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Improve documentation related to engine-internal threading.

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PiperOrigin-RevId: 573346658
Change-Id: I112eba10b8f71b3a0aa27fa162a4a589be7ec3a7
This commit is contained in:
Yuval Tassa
2023-10-13 16:31:41 -07:00
committed by Copybara-Service
parent e90b347cbf
commit c0357ef3d0
4 changed files with 84 additions and 34 deletions
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doc/changelog.rst
+22 -21
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@@ -29,13 +29,16 @@ New features
gradient at query points. See the :ref:`documentation<exWriting>` for more details.
3. Added :ref:`mjThreadPool` and :ref:`mjTask` which allow for multi-threaded operations within the MuJoCo engine
pipeline.
pipeline. If engine-internal threading is enabled, the following operations will be multi-threaded:
If engine-level threading is enabled, the following operations will be multi-threaded:
- Island constraint resolution, if island discovery is :ref:`enable flag<option-flag-island>` and the :ref:`CG<option-solver>` is selected.
- Island constraint resolution, if island discovery is :ref:`enabled<option-flag-island>` and the
:ref:`CG solver<option-solver>` is selected. The
`22 humanoids <https://github.com/deepmind/mujoco/blob/main/model/humanoid/22_humanoids.xml>`__ model shows a 3x
speedup compared to the single threaded simulation.
- Inertia-related computations and collision detection will happen in parallel.
Engine-internal threading is a work in progress and currently only available in first-party code via the
:ref:`testspeed<saTestspeed>` utility, exposed with the ``npoolthread`` flag.
.. youtube:: ra2bTiZHGlw
:align: right
@@ -108,7 +111,7 @@ General
14. Added a new :ref:`dyntype<actuator-general-dyntype>`, ``filterexact``, which updates first-order filter states with
the exact formula rather than with Euler integration.
15. Added an actuator attribute, :ref:`actearly<actuator-general-actearly>`, which uses semi-implicit integration for
actuator forces: using the next step's actuator state to compute the current actuator forces at the current timestep.
actuator forces: using the next step's actuator state to compute the current actuator forces.
16. Renamed ``actuatorforcerange`` and ``actuatorforcelimited``, introduced in the previous version to
:ref:`actuatorfrcrange<body-joint-actuatorfrcrange>` and
:ref:`actuatorfrclimited<body-joint-actuatorfrclimited>`, respectively.
@@ -132,24 +135,22 @@ General
attributes are specified. See the following
`example model <https://github.com/deepmind/mujoco/blob/main/test/engine/testdata/vis_visualize/frustum.xml>`__.
- Note that these attributes only take effect for offline rendering and do not affect interactive visualisation.
23. Added multi-threaded constraint solving via :ref:`mj_island` and :ref:`mjThreadPool` to :ref:`testspeed<saTestspeed>`
exposed via npoolthread flag. The `22 humanoids <https://github.com/deepmind/mujoco/blob/main/model/humanoid/22_humanoids.xml>`__
model shows a 3x speedup compared to the single threaded simulation.
24. Implemented reversed Z rendering for better depth precision. An enum :ref:`mjtDepthMap` was added with values
:ref:`mjDEPTH_ZERONEAR` and :ref:`mjDEPTH_ZEROFAR`, which can be used to set the new ``readDepthMap`` attribute in
:ref:`mjrContext`` to control how the depth returned by :ref:`mjr_readPixels` is mapped from ``znear`` to ``zfar``.
`Contribution <https://github.com/google-deepmind/mujoco/pull/978>`__ by `Levi Burner <https://github.com/aftersomemath>`__.
25. Deleted the code sample ``testxml``. The functionality provided by this utility is implemented in the
`WriteReadCompare <https://github.com/google-deepmind/mujoco/blob/main/test/xml/xml_native_writer_test.cc>__ test.
23. Implemented reversed Z rendering for better depth precision. An enum :ref:`mjtDepthMap` was added with values
``mjDEPTH_ZERONEAR`` and ``mjDEPTH_ZEROFAR``, which can be used to set the new ``readDepthMap`` attribute in
:ref:`mjrContext` to control how the depth returned by :ref:`mjr_readPixels` is mapped from ``znear`` to ``zfar``.
`Contribution <https://github.com/google-deepmind/mujoco/pull/978>`__ by
`Levi Burner <https://github.com/aftersomemath>`__.
24. Deleted the code sample ``testxml``. The functionality provided by this utility is implemented in the
`WriteReadCompare <https://github.com/google-deepmind/mujoco/blob/main/test/xml/xml_native_writer_test.cc>`__ test.
Python bindings
^^^^^^^^^^^^^^^
26. Fixed `#870 <https://github.com/google-deepmind/mujoco/issues/870>`__ where calling ``update_scene`` with an invalid
25. Fixed `#870 <https://github.com/google-deepmind/mujoco/issues/870>`__ where calling ``update_scene`` with an invalid
camera name used the default camera.
27. Added ``user_scn`` to the :ref:`passive viewer<PyViewerPassive>` handle, which allows users to add custom
26. Added ``user_scn`` to the :ref:`passive viewer<PyViewerPassive>` handle, which allows users to add custom
visualization geoms (`#1023 <https://github.com/google-deepmind/mujoco/issues/870>`__).
28. Added optional boolean keyword arguments ``show_left_ui`` and ``show_right_ui`` to the functions ``viewer.launch``
27. Added optional boolean keyword arguments ``show_left_ui`` and ``show_right_ui`` to the functions ``viewer.launch``
and ``viewer.launch_passive``, which allow users to launch a viewer with UI panels hidden.
Simulate
@@ -159,21 +160,21 @@ Simulate
:align: right
:width: 240px
29. Added **state history** mechanism to :ref:`simulate<saSimulate>` and the managed
28. Added **state history** mechanism to :ref:`simulate<saSimulate>` and the managed
:ref:`Python viewer<PyViewerManaged>`. State history can be viewed by scrubbing the History slider and (more
precisely) with the left and right arrow keys. See screen capture:
30. The ``LOADING...`` label is now shown correctly.
29. The ``LOADING...`` label is now shown correctly.
`Contribution <https://github.com/google-deepmind/mujoco/pull/1070>`__ by
`Levi Burner <https://github.com/aftersomemath>`__.
Bug fixes
^^^^^^^^^
31. Fixed a bug that was causing :ref:`geom margin<body-geom-margin>` to be ignored during the construction of
30. Fixed a bug that was causing :ref:`geom margin<body-geom-margin>` to be ignored during the construction of
midphase collision trees.
32. Fixed a bug that was generating incorrect values in ``efc_diagApprox`` for weld equality constraints.
31. Fixed a bug that was generating incorrect values in ``efc_diagApprox`` for weld equality constraints.
Version 2.3.7 (July 20, 2023)