fe50efd41a
Sparse tendon Jacobian update for MuJoCo Warp
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PiperOrigin-RevId: 872550625
Change-Id: Ifc5afacb048bec36ef6455072b188396db958002
2026-02-19 13:52:25 -08:00
62a32386d6
Add pmap support for mjx-warp render.
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PiperOrigin-RevId: 872533248
Change-Id: I828303866c31d33d2367dd9fba4eb42028c67540
2026-02-19 13:14:22 -08:00
9efe41c0c1
Remove dense code path for tendon Jacobian
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PiperOrigin-RevId: 872444531
Change-Id: I6180101abc49469a72aee8bec5726e1e94f142ec
2026-02-19 09:53:49 -08:00
3c858f871b
Keep render_util arg order consistent between mujoco_warp and mjx-warp.
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PiperOrigin-RevId: 872055868
Change-Id: Ic5b4bdedbdb353dc0b1385cf555261a86407cfdb
2026-02-18 14:57:06 -08:00
485e2eb028
Fix bug in mjx-warp render vmap.
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PiperOrigin-RevId: 871901512
Change-Id: Ifc25e98ffd89284cc6db9248bcca352bb8811e7e
2026-02-18 09:10:34 -08:00
8541128853
Update _get_data_into_warp. Fixes #3109
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PiperOrigin-RevId: 871790690
Change-Id: I225579f7559ca5c1de92af6606d02ff763f9f4d1
2026-02-18 04:04:29 -08:00
f6129596a6
Save depth images in visualize_render.py
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PiperOrigin-RevId: 871454618
Change-Id: If844e2c4af10e271536c4e6a36e760e8d4d50374
2026-02-17 12:55:39 -08:00
af802a5386
Import google-deepmind/mujoco_warp from GitHub.
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PiperOrigin-RevId: 871338519
Change-Id: I6ef9b4a4c3b623a87f4c43efa798b6757ac534ae
2026-02-17 08:48:20 -08:00
66a413419a
Reorder Option fields
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PiperOrigin-RevId: 870779423
Change-Id: Ie356725810a820e910396abd9daef0f9c9f94abc
2026-02-16 02:18:23 -08:00
538c131415
Last bits of mjx-warp render codegen.
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PiperOrigin-RevId: 869900622
Change-Id: If86942fddc45b9d71505d7fc4e2345dc120ccab2
2026-02-13 14:55:26 -08:00
bbfe7fe0e2
Update mjx-warp render with partial codegen.
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PiperOrigin-RevId: 869874195
Change-Id: I71a16a6c192873786a09211dc4d326c3a4115ad9
2026-02-13 13:50:07 -08:00
fb47ff01cd
initial implementation of mjx-warp render.
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PiperOrigin-RevId: 869822624
Change-Id: Ic20db1dcc2e7287752b273c4ad986066cceccad9
2026-02-13 11:40:55 -08:00
5903d4826f
Sparse ten_J and ten_J_colind
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PiperOrigin-RevId: 869712136
Change-Id: Id2979684aa0c39552cb8453852483cbac55f0ea3
2026-02-13 06:57:22 -08:00
42958aab81
Update MuJoCo version from 3.5.0 to 3.5.1 following the 3.5.0 release
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PiperOrigin-RevId: 869654894
Change-Id: I9cacaf4cbb70ad17faa24c3c30ec38ffe91b5deb
2026-02-13 03:54:25 -08:00
881544c0c5
Modify MuJoCo Warp dev version check
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PiperOrigin-RevId: 869311325
Change-Id: I2f34bd932d7998d37b96b36e5d561f734567b8d5
2026-02-12 11:39:28 -08:00
6af0d4c823
Replace margin/gap max with sum.
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PiperOrigin-RevId: 868842521
Change-Id: Ia4a4ca5c6821c5a7b3ba7b0af7f71d981c2866c1
2026-02-11 14:22:27 -08:00
336e1026a4
Sparse ten_J and ten_J_colind memory
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PiperOrigin-RevId: 868834376
Change-Id: Iec92d9e09e3134666895e54a78cb02439d74a4de
2026-02-11 14:05:43 -08:00
d011285380
Sparse ten_J and ten_J_colind memory
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PiperOrigin-RevId: 868800229
Change-Id: Id83f9fd40dd9bece06fd99753e4202eea17ca884
2026-02-11 12:45:50 -08:00
94e834bf4f
Import google-deepmind/mujoco_warp from GitHub.
