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
d0f32a7fe6
Modify mjx.Model tex_data type.
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PiperOrigin-RevId: 828606695
Change-Id: I708dcf8e75766bf16d339999a9e8c70c8f65fd0c
2025-11-05 13:33:11 -08:00
c34ac712a0
Import warp-lang 1.10.0.
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PiperOrigin-RevId: 828583884
Change-Id: Ia1c6d8c41fa0785360b85287cab562228fcc80cf
2025-11-05 12:35:25 -08:00
501e561563
Import NVIDIA/warp from GitHub.
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PiperOrigin-RevId: 827602811
Change-Id: I42f96098df4665de60065409b454688f92e976d1
2025-11-03 12:24:28 -08:00
fbb95d5e8c
Import NVIDIA/warp from GitHub.
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PiperOrigin-RevId: 826571491
Change-Id: I294abc5aa3714345ab295636d12428293ea69285
2025-10-31 11:47:29 -07:00
d001bd6525
Add naconmax, deprecation warning for nconmax.
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PiperOrigin-RevId: 825018530
Change-Id: I344b296ac4353592d65a85b826850eaa7df5d39a
2025-10-28 06:59:01 -07:00
23c3001a4c
Merge pull request #2875 from google-deepmind:dependabot/pip/mjx/pip-25.2
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PiperOrigin-RevId: 824514263
Change-Id: Ifeb956547e23722ea486e1e6da9a953826038626
2025-10-27 07:42:09 -07:00
8c5154c9a3
Fix testspeed for mjx-warp.
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PiperOrigin-RevId: 823691704
Change-Id: If90f6137915de134fdda3c7616bc810555c25d87
2025-10-24 15:47:14 -07:00
7bf065c75b
Implement equivalents to mj_getState, mj_setState and mj_stateSize in mjx
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PiperOrigin-RevId: 823158825
Change-Id: I06bbf603f61ef2de8f83f32a211e8d468e0b7c5c
2025-10-23 13:09:51 -07:00
2893c3344c
Allow mjx.ray to exclude multiple bodies.
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PiperOrigin-RevId: 820236386
Change-Id: I41229fa52043d844d116b540d60053628d1a842b
2025-10-16 08:03:46 -07:00
48f10bfcb6
Update MuJoCo to v3.3.8 following the 3.3.7 release.
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PiperOrigin-RevId: 819919328
Change-Id: Ib34f959f6f8efd83362d49e784aa8e0594036899
2025-10-15 14:39:05 -07:00
0d4f6231be
Make JAX-Warp FFI more robust. Prepare for warp-lang 1.10. Fix #2894
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PiperOrigin-RevId: 819381906
Change-Id: I1f16abcbe02884445725c3087aa97af941131533
2025-10-14 13:48:43 -07:00
67960543a0
Updates for MJX viewer to help avoid graph recapture when impl='warp'.
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PiperOrigin-RevId: 819312078
Change-Id: I2f94eff9720fac8d06017123a51770d39743f2d6
2025-10-14 11:14:59 -07:00
ae1febd83f
Automated g4 rollback of changelist 818694877.
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*** Reason for rollback ***
BEGIN_PUBLIC
Holding off on a minor version bump until the next release.
*** Original change description ***
#mujoco update the version to 3.4.0 ahead of the 3.4.0 release.
Bump the version to 3.4.0 ahead of the next release.
***
PiperOrigin-RevId: 818748143
Change-Id: I722e9beb80c61a48bd997da6a1840777a81d5036
2025-10-13 11:14:42 -07:00
02d2d4d49a
Bump the version to 3.4.0 ahead of the next release.
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PiperOrigin-RevId: 818694877
Change-Id: I42e261956a0219e549bec6a54cbf330a74f02f9f
2025-10-13 09:22:49 -07:00
5f55e96810
Fix _get_data_into_warp.
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PiperOrigin-RevId: 817681130
Change-Id: Iceb622e5655021ac25388ec28f1f78fe61f58ddc
2025-10-10 09:44:35 -07:00
38af2e2d00
Export mujoco_warp/pyproject.toml.
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PiperOrigin-RevId: 817541914
Change-Id: I271f66c26699c1c9d15133420e189d5c525deae6
2025-10-10 02:02:57 -07:00
192da87475
Remove _full_compat from MJX io.
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PiperOrigin-RevId: 817337868
Change-Id: Ic61b8d57937452371b85416c624ff2672c908aac
2025-10-09 14:26:19 -07:00
50e163748d
Use correct tile sizes in 3p mujoco_warp now that launch_tiled bugs are fixed.
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PiperOrigin-RevId: 817310391
Change-Id: I652509ba8d6dcd514b264eb450952e6980e48f1e
2025-10-09 13:18:45 -07:00
b56cf98e41
Import google-deepmind/mujoco_warp from GitHub. Update MJX io.py.
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PiperOrigin-RevId: 816431884
Change-Id: I54881e7e350fbe5b2be1833e66745894b122f374
2025-10-07 16:43:30 -07:00
Baruch Tabanpour