This change introduces MjVFS, an explicit object to mirror the C mjVFS. This is meant to replace the MjSpec.assets dict. This latter while convenient guides users towards harmful authoring patterns with respect to data duplication and spec attachment workflows. Making VFS management explicit should encourage better memory usage and allow us to make better compile time optimizations.
From this change, `spec.assets` is deprecated. However we will temporarily support backwards compatibility due to the wide spread usage. An error will be thrown if calling code tries to use a spec that uses both the assets dict and the new MjVfs.
PiperOrigin-RevId: 908772050
Change-Id: I77c6d0369307fc300c954768fed17401261e18da
The previous instructions use a pre-built binary from MuJoCo and do not cover
the use-case of building C/C++ and Python bindings from the same codebase.
PiperOrigin-RevId: 802060401
Change-Id: I6d0b9c7c2269ff596ac706b716ff6c95b42c5d99
By default this option is off, which preserves the current behavior of syncing all of `mjModel` and `mjData`.
PiperOrigin-RevId: 776498017
Change-Id: I02127c9397efbabebb89b0e0d139b00b6e665d35
In a follow-up, mjs_detach will be changed to only remove without deleting an element.
PiperOrigin-RevId: 773637351
Change-Id: I9ee4d3584ba88ccc225591337cf036bab806e25c
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
--
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
This method allows users to bind a spec to a model or data object, making it less verbose to access its arrays.
PiperOrigin-RevId: 699952211
Change-Id: I6b71a88d5a6968bc0f902bd49db7c568b46a4dfb
The app bundle doesn't include mujoco.framework, so the instructions were a bit stale. I verified that with these new instructions I'm able to build the Python bindings from source with a prebuilt MuJoCo binary.
Fixes#313.
PiperOrigin-RevId: 666272041
Change-Id: I8bcf14c8ab6268cdaa617a8b5940b155ef64a8c5
Sam Haves