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PiperOrigin-RevId: 868759523
Change-Id: I83a9f014840e66d7775a3684aa2e59ec5a077191
2026-02-11 11:14:24 -08:00
210cf86486
Use kernel cache dir per mjx-warp test fixture.
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PiperOrigin-RevId: 868259579
Change-Id: I9f1346899591ca603ad2e34949d22b78c464c2ad
2026-02-10 12:10:28 -08:00
3c107b3047
Add stage_in and stage_out for MJX-Warp.
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PiperOrigin-RevId: 868180029
Change-Id: I0d1b17b6023d32498766b5d1d9e5624bd31cda3d
2026-02-10 09:19:09 -08:00
4fa062c7e5
Update unreleased MuJoCo version from 3.4.1 to 3.5.0.
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PiperOrigin-RevId: 868169291
Change-Id: I8041842811f5f664c80116993315f50d549b5575
2026-02-10 08:52:04 -08:00
b637d7eb76
Call kinematics in case of state mismatch in get_data_into with CPP backend.
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PiperOrigin-RevId: 867667583
Change-Id: Ieec5ff86f6768c11459795068abf17f69bd26f3c
2026-02-09 10:29:27 -08:00
6419534bad
Add actuator and sensor delays. Fixes #1004
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PiperOrigin-RevId: 866478839
Change-Id: Id21a6da0f98454c8fa39ea5af8a5e213d6eae497
2026-02-06 08:47:36 -08:00
d07f39b4a0
Add graph mode to MJX, in preparation of supporting staged graph capture.
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PiperOrigin-RevId: 865380826
Change-Id: I840b48027e1142f87eb745d0d19b0cd3e87904b2
2026-02-04 06:38:13 -08:00
4a64017a5f
Add documentation for MJX API
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PiperOrigin-RevId: 860108133
Change-Id: I85469efcfe49d320ef8b89c9d174f33499a22b31
2026-01-23 07:53:17 -08:00
bb4df33adf
Import google-deepmind/mujoco_warp from GitHub.
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PiperOrigin-RevId: 857298931
Change-Id: Icbaddaea8140198c3673124d5994a01d3c92ed69
2026-01-16 14:11:39 -08:00
e56b31e98f
Reduce flexedge_J size from nflexedge x nv to the effective sparse size.
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PiperOrigin-RevId: 856290141
Change-Id: Ide297d1b6f0e3aa07e3e20bf9ab44b6501097695
2026-01-14 11:18:41 -08:00
a49576e469
Move flexedge sparse Jacobian indices to mjModel.
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PiperOrigin-RevId: 855718305
Change-Id: Ic136f4efa6735b934288f65c332d71ee8b0f6da5
2026-01-13 07:33:17 -08:00
a93db89d43
Merge pull request #2945 from hartikainen:instsance-typo
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PiperOrigin-RevId: 855677085
Change-Id: Ifc1efc4163f1ef475b687436064026f0924841bf
2026-01-13 05:34:00 -08:00
1f83bbf69d
Import NVIDIA/warp from GitHub.
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PiperOrigin-RevId: 855445232
Change-Id: I34c9337378c8e0c0e6f92252b1af4cfac4524018
2026-01-12 17:08:17 -08:00
a6a9a85007
Implement get_data_into_cpp and make_data_cpp.
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PiperOrigin-RevId: 855192298
Change-Id: I9f9fd07094c40b9df1b645c2c893bb2605941e32
2026-01-12 05:54:29 -08:00
f703a0e023
Import google-deepmind/mujoco_warp from GitHub.
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PiperOrigin-RevId: 853350801
Change-Id: Idb19c2865b94f4740daf8bc52ed3e7665a109d51
2026-01-07 11:42:11 -08:00
b64b527e13
Import google-deepmind/mujoco_warp from GitHub.
