bc8c1f826c
Merge pull request #3235 from tkelestemur:mjx-warp-segmentation
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PiperOrigin-RevId: 910401768
Change-Id: I015bd05d9d823db5efb92f660c707a67ddca6591
2026-05-04 20:42:32 -07:00
767c607f58
Add mju_sym2dense, document future breakage of mj_fullM
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PiperOrigin-RevId: 910242375
Change-Id: Ibfbdef9cfb66088723499ea257da09aee0d80938
2026-05-04 14:25:53 -07:00
a51a7bf062
Open-source MJX-Warp codegen to make external contribution easier.
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PiperOrigin-RevId: 910200635
Change-Id: I0218f8e281413803500c98fc29d0589c4e90d6b1
2026-05-04 13:14:28 -07:00
0aeea2e4f6
Import google-deepmind/mujoco_warp from GitHub.
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PiperOrigin-RevId: 910110405
Change-Id: Ia20c749e07b0d92613948313d38161e9f9a074b9
2026-05-04 10:33:21 -07:00
5a51f4795d
Merge branch 'google-deepmind:main' into mjx-warp-segmentation
2026-04-29 09:28:08 -04:00
e6354b4368
Add flex_interp to the MJX Model.
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PiperOrigin-RevId: 906518134
Change-Id: If716e7e67827a6659fb72a6064809910fe99944f
2026-04-27 13:33:17 -07:00
1009478de9
Merge branch 'google-deepmind:main' into mjx-warp-segmentation
2026-04-26 21:36:32 -04:00
521d152ec5
Enable Warp execution on CPU devices in MJX.
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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
2b7cc28afa
Update MuJoCo version to 3.8.1 following the 3.8.0 release
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PiperOrigin-RevId: 905108575
Change-Id: Ief1f9c6f34559e7a5ccc60dcceec589316bcdf9e
2026-04-24 10:37:50 -07:00
4eba85093a
Add new flex_node fields to MJX.
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PiperOrigin-RevId: 904576383
Change-Id: Ie0cb8e0f25bdeadbecc2ea229835b0f2a2957254
2026-04-23 12:16:09 -07:00
15f61679bf
Update next MuJoCo version to 3.8.0 for pending breaking changes.
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PiperOrigin-RevId: 904496070
Change-Id: I0b8b01cbcf27f28ac80dbc283bc63090f745f403
2026-04-23 09:33:15 -07:00
e8ebc994d2
Add 3.14 to the supported Python versions.
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PiperOrigin-RevId: 904301647
Change-Id: I30a75bec09068494be060e6ad046badf968d4241
2026-04-23 01:27:34 -07:00
4b3f3aee6b
Add hashes for 3.14 wheels to Python build requirements.
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PiperOrigin-RevId: 904299450
Change-Id: I6ac356d1fa9ae4965bd57d24ae11adac8d875a6c
2026-04-23 01:22:21 -07:00
22f4458b1c
Merge branch 'google-deepmind:main' into mjx-warp-segmentation
2026-04-22 13:19:55 -04:00
6cb6e5a93f
Enable multiccd by default.
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PiperOrigin-RevId: 902752921
Change-Id: I8e2085ff17db0ac0db1641b8837415c458e5eca4
2026-04-20 12:00:10 -07:00
8262280f5f
Clean up MJX segmentation rendering
2026-04-19 13:12:52 -04:00
fa8b6311a2
Merge branch 'main' of https://github.com/google-deepmind/mujoco into mjx-warp-segmentation
2026-04-17 15:56:21 -04:00
a9e61966b5
Import of Warp v1.12.1 from https://github.com/nvidia/warp .
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PiperOrigin-RevId: 901388190
Change-Id: Id2c5f1bc2ba9050af2c3b7597d84b9525ffa5766
2026-04-17 11:22:44 -07:00
01a043f20b
mjx segmentation
2026-04-16 10:52:03 -04:00
4a98cc8bff
Update MuJoCo version to 3.7.1 following the 3.7.0 release
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PiperOrigin-RevId: 899835826
Change-Id: Ibe247b921e7dad7184acef69ee3199fec79c6e24
2026-04-14 16:49:03 -07:00
8bf11166b1
Import google-deepmind/mujoco_warp from GitHub.
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PiperOrigin-RevId: 899731493
Change-Id: Ib563023047e85db1aff56e78724dc28d769ef91e
2026-04-14 12:55:31 -07:00
412cee2059
Add Jdot correction for connect and weld constaints
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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
0c337799bd
Implement midpoint integrator for free bodies.
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PiperOrigin-RevId: 899043541
Change-Id: I0bb38f6ad94e189b45ab16777a04ad6fefc6adf7
2026-04-13 10:58:49 -07:00
d9b5d8babb
Merge pull request #3216 from tkelestemur:mjx-render-batched-unpackers
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PiperOrigin-RevId: 899017204
Change-Id: I7409a00cff81a1d24afe2ca50ec14c2f25c103ea
2026-04-13 10:58:20 -07:00
1c310ca7be
keep render util test setup
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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
cc0933af8b
Add com_pos to Mujoco Warp shims.
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PiperOrigin-RevId: 896969879
Change-Id: Idc3eb067a8473251a98404525df0c8c134ac2032
2026-04-09 02:12:17 -07:00
05e26e961c
Refactor: Expose flex-related fields directly on mjx.Model.
