chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions 4 Packages Projects Releases Wiki Activity

Avoid placing arrays on device for unused MJX fields. Add `device` parameter to mjx.make_data.

Browse Source 
PiperOrigin-RevId: 663808411
Change-Id: Ic55875f87f5c36b9dfe21e5ed5891d64c7003cab
This commit is contained in:
Erik Frey
2024-08-16 12:01:32 -07:00
committed by Copybara-Service
parent ce9c0ea351
commit 390bce2352
3 changed files with 334 additions and 262 deletions
Download Patch File Download Diff File Expand all files Collapse all files
doc/changelog.rst
+6 -4
View File
@@ -13,20 +13,22 @@ General
MJX
^^^
4. Added ``efc_pos`` to ``mjx.Data``.
4. Added ``efc_pos`` to ``mjx.Data`` (:github:issue:`1388`).
5. Added position-dependent sensors: ``MAGNETOMETER``, ``JOINTPOS``, ``ACTUATORPOS``, ``BALLQUAT``, ``FRAMEPOS``,
``FRAMEXAXIS``, ``FRAMEYAXIS``, ``FRAMEZAXIS``, ``SUBTREECOM``, ``CLOCK``.
6. Changed default policy to avoid placing unused (MuJoCo-only) arrays on device.
7. Added ``device`` parameter to ``mjx.make_data`` to bring it to parity with ``mjx.put_model`` and ``mjx.put_data``.
Bug fixes
^^^^^^^^^
6. Fixed a performance regression introduced in 3.1.7 in mesh Bounding Volume Hierarchies (:github:issue:`1875`,
8. Fixed a performance regression introduced in 3.1.7 in mesh Bounding Volume Hierarchies (:github:issue:`1875`,
contribution by :github:user:`michael-ahn`).
7. Fixed a bug wherein, for models that have both muscles and stateless actuators and used one of the implicit
9. Fixed a bug wherein, for models that have both muscles and stateless actuators and used one of the implicit
integrators, wrong derivatives would be computed.
Python bindings
^^^^^^^^^^^^^^^
8. Added support for engine plugins in :ref:`mjSpec` (:github:issue:`1903`).
10. Added support for engine plugins in :ref:`mjSpec` (:github:issue:`1903`).
Version 3.2.2 (Aug 8, 2024)