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439 Commits

Author SHA1 Message Date
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
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
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
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
Alessio Quaglino 4eba85093a Add new flex_node fields to MJX. 
PiperOrigin-RevId: 904576383
Change-Id: Ie0cb8e0f25bdeadbecc2ea229835b0f2a2957254
 2026-04-23 12:16:09 -07:00
Tarik Kelestemur 22f4458b1c Merge branch 'google-deepmind:main' into mjx-warp-segmentation 2026-04-22 13:19:55 -04:00
Kyle Bayes 6cb6e5a93f Enable multiccd by default. 
PiperOrigin-RevId: 902752921
Change-Id: I8e2085ff17db0ac0db1641b8837415c458e5eca4
 2026-04-20 12:00:10 -07:00
Tarik Kelestemur 8262280f5f Clean up MJX segmentation rendering 2026-04-19 13:12:52 -04:00
Tarik Kelestemur fa8b6311a2 Merge branch 'main' of https://github.com/google-deepmind/mujoco into mjx-warp-segmentation 2026-04-17 15:56:21 -04:00
Taylor Howell a9e61966b5 Import of Warp v1.12.1 from https://github.com/nvidia/warp. 
PiperOrigin-RevId: 901388190
Change-Id: Id2c5f1bc2ba9050af2c3b7597d84b9525ffa5766
 2026-04-17 11:22:44 -07:00
Tarik Kelestemur 01a043f20b mjx segmentation 2026-04-16 10:52:03 -04:00
Taylor Howell 8bf11166b1 Import google-deepmind/mujoco_warp from GitHub. 
PiperOrigin-RevId: 899731493
Change-Id: Ib563023047e85db1aff56e78724dc28d769ef91e
 2026-04-14 12:55:31 -07:00
Yuval Tassa 412cee2059 Add Jdot correction for connect and weld constaints 
Measured reduction in constraint violations before/after this change:

| Model | Correction ON (Avg Viol) | Correction OFF (Avg Viol) | Reduction |
| :--- | :--- | :--- | :--- |
| `jdotv_connect_2d.xml` | 3.959e-4 | 1.699e-3 | **76.7%** |
| `jdotv_connect_3d.xml` | 1.399e-3 | 5.493e-3 | **74.5%** |
| `jdotv_weld_3d.xml` | 9.472e-3 | 1.148e-2 | **17.5%** |

PiperOrigin-RevId: 899137525
Change-Id: Ic3e33764ebd64239bab916289c23d80c3da0b51b
 2026-04-13 12:48:03 -07:00
Yuval Tassa 0c337799bd Implement midpoint integrator for free bodies. 
PiperOrigin-RevId: 899043541
Change-Id: I0bb38f6ad94e189b45ab16777a04ad6fefc6adf7
 2026-04-13 10:58:49 -07:00
Copybara-Service d9b5d8babb Merge pull request #3216 from tkelestemur:mjx-render-batched-unpackers 
PiperOrigin-RevId: 899017204
Change-Id: I7409a00cff81a1d24afe2ca50ec14c2f25c103ea
 2026-04-13 10:58:20 -07:00
Tarik Kelestemur 1c310ca7be keep render util test setup 
Restore the existing Warp/CUDA-gated render_util test setup so the review change stays minimal while preserving the new batched shape coverage.

Made-with: Cursor
 2026-04-09 08:14:15 -04:00
Tom Power cc0933af8b Add com_pos to Mujoco Warp shims. 
PiperOrigin-RevId: 896969879
Change-Id: Idc3eb067a8473251a98404525df0c8c134ac2032
 2026-04-09 02:12:17 -07:00
Tom Power 05e26e961c Refactor: Expose flex-related fields directly on mjx.Model. 
PiperOrigin-RevId: 896958292
Change-Id: I94b32048e69d2b6844db0911f037318d5fbf4a6a
 2026-04-09 01:43:00 -07:00
Tarik Kelestemur de39128114 fix render batching 2026-04-08 14:09:45 -04:00
Alessio Quaglino 0e3306b62d Add useful flex arrays to MJX API. 
This enables using name2id for flexes.

