a2a0b95de0
Print arena memory usage in testspeed
...
PiperOrigin-RevId: 693681047
Change-Id: Ica5b516d0141199f701567d64e2ea1446491e232
2024-11-06 04:50:42 -08:00
3f3b39bbb1
Fix type-related issues in dependent code. Remove hardcoded mjUSEDOUBLE. Add mjUSESINGLE compiler flag.
...
This CL does not change the default build behavior of MuJoCo. To use single-precision floating-point, build MuJoCo with `-DmjUSESINGLE`.
PiperOrigin-RevId: 644782648
Change-Id: Ie815df9916798ca8054306437b39a33f84ce9e08
2024-06-19 10:52:18 -07:00
2feefbc5d2
Remove fine-grained timing from narrow-phase collision functions, delete mjTIMER_COL_MID.
...
PiperOrigin-RevId: 599225419
Change-Id: Ieca166753c20a0abf660e2821b2844dda8758951
2024-01-17 10:54:23 -08:00
57e6940f57
Prevent division by zero in testspeed. This can happen when parts of the pipeline are disabled.
...
PiperOrigin-RevId: 580208528
Change-Id: Ia5971ea9f15e0b19896392e86a65592357b2df61
2023-11-07 09:38:30 -08:00
c0357ef3d0
Improve documentation related to engine-internal threading.
...
PiperOrigin-RevId: 573346658
Change-Id: I112eba10b8f71b3a0aa27fa162a4a589be7ec3a7
2023-10-13 16:32:38 -07:00
5a70ad08ab
Add Flex component.
...
PiperOrigin-RevId: 572830650
Change-Id: I6908228087b7b9683be3506c8d9cdc725ed5dcd5
2023-10-12 10:49:35 +01:00
bad6bee64f
Improve component printout in testspeed
...
PiperOrigin-RevId: 572610538
Change-Id: I28745840e457ccef7276c3d37ecf3055d0f594da
2023-10-11 10:12:32 -07:00
2842245ca9
Multithread parallelizable operations in mj_fwdPosition
...
PiperOrigin-RevId: 572576240
Change-Id: I70eb518385366a0027c5dad44ac15e3904d1b4a3
2023-10-11 08:01:53 -07:00
18d9f1abb0
Improvements to timing.
...
- Fixed bug in timing of kinematics, was under-reported.
- Moved timing of inertia and collision into respective functions, in preparation for multi-threading.
- Detailed profiling in `testspeed` is always on, removed command-line flag.
- Improved `testspeed` self-documentation.
PiperOrigin-RevId: 571989548
Change-Id: If0e3cc17f6f3511b98fc36339f406a19968a9361
2023-10-09 11:14:44 -07:00
071af3b015
Implement threading for island constraint solving.
...
Humanoids22 No threads:
Benchmark Execution Time: 9.475905812s
Humanoids22 with 10 Threads:
Benchmark Execution Time: 4.871352s
PiperOrigin-RevId: 571214307
Change-Id: I1f4f2c761b4ae6bc8fac1f28c6c695f6c499f339
2023-10-05 21:05:19 -07:00
63fd23a934
Remove mjTIMER_ACCELERATION, add mjTIMER_ADVANCE.
...
- mjTIMER_ACCELERATION is not very useful, it's usually very tiny (0.5% for humanoid, 1% for 22humanoids). It basically times a single call to `mj_solveM`.
- Added `mjTIMER_ADVANCE` to time `mj_Euler` and `mj_implicit` (which can be significant).
- Moved `mj_transmission` to `mjTIMER_KINEMATICS` where it belongs (and used to be).
PiperOrigin-RevId: 565936880
Change-Id: I26b8a067133594e5500ca1c809beb3518b4a8d9c
2023-09-16 08:03:45 -07:00
761649c3a3
Improvements to testspeed.cc:
...
- Turn on internal profiling by default, adding "other" category.
- Print step timing in microseconds.
PiperOrigin-RevId: 545493349
Change-Id: I0cd5fea1206b3f86f1c757130169975d6862733d
2023-07-04 12:53:59 -07:00
5f132af625
Add midphase and broadphase statistics to mjData.
...
PiperOrigin-RevId: 521387641
Change-Id: Id50f2549d119e364216491a23b107e04d9ebb5b6
2023-04-03 00:59:59 -07:00
c17375fa32
Stop profiling mju_halton in testspeed and bechmarks.
...
PiperOrigin-RevId: 490239351
Change-Id: Id73c101672e5b974f16b6b4da3aae757a657de15
2022-11-22 07:41:02 -08:00
1913a02b40
Initial open sourcing of MuJoCo.
...
PiperOrigin-RevId: 450374687
Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
2022-05-23 01:08:49 -07:00
3577e2cf8b
Version 2.1.2: Python bindings, OBJ assets support, bugfixes.
...
PiperOrigin-RevId: 434731612
Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0
2022-03-15 14:04:44 +00:00
ee39340ae7
Remove inappropriate executable bits and minor reformat of code and changelog.
...
PiperOrigin-RevId: 416854656
Change-Id: I554d2c5667282567a129d79d91d8f2e97146d6f5
2021-12-16 20:58:26 +00:00
a499b38120
Version 2.1.1: Binaries for ARM64, proper macOS bundles, minor bugfixes.
...
Closes #2
Closes #42
Closes #59
PiperOrigin-RevId: 416794598
Change-Id: I1306df1127d6acecf2323873c0da0910f35d31a0
2021-12-16 14:40:33 +00:00
1f7eaae62e
Version 2.1: documentation, public API headers, and sample programs.
...
PiperOrigin-RevId: 403900419
2021-10-18 12:35:33 +01:00
Yuval Tassa