chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions 2 Packages Projects Releases Wiki Activity

Move SDF precomputation to the mujoco compiler.

Browse Source 
Before:
```
 Simulation time      : 2.24 s
 Steps per second     : 4472
 Realtime factor      : 8.94 x
 Time per step        : 223.6 µs

 Newton iters / step  : 2.47
 Contacts / step      : 3.37
 Constraints / step   : 13.49
 Degrees of freedom   : 12
 Dynamic memory usage : 0.2% of 14M
```

After:
```
 Simulation time      : 1.71 s
 Steps per second     : 5854
 Realtime factor      : 11.71 x
 Time per step        : 170.8 µs

 Newton iters / step  : 2.19
 Contacts / step      : 3.45
 Constraints / step   : 13.79
 Degrees of freedom   : 12
 Dynamic memory usage : 0.2% of 14M
```

PiperOrigin-RevId: 781075182
Change-Id: Ie509047ff581ab0df4b10bbd394c27d350ab5a13
This commit is contained in:
Alessio Quaglino
2025-07-09 08:56:20 -07:00
committed by Copybara-Service
parent a3d251f552
commit 96118da08b
10 changed files with 45 additions and 32 deletions
Download Patch File Download Diff File Expand all files Collapse all files
python/mujoco/introspect/structs.py
+8
View File
@@ -1589,6 +1589,14 @@ STRUCTS: Mapping[str, StructDecl] = dict([
doc='octree node bounding box (center, size)',
array_extent=('noct', 6),
),
StructFieldDecl(
name='oct_coeff',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='octree interpolation coefficients',
array_extent=('noct', 8),
),
StructFieldDecl(
name='jnt_type',
type=PointerType(