These flexes use only 24 DOFs (3 per vertex of the bounding box), while colliding with the full high resolution mesh.
On an 8x8x8 cube, the performance using DOFs at all vertices is
```
Simulation time : 18.74 s
Steps per second : 533
Realtime factor : 0.53 x
Time per step : 1874.4 µs
Contacts per step : 114.88
Constraints per step : 3322.51
Degrees of freedom : 1536
```
With the new implementation, it is the following:
```
Simulation time : 1.82 s
Steps per second : 5507
Realtime factor : 5.51 x
Time per step : 181.6 µs
Contacts per step : 38.84
Constraints per step : 155.36
Degrees of freedom : 24
```
PiperOrigin-RevId: 721008829
Change-Id: I833df027527db578d86667cc4b24295bcf6f7d22
Old API:
```
site.attach(child_spec)
frame.attach(child_spec)
```
New API:
```
parent_spec.attach(child_spec, frame=frame_name_or_object)
parent_spec.attach(site_spec, site=site_name_or_object)
```
This enables accessing the parent object during attach, which will be used in a follow-up CL to automatically append the child assets to the parent.
PiperOrigin-RevId: 717908589
Change-Id: I0fb27e99694c954cb8ba8a8c98484ffd53a4d6db
This enables to find the spec associated with the compiler option stored in the objects, which do not necessarily belong to the model that owns them.
PiperOrigin-RevId: 713259419
Change-Id: I579c770147ff07ed2a5edd20e7a795ee7cc27147
This can happen when a body is detached without compiling or recompiling.
Also added error catching when trying to delete a body instead of detaching it.
Fixes#2327
PiperOrigin-RevId: 712526730
Change-Id: I4b48df83120fca12d475c85b3a54893841449653
- `qLDiagSqrtInv` is only required for the dual solvers. It is now computed as-needed rather than unconditionally.
- `mj_solveM2` now requires a new input array `sqrtInvD` which contains the square root of the inverse diagonal D (formerly saved in `qLDiagSqrtInv`).
PiperOrigin-RevId: 710805133
Change-Id: I0622d6a8da3882916824e9c10bad9223c122c321
--
0e1aae484a1a6d2d52d0b99bf62f116d42ed9a1f by Kristian Hartikainen <kristian.hartikainen@gmail.com>:
Fix typo in `changelog.rst`
COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/2298 from hartikainen:patch-1 0e1aae484a1a6d2d52d0b99bf62f116d42ed9a1f
PiperOrigin-RevId: 707528220
Change-Id: Ie3bc28cf7a8456e4ba8bfc405ab7190a84d5a69e
--
3a95b62f59e81bfef0f076afb173ecc14b27943d by Levi Burner <leviburner@gmail.com>:
rollout prototype native threadpool for comparing to python threads
--
efd8be1124ac839b902de45973a3ca8b9f2215e6 by Levi Burner <leviburner@gmail.com>:
copy mjpcs threadpool into python bindings
--
75603eea3e8362e354a9675e8a6cd14e56ec3d28 by Levi Burner <leviburner@gmail.com>:
rollout use threadpool as translation unit
--
06b90febd021663f6cc81fd7895e4d6e2008ed97 by Levi Burner <leviburner@gmail.com>:
rollout add chunk_divisor parameter
--
298ab2f3c0d6e12530832c3cdbf784dd92d54806 by Levi Burner <leviburner@gmail.com>:
rollout add native threading test
--
169cf9978e7abad6edd1392b8e6aab995e4f8f10 by Levi Burner <leviburner@gmail.com>:
rollout exchange chunk_divisor arg for chunk_size
--
265af851d74432d261277d3dbda11cdef1841bc8 by Levi Burner <leviburner@gmail.com>:
rollout fix cosmetics
--
1e8bffa88bf36190501b334bef31147e23db39f7 by Levi Burner <leviburner@gmail.com>:
make native rollout a class instead of a function
--
ba788214b047577f58c41ce0ab6c62c277cd8b0d by Levi Burner <leviburner@gmail.com>:
rollout update docs and changelog
--
e4cb7732319e04cba2ab2c2ad848c659f6309808 by Levi Burner <leviburner@gmail.com>:
rollout don't register atexit handler for Rollout objects
--
5a08d2efdbbbb01d4b1231ff9a36a1dc44f4d9ee by Levi Burner <leviburner@gmail.com>:
rollout nthread kwarg, rename shutdown_pool to close, fixups
--
f622378543596a208339af0208fa3a70bf2a8007 by Levi Burner <leviburner@gmail.com>:
rollout add missing .close() calls
--
50f3ebca43c53eac03f03943c34bb1e46967bd4f by Levi Burner <leviburner@gmail.com>:
rollout return immediately
COPYBARA_INTEGRATE_REVIEW=https://github.com/google-deepmind/mujoco/pull/2282 from aftersomemath:rollout-threaded 50f3ebca43c53eac03f03943c34bb1e46967bd4f
PiperOrigin-RevId: 706744277
Change-Id: I1ab2263b7d6ce30cf1908aec8fd5f2eb976a19e6
Copybara-Service