3c99705f85
Update MuJoCo's version number following the 3.3.4 release.
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PiperOrigin-RevId: 781596261
Change-Id: Iac050c4b9cb65542b52fa6b8c54ff2537bc6a648
2025-07-10 10:47:26 -07:00
a86461fc57
Set MJX minimum friction value to mjMINMU.
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PiperOrigin-RevId: 780934075
Change-Id: I1ae0b678526218514cc260fdb9f2a62d88394cbe
2025-07-09 01:59:29 -07:00
8da4e1c354
Fix deriv_smooth_vel docstring.
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PiperOrigin-RevId: 780923683
Change-Id: I05fc5426a980dfffa22cba7cac71f5e4a811b5eb
2025-07-09 01:33:33 -07:00
45d4cacc45
Remove dense actuator_moment for _put_data_c.
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PiperOrigin-RevId: 779234984
Change-Id: I19ac2849aa2b00b1688781491c9230558c24c7a2
2025-07-04 11:03:59 -07:00
2ce5caa239
Update MJX rne_postconstraint with contributions from equality connect and equality weld constraints.
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PiperOrigin-RevId: 777491801
Change-Id: Ib32dda4178def7a96d31e91787f3d0866a56cd76
2025-06-30 03:21:45 -07:00
48205fb570
Symmetrize dense matrices before cho_factor, since the jax.scipy.linalg.cho_factor API had a breaking change in https://github.com/jax-ml/jax/commit/a981e1c4b99b7628efe2bf70a75c0422a70e9524 .
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PiperOrigin-RevId: 775740310
Change-Id: I1a172ec4851b5d6a7f3d56179c54fec5d4c9e0c5
2025-06-25 10:15:00 -07:00
d0faa3624e
Update MJX inverse dynamics for tendon armature.
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PiperOrigin-RevId: 775658246
Change-Id: Ie6a71b971d4b165e0235689b7b4ee3246486e10d
2025-06-25 06:14:46 -07:00
a00bfa819c
Raise error when binding to a removed element.
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PiperOrigin-RevId: 774462737
Change-Id: I820c0e1c010ae9fbf6d9667c3364d4b65bf21002
2025-06-22 10:15:31 -07:00
a64f1fd335
Compute M in mjx._get_data_into.
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PiperOrigin-RevId: 772594295
Change-Id: I7da992e9e5590c6060fbe1e2c1e40ccbd3c9b2b9
2025-06-17 13:21:22 -07:00
8084b06a35
Add tendon armature with sparse qM to MJX. Fixes #2681 .
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PiperOrigin-RevId: 772583693
Change-Id: I827d61aacada33f53500bf54613ccb8145bc854b
2025-06-17 12:52:03 -07:00
41eb966c9b
Resolve deprecation warnings in playground.
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PiperOrigin-RevId: 771184565
Change-Id: Ic2056ad82a6a0c20897a02ea39c37b3f44a80513
2025-06-13 12:28:57 -07:00
a4ab35c194
update scrubs and set next version
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PiperOrigin-RevId: 770740070
Change-Id: I6b2f1356706b1849872df2583adbbb3f72057884
2025-06-12 11:39:45 -07:00
65deedbc75
Rename backend_impl to impl. Remove _full_compat from callsites.
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PiperOrigin-RevId: 770400560
Change-Id: I7bec79aeae07322a30b15cc04d4dd05077741a8b
2025-06-11 18:05:49 -07:00
e5631c0bab
[MJX] Don't raise sparse qM error in tendon_armature if there are no tendons.
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PiperOrigin-RevId: 769753590
Change-Id: I5dd7a953f08e0566c5e22c2c926d7bd9c2c57bd6
2025-06-10 12:46:47 -07:00
caaf7b3a69
Add tendon armature to MJX.
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PiperOrigin-RevId: 769294284
Change-Id: Idfbd4f355eb26fba5035973ab989a9d3af05c85f
2025-06-09 14:27:18 -07:00
f72a175a2c
Enable using sensor and SDF plugins in MJX:C.
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PiperOrigin-RevId: 765089354
Change-Id: I3cacc2980ac8aeff68cfb927beb5b1dbb13261d4
2025-05-30 01:52:59 -07:00
4a102c37bc
Add support for indexing qfrc fields in MJX bind() method.
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PiperOrigin-RevId: 763415415
Change-Id: Idb567a1711679565444779fb1062d7b65434ef13
2025-05-26 07:04:12 -07:00
e44513bee5
Merge pull request #2640 from google-deepmind:dependabot/pip/mjx/setuptools-78.1.1
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PiperOrigin-RevId: 762416151
Change-Id: I40e47cb3334ab2fa7f8bdfef27fa1720186cd082
2025-05-23 07:37:33 -07:00
74cc904edc
Convert light directional boolean into a type enum.
