From d646ba8de1bf4e9161665e224ccf4bc5a3293601 Mon Sep 17 00:00:00 2001 From: Yuval Tassa Date: Tue, 15 Oct 2024 08:39:07 -0700 Subject: [PATCH] Update MuJoCo changelog with a video of the 100_humanoids model. Improve the model's rendering FPS by reducing the number of shadow-casting lights from 7 to 2. https://youtu.be/e8lUuykQPGs PiperOrigin-RevId: 686118052 Change-Id: If376564fdc23ad8d754dac1e5825079c0b806063 --- doc/changelog.rst | 4 ++++ model/humanoid/100_humanoids.xml | 7 ++----- 2 files changed, 6 insertions(+), 5 deletions(-) diff --git a/doc/changelog.rst b/doc/changelog.rst index 2ed3f095..ec3f3acd 100644 --- a/doc/changelog.rst +++ b/doc/changelog.rst @@ -8,6 +8,10 @@ Upcoming version (not yet released) General ^^^^^^^ +.. youtube:: e8lUuykQPGs + :align: right + :width: 240px + - The Newton solver no longer requires ``nv*nv`` memory allocation, allowing for much larger models. See e.g., `100_humanoids.xml `__. Two quadratic-memory allocations still remain to be fully sparsified: ``mjData.actuator_moment`` and the matrices used diff --git a/model/humanoid/100_humanoids.xml b/model/humanoid/100_humanoids.xml index 356a23d5..926c6130 100644 --- a/model/humanoid/100_humanoids.xml +++ b/model/humanoid/100_humanoids.xml @@ -28,13 +28,13 @@ - + - + @@ -43,8 +43,5 @@ - - -