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Sparse ten_J and ten_J_colind memory

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PiperOrigin-RevId: 868834376
Change-Id: Iec92d9e09e3134666895e54a78cb02439d74a4de
This commit is contained in:
Google DeepMind
2026-02-11 14:04:45 -08:00
committed by Copybara-Service
parent b466829482
commit 336e1026a4
21 changed files with 43 additions and 118 deletions
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include/mujoco/mjdata.h
+2 -2
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@@ -325,8 +325,8 @@ struct mjData_ {
int* ten_wrapnum; // number of wrap points in path (ntendon x 1)
int* ten_J_rownnz; // number of non-zeros in Jacobian row (ntendon x 1)
int* ten_J_rowadr; // row start address in colind array (ntendon x 1)
int* ten_J_colind; // column indices in sparse Jacobian (nJten x 1)
mjtNum* ten_J; // tendon Jacobian (nJten x 1)
int* ten_J_colind; // column indices in sparse Jacobian (ntendon x nv)
mjtNum* ten_J; // tendon Jacobian (ntendon x nv)
mjtNum* ten_length; // tendon lengths (ntendon x 1)
int* wrap_obj; // geom id; -1: site; -2: pulley (nwrap x 2)
mjtNum* wrap_xpos; // Cartesian 3D points in all paths (nwrap x 6)
include/mujoco/mjmodel.h
-1
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@@ -754,7 +754,6 @@ struct mjModel_ {
// sizes set after mjModel construction
mjtSize nnames_map; // number of slots in the names hash map
mjtSize nJmom; // number of non-zeros in sparse actuator_moment matrix
mjtSize nJten; // number of non-zeros in sparse ten_J matrix
mjtSize ngravcomp; // number of bodies with nonzero gravcomp
mjtSize nemax; // number of potential equality-constraint rows
mjtSize njmax; // number of available rows in constraint Jacobian (legacy)
include/mujoco/mjxmacro.h
+7 -3
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@@ -240,7 +240,6 @@
X( npaths ) \
X( nnames_map ) \
X( nJmom ) \
X( nJten ) \
X( ngravcomp ) \
X( nemax ) \
X( njmax ) \
@@ -799,6 +798,11 @@
//-------------------------------- mjData ----------------------------------------------------------
// define symbols needed in MJDATA_POINTERS (corresponding to number of columns)
#define MJDATA_POINTERS_PREAMBLE( m ) \
int nv = m->nv;
// pointer fields of mjData
// XNV means that the field is not required to construct mjvScene
// (by default we define XNV to be the same as X)
@@ -851,8 +855,8 @@
X ( int, ten_wrapnum, ntendon, 1 ) \
X ( int, ten_J_rownnz, ntendon, 1 ) \
X ( int, ten_J_rowadr, ntendon, 1 ) \
X ( int, ten_J_colind, nJten, 1 ) \
X ( mjtNum, ten_J, nJten, 1 ) \
X ( int, ten_J_colind, ntendon, MJ_M(nv) ) \
X ( mjtNum, ten_J, ntendon, MJ_M(nv) ) \
X ( mjtNum, ten_length, ntendon, 1 ) \
X ( int, wrap_obj, nwrap, 2 ) \
X ( mjtNum, wrap_xpos, nwrap, 6 ) \