def copy(self, share_model=False):
"""Creates a copy of this `Physics` instance.
Args:
share_model: If True, the copy and the original will share a common
MjModel instance. By default, both model and data will both be copied.
Returns:
A `Physics` instance.
"""
if not share_model:
new_model = self.model.copy()
else:
new_model = self.model
new_data = wrapper.MjData(new_model)
mjlib.mj_copyData(new_data.ptr, new_data.model.ptr, self.data.ptr)
cls = self.__class__
new_obj = cls.__new__(cls)
new_obj._reload_from_data(new_data) # pylint: disable=protected-access
return new_obj
def __copy__(self): # This makes a shallow copy that shares the same parent MjModel instance. new_obj = self.__class__(self.model) mjlib.mj_copyData(new_obj.ptr, self.model.ptr, self.ptr) return new_obj
def deepcopy(self):
"""Returns a copy of this MjData instance with a new MjModel."""
new_obj = self.__class__(self.model.copy())
mjlib.mj_copyData(new_obj.ptr, self.model.ptr, self.ptr)
return new_obj