PiperOrigin-RevId: 893923892
Change-Id: I7c2a71791e26fa2280cfa75fd66db328f4599b0b
 2026-04-03 00:13:29 -07:00
Taylor Howell e9de329e4e Import google-deepmind/mujoco_warp from GitHub. 
PiperOrigin-RevId: 892971818
Change-Id: Ibce0c41294a4fcf2825a246a9533e8927fdc7e82
 2026-04-01 09:33:20 -07:00
Taylor Howell 0b54638df4 Import NVIDIA/warp from GitHub. 
PiperOrigin-RevId: 892794388
Change-Id: Ic681071dc68bfaecaaab4e131c1c464dca99f9b5
 2026-04-01 01:54:01 -07:00
Peter Hawkins 47264877a1 [JAX] Replace jnp.clip(..., a_min=..., a_max=...) with jnp.clip(..., min=..., max=...). 
a_min and a_max are deprecated parameter names to jax.numpy.clip.

PiperOrigin-RevId: 891786675
Change-Id: Icc06efe0381c0db06f4aeb16f281a4d01ea37539
 2026-03-30 10:28:24 -07:00
Taylor Howell 57bdf89d07 Import google-deepmind/mujoco_warp from GitHub. 
PiperOrigin-RevId: 885715192
Change-Id: I13fcb8312c1515bb1bd2d6cdfd0d256e37cb74de
 2026-03-18 11:58:25 -07:00
Yuval Tassa 206e245353 Internal change. 
PiperOrigin-RevId: 885152209
Change-Id: I56941ba443fe3daad02eff39d6dbcaa9615df41b
 2026-03-17 12:29:37 -07:00
Yuval Tassa efae9157a7 Polynomial stiffness and damping https://youtu.be/aKa3ZlEF9_Y 
PiperOrigin-RevId: 884607673
Change-Id: If8088dbf37fed1055304778a7eb84dec52cba920
 2026-03-16 13:25:25 -07:00
Baruch Tabanpour 7324864366 Add random seed to SensorTest to prevent flakiness. 
PiperOrigin-RevId: 884055306
Change-Id: Ia053d2661ed30835e66a145659c1e1b7275ab251
 2026-03-15 11:23:44 -07:00
Sam Haves dade2d8c3e MJX: Use content-hash for np.ndarray pytree metadata fields 
Previously mjx dataclasses would return np.ndarray as bytes for jax tracing to hash since they are not inherently hashable. This meant that any tracing that was cached would hold on to a copy of the numpy arrays in the dataclass. Children such as mjx.Model that store large numpy arrays would end up duplicating that data 3+ times in some cases.

This eliminates O(N * array_size) memory duplication across N cached
pytree traces, saving a lot of memory on models with heavy mesh/texture data.

PiperOrigin-RevId: 880985898
Change-Id: I58d4e91fda4112e4c633818f92907d20138e962a
 2026-03-09 12:35:16 -07:00
Alessio Quaglino 84f09f3fa6 Add mesh_normalnum to MJX API. 
PiperOrigin-RevId: 880957335
Change-Id: Ib3c37afa593c888ec109f520947958a5d47b0be2
 2026-03-09 11:34:10 -07:00
Baruch Tabanpour 6bc6c11c49 Add naccdmax to mjx io. 
PiperOrigin-RevId: 879780258
Change-Id: I24f9d0b3205577322bebadc3d03796c8dcadde48
 2026-03-06 13:02:55 -08:00
Baruch Tabanpour a8d6b0c848 Fix extra dim for depth, matches rgb output shape. 
PiperOrigin-RevId: 878098932
Change-Id: Ifcc4ba39dbee1beeea88fda44c3d20b88179705e
 2026-03-03 13:26:41 -08:00
Baruch Tabanpour 67b6ab0589 Update mjx-warp docs. 
PiperOrigin-RevId: 875966048
Change-Id: I333e8562f3db333f6c64af67cee1f735cb21232d
 2026-02-26 17:26:31 -08:00