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Python bindings: Store a reference to MjModel in MjDataWrapper.

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Before this change, MjDataWrapper contained a custom data structure called MjDataMetadata, which contained the sizes of various arrays needed to create MjData. This was used for serialization and deserialization, as well as copying MjData instances.

This worked fine for native MuJoCo models, but as soon as plugins were used, there was information in the model that was needed and not available in MjDataMetadata. Since plugins are so general, keeping MjDataMetadata was untenable.

PiperOrigin-RevId: 578205355
Change-Id: I11b9ee797d1da5aaf1fecbbe170b3b0f1f1a3e6c
This commit is contained in:
Nimrod Gileadi
2023-10-31 09:15:50 -07:00
committed by Copybara-Service
parent 64a59bb2dc
commit 084facc9ab
9 changed files with 177 additions and 232 deletions
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doc/changelog.rst
+6 -4
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@@ -23,20 +23,22 @@ Python bindings
6. Fix the macOS ``mjpython`` launcher to work with the Python interpreter from Apple Command Line
Tools.
7. Fixed a crash when copying instances of ``mujoco.MjData`` for models that use plugins. Introduced a ``model``
attribute to ``MjData`` which is reference to the model that was used to create that ``MjData`` instance.
Simulate
^^^^^^^^
7. :ref:`simulate<saSimulate>`: correct handling of "Pause update", "Fullscreen" and "VSync" buttons.
8. :ref:`simulate<saSimulate>`: correct handling of "Pause update", "Fullscreen" and "VSync" buttons.
Documentation
^^^^^^^^^^^^^
8. Added documentation for the :ref:`UI` framework.
9. Fixed typos and supported fields in docs (fixes :github:issue:`1105` and :github:issue:`1106`).
9. Added documentation for the :ref:`UI` framework.
10. Fixed typos and supported fields in docs (fixes :github:issue:`1105` and :github:issue:`1106`).
Bug fixes
^^^^^^^^^
10. Fixed bug relating to welds modified with :ref:`torquescale<equality-weld-torquescale>`.
11. Fixed bug relating to welds modified with :ref:`torquescale<equality-weld-torquescale>`.
Version 3.0.0 (October 18, 2023)
--------------------------------