From 71c5f1794d8bf1b84a0b423bb1def12d8b8ff13f Mon Sep 17 00:00:00 2001 From: Saran Tunyasuvunakool Date: Thu, 9 Feb 2023 05:01:27 -0800 Subject: [PATCH] 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. 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 --- doc/changelog.rst | 3 +++ python/mujoco/indexer_xmacro.h | 5 ----- 2 files changed, 3 insertions(+), 5 deletions(-) diff --git a/doc/changelog.rst b/doc/changelog.rst index 91205484..349e03c5 100644 --- a/doc/changelog.rst +++ b/doc/changelog.rst @@ -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) diff --git a/python/mujoco/indexer_xmacro.h b/python/mujoco/indexer_xmacro.h index ed6dfba0..bc462853 100644 --- a/python/mujoco/indexer_xmacro.h +++ b/python/mujoco/indexer_xmacro.h @@ -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 ) \