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PiperOrigin-RevId: 761983728
Change-Id: Id5bf93c103e5358d9c5cd9f1176532a978e0b3a8
2025-05-22 08:51:18 -07:00
7da6b5b9d9
Ensure mjx.get_data_into returns correct efc_J, qLD, and qLDiagInv.
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PiperOrigin-RevId: 761264885
Change-Id: Ia3e669e24b2cc05f1506f0508c552c48233298cb
2025-05-20 16:03:18 -07:00
5051520733
Delete commented code.
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PiperOrigin-RevId: 761234852
Change-Id: Ibea32eee47448073fff1ed2df307b1e44c78423f
2025-05-20 14:37:50 -07:00
06e4937ed7
Bump setuptools from 75.5.0 to 78.1.1 in /mjx
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Bumps [setuptools](https://github.com/pypa/setuptools ) from 75.5.0 to 78.1.1.
- [Release notes](https://github.com/pypa/setuptools/releases )
- [Changelog](https://github.com/pypa/setuptools/blob/main/NEWS.rst )
- [Commits](https://github.com/pypa/setuptools/compare/v75.5.0...v78.1.1 )
---
updated-dependencies:
- dependency-name: setuptools
dependency-version: 78.1.1
dependency-type: direct:production
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Signed-off-by: dependabot[bot] <support@github.com >
2025-05-19 21:16:37 +00:00
cada50434a
Raise an error if MJX scan functions are called on models with zero DoFs.
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In the future, MJX will support correctly simulating models with zero dofs.
PiperOrigin-RevId: 760731314
Change-Id: Iadddf80a959c64cddb31610e60927ae0437ebcaf
2025-05-19 12:42:19 -07:00
7ba507323d
Handle mocap body in bind.
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PiperOrigin-RevId: 759065524
Change-Id: Ic4cc737596af883f267b6e2c470ac4591ea1eead
2025-05-15 03:10:19 -07:00
dd28b887d4
Rename C sparse structure to M in mjdata, improve docstrings.
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PiperOrigin-RevId: 758636638
Change-Id: If78acc423601d2911f514929b27f7b6d0af9ef58
2025-05-14 05:26:19 -07:00
4ba04586ae
Fix setting slices of multidimensional arrays for multiple targets
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PiperOrigin-RevId: 758623598
Change-Id: Ie05b36c25be74ddf7451a95377caf1ed1d692141
2025-05-14 04:36:58 -07:00
79c74d7eae
Add mjData.M, not yet used.
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PiperOrigin-RevId: 758351796
Change-Id: I0786966b2f2c2e699db845cda6940a8821b23f49
2025-05-13 13:28:03 -07:00
1e02d66c3d
Remove M matrix structure from mjData.
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Introduced in March 2025 as a temporary measure, this is not considered a breaking change.
PiperOrigin-RevId: 758311298
Change-Id: Ia08857c18b791f6a62a2d8d136b45fc075507b93
2025-05-13 11:47:18 -07:00
6bc0bbf7df
internal change
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PiperOrigin-RevId: 758287280
Change-Id: I8b99a5d44910d5b2e7857b808b1696f244778a26
2025-05-13 10:53:25 -07:00
627fffdef9
Switch mjData.{qH,qLD} from full ("M") to reduced ("C") inertia matrix structure.
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PiperOrigin-RevId: 758273074
Change-Id: If1a2e663ea70044694af985e0119afd6d58115ac
2025-05-13 10:20:32 -07:00
6cfea71985
Allow for different MJX backend implementations.
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PiperOrigin-RevId: 755935704
Change-Id: Ic135cd00137c2857c73c683ed9fdc5ac4418715d
2025-05-07 11:28:39 -07:00
421c487d9d
Set mocap_pos/quat in make_data. Fixes #2606 .
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PiperOrigin-RevId: 755903897
Change-Id: Ied04e9bd3febfe1bbbba24ed1f52b3c0c6e50f38
2025-05-07 10:13:17 -07:00
4137a4c774
Bump version to 3.3.3 following the 3.3.2 release
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PiperOrigin-RevId: 752482043
Change-Id: I3dae8a0b9de2be4d456e856825c18f16f62bf51a
2025-04-28 16:09:25 -07:00
d168135189
Remove duplicate test_tendon_force_clamp from inverse_test.py.
