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Improve documentation of the internal stack.

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PiperOrigin-RevId: 525119946
Change-Id: I49c757506f4af2b588dc07f978c8a72acad1b5bc
This commit is contained in:
Yuval Tassa
2023-04-18 05:39:46 -07:00
committed by Copybara-Service
parent 4b1375297b
commit c69e0b97fb
2 changed files with 22 additions and 16 deletions
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doc/modeling.rst
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@@ -1248,8 +1248,8 @@ MuJoCo Forum for an example; the plots below are generated with that model.
Memory allocation
~~~~~~~~~~~~~~~~~
MuJoCo preallocates all the memory needed at runtime in ``mjData``, and does not access the heap allocator after
model creation. Memory in ``mjData`` is allocated by :ref:`mj_makeData` in two contiguous blocks:
MuJoCo preallocates all the memory needed at runtime in :ref:`mjData`, and does not access the heap allocator after
model creation. Memory in :ref:`mjData` is allocated by :ref:`mj_makeData` in two contiguous blocks:
- ``mjData.buffer`` contains fixed-size arrays.
- ``mjData.arena`` contains dynamically-sized arrays.