Remove const qualifier from mjData in mj_geomDistance. The function mj_geomDistance will require data stack space as nativeccd memory is determined from opt.ccd_iterations.

PiperOrigin-RevId: 881946592 Change-Id: I524b9fa41018a581e58647d44de6ca3db4c6608b
2026-03-11 04:54:58 -07:00
parent 64ee2d041f
commit acf7f030a6
7 changed files with 11 additions and 11 deletions
@@ -663,7 +663,7 @@ PYBIND11_MODULE(_functions, pymodule) {
  Def<traits::mj_contactForce>(pymodule);
  Def<traits::mj_geomDistance>(
      pymodule,
-      [](const raw::MjModel* m, const raw::MjData* d,
+      [](const raw::MjModel* m, raw::MjData* d,
         int geom1, int geom2, mjtNum distmax,
         std::optional<Eigen::Ref<EigenArrayXX>> fromto) {
        if (fromto.has_value() && fromto->size() != 6) {
@@ -3626,7 +3626,7 @@ FUNCTIONS: Mapping[str, FunctionDecl] = dict([
             FunctionParameterDecl(
                 name='d',
                 type=PointerType(
-                     inner_type=ValueType(name='mjData', is_const=True),
+                     inner_type=ValueType(name='mjData'),
                 ),
             ),
             FunctionParameterDecl(