This keeps track of specs attached with the full attach function `attach`. It does not track fine-grained attach via `attach_body` and `attach_frame`.
PiperOrigin-RevId: 722597081
Change-Id: I56188f1718592128b7033538acc9a40553cbbed2
We can only use the MjSpec wrapper, not the raw::MjSpec struct in the API.
PiperOrigin-RevId: 722589064
Change-Id: I007150f92738487f27211d7435e328cab86214f7
This clarifies the difference between attaching a full spec, which converts the worldbody to a frame, and attaching a specific body (or frame).
PiperOrigin-RevId: 721297010
Change-Id: Iff87fe99b81746e6ab3a189a3057b274d3c9a939
When specified, child asset with repeated names will override parent's, rather than throw an error. Default behavior is to override.
PiperOrigin-RevId: 717979621
Change-Id: I18022dc266619b4ba1a8636d1c60f85b0eb5f862
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 associating assets with a spec object.
Also, remove `spec.compile(assets)` and replace it with the `spec.assets` attribute, which must be be set before compile if assets are present.
PiperOrigin-RevId: 714981385
Change-Id: Ic3a33c3b75d3a7e14868622aadb57b2a8461a649
Replace .attach() with .attach_body() where a body is passed as a first argument instead of a spec that is expected by .attach().
+Fix typo.
PiperOrigin-RevId: 714933134
Change-Id: Idb242fbef0fe164075826c01d4e1995c7d4ae565
- `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
--
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
Alessio Quaglino