Fix undefined symbol wp_cuda_graph_launch in Warp backend #2866
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The Warp library exports cuda_graph_launch but MJX FFI code was looking for wp_cuda_graph_launch (with wp_ prefix). This caused AttributeError on second call to JAX-compiled functions. Fixes: undefined symbol error in Warp backend with JAX compilation
Harshdhall01
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@Harshdhall01 In Warp, it was originally added here and looks still so currently, so should the PR go there also? |
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Problem
When using MuJoCo MJX with Warp backend and JAX compilation, the second call to a compiled function fails with:
AttributeError: undefined symbol: wp_cuda_graph_launch. Did you mean: 'cuda_graph_launch'?
Root Cause
The Warp library exports the symbol as
cuda_graph_launchbut the MJX FFI code looks forwp_cuda_graph_launch(with wp_ prefix).Solution
File:
mjx/mujoco/mjx/third_party/warp/jax_experimental/ffi.py(line ~578)Changed
wp.context.runtime.core.wp_cuda_graph_launchtowp.context.runtime.core.cuda_graph_launchTesting
Fixes #2865