Add warp graph capture and allow graph conditional.

PiperOrigin-RevId: 792208987
Change-Id: I139ff1db734b66734d588c3e7fe73426659cb484

mjx/mujoco/mjx/_src/io.py

@@ -455,7 +455,6 @@ def _put_model_warp(
 
   with wp.ScopedDevice('cpu'):  # pylint: disable=undefined-variable
     mw = mjwp.put_model(m)  # pylint: disable=undefined-variable
-    mw.opt.graph_conditional = False
 
   fields = {f.name for f in types.Model.fields() if f.name != '_impl'}
   fields = {f: getattr(m, f) for f in fields}
@@ -865,7 +864,7 @@ def _make_data_warp(
     if not hasattr(dw, k):
       raise ValueError(f'Public data field {k} not found in Warp data.')
     field = _wp_to_np_type(getattr(dw, k))
-    if mjxw.types.BATCH_DIM['Data'][k]:
+    if mjxw.types._BATCH_DIM['Data'][k]:  # pylint: disable=protected-access
       field = field.reshape(field.shape[1:])
     fields[k] = field
 
@@ -873,7 +872,7 @@ def _make_data_warp(
   for k in mjxw.types.DataWarp.__annotations__.keys():
     field = _get_nested_attr(dw, k, split='__')
     field = _wp_to_np_type(field)
-    if mjxw.types.BATCH_DIM['Data'][k]:
+    if mjxw.types._BATCH_DIM['Data'][k]:  # pylint: disable=protected-access
       field = field.reshape(field.shape[1:])
     impl_fields[k] = field
 

mjx/mujoco/mjx/_src/io_test.py

@@ -311,10 +311,10 @@ class ModelIOTest(parameterized.TestCase):
 
     def check_ndim(path, x):
       k = _get_name_from_path(path)
-      if k not in mjxw_types.NDIM['Model']:
+      if k not in mjxw_types._NDIM['Model']:
         return
-      is_batched = mjxw_types.BATCH_DIM['Model'][k]
-      expected_ndim = mjxw_types.NDIM['Model'][k] - is_batched
+      is_batched = mjxw_types._BATCH_DIM['Model'][k]
+      expected_ndim = mjxw_types._NDIM['Model'][k] - is_batched
       if not hasattr(x, 'ndim'):
         return
       msg = f'Field {k} has ndim {x.ndim} but expected {expected_ndim}'
@@ -745,10 +745,10 @@ class DataIOTest(parameterized.TestCase):
 
     def check_ndim(path, x):
       k = _get_name_from_path(path)
-      if k not in mjxw_types.NDIM['Data']:
+      if k not in mjxw_types._NDIM['Data']:
         return
-      is_batched = mjxw_types.BATCH_DIM['Data'][k]
-      expected_ndim = mjxw_types.NDIM['Data'][k] - is_batched
+      is_batched = mjxw_types._BATCH_DIM['Data'][k]
+      expected_ndim = mjxw_types._NDIM['Data'][k] - is_batched
       if not hasattr(x, 'ndim'):
         return
       msg = f'Field {k} has ndim {x.ndim} but expected {expected_ndim}'

mjx/mujoco/mjx/warp/collision_driver.py

@@ -299,7 +299,6 @@ def _collision_jax_impl(m: types.Model, d: types.Data):
       num_outputs=37,
       output_dims=output_dims,
       vmap_method=None,
-      graph_compatible=True,
       in_out_argnames={
           'collision_hftri_index',
           'collision_pair',

mjx/mujoco/mjx/warp/ffi.py

@@ -97,7 +97,7 @@ def flatten_signature(signature: inspect.Signature, args: Tuple[Any, ...]):
 def jax_callable_variadic_tuple(
     func: Callable,  # pylint: disable=g-bare-generic
     num_outputs: int = 1,
-    graph_compatible: bool = True,
+    graph_mode: ffi.GraphMode = ffi.GraphMode.WARP,
     vmap_method: Optional[str] = None,
     output_dims: Optional[dict[str, tuple[int, ...]]] = None,
     in_out_argnames: Optional[Sequence[str]] = None,
@@ -116,7 +116,7 @@ def jax_callable_variadic_tuple(
     my_callable = ffi.jax_callable(
         func_wrapper,
         num_outputs=num_outputs,
-        graph_compatible=graph_compatible,
+        graph_mode=graph_mode,
         vmap_method=vmap_method,
         output_dims=output_dims,
         in_out_argnames=in_out_argnames,
@@ -154,7 +154,7 @@ def _format_arg(arg: Any, name: str, annotation: Any, verbose: bool):
   # Add stride 0 to first axis in case the underlying argument should be
   # batched.
   # NB: the outer marshalling does an "expand_dims" on Model fields.
-  is_batch_field = mjx_warp_types.BATCH_DIM['Model'].get(name, False)
+  is_batch_field = mjx_warp_types._BATCH_DIM['Model'].get(name, False)  # pylint: disable=protected-access
   if arg.shape[0] == 1 and is_batch_field:
     old_strides = arg.strides
     arg.strides = (0,) + arg.strides[1:]
@@ -243,13 +243,13 @@ def marshal_jax_warp_callable(func):
     # function.
     m_expanded = jax.tree.map_with_path(
         lambda path, x: _expand_dim_from_path(
-            path, x, mjx_warp_types.NDIM['Model']
+            path, x, mjx_warp_types._NDIM['Model']  # pylint: disable=protected-access
         ),
         m,
     )
     d_expanded = jax.tree.map_with_path(
         lambda path, x: _expand_dim_from_path(
-            path, x, mjx_warp_types.NDIM['Data']
+            path, x, mjx_warp_types._NDIM['Data']  # pylint: disable=protected-access
         ),
         d,
     )
@@ -292,9 +292,9 @@ def _maybe_broadcast_to(
     cls_str: str,
 ) -> Any:
   """Broadcasts fields that are used in MuJoCo Warp."""
-  ndim = _get_mapping_from_tree_path(path, mjx_warp_types.NDIM[cls_str])
+  ndim = _get_mapping_from_tree_path(path, mjx_warp_types._NDIM[cls_str])
   needs_batch_dim = _get_mapping_from_tree_path(
-      path, mjx_warp_types.BATCH_DIM[cls_str]
+      path, mjx_warp_types._BATCH_DIM[cls_str]  # pylint: disable=protected-access
   )
   needs_batch_dim = bool(needs_batch_dim) and (ndim is not None and ndim > 0)
   if needs_batch_dim and not is_batched:
@@ -319,13 +319,13 @@ def marshal_custom_vmap(vmap_func):
     # Flatten batch dims into the first axis if the vmap was nested.
     m_flat = jax.tree.map_with_path(
         lambda path, x: _flatten_batch_dim(
-            path, x, mjx_warp_types.NDIM['Model']
+            path, x, mjx_warp_types._NDIM['Model']  # pylint: disable=protected-access
         ),
         m,
     )
     d_broadcast_flat = jax.tree.map_with_path(
         lambda path, x: _flatten_batch_dim(
-            path, x, mjx_warp_types.NDIM['Data']
+            path, x, mjx_warp_types._NDIM['Data']  # pylint: disable=protected-access
         ),
         d_broadcast,
     )
@@ -336,7 +336,7 @@ def marshal_custom_vmap(vmap_func):
     out_batched = jax.tree.map_with_path(
         # NB: if a field is not in MuJoCo Warp, we let JAX do its magic.
         lambda path, x: _get_mapping_from_tree_path(
-            path, mjx_warp_types.BATCH_DIM['Data']
+            path, mjx_warp_types._BATCH_DIM['Data']  # pylint: disable=protected-access
         )
         or x,
         out_batched,

mjx/mujoco/mjx/warp/forward.py

@@ -1207,7 +1207,6 @@ def _forward_jax_impl(m: types.Model, d: types.Data):
       num_outputs=182,
       output_dims=output_dims,
       vmap_method=None,
-      graph_compatible=True,
       in_out_argnames={
           'act',
           'act_dot',
@@ -3298,7 +3297,6 @@ def _step_jax_impl(m: types.Model, d: types.Data):
       num_outputs=194,
       output_dims=output_dims,
       vmap_method=None,
-      graph_compatible=True,
       in_out_argnames={
           'act',
           'act_dot',

mjx/mujoco/mjx/warp/smooth.py

@@ -179,7 +179,6 @@ def _kinematics_jax_impl(m: types.Model, d: types.Data):
       num_outputs=19,
       output_dims=output_dims,
       vmap_method=None,
-      graph_compatible=True,
       in_out_argnames={
           'flexedge_length',
           'flexedge_velocity',

mjx/mujoco/mjx/warp/types.py

@@ -439,7 +439,7 @@ def _from_elt(cont, axis_size, d, axis_dest):
 
 batching.register_vmappable(DataWarp, int, int, _to_elt, _from_elt, None)
 
-NDIM = {
+_NDIM = {
     'Data': {
         'act': 2,
         'act_dot': 2,
@@ -1028,7 +1028,7 @@ NDIM = {
     },
     'Statistic': {'meaninertia': 0},
 }
-BATCH_DIM = {
+_BATCH_DIM = {
     'Data': {
         'act': True,
         'act_dot': True,