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Remove model/humanoid100/humanoid100.xml (used <include>), replace with model/humanoid/humanoid100.xml (uses <attach>)

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PiperOrigin-RevId: 673123895
Change-Id: I0c3c6dac69d9fc12a6ea76d586c34503fc167bad
This commit is contained in:
Yuval Tassa
2024-09-10 15:13:02 -07:00
committed by Copybara-Service
parent 33e56ccb88
commit 4e3dc14f8e
8 changed files with 23 additions and 184 deletions
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doc/changelog.rst
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@@ -1030,7 +1030,7 @@ General
become the default integrator in a future version.
The table below shows the compute cost of the 627-DoF `humanoid100
<https://github.com/google-deepmind/mujoco/blob/main/model/humanoid100/humanoid100.xml>`__ model using different
<https://github.com/google-deepmind/mujoco/blob/main/model/humanoid/humanoid100.xml>`__ model using different
integrators. "implicit (old)" uses dense RNE derivatives, "implicit (new)" is after the sparsification mentioned
above. Timings were measured on a single core of an AMD 3995WX CPU.
@@ -1057,7 +1057,7 @@ General
duplicated in order to circumvent this limitation as they previously were.
#. The non-zeros for the sparse constraint Jacobian matrix are now precounted and used for matrix memory allocation.
For instance, the constraint Jacobian matrix from the `humanoid100
<https://github.com/google-deepmind/mujoco/blob/main/model/humanoid100/humanoid100.xml>`__ model, which previously
<https://github.com/google-deepmind/mujoco/blob/main/model/humanoid/humanoid100.xml>`__ model, which previously
required ~500,000 ``mjtNum``'s, now only requires ~6000. Very large models can now load and run with the CG solver.
#. Modified :ref:`mju_error` and :ref:`mju_warning` to be variadic functions (support for printf-like arguments). The
functions :ref:`mju_error_i`, :ref:`mju_error_s`, :ref:`mju_warning_i`, and :ref:`mju_warning_s` are now deprecated.
@@ -1105,7 +1105,7 @@ General
1. A more performant mju_transposeSparse has been implemented that doesn't require dense memory allocation.
For a constraint Jacobian matrix from the
`humanoid100.xml <https://github.com/google-deepmind/mujoco/blob/main/model/humanoid100/humanoid100.xml>`__ model,
`humanoid100.xml <https://github.com/google-deepmind/mujoco/blob/main/model/humanoid/humanoid100.xml>`__ model,
this function is 35% faster.
#. The function :ref:`mj_name2id` is now implemented using a hash function instead of a linear search for better
performance.