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Add actuator_moment Jacobian sparsity pattern to mjData.

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PiperOrigin-RevId: 688124236
Change-Id: Ieccc8131d0046100ec9a2783ffb43dd784f0a63b
This commit is contained in:
Taylor Howell
2024-10-21 07:10:17 -07:00
committed by Copybara-Service
parent b00a7c6705
commit 36e8845599
5 changed files with 36 additions and 0 deletions
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doc/includes/references.h
+3
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@@ -261,6 +261,9 @@ struct mjData_ {
// computed by mj_fwdPosition/mj_transmission
mjtNum* actuator_length; // actuator lengths (nu x 1)
int* moment_rownnz; // number of non-zeros in actuator_moment row (nu x 1)
int* moment_rowadr; // row start address in colind array (nu x 1)
int* moment_colind; // column indices in sparse Jacobian (nu x nv)
mjtNum* actuator_moment; // actuator moments (nu x nv)
// computed by mj_fwdPosition/mj_crb
include/mujoco/mjdata.h
+3
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@@ -289,6 +289,9 @@ struct mjData_ {
// computed by mj_fwdPosition/mj_transmission
mjtNum* actuator_length; // actuator lengths (nu x 1)
int* moment_rownnz; // number of non-zeros in actuator_moment row (nu x 1)
int* moment_rowadr; // row start address in colind array (nu x 1)
int* moment_colind; // column indices in sparse Jacobian (nu x nv)
mjtNum* actuator_moment; // actuator moments (nu x nv)
// computed by mj_fwdPosition/mj_crb
include/mujoco/mjxmacro.h
+3
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@@ -623,6 +623,9 @@
XMJV( int, wrap_obj, nwrap, 2 ) \
XMJV( mjtNum, wrap_xpos, nwrap, 6 ) \
X ( mjtNum, actuator_length, nu, 1 ) \
X ( int, moment_rownnz, nu, 1 ) \
X ( int, moment_rowadr, nu, 1 ) \
X ( int, moment_colind, nu, MJ_M(nv) ) \
X ( mjtNum, actuator_moment, nu, MJ_M(nv) ) \
X ( mjtNum, crb, nbody, 10 ) \
X ( mjtNum, qM, nM, 1 ) \
introspect/structs.py
+24
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@@ -5144,6 +5144,30 @@ STRUCTS: Mapping[str, StructDecl] = dict([
doc='actuator lengths',
array_extent=('nu',),
),
StructFieldDecl(
name='moment_rownnz',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='number of non-zeros in actuator_moment row',
array_extent=('nu',),
),
StructFieldDecl(
name='moment_rowadr',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='row start address in colind array',
array_extent=('nu',),
),
StructFieldDecl(
name='moment_colind',
type=PointerType(
inner_type=ValueType(name='int'),
),
doc='column indices in sparse Jacobian',
array_extent=('nu', 'nv'),
),
StructFieldDecl(
name='actuator_moment',
type=PointerType(
unity/Runtime/Bindings/MjBindings.cs
+3
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@@ -4904,6 +4904,9 @@ public unsafe struct mjData_ {
public int* wrap_obj;
public double* wrap_xpos;
public double* actuator_length;
public int* moment_rownnz;
public int* moment_rowadr;
public int* moment_colind;
public double* actuator_moment;
public double* crb;
public double* qM;