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Update MuJoCo changelog with a video of the 100_humanoids model.

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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
This commit is contained in:
Yuval Tassa
2024-10-15 08:39:07 -07:00
committed by Copybara-Service
parent 0ffaeb4d56
commit d646ba8de1
2 changed files with 6 additions and 5 deletions
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doc/changelog.rst
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@@ -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 <https://github.com/google-deepmind/mujoco/blob/main/model/humanoid/100_humanoids.xml>`__.
Two quadratic-memory allocations still remain to be fully sparsified: ``mjData.actuator_moment`` and the matrices used