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Add checksums (used as a timestamp) to VFS.

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Deprecate mj_makeEmptyFileVFS in favor of mj_addBufferVFS.

PiperOrigin-RevId: 608915388
Change-Id: Id9e9b042799bc1bf547f0795ae6f386447d53cdd
This commit is contained in:
Kyle Bayes
2024-02-21 02:24:35 -08:00
committed by Copybara-Service
parent 042760eba8
commit a4a621f6e3
15 changed files with 251 additions and 78 deletions
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doc/changelog.rst
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@@ -12,20 +12,25 @@ General
:at:`ctrlrange` or :at:`actrange` (respectively), according to the range of the transmission
target (joint or tendon). See :ref:`position/inheritrange<actuator-position-inheritrange>` for
details.
2. Deprecated :ref:`mj_makeEmptyFileVFS` in favor of :ref:`mj_addBufferVFS`. :ref:`mjVFS` now computes checksums of
its internal file buffers. :ref:`mj_addBufferVFS` allocates an empty buffer with a given name in an mjVFS and
copies the data buffer into it, combining and replacing the deprecated two-step process of calling
:ref:`mj_makeEmptyFileVFS` followed by a direct copy into the given mjVFS internal file buffer.
MJX
^^^
2. Improved performance of getting and putting device data.
3. Improved performance of getting and putting device data.
- Use ``tobytes()`` for numpy array serialization, which is orders of magnitude faster than converting to tuples.
- Avoid reallocating host ``mjData`` arrays when array shapes are unchanged.
- Speed up calculation of ``mjx.ncon`` for models with many geoms.
- Avoid calling ``mjx.ncon`` in ``mjx.get_data_into`` when ``nc`` can be derived from ``mjx.Data``.
3. Fixed a bug in ``mjx-viewer`` that prevented it from running. Updated ``mjx-viewer`` to use newer
4. Fixed a bug in ``mjx-viewer`` that prevented it from running. Updated ``mjx-viewer`` to use newer
``mjx.get_data_into`` function call.
4. Fixed a bug in ``mjx.euler`` that applied incorrect damping when using dense mass matrices.
5. Fixed a bug in ``mjx.solve`` that was causing slow convergence when using ``mjSOL_NEWTON`` in :ref:`mjtSolver`.
6. Added support for :ref:`mjOption.impratio<mjOption>` to ``mjx.Model``.
5. Fixed a bug in ``mjx.euler`` that applied incorrect damping when using dense mass matrices.
6. Fixed a bug in ``mjx.solve`` that was causing slow convergence when using ``mjSOL_NEWTON`` in :ref:`mjtSolver`.
7. Added support for :ref:`mjOption.impratio<mjOption>` to ``mjx.Model``.
Python bindings
^^^^^^^^^^^^^^^