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Multithreaded mesh compilation.

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PiperOrigin-RevId: 651358120
Change-Id: Id6272aac84ec6ac1b709d2f4a44b7593307bd158
This commit is contained in:
Yuval Tassa
2024-07-11 04:20:59 -07:00
committed by Copybara-Service
parent e7301edd20
commit 3d1d1d0718
7 changed files with 173 additions and 38 deletions
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doc/XMLreference.rst
+1 -1
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@@ -3664,7 +3664,7 @@ Associate this body with an :ref:`engine plugin<exPlugin>`. Either :at:`plugin`
The :el:`attach` element is used to insert a sub-tree of bodies from another model into this model's kinematic tree.
Unlike :ref:`include<include>`, which is implemented in the parser and is equivalent to copying and pasting XML from
one file into another, :el:`attach` is implemented in the model compiler. In order to use this element, the sub-model
must first be defined as an :ref:`asset<model-asset>`. When creating an attachment, the top body of the attached subtree
must first be defined as an :ref:`asset<asset-model>`. When creating an attachment, the top body of the attached subtree
is specified, and all referencing elements outside the kinematic tree (e.g., sensors and actuators), are
also copied into the top-level model. Additionally, any elements referenced from within the attached subtree (e.g.
defaults and assets) will be copied in to the top-level model. :el:`attach` is a :ref:`meta-element`, so upon saving
doc/changelog.rst
+9 -9
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@@ -57,12 +57,13 @@ General
14. Quaternions in ``mjData->qpos`` and ``mjData->mocap_quat`` are no longer normalized in-place by
:ref:`mj_kinematics`. Instead they are normalized when they are used. After the first step, quaternions in
``mjData->qpos`` will be normalized.
15. Mesh loading in the compiler, which is usually the slowest part of the loading process, is now multi-threaded.
MJX
~~~
15. Added support for :ref:`elliptic friction cones<option-cone>`.
16. Fixed a bug that resulted in less-optimal linesearch solutions for some difficult constraint settings.
17. Fixed a bug in the Newton solver that sometimes resulted in less-optimal gradients.
16. Added support for :ref:`elliptic friction cones<option-cone>`.
17. Fixed a bug that resulted in less-optimal linesearch solutions for some difficult constraint settings.
18. Fixed a bug in the Newton solver that sometimes resulted in less-optimal gradients.
.. youtube:: P83tKA1iz2Y
@@ -71,18 +72,17 @@ MJX
Simulate
^^^^^^^^
18. Added improved tutorial video.
19. Improved the Brownian noise generator.
|br| |br| |br| |br|
19. Added improved tutorial video.
20. Improved the Brownian noise generator.
21. Now displaying model load times if they are longer than 0.25 seconds.
Python bindings
^^^^^^^^^^^^^^^
20. Fixed a memory leak when using ``copy.deepcopy()`` on a ``mujoco.MjData`` instance (:github:issue:`1572`).
22. Fixed a memory leak when using ``copy.deepcopy()`` on a ``mujoco.MjData`` instance (:github:issue:`1572`).
Bug fixes
^^^^^^^^^
21. Fix an issue where ``mj_copyData`` (or ``copy.copy()`` in the Python bindings) was not copying contact information
23. Fix an issue where ``mj_copyData`` (or ``copy.copy()`` in the Python bindings) was not copying contact information
correctly (:github:issue:`1710`).
Version 3.1.6 (Jun 3, 2024)