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589 Commits

Author SHA1 Message Date
Taylor Howell 6608f1affa MJX Data.where. Fixes #3377 
PiperOrigin-RevId: 943875492
Change-Id: I963e4ad052ce9184a7548a468aa4aea722d10469
 2026-07-07 07:15:36 -07:00
Taylor Howell 641c1cf11b update MJX with nvmax 
PiperOrigin-RevId: 943836220
Change-Id: I7092b5ed005a48a10812f3280709c50691aa497e
 2026-07-07 07:14:47 -07:00
Yuval Tassa 315bcfbf3a Remove mjData.qM 
PiperOrigin-RevId: 942520660
Change-Id: I422358e299ca0fcfe4c49cd0ee90c014a4c319d7
 2026-07-04 09:38:45 -07:00
Taylor Howell 1f6cf4035c Import google-deepmind/mujoco_warp from GitHub. 
PiperOrigin-RevId: 941234486
Change-Id: Ie5d8cc0c9975e66f9a81bb6a86e33f640a5d19e3
 2026-07-01 12:27:10 -07:00
Martin Schuck 407be2fc0b Copybara import of the project: 
--
83a17d2844770fc2bbff37eda73b82df56076414 by Martin Schuck <martin.schuck@tum.de>:

Fix overflow cast

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d12211c6665e1d791f77338daf8c62fa2374e3c8 by Martin Schuck <martin.schuck@tum.de>:

Prevent skipping warnings from cached jax functions by clearning the cache before invokation

COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/3369 from amacati:fix.overflow_cast d12211c6665e1d791f77338daf8c62fa2374e3c8
PiperOrigin-RevId: 939914544
Change-Id: I0ab6e9ad1e7c45f352d2f49642049ad930955f0b
 2026-06-29 10:45:40 -07:00
Taylor Howell 56a182e67c Import Warp v1.14.0 
PiperOrigin-RevId: 938464395
Change-Id: Iac99c53566e2e62f6e75f5e0904100919043b463
 2026-06-26 02:03:42 -07:00
Michael Moss 5700829122 Update MuJoCo version to 3.10.1 following the 3.10.0 release 
PiperOrigin-RevId: 936044969
Change-Id: If0ebcc192419302da01741ebabb2b7dd3d7f7baf
 2026-06-22 07:25:02 -07:00
Kevin Zakka b1725b4fc9 Bump pinned pip dependencies to patch Dependabot alerts 2026-06-15 08:53:04 -07:00
Yuval Tassa 60b5cac066 Switch MJX DataJAX from legacy qM format to CSR M format 
Switch MJX DataJAX to use the CSR-format `M` as its primary sparse inertia representation, matching MuJoCo C `mjData.M`. This allows both `mjData.qM` and `mjModel.mapM2M` to be deleted in the future.