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PiperOrigin-RevId: 844675206
Change-Id: I02f75561eac3520d7107708dcece10cc82c106cd
2025-12-15 02:30:16 -08:00
11f0997edf
Internal change.
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PiperOrigin-RevId: 842636101
Change-Id: I5fc8e1f5e4caee9d909963ebe396572b13b455b7
2025-12-10 02:58:38 -08:00
1483aefe5f
Make actuator_length, cdof and cdof_dot public.
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PiperOrigin-RevId: 842182467
Change-Id: Id14a1c8266e13a6f95e1c87ea07da993b614b62e
2025-12-09 04:57:42 -08:00
96e376451c
Update MuJoCo version from 3.4.0 to 3.4.1 following the 3.4.0 release
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PiperOrigin-RevId: 840914696
Change-Id: Iffabc70dd174384ba1c535cafcd34982ff8e5712
2025-12-05 16:15:56 -08:00
fc109f0ab5
Small fix to testspeed
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PiperOrigin-RevId: 840607453
Change-Id: If913866cc0a3d4d3e6c39c7b5948fa167678ccad
2025-12-05 01:28:33 -08:00
b6e162d6fa
Update MuJoCo version from 3.3.8 to 3.4.0
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PiperOrigin-RevId: 836719207
Change-Id: I28cbc90cee42aebfb5a4201561289ef6747cdc83
2025-11-25 10:16:02 -08:00
a359780ca1
Import google-deepmind/mujoco_warp from GitHub.
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PiperOrigin-RevId: 835230315
Change-Id: Ifa4f8f66c4e3de1a3074f0897daf93f88e469f06
2025-11-21 08:17:49 -08:00
bc169d82c1
Fix MJX plane_cylinder docstring.
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PiperOrigin-RevId: 833394724
Change-Id: I80df8bf35bceb97a18a0c4c2f37fab71e31011c2
2025-11-17 10:21:09 -08:00
e17e58c6b5
Fix instsance -> instance
2025-11-13 20:11:10 +00:00
727347813f
Import google-deepmind/mujoco_warp from GitHub.
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PiperOrigin-RevId: 831416862
Change-Id: I9ffe9698a3cd4a173189a804998ce8afc16b91f2
2025-11-12 09:18:32 -08:00
52478e15c3
Fix issue where contact pairs supported by C back-end are unsupported by MJX:C
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PiperOrigin-RevId: 831288268
Change-Id: Ied69be2d69a4cf0c8190bfaf8b6428e1dd8c8a70
2025-11-12 02:09:21 -08:00
bfcceb583e
Import google-deepmind/mujoco_warp from GitHub.
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PiperOrigin-RevId: 830506734
Change-Id: I857bf59a34a46bd61fc24953fd6f10b2157febb7
2025-11-10 10:35:00 -08:00
59debb50b1
Add SLEEP to EnableBit enum.
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This change exposes the `mjENBL_SLEEP` flag from MuJoCo's `mjtEnableBit` in MJX's `EnableBit` type.
PiperOrigin-RevId: 829446801
Change-Id: Ia95b31a3488ecba0431646c889e10a5ae5fb60e8
2025-11-07 08:22:45 -08:00
1e0226d360
Ignore pytype errors produced with --use-functools-partial-overlay
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PiperOrigin-RevId: 829338416
Change-Id: I1867bd18a7c57e2faf0f121d89dfc4129c5f31b8
2025-11-07 02:08:04 -08:00
252a0d73df
Add sleep related data structures
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PiperOrigin-RevId: 829055431
Change-Id: I1ccbd77a57044a754ae7db611b4c2c0010fbda53
2025-11-06 12:10:55 -08:00
3080e3424f
Update mjx-warp ffi, prepare for render.
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PiperOrigin-RevId: 829027266
Change-Id: Ifca30885fb6302e8ce61f949fdc0f56674bbe9e4
2025-11-06 11:04:44 -08:00
fa062768f4
Import google-deepmind/mujoco_warp from GitHub.
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PiperOrigin-RevId: 829017789
Change-Id: I2756e349297cd0ae53a63a38fb203e2fd2d5cb99
2025-11-06 10:42:32 -08:00
Taylor Howell