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Remove transposed Jacobian fields from mjData

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No longer computed unconditionally, only ad-hoc where required.

PiperOrigin-RevId: 797753297
Change-Id: I2030fc342c98ff33575b0526dd72e2110c4fcb74
This commit is contained in:
Yuval Tassa
2025-08-21 07:20:29 -07:00
committed by Copybara-Service
parent 5fe4224ae7
commit 2f28473bc1
10 changed files with 33 additions and 178 deletions
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python/mujoco/introspect/structs.py
-80
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@@ -5914,38 +5914,6 @@ STRUCTS: Mapping[str, StructDecl] = dict([
doc='column indices in constraint Jacobian',
array_extent=('nJ',),
),
StructFieldDecl(
name='efc_JT_rownnz',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of non-zeros in constraint Jacobian row T',
array_extent=('nv',),
),
StructFieldDecl(
name='efc_JT_rowadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='row start address in colind array T',
array_extent=('nv',),
),
StructFieldDecl(
name='efc_JT_rowsuper',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of subsequent rows in supernode T',
array_extent=('nv',),
),
StructFieldDecl(
name='efc_JT_colind',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='column indices in constraint Jacobian T',
array_extent=('nJ',),
),
StructFieldDecl(
name='efc_J',
type=PointerType(
@@ -5954,14 +5922,6 @@ STRUCTS: Mapping[str, StructDecl] = dict([
doc='constraint Jacobian',
array_extent=('nJ',),
),
StructFieldDecl(
name='efc_JT',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='constraint Jacobian transposed',
array_extent=('nJ',),
),
StructFieldDecl(
name='efc_pos',
type=PointerType(
@@ -6250,38 +6210,6 @@ STRUCTS: Mapping[str, StructDecl] = dict([
doc='column indices in constraint Jacobian',
array_extent=('nJ',),
),
StructFieldDecl(
name='iefc_JT_rownnz',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of non-zeros in constraint Jacobian row T',
array_extent=('nidof',),
),
StructFieldDecl(
name='iefc_JT_rowadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='row start address in colind array T',
array_extent=('nidof',),
),
StructFieldDecl(
name='iefc_JT_rowsuper',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of subsequent rows in supernode T',
array_extent=('nidof',),
),
StructFieldDecl(
name='iefc_JT_colind',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='column indices in constraint Jacobian T',
array_extent=('nJ',),
),
StructFieldDecl(
name='iefc_J',
type=PointerType(
@@ -6290,14 +6218,6 @@ STRUCTS: Mapping[str, StructDecl] = dict([
doc='constraint Jacobian',
array_extent=('nJ',),
),
StructFieldDecl(
name='iefc_JT',
type=PointerType(
inner_type=ValueType(name='mjtNum'),
),
doc='constraint Jacobian transposed',
array_extent=('nJ',),
),
StructFieldDecl(
name='iefc_frictionloss',
type=PointerType(