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PiperOrigin-RevId: 896958292
Change-Id: I94b32048e69d2b6844db0911f037318d5fbf4a6a
2026-04-09 01:43:00 -07:00
de39128114
fix render batching
2026-04-08 14:09:45 -04:00
0e3306b62d
Add useful flex arrays to MJX API.
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This enables using name2id for flexes.
PiperOrigin-RevId: 893923892
Change-Id: I7c2a71791e26fa2280cfa75fd66db328f4599b0b
2026-04-03 00:13:29 -07:00
e9de329e4e
Import google-deepmind/mujoco_warp from GitHub.
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PiperOrigin-RevId: 892971818
Change-Id: Ibce0c41294a4fcf2825a246a9533e8927fdc7e82
2026-04-01 09:33:20 -07:00
0b54638df4
Import NVIDIA/warp from GitHub.
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PiperOrigin-RevId: 892794388
Change-Id: Ic681071dc68bfaecaaab4e131c1c464dca99f9b5
2026-04-01 01:54:01 -07:00
47264877a1
[JAX] Replace jnp.clip(..., a_min=..., a_max=...) with jnp.clip(..., min=..., max=...).
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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
57bdf89d07
Import google-deepmind/mujoco_warp from GitHub.
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PiperOrigin-RevId: 885715192
Change-Id: I13fcb8312c1515bb1bd2d6cdfd0d256e37cb74de
2026-03-18 11:58:25 -07:00
206e245353
Internal change.
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PiperOrigin-RevId: 885152209
Change-Id: I56941ba443fe3daad02eff39d6dbcaa9615df41b
2026-03-17 12:29:37 -07:00
efae9157a7
Polynomial stiffness and damping https://youtu.be/aKa3ZlEF9_Y
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PiperOrigin-RevId: 884607673
Change-Id: If8088dbf37fed1055304778a7eb84dec52cba920
2026-03-16 13:25:25 -07:00
7324864366
Add random seed to SensorTest to prevent flakiness.
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PiperOrigin-RevId: 884055306
Change-Id: Ia053d2661ed30835e66a145659c1e1b7275ab251
2026-03-15 11:23:44 -07:00
6d70e66810
Update MuJoCo version from 3.6.0 to 3.7.0 following the 3.6.0 release
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PiperOrigin-RevId: 881995135
Change-Id: I0c1a3b4a22c4c7cfada580b49a2cacde64cc84f3
2026-03-11 07:09:24 -07:00
955d6c0b02
Update MuJoCo version from 3.5.1 to 3.6.0 prior to next release.
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The next release will include breaking changes, so this bumps the major
version to reflect that.
PiperOrigin-RevId: 881351265
Change-Id: I970c68a0211651c07fcb8109ebd0b138196cf50a
2026-03-10 04:30:07 -07:00
dade2d8c3e
MJX: Use content-hash for np.ndarray pytree metadata fields
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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
84f09f3fa6
Add mesh_normalnum to MJX API.
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PiperOrigin-RevId: 880957335
Change-Id: Ib3c37afa593c888ec109f520947958a5d47b0be2
2026-03-09 11:34:10 -07:00
6bc6c11c49
Add naccdmax to mjx io.
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PiperOrigin-RevId: 879780258
Change-Id: I24f9d0b3205577322bebadc3d03796c8dcadde48
2026-03-06 13:02:55 -08:00
a8d6b0c848
Fix extra dim for depth, matches rgb output shape.
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PiperOrigin-RevId: 878098932
Change-Id: Ifcc4ba39dbee1beeea88fda44c3d20b88179705e
2026-03-03 13:26:41 -08:00
67b6ab0589
Update mjx-warp docs.
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PiperOrigin-RevId: 875966048
Change-Id: I333e8562f3db333f6c64af67cee1f735cb21232d
2026-02-26 17:26:31 -08:00
07cda5a3c4
Refactor MJX warp RenderContext, get rid of brittle pytree owner pattern.
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PiperOrigin-RevId: 875901011
Change-Id: I2ba0734d9ca001ff91361aab6412fe370919344b
2026-02-26 14:49:32 -08:00
52ed96bc3a
Move tendon sparsity fields from mjData to mjModel
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PiperOrigin-RevId: 875087590
Change-Id: I1a5489d2d2011795ee38b09d547e68acd72e3cc7
2026-02-25 04:32:11 -08:00
94acdb33bd
Fix Impl.CPP memory leaks due to mjModel/mjData not clearing from pytree.
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PiperOrigin-RevId: 874622402
Change-Id: I38a00633dea77d940e4b0422f93e9456ad84daf9
2026-02-24 08:17:06 -08:00
a043df6bdf
Update supported Python versions and remove obsolete 3.9 references.
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PiperOrigin-RevId: 874063785
Change-Id: Ia4b2956b632aae5f0211fa766b6d413edcba8fe2
2026-02-23 07:29:47 -08:00
2bf9539234
MJX put_data with impl='warp'
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PiperOrigin-RevId: 874017611
Change-Id: I23a25727d41cd888d90f2ea15b2b534eba5583be
2026-02-23 05:20:07 -08:00
0f36b0fc2e
Import NVIDIA/warp from GitHub.
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PiperOrigin-RevId: 872969263
Change-Id: Ic890cb53c32593c158a1f3926906b492c7f85348
2026-02-20 10:29:13 -08:00
e5a236774d
Add has_side_effect for pmap bvh refit in mjx-warp.
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PiperOrigin-RevId: 872934001
Change-Id: If48cab439718b9e783c4b1da4fb1b1a08521a602
2026-02-20 09:21:43 -08:00
Copybara-Service