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Mark some mjData fields as mutable.

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PiperOrigin-RevId: 815819490
Change-Id: I1a62fda556b4197aec451f2747c69f34bab13220
This commit is contained in:
Yuval Tassa
2025-10-06 11:42:41 -07:00
committed by Copybara-Service
parent 52eff3da0f
commit 414888b716
4 changed files with 13 additions and 13 deletions
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doc/includes/references.h
+4 -4
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@@ -156,14 +156,14 @@ struct mjData_ {
int nplugin; // number of plugin instances int nplugin; // number of plugin instances
// stack pointer // stack pointer
size_t pstack; // first available byte in stack size_t pstack; // first available byte in stack (mutable)
size_t pbase; // value of pstack when mj_markStack was last called size_t pbase; // value of pstack when mj_markStack was last called (mutable)
// arena pointer // arena pointer
size_t parena; // first available byte in arena size_t parena; // first available byte in arena
// memory utilization statistics // memory utilization statistics
mjtSize maxuse_stack; // maximum stack allocation in bytes mjtSize maxuse_stack; // maximum stack allocation in bytes (mutable)
mjtSize maxuse_threadstack[mjMAXTHREAD]; // maximum stack allocation per thread in bytes mjtSize maxuse_threadstack[mjMAXTHREAD]; // maximum stack allocation per thread in bytes
mjtSize maxuse_arena; // maximum arena allocation in bytes mjtSize maxuse_arena; // maximum arena allocation in bytes
int maxuse_con; // maximum number of contacts int maxuse_con; // maximum number of contacts
@@ -176,7 +176,7 @@ struct mjData_ {
mjtNum solver_fwdinv[2]; // forward-inverse comparison: qfrc, efc mjtNum solver_fwdinv[2]; // forward-inverse comparison: qfrc, efc
// diagnostics // diagnostics
mjWarningStat warning[mjNWARNING]; // warning statistics mjWarningStat warning[mjNWARNING]; // warning statistics (mutable)
mjTimerStat timer[mjNTIMER]; // timer statistics mjTimerStat timer[mjNTIMER]; // timer statistics
// variable sizes // variable sizes
include/mujoco/mjdata.h
+4 -4
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@@ -188,14 +188,14 @@ struct mjData_ {
int nplugin; // number of plugin instances int nplugin; // number of plugin instances
// stack pointer // stack pointer
size_t pstack; // first available byte in stack size_t pstack; // first available byte in stack (mutable)
size_t pbase; // value of pstack when mj_markStack was last called size_t pbase; // value of pstack when mj_markStack was last called (mutable)
// arena pointer // arena pointer
size_t parena; // first available byte in arena size_t parena; // first available byte in arena
// memory utilization statistics // memory utilization statistics
mjtSize maxuse_stack; // maximum stack allocation in bytes mjtSize maxuse_stack; // maximum stack allocation in bytes (mutable)
mjtSize maxuse_threadstack[mjMAXTHREAD]; // maximum stack allocation per thread in bytes mjtSize maxuse_threadstack[mjMAXTHREAD]; // maximum stack allocation per thread in bytes
mjtSize maxuse_arena; // maximum arena allocation in bytes mjtSize maxuse_arena; // maximum arena allocation in bytes
int maxuse_con; // maximum number of contacts int maxuse_con; // maximum number of contacts
@@ -208,7 +208,7 @@ struct mjData_ {
mjtNum solver_fwdinv[2]; // forward-inverse comparison: qfrc, efc mjtNum solver_fwdinv[2]; // forward-inverse comparison: qfrc, efc
// diagnostics // diagnostics
mjWarningStat warning[mjNWARNING]; // warning statistics mjWarningStat warning[mjNWARNING]; // warning statistics (mutable)
mjTimerStat timer[mjNTIMER]; // timer statistics mjTimerStat timer[mjNTIMER]; // timer statistics
// variable sizes // variable sizes
python/mujoco/introspect/structs.py
+4 -4
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@@ -5003,12 +5003,12 @@ STRUCTS: Mapping[str, StructDecl] = dict([
StructFieldDecl( StructFieldDecl(
name='pstack', name='pstack',
type=ValueType(name='size_t'), type=ValueType(name='size_t'),
doc='first available byte in stack', doc='first available byte in stack (mutable)',
), ),
StructFieldDecl( StructFieldDecl(
name='pbase', name='pbase',
type=ValueType(name='size_t'), type=ValueType(name='size_t'),
doc='value of pstack when mj_markStack was last called', doc='value of pstack when mj_markStack was last called (mutable)', # pylint: disable=line-too-long
), ),
StructFieldDecl( StructFieldDecl(
name='parena', name='parena',
@@ -5018,7 +5018,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
StructFieldDecl( StructFieldDecl(
name='maxuse_stack', name='maxuse_stack',
type=ValueType(name='mjtSize'), type=ValueType(name='mjtSize'),
doc='maximum stack allocation in bytes', doc='maximum stack allocation in bytes (mutable)',
), ),
StructFieldDecl( StructFieldDecl(
name='maxuse_threadstack', name='maxuse_threadstack',
@@ -5081,7 +5081,7 @@ STRUCTS: Mapping[str, StructDecl] = dict([
inner_type=ValueType(name='mjWarningStat'), inner_type=ValueType(name='mjWarningStat'),
extents=(8,), extents=(8,),
), ),
doc='warning statistics', doc='warning statistics (mutable)',
), ),
StructFieldDecl( StructFieldDecl(
name='timer', name='timer',
python/mujoco/introspect/structs_test.py
+1 -1
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@@ -37,7 +37,7 @@ class StructsTest(absltest.TestCase):
if field.name == 'warning': if field.name == 'warning':
self.assertEqual(field.type, self.assertEqual(field.type,
type_parsing.parse_type('mjWarningStat[8]')) type_parsing.parse_type('mjWarningStat[8]'))
self.assertEqual(field.doc, 'warning statistics') self.assertEqual(field.doc, 'warning statistics (mutable)')
elif field.name == 'qpos': elif field.name == 'qpos':
self.assertEqual(field.type, type_parsing.parse_type('mjtNum*')) self.assertEqual(field.type, type_parsing.parse_type('mjtNum*'))
self.assertEqual(field.doc, 'position') self.assertEqual(field.doc, 'position')