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
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
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
Taylor Howell