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PiperOrigin-RevId: 747835971
Change-Id: I96ca7a2e3f71dbc05af238c269a81b41b51fa48b
2025-04-15 05:40:25 -07:00
f317bd17c3
Add tendon actuator force sensor to MJX.
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PiperOrigin-RevId: 747344916
Change-Id: Iab513ff953408c002216ffff12e3f8c825cedc10
2025-04-14 03:51:20 -07:00
440ce5eb7a
Update the version number to 3.3.2 following the 3.3.1 release.
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PiperOrigin-RevId: 746147577
Change-Id: Idb7b4e7e06a4730b4f2eea8f6600b898e998f8db
2025-04-10 13:17:20 -07:00
3c530976e3
Add rne_postconstraint dependence for FRAMELINACC and FRAMEANGACC sensors to MJX.
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PiperOrigin-RevId: 746009774
Change-Id: Ide45298b463f1ad04f1ffa7f60a7a8aeaf18f063
2025-04-10 06:48:40 -07:00
51c489fc30
Add inverse dynamics to MJX.
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PiperOrigin-RevId: 745998273
Change-Id: I203af89332ace5d7a60fff3ec6ff4cc88c02340d
2025-04-10 06:08:41 -07:00
8fc616bf8f
Add tendon actuator force limits to MJX.
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PiperOrigin-RevId: 745529685
Change-Id: I43c372116daefc3dd2ed6ad1bb9c6e3978bc8527
2025-04-09 04:28:45 -07:00
96dda6ea75
Add tendon actuator force limits and tendon actuator force sensor.
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PiperOrigin-RevId: 745096883
Change-Id: Ib9acb727fbbfc6b0b0323ee6a889053a7a878056
2025-04-08 05:16:35 -07:00
4e0a4f4d39
Defer device puts to the end of make_data. Fixes #2461 .
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PiperOrigin-RevId: 744875869
Change-Id: I8d88d4f73407b44f761d01309e2cc28b43aa305f
2025-04-07 15:43:43 -07:00
cc2f57d820
Change mjSpec and mjModel signature mechanism.
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The signature now contains the necessary information to safely perform `bind`. The private UIDs are now removed.
Fixes an issue of changing signature when compiling a copy of an mjSpec.
PiperOrigin-RevId: 744670626
Change-Id: Id3c66419cf2afbe78e91bc4b37d2299f5ec00ab1
2025-04-07 04:21:27 -07:00
e1f5ceb65a
Add mjModel.tendon_armature (in preparation, not yet implemented)
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PiperOrigin-RevId: 743649968
Change-Id: I1d893e3e06afc48b652575bc7837750ab3573670
2025-04-03 12:06:27 -07:00
54f132f3f0
Resolve discrepancy in RK4 between MJX and MJ.
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PiperOrigin-RevId: 743185866
Change-Id: I478faca1d8733999cc9a0682e931b19ee05e3843
2025-04-02 10:16:07 -07:00
ebd30493c8
Allow nameless bind in MJX.
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PiperOrigin-RevId: 742592221
Change-Id: I9490aebd64e3a31219c552d5b6eb55236680f10d
2025-04-01 01:45:44 -07:00
2e11afa2de
Fix a bug in the handling of efc_J in put_data.
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PiperOrigin-RevId: 738877177
Change-Id: Ie469af0e1c31843e8c59cd2cf6fc0befb1ed4956
2025-03-20 11:26:14 -07:00
1f1d5287fb
Fix bind.set when using a single joint instead of a list.
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PiperOrigin-RevId: 738546056
Change-Id: I26ae045be9e983cb0760132b9d47eac018ca33cd
2025-03-19 14:44:22 -07:00
a0fc6b18b5
Update references to JAX's GitHub repo
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JAX has moved from https://github.com/google/jax to https://github.com/jax-ml/jax
PiperOrigin-RevId: 733951719
Change-Id: Iee4a7bf4bcc9fc3108ca9d30b6b98f5df20c79c7
2025-03-05 19:25:00 -08:00
0f563ecf31
Switch mjData.{qH,qLD} from reduced ("C") to full ("M") inertia matrix structure. No performance impact of extra zeros because of existing "simple dof" skipping mechanism.
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PiperOrigin-RevId: 733523931
Change-Id: Ic8d8a152dda5532331c239cb6b4ce7d8d09b7fff
2025-03-04 17:34:35 -08:00
c72c83aa3b
Allocate qM CSR matrix structure on mjData (currently empty).
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PiperOrigin-RevId: 733247419
Change-Id: I814e574e3161875e89433a6e03f2c9e200d8b1d6
2025-03-04 02:37:47 -08:00
Rishi Krishnan