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@Harshdhall01 In Warp, it was originally added here and looks still so currently, so should the PR go there also?

@Tadinu Thanks for reviewing!

You're right that the symbol naming originates in Warp. However, I found that:

• The Warp library exports the symbol as cuda_graph_launch (without wp_ prefix)
• MuJoCo's MJX code expects wp_cuda_graph_launch (with prefix)

I checked the Warp source and the symbol is indeed exported as cuda_graph_launch. Should I:

1. Submit this fix to MuJoCo to match what Warp exports, OR
2. Submit a PR to Warp to add the wp_ prefix?

Which approach would the maintainers prefer?

Hello @Harshdhall01 , we vendor the FFI file from warp-lang, so we don't modify it directly. Presumably you are getting a mismatch in the cuda_graph_launch symbol due to a mismatch in your warp-lang version compared to what FFI expects.

It looks like 3.3.6 had a mismatch in the warp-lang version here. I'm not sure how this didn't fail in our CI. If you bump warp-lang>=1.9.0, I think this should resolve your issue.

Since the warp-lang version at HEAD is working with its corresponding FFI, I'll be closing this PR. Please let us know if you have any other issues here!

uv pip install mujoco --pre --upgrade -f https://py.mujoco.org/
git clone https://github.com/google-deepmind/mujoco.git
cd mujoco/mjx
uv pip install -e .[warp]

then run your example