Enable MuJoCo Warp (mjw) backend on macOS#3171
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tkelestemur wants to merge 3 commits intogoogle-deepmind:mainfrom
Open
Enable MuJoCo Warp (mjw) backend on macOS#3171tkelestemur wants to merge 3 commits intogoogle-deepmind:mainfrom
tkelestemur wants to merge 3 commits intogoogle-deepmind:mainfrom
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Allow impl="warp" to run on macOS by falling back to CPU when no CUDA GPU is available. Previously, the warp backend required CUDA, making it unusable on macOS for local development and debugging. Changes: - Device resolution falls back to CPU when no CUDA GPU is found - Device compatibility check accepts both CUDA GPU and CPU for warp - FFI targets registered on both CUDA and Host platforms - Kernel launch dispatches to wp_cpu_launch_kernel on CPU - CUDA graph traits and capture modes gated on wp.is_cuda_available() - Module preloading extended to CPU devices - Removed has_cuda_gpu_device() skip conditions from warp tests - Fixed lexsort precision issue in test_util.py causing flaky test on macOS due to floating point sort key differences See google-deepmind#2947
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Allow mujoco-mjx to be installed with mujoco 3.6.0 since the macOS warp changes do not depend on any 3.7.0-specific APIs.
When render_rgb=False or render_depth=False, the condition `if render_rgb and isinstance(render_rgb, bool)` short-circuits because False is falsy, skipping the bool-to-list expansion. This causes a TypeError downstream. Fix by checking isinstance first.
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cc @btaba |
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Allow impl="warp" to run on macOS by falling back to CPU when no CUDA GPU is available. Previously, the warp backend required CUDA, making it unusable on macOS for local development and debugging.
Changes:
See #2947
This is on top of @hartikainen 's PR here: #2948