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Add put_model, put_data, and get_data to MJX.

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These io functions replace device_put, device_get_into. These new functions correctly copy intermediate fields such as efc_J, which the old functions could not.

PiperOrigin-RevId: 586712273
Change-Id: Ia3a4104af17db2ebd41b41a2ca501c5de9ac5d05
This commit is contained in:
Erik Frey
2023-11-30 10:13:47 -08:00
committed by Copybara-Service
parent 4c8ffb44bf
commit 67fa7c1dc2
15 changed files with 763 additions and 173 deletions
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doc/changelog.rst
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@@ -27,6 +27,9 @@ MJX
^^^
- Added ``site_xpos`` and ``site_xmat`` to MJX.
- Added ``put_data``, ``put_model``, ``get_data`` to replace ``device_put`` and ``device_get_into``, which will be
deprecated. These new functions correctly translate fields that are the result of intermediate calculations such as
``efc_J``.
Bug fixes
^^^^^^^^^