PiperOrigin-RevId: 932433465
Change-Id: I194ffbfdba0cdd9c718277ee0d5de7ac20f2b06f
 2026-06-15 06:52:45 -07:00
Michael Moss 1ae561407a Minor cleanup to avoid unwanted files in mjx packaging. 
PiperOrigin-RevId: 931118601
Change-Id: I94adedd0b29370e652140bb91f1488722eb61c55
 2026-06-12 06:26:42 -07:00
Taylor Howell 763e713d1b Import google-deepmind/mujoco_warp from GitHub. 
PiperOrigin-RevId: 929061622
Change-Id: I53892a819c3727b1f04db943839606ec1f477df1
 2026-06-09 02:28:29 -07:00
Copybara-Service 58a8c6ee56 Merge pull request #3323 from mhasek:mhasek/fix_mjwarp_data_sync_mismatch 
PiperOrigin-RevId: 929043537
Change-Id: I99c6c67bc02c45dc3a432a585aebac1621757d6d
 2026-06-09 01:47:11 -07:00
Copybara-Service a36758c26b Merge pull request #3322 from mhasek:mhasek/add_light_and_mat_prop_to_mjx_model 
PiperOrigin-RevId: 928464101
Change-Id: I066caa1b0d45700160909d7452138e557af6b365
 2026-06-08 03:42:53 -07:00
Copybara-Service d79520dc87 Merge pull request #3299 from tkelestemur:tarik/mjx-warp-nested-dataclass-methods 
PiperOrigin-RevId: 928341876
Change-Id: I0c89bcbbd95a14fadbf33d7785bf212c2c074c99
 2026-06-07 22:50:49 -07:00
Mustafa Hasekioglu b4135b571f fix island disable fields dimension mismatch 2026-06-06 16:18:52 -04:00
Mustafa Hasekioglu 994cfa0e4a update mjx model and shims 2026-06-06 14:39:01 -04:00
Taylor Howell 2a4af3246e Import google-deepmind/mujoco_warp from GitHub. 
PiperOrigin-RevId: 927227210
Change-Id: Ic72c58524c8e91e6fff44b4cab7f4a0f7de2bb33
 2026-06-05 04:56:58 -07:00
btaba 7078f38163 Update generate_warp_types.py 2026-06-04 12:28:38 -07:00
Tarik Kelestemur b4dd8e2d9c Emit TileSet methods in MJX Warp codegen 2026-06-03 12:31:23 -04:00
Tarik Kelestemur 319b3975a0 Merge remote-tracking branch 'origin/main' into tarik/mjx-warp-nested-dataclass-methods 
# Conflicts:
#	mjx/mujoco/mjx/warp/types.py
 2026-06-03 11:36:53 -04:00
Taylor Howell 5d231c64cd Import google-deepmind/mujoco_warp from GitHub. 
PiperOrigin-RevId: 925939529
Change-Id: Idb92c2d50d5be9df7b6e91113b576e9c706847ca
 2026-06-03 04:41:10 -07:00
Tarik Kelestemur c80d8fb35d Stabilize MJX Warp types codegen 2026-06-01 10:45:22 -04:00
Tarik Kelestemur f97b9f6e3b TileSet MJX codegen fix 2026-06-01 10:22:54 -04:00
Tarik Kelestemur 9bd8daf53b Minimize generated WARP types diff 2026-05-30 16:29:27 -04:00
Tarik Kelestemur f8a12a827f Merge origin/main into light_active PR 2026-05-30 16:24:27 -04:00
Taylor Howell 50e823e91c Import google-deepmind/mujoco_warp from GitHub. 
PiperOrigin-RevId: 923922783
Change-Id: I0b407347a70a0e2024aae7ed5bab1592dc40a074
 2026-05-30 07:44:29 -07:00
Taylor Howell b9c7a4b81a Import NVIDIA/warp 1.13.0 from GitHub. 
PiperOrigin-RevId: 923878216
Change-Id: If9df5e0672e956eb62874fb6f4f74ba3a02977b3
 2026-05-30 04:48:08 -07:00
Google DeepMind 9436972a22 Import NVIDIA/warp 1.13.0 from GitHub. 
PiperOrigin-RevId: 922893824
Change-Id: Ib91ffb03257c614c48feda096822f723323be54d
 2026-05-28 11:51:39 -07:00
Copybara-Service a22fc2423a Merge pull request #3295 from tkelestemur:tarik/fix-mjx-codegen-python311 
PiperOrigin-RevId: 922794565
Change-Id: Ibd42328d739d3882e5c418cf69fc9787572cdb4a
 2026-05-28 08:44:28 -07:00
Taylor Howell cae5a608d5 Import NVIDIA/warp 1.13.0 from GitHub. 
PiperOrigin-RevId: 922749092
Change-Id: Ide815e4224e64af69e7c3a58102508bc81d22770
 2026-05-28 07:00:59 -07:00
Tarik Kelestemur 106f1c5dbb fix mjx codegen and rerun 2026-05-27 17:50:31 -04:00
Tarik Kelestemur cf1b28d19a address btaba's review 2026-05-27 17:37:33 -04:00
Michael Moss 79aeceeaa3 Update MuJoCo version to 3.10.0 following the 3.9.0 release 
PiperOrigin-RevId: 922027849
Change-Id: I52dd7fb5eeb962c2670ab5dbbe7ce192ac9332c5
 2026-05-27 03:50:22 -07:00
Alessio Quaglino f6cd0234fd Change tactile sensor normal component to report penetration depth. 
The normal component of the tactile sensor now reports the maximum penetration depth at each taxel, instead of a derived normal force. The depth is negated so that positive values indicate penetration.

