chenlin/Mujoco_WASM
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add actuator_moment Jacobian sparsity pattern to mjData.

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files
include/mujoco/mjdata.h
+3
View File
@@ -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
View File
@@ -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 ) \