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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/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)