PiperOrigin-RevId: 921980899
Change-Id: Ide4103c0aff465e25a81cfdda650f6a0e2da9e0b
 2026-05-27 02:00:34 -07:00
Copybara-Service e03bf07134 Merge pull request #3230 from google-deepmind:dependabot/pip/mjx/pytest-9.0.3 
PiperOrigin-RevId: 921431196
Change-Id: Ie23587578d88a1d3d909e50b68108a2ee7934d09
 2026-05-26 06:32:39 -07:00
Copybara-Service 3cabb2eb8e Merge pull request #3257 from google-deepmind:dependabot/pip/mjx/pip-26.1 
PiperOrigin-RevId: 921402236
Change-Id: I40e4f10e72deb3b4195b9520305b7da220fbe08a
 2026-05-26 05:20:14 -07:00
Tarik Kelestemur 0482bbcca8 Expose MJX light_active model field 2026-05-19 23:54:48 -04:00
Taylor Howell 072125c49c MJX (impl='warp'): nconmax -> naconmax 
PiperOrigin-RevId: 915407157
Change-Id: Ie43c06164d6d942c2a4bb60b3d09fcb5c4c87a35
 2026-05-14 06:52:45 -07:00
Yuval Tassa a4e49f2dff Margin and gap redesign (breaking change) 
PiperOrigin-RevId: 914329812
Change-Id: I905665e4c1965bdb8b90587e5b1277cfbfe5cce0
 2026-05-12 09:43:43 -07:00
Michael Moss 28548ce51c Update MuJoCo version to 3.9.0 following the 3.8.1 release 
PiperOrigin-RevId: 913596257
Change-Id: Ib8b27fd2224e38560a209054c1d508a9bba21bbf
 2026-05-11 02:58:56 -07:00
dependabot[bot] 6b898395f1 Bump pip from 25.2 to 26.1 in /mjx 
Bumps [pip](https://github.com/pypa/pip) from 25.2 to 26.1.
- [Changelog](https://github.com/pypa/pip/blob/main/NEWS.rst)
- [Commits](https://github.com/pypa/pip/compare/25.2...26.1)

---
updated-dependencies:
- dependency-name: pip
  dependency-version: '26.1'
  dependency-type: direct:production
...

Signed-off-by: dependabot[bot] <support@github.com>
 2026-05-06 15:52:40 +00:00
Taylor Howell 9ffd50ce6a Import google-deepmind/mujoco_warp from GitHub. 
PiperOrigin-RevId: 911361969
Change-Id: I2dd1223a4279b3df2f11adc4f44778b8d153e599
 2026-05-06 08:47:54 -07:00
Copybara-Service bc8c1f826c Merge pull request #3235 from tkelestemur:mjx-warp-segmentation 
PiperOrigin-RevId: 910401768
Change-Id: I015bd05d9d823db5efb92f660c707a67ddca6591
 2026-05-04 20:42:32 -07:00
Yuval Tassa 767c607f58 Add mju_sym2dense, document future breakage of mj_fullM 
PiperOrigin-RevId: 910242375
Change-Id: Ibfbdef9cfb66088723499ea257da09aee0d80938
 2026-05-04 14:25:53 -07:00
Baruch Tabanpour a51a7bf062 Open-source MJX-Warp codegen to make external contribution easier. 
PiperOrigin-RevId: 910200635
Change-Id: I0218f8e281413803500c98fc29d0589c4e90d6b1
 2026-05-04 13:14:28 -07:00
Taylor Howell 0aeea2e4f6 Import google-deepmind/mujoco_warp from GitHub. 
PiperOrigin-RevId: 910110405
Change-Id: Ia20c749e07b0d92613948313d38161e9f9a074b9
 2026-05-04 10:33:21 -07:00
Tarik Kelestemur 5a51f4795d Merge branch 'google-deepmind:main' into mjx-warp-segmentation 2026-04-29 09:28:08 -04:00
Alessio Quaglino e6354b4368 Add flex_interp to the MJX Model. 
PiperOrigin-RevId: 906518134
Change-Id: If716e7e67827a6659fb72a6064809910fe99944f
 2026-04-27 13:33:17 -07:00
Tarik Kelestemur 1009478de9 Merge branch 'google-deepmind:main' into mjx-warp-segmentation 2026-04-26 21:36:32 -04:00
Google DeepMind 521d152ec5 Enable Warp execution on CPU devices in MJX. 
This change modifies the Warp JAX FFI to register callbacks for both CUDA and CPU platforms, allowing Warp kernels to be launched on CPU devices. MJX's io.py is updated to allow Warp to use CPU devices if no CUDA GPU is available. Tests are adjusted to no longer skip when CUDA GPUs are absent. A minor fix for sorting precision in test_util.py is also included.

Kristian Hartikainen
 - https://github.com/google-deepmind/mujoco/pull/2948

Github issue - https://github.com/google-deepmind/mujoco/issues/2947

PiperOrigin-RevId: 906018844
Change-Id: I9c026b4a4e2a0276d5d3af3954fd027cf75b6d7a
 2026-04-26 14:19:34 -07:00