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598 Commits

Author SHA1 Message Date
Michael Moss b942c9f922 Update MuJoCo version to 3.11.0 in preparation for breaking changes release. 
PiperOrigin-RevId: 950824721
Change-Id: Icc06b10ea69f5dd84e100eb75233f1598c2cbf88
 2026-07-20 07:26:25 -07:00
Hana Joo 78946ca94e Adding type suppressions for pyrefly 
PiperOrigin-RevId: 950703735
Change-Id: I6b6d5826a0dd1f4c0a1cbb2a46aee944cd60d884
 2026-07-20 02:40:02 -07:00
Yuval Tassa a04b0c5b97 Add boolean flags for gravity compensation and surface velocity in mjModel. 
These fields (`flg_gravcomp` and `flg_surfacevel`) replace the fast-path checks originally guarded by `ngravcomp` and (recently) `nsurfacevel`. Since the engine uses these integers only as flags (zero vs non-zero), migrating them to actual booleans makes them writeable from the Python bindings at runtime without violating size/dimension constraints.

The legacy integer field `ngravcomp` is marked as deprecated and will be removed in a future release.

PiperOrigin-RevId: 949779204
Change-Id: Ifab1f026063a4239302e6ad689663b611b59dda8
 2026-07-17 15:05:26 -07:00
Yuval Tassa d507e92198 Preparation for MIMO actuators: split actuator counts: nu (inputs), nactuator (objects), nout (outputs). 
An actuator now owns a block of consecutive controls
(actuator_ctrladr/ctrlnum, width defined by the actuator type) and a block
of consecutive force outputs (actuator_outadr/outnum, width defined by the
transmission type). Force outputs are the scalars of actuation space: one
force, length, velocity and moment row each. nout = dim(actuator_force) is
derived from transmission types; all current types have width 1, so all
three counts coincide for every existing model and behavior is bit-exact.

Array re-keying: ctrlrange/ctrllimited by nu; forcerange/forcelimited/gear/
acc0/length0/lengthrange and the moment row structure by nout; everything
else per actuator. The mjModel actuator block is re-sorted by size key.

Layout-breaking, not behavior-breaking: saved .mjb files are invalidated
(size list changed) and recompilation is required.

PiperOrigin-RevId: 948351772
Change-Id: Icbc196ffa083cb1eaa6f1a3710869c89d8f62540
 2026-07-15 08:30:20 -07:00
Yuval Tassa 23cc383372 internal change 
PiperOrigin-RevId: 947585050
Change-Id: Iaf9b60523b06d3cfd513ec661296eb39f4709442
 2026-07-14 03:59:35 -07:00
dependabot[bot] bc3f17107e Bump pip from 26.1 to 26.1.2 in /mjx 
Bumps [pip](https://github.com/pypa/pip) from 26.1 to 26.1.2.
- [Changelog](https://github.com/pypa/pip/blob/main/NEWS.rst)
- [Commits](https://github.com/pypa/pip/compare/26.1...26.1.2)

---
updated-dependencies:
- dependency-name: pip
  dependency-version: 26.1.2
  dependency-type: direct:production
...

Signed-off-by: dependabot[bot] <support@github.com>
 2026-07-10 20:38:40 +00:00
Taylor Howell f6f80cd0a0 Import google-deepmind/mujoco_warp from GitHub. 
PiperOrigin-RevId: 945593266
Change-Id: Ic08842caabb92bc32974892ffae98e3295827094
 2026-07-10 02:37:52 -07:00
Copybara-Service cb28d0c7d1 Merge pull request #3381 from tkelestemur:tarik/mjx-warp-put-model-nworld 
PiperOrigin-RevId: 945578693
Change-Id: I873e4f47551d02f506d3af37040e1014fa0edb61
 2026-07-10 02:02:02 -07:00
Tarik Kelestemur 4e5778433b Add batch_sizes model batching for MJX Warp 2026-07-07 18:06:30 -04:00
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

--
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