Import google-deepmind/mujoco_warp from GitHub. Update MJX io.py.

PiperOrigin-RevId: 816431884 Change-Id: I54881e7e350fbe5b2be1833e66745894b122f374
2025-10-07 16:42:44 -07:00
parent f83ee3fd73
commit b56cf98e41
25 changed files with 1026 additions and 549 deletions
@@ -30,11 +30,13 @@ General
   :class: attention

   - The attribute ``mjOption.apirate`` was unused and has been removed.
+   - MJX ``nconmax`` and ``njmax`` fields in ``mjx.make_data`` now default to ``None`` instead of -1.

 MJX
 ^^^
 - Fix :github:issue:`2508`, ``qLD`` shapes mismatched mjModel during ``get_data_into``.
-
+- Pull in MuJoCo Warp updatest to ``io.py``, and use ``naconmax`` instead of ``naconmax`` to set the maximum number of
+  contacts over all environments.

 Version 3.3.6 (September 15, 2025)
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