoco_warp/_src/collision_convex.py

@@ -36,7 +36,7 @@
 from .warp_util import kernel as nested_kernel
 
 # TODO(team): improve compile time to enable backward pass
-wp.config.enable_backward = False
+wp.set_module_options({"enable_backward": False})
 
 MULTI_CONTACT_COUNT = 8
 mat3c = wp.types.matrix(shape=(MULTI_CONTACT_COUNT, 3), dtype=float)

mujoco_warp/_src/collision_gjk.py

@@ -21,7 +21,7 @@
 from .types import GeomType
 
 # TODO(team): improve compile time to enable backward pass
-wp.config.enable_backward = False
+wp.set_module_options({"enable_backward": False})
 
 FLOAT_MIN = -1e30
 FLOAT_MAX = 1e30

mujoco_warp/_src/collision_gjk_legacy.py

@@ -26,7 +26,7 @@
 from .types import GeomType
 
 # TODO(team): improve compile time to enable backward pass
-wp.config.enable_backward = False
+wp.set_module_options({"enable_backward": False})
 
 FLOAT_MIN = -1e30
 FLOAT_MAX = 1e30

mujoco_warp/_src/constraint.py

@@ -23,7 +23,7 @@
 from .types import vec11
 from .warp_util import event_scope
 
-wp.config.enable_backward = False
+wp.set_module_options({"enable_backward": False})
 
 
 @wp.kernel