Fast lookup is not possible since mjOBJ_FRAME > mjNOBJECT, which is the size of the objects maps used for the search.
Fixes#2328.
PiperOrigin-RevId: 712479460
Change-Id: I7bcfa75ff8a1e288183d60ed4a44cab5bc6f4173
- `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
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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
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3a95b62f59e81bfef0f076afb173ecc14b27943d by Levi Burner <leviburner@gmail.com>:
rollout prototype native threadpool for comparing to python threads
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efd8be1124ac839b902de45973a3ca8b9f2215e6 by Levi Burner <leviburner@gmail.com>:
copy mjpcs threadpool into python bindings
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75603eea3e8362e354a9675e8a6cd14e56ec3d28 by Levi Burner <leviburner@gmail.com>:
rollout use threadpool as translation unit
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06b90febd021663f6cc81fd7895e4d6e2008ed97 by Levi Burner <leviburner@gmail.com>:
rollout add chunk_divisor parameter
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298ab2f3c0d6e12530832c3cdbf784dd92d54806 by Levi Burner <leviburner@gmail.com>:
rollout add native threading test
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169cf9978e7abad6edd1392b8e6aab995e4f8f10 by Levi Burner <leviburner@gmail.com>:
rollout exchange chunk_divisor arg for chunk_size
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265af851d74432d261277d3dbda11cdef1841bc8 by Levi Burner <leviburner@gmail.com>:
rollout fix cosmetics
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1e8bffa88bf36190501b334bef31147e23db39f7 by Levi Burner <leviburner@gmail.com>:
make native rollout a class instead of a function
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ba788214b047577f58c41ce0ab6c62c277cd8b0d by Levi Burner <leviburner@gmail.com>:
rollout update docs and changelog
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e4cb7732319e04cba2ab2c2ad848c659f6309808 by Levi Burner <leviburner@gmail.com>:
rollout don't register atexit handler for Rollout objects
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5a08d2efdbbbb01d4b1231ff9a36a1dc44f4d9ee by Levi Burner <leviburner@gmail.com>:
rollout nthread kwarg, rename shutdown_pool to close, fixups
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f622378543596a208339af0208fa3a70bf2a8007 by Levi Burner <leviburner@gmail.com>:
rollout add missing .close() calls
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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
All instances of mujoco_test in the code base were followed by
a call to target_link_libraries(<testname> fixture gmock).
As anyhow mujoco_test already was calling target_link_libraries
to some predefined list of targets (mujoco and gtest_main),
this PR adds to the list of default linked targets also fixture
and gmock, to reduce the boilerplate.
Furthermore, to completly remove the need for calling
target_link_libraries after a call to mujoco_test, this PR also
add to the mujoco_test macro the ADDITIONAL_LINK_LIBRARIES
argument, that can be used if a given test needs to link some
additional targets beside the default ones.
To permit to use these new features also for mujoco benchmarks,
this PR adds a MAIN_TARGET parameter to mujoco_test, to select
if gtest_main or another target is used to provide the main
entry point to the test executable.
Alessio Quaglino