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Remove efc_ fields from joint indexers.

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Since the introduction of arena memory, these fields now have dynamic sizes that change between time steps depending on the number of active constraints. This breaks strict correspondence between joints and `efc_` rows.

Note that these fields can still be accessed directly as attributes on the `MjData` object.

PiperOrigin-RevId: 508342388
Change-Id: I610ae6ca462f6bb5cf8bc199a3436bed3d1a5371
This commit is contained in:
Saran Tunyasuvunakool
2023-02-09 05:01:27 -08:00
committed by Copybara-Service
parent df87a85b84
commit 71c5f1794d
2 changed files with 3 additions and 5 deletions
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doc/changelog.rst
+3
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@@ -10,6 +10,9 @@ Python bindings
- Fixed IPython history corruption when using ``launch_repl``. The ``launch_repl`` function now provides seamless
continuation of an IPython interactive shell session, and is no longer considered experimental feature.
- Remove ``efc_`` fields from joint indexers. Since the introduction of arena memory, these fields now have dynamic
sizes that change between time steps depending on the number of active constraints, breaking strict correspondence
between joints and `efc_` rows.
Version 2.3.2 (February 7, 2023)
python/mujoco/indexer_xmacro.h
-5
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@@ -356,11 +356,6 @@
X( mjtNum, , cdof, nv, 6 ) \
X( mjtNum, , qLDiagInv, nv, 1 ) \
X( mjtNum, , qLDiagSqrtInv, nv, 1 ) \
X( int, , efc_JT_rownnz, nv, 1 ) \
X( int, , efc_JT_rowadr, nv, 1 ) \
X( int, , efc_JT_rowsuper, nv, 1 ) \
X( int, , efc_JT_colind, nv, MJ_M(njmax) ) \
X( mjtNum, , efc_JT, nv, MJ_M(njmax) ) \
X( mjtNum, , cdof_dot, nv, 6 ) \
X( mjtNum, , qfrc_bias, nv, 1 ) \
X( mjtNum, , qfrc_passive, nv, 1 ) \