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Add basic shard_map testing #541

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21 changes: 20 additions & 1 deletion mujoco_warp/_src/jax_test.py
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Original file line number Diff line number Diff line change
Expand Up @@ -38,12 +38,14 @@ def test_jax(self, xml):
self.skipTest("JAX not installed")

from jax import numpy as jp
from jax.sharding import Mesh, PartitionSpec as PS
from warp.jax_experimental.ffi import jax_callable

if jax.default_backend() != "gpu":
self.skipTest("JAX default backend is not GPU")

NWORLDS = 2
NDEVICES = len(jax.devices())
NCONTACTS = 16
UNROLL_LENGTH = 1

Expand Down Expand Up @@ -93,7 +95,24 @@ def step(carry, _):
jax_qvel = jp.zeros((NWORLDS, m.nv))

jax_unroll_fn = jax.jit(unroll).lower(jax_qpos, jax_qvel).compile()
jax_unroll_fn(jax_qpos, jax_qvel)
res = jax_unroll_fn(jax_qpos, jax_qvel)
print(res)

# Test shard_map support
mesh = Mesh(jax.devices(), ["devices"])
sharded_unroll_fn = jax.jit(
jax.shard_map(
unroll,
mesh=mesh,
in_specs=(PS("devices"), PS("devices")),
out_specs=(PS("devices"), PS("devices"))))
sharded_qpos = jp.tile(jp.array(m.qpos0.numpy()), (NDEVICES * NWORLDS, 1))
sharded_qvel = jp.zeros((NDEVICES * NWORLDS, m.nv))

compiled_sharded_unroll_fn = sharded_unroll_fn.lower(sharded_qpos, sharded_qvel).compile()
res = compiled_sharded_unroll_fn(sharded_qpos, sharded_qvel)
print(res)



if __name__ == "__main__":
Expand Down