Merge pull request #3381 from tkelestemur:tarik/mjx-warp-put-model-nworld

PiperOrigin-RevId: 945578693
Change-Id: I873e4f47551d02f506d3af37040e1014fa0edb61

mjx/mujoco/mjx/_src/io.py

@@ -442,11 +442,13 @@ def _put_model_warp(
     m: mujoco.MjModel,
     graph_mode: mjxw.types.GraphMode,
     device: Optional[jax.Device] = None,
+    batch_sizes: Optional[Dict[str, int]] = None,
 ) -> types.Model:
   """Puts mujoco.MjModel onto a device, resulting in mjx.Model."""
   with wp.ScopedDevice('cpu'):  # pylint: disable=undefined-variable
-    mw = mjwp.put_model(m)  # pylint: disable=undefined-variable
+    mw = mjwp.put_model(m, batch_sizes=batch_sizes)  # pylint: disable=undefined-variable
 
+  batch_sizes = batch_sizes or {}
   fields = {f.name for f in types.Model.fields() if f.name != '_impl'}
   fields = {f: getattr(m, f) for f in fields}
   # Grab MJW private Option fields, and assume that public MjOption fields are
@@ -467,7 +469,9 @@ def _put_model_warp(
     if not hasattr(mw, k) or k in ('stat', 'opt'):
       continue
     field = _wp_to_np_type(getattr(mw, k), k)
-    if mjxw.types._BATCH_DIM['Model'].get(k, False):  # pylint: disable=protected-access
+    if (  # pylint: disable=protected-access
+        k not in batch_sizes and mjxw.types._BATCH_DIM['Model'].get(k, False)
+    ):
       field = field.reshape(field.shape[1:])
     if k == 'geom_dataid' and field.ndim > 1:
       # Batched geom_dataid is not supported in MJX.
@@ -477,7 +481,9 @@ def _put_model_warp(
   impl_fields = {}
   for k in mjxw.types.ModelWarp.__annotations__.keys():
     field = _wp_to_np_type(getattr(mw, k), k)
-    if mjxw.types._BATCH_DIM['Model'].get(k, False):  # pylint: disable=protected-access
+    if (  # pylint: disable=protected-access
+        k not in batch_sizes and mjxw.types._BATCH_DIM['Model'].get(k, False)
+    ):
       field = field.reshape(field.shape[1:])
     impl_fields[k] = field
 
@@ -534,6 +540,7 @@ def put_model(
     impl: Optional[Union[str, types.Impl]] = None,
     graph_mode: Optional[mjxw.types.GraphMode] = None,
     keepalive_refs: Optional[Dict[int, Any]] = None,
+    batch_sizes: Optional[Dict[str, int]] = None,
 ) -> types.Model:
   """Puts mujoco.MjModel onto a device, resulting in mjx.Model.
 
@@ -546,6 +553,7 @@ def put_model(
     keepalive_refs: optional dict to store references to underlying MuJoCo
       objects, preventing them from being garbage collected. Required for CPP
       impl to keep the model alive.
+    batch_sizes: optional per-field leading batch sizes for Warp model fields.
 
   Returns:
     an mjx.Model placed on device
@@ -561,7 +569,7 @@ def put_model(
   elif impl == types.Impl.WARP:
     _check_warp_installed()
     graph_mode = graph_mode or getattr(mjxw.types.GraphMode, 'WARP')
-    return _put_model_warp(m, graph_mode, device)
+    return _put_model_warp(m, graph_mode, device, batch_sizes=batch_sizes)
   elif impl == types.Impl.CPP:
     return _put_model_cpp(m, device, keepalive_refs=keepalive_refs)
   else:

mjx/mujoco/mjx/_src/io_test.py

@@ -352,6 +352,43 @@ class ModelIOTest(parameterized.TestCase):
 
     _ = jax.tree.map_with_path(check_ndim, mx)
 
+  def test_put_model_warp_batch_sizes(self):
+    """Tests put_model can add an nworld axis to selected Warp model fields."""
+    if not mjxw.WARP_INSTALLED:
+      self.skipTest('Warp not installed.')
+    if not hasattr(mjxw_types.GraphMode, 'WARP'):
+      self.skipTest('Warp JAX FFI graph modes unavailable.')
+
+    m = mujoco.MjModel.from_xml_string("""
+      <mujoco>
+        <asset>
+          <texture name="red" type="2d" builtin="flat" width="4" height="4"
+            rgb1="1 0 0" rgb2="1 0 0"/>
+          <material name="mat" texture="red" rgba="0.5 0.6 0.7 1"/>
+        </asset>
+        <worldbody>
+          <geom type="sphere" size="0.1" material="mat"/>
+        </worldbody>
+      </mujoco>
+    """)
+
+    nworld = 3
+    mx = mjx.put_model(m, impl='warp', batch_sizes={'mat_texid': nworld})
+
+    self.assertEqual(mx.mat_texid.shape, (nworld,) + m.mat_texid.shape)
+    self.assertEqual(mx.geom_pos.shape, (m.ngeom, 3))
+    self.assertEqual(mx.geom_size.shape, (m.ngeom, 3))
+    self.assertEqual(mx.mat_rgba.shape, (m.nmat, 4))
+    self.assertEqual(mx.geom_type.shape, (m.ngeom,))
+    self.assertEqual(mx.geom_dataid.shape, (m.ngeom,))
+
+    np.testing.assert_array_equal(
+        np.asarray(mx.mat_texid), np.repeat(m.mat_texid[None], nworld, axis=0)
+    )
+    np.testing.assert_allclose(np.asarray(mx.geom_pos), m.geom_pos)
+    np.testing.assert_allclose(np.asarray(mx.geom_size), m.geom_size)
+    np.testing.assert_allclose(np.asarray(mx.mat_rgba), m.mat_rgba)
+
   @parameterized.parameters('JAX', 'WARP', None)
   def test_put_model_warp_graph_mode(self, mode: str | None):
     """Tests that put_model accepts graph_mode parameter."""