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Add bind() method to MjModel and MjData.

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This method allows users to bind a spec to a model or data object, making it less verbose to access its arrays.

PiperOrigin-RevId: 699952211
Change-Id: I6b71a88d5a6968bc0f902bd49db7c568b46a4dfb
This commit is contained in:
Alessio Quaglino
2024-11-25 05:53:03 -08:00
committed by Copybara-Service
parent 13b6055098
commit c6ba8f27fd
6 changed files with 75 additions and 17 deletions
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doc/changelog.rst
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@@ -6,11 +6,6 @@ Changelog
Upcoming version (not yet released)
-----------------------------------
General
^^^^^^^
- Removed id attribute from :ref:`mjSpec` objects in Python bindings. Using ids is error prone in scenarios of repeated
attachment and detachment. Python users are encouraged to use names for unique identification of model elements.
MJX
^^^
- Added muscle actuators.
@@ -18,6 +13,8 @@ MJX
Python bindings
^^^^^^^^^^^^^^^
- Provide prebuilt wheels for Python 3.13.
- Added ``bind`` method and removed id attribute from :ref:`mjSpec` objects. Using ids is error prone in scenarios of repeated attachment and
detachment. Python users are encouraged to use names for unique identification of model elements.
Bug fixes
^^^